Table tennis partner training robot

Abstract

The invention provides a table tennis partner training robot, and belongs to the technical field of robots. Comprising a fixed support; the main control box is fixed to the left side of the fixing support, and a control chip, a signal processing module, a power output module, a capacitor and a power module are installed in the main control box; the photosensitive camera is mounted on the outer side of the main control box; the swing arm assembly, the first-stage swing driving assembly and the second-stage swing driving assembly are all arranged on the left side of the fixing support and used for adjusting the ball hitting position; the first-stage rotating arm, the first-stage swinging arm, the second-stage rotating arm, the second-stage swinging arm, the third-stage rotating arm and the third-stage swinging arm are automatically adjusted to conduct ball hitting operation at all angles and positions, so that the ball receiving angle is controlled to conduct ball returning, and the problems that due to double-person training, the work intensity of a training partner is large, efficiency is low, and the training efficiency is high are effectively solved. And the automatic ball dispenser lacks the fun of playing balls by two persons.

Description

Technical Field

[0001] This application belongs to the technical field of robots, and specifically relates to a table tennis training robot. Background Art

[0002] Sports robots refer to robots applied in the sports field that have specific functions to assist in the development of sports activities. Their application scenarios in the sports field are extensive. With the development of robot technology and artificial intelligence technology, the application fields of sports robots have gradually expanded, and sports robots have also begun to move from experiments to applications. Existing table tennis robots mainly include various types such as serial robots (Zhongke) and parallel robots (Omron).

[0003] Currently, table tennis training on the market mainly focuses on double training or automatic ball servers. When extensive sports exercisers or professional athletes are playing table tennis or training, during double training, a sparring partner is required, which results in a high work intensity and low efficiency for the sparring partner. Moreover, after the sparring partner gets fatigued, they cannot accurately provide various training movements, directly affecting the improvement of the trainer's skills. If an automatic ball server is used for training, the automatic ball server lacks the fun of playing with a partner.

[0004] To address the above problems, this application designs a table tennis training robot to solve the technical problems such as the high work intensity and low efficiency caused by double training, and the lack of fun of playing with a partner in the automatic ball server. Summary of the Invention

[0005] This application aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0006] Therefore, this application designs a table tennis training robot to reduce the high work intensity and improve efficiency and the fun of playing.

[0007] The table tennis training robot provided by this application includes: a fixed bracket; a main control box fixed to the left side of the fixed bracket, and a control chip, a signal processing module, a power output module, a capacitor, and a power supply module are installed in the main control box; a photosensitive camera installed outside the main control box; a swing arm assembly, a first swing drive assembly, and a second swing drive assembly, all arranged to the left of the fixed bracket and used to adjust the hitting position; and a grasping assembly arranged to the left of the swing arm assembly and used to grip the table tennis racket.

[0008] In some possible embodiments, a clamping plate is provided inside the fixed bracket. A threaded fixing rod is fixed to the right end of the clamping plate. The threaded fixing rod passes through the right side of the fixed bracket in a right-handed thread, and a handle is fixed to the right end of the threaded fixing rod. A first rubber pad is connected to the left side inside the fixed bracket, and a second rubber pad is connected to the left side of the clamping plate.

[0009] In some possible embodiments, the swing arm assembly includes: a first-level rotating arm fixed to the end of a fixed bracket; a first-level swinging arm provided at the end of the first-level rotating arm, a first servo motor is fixed inside the first-level rotating arm, and the right end of the first-level swinging arm is connected to the power end of the first servo motor; a second-level rotating arm provided at the end of the first-level swinging arm, and the first-level swinging drive assembly is provided to the right of the second-level rotating arm.

[0010] In some possible embodiments, the swing arm assembly further includes: a second-level swinging arm rotatably connected to the end of the second-level rotating arm, and the second-level swinging drive assembly is provided between the second-level rotating arm and the second-level swinging arm; a third-level rotating arm provided at the end of the second-level swinging arm; a third-level swinging arm provided at the end of the third-level rotating arm.

[0011] In some possible embodiments, the first-level swinging drive assembly includes: a mounting frame provided at the right end of the second-level rotating arm, a second servo motor is fixed inside the mounting frame, and the right end of the second-level rotating arm is connected to the power end of the second servo motor; a concave connecting frame fixed to the right end of the mounting frame, and the first-level swinging arm is rotatably connected to the concave connecting frame; a fourth servo motor fixed to one side of the first-level swinging arm, and the inner side of the concave connecting frame is connected to the power end of the fourth servo motor.

[0012] In some possible embodiments, the second-level swinging drive assembly includes: a fifth servo motor fixed to the inner side of the second-level swinging arm, a third servo motor is fixed to the end of the second-level swinging arm, and the right end of the third-level rotating arm is connected to the power end of the third servo motor; a main gear connected to the power end of the fifth servo motor; an adjusting shaft fixed to the end of the second-level rotating arm; a sub-gear fixed to the periphery of the adjusting shaft, and the sub-gear meshes with the main gear.

[0013] In some possible embodiments, fixing plates are fixed to both the front and rear ends of the third-level rotating arm, the third-level swinging arm is rotatably connected to one of the fixing plates, and a sixth servo motor is fixed to the inner side of the other fixing plate, and one side of the third-level swinging arm is connected to the power end of the sixth servo motor.

[0014] In some possible embodiments, the grasping assembly includes: a grasping frame fixed to the end of the third-level swinging arm; two grasping arms respectively provided at the upper and lower parts of the grasping frame; two rotating shafts respectively fixed to the right ends of the two grasping arms, and the rotating shafts rotatably penetrate through the grasping frame from front to back; two synchronous gears respectively fixedly sleeved on the middle parts of the two rotating shafts; a guide rod fixed inside the grasping frame; two synchronous plates both slidably sleeved on the guide rod; two convex tooth plates respectively fixed to the outer sides of the two synchronous plates, and the convex tooth plates are both meshed with the adjacent synchronous gears.

[0015] In some possible embodiments, the grasping assembly further includes: a forward and reverse motor, fixed to the inner wall of the grasping frame; a driving gear, connected to the power end of the forward and reverse motor; a bidirectional lead screw, rotatably connected inside the grasping frame; a driven gear, fixedly sleeved around the bidirectional lead screw, and the driven gear meshes with the driving gear.

[0016] Compared with the prior art, the above technical solution provided by the present application at least includes the following beneficial effects: The table tennis training robot provided by the present application fixes the robot on the table tennis table, optically scans the position of the table tennis ball through the cooperation of a photosensitive camera, a control chip, a signal processing module, a power output module and a capacitor, and then automatically controls the operation of the servo motors at each rotating arm and swinging arm part through the control chip, and automatically adjusts the first-level rotating arm, the first-level swinging arm, the second-level rotating arm, the second-level swinging arm, the third-level rotating arm and the third-level swinging arm to perform hitting operations at various angles and positions, so as to control the receiving angle to return the ball, thus effectively solving the technical problems that the work intensity of the training partner is large and the efficiency is low in dual-person training, and the automatic ball server lacks the fun of dual-person playing.

[0017] The additional aspects and advantages of the present application will become obvious in the following description part, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, wherein: Figure 1 is a schematic diagram of the overall structure of a table tennis training robot according to some embodiments of the present application; Figure 2 is a schematic diagram of the fixed bracket structure of a table tennis training robot according to some embodiments of the present application; Figure 3 is a schematic diagram of the overall planar structure of a table tennis training robot according to some embodiments of the present application; Figure 4 is a schematic diagram of the overall planar internal structure of a table tennis training robot according to some embodiments of the present application; Figure 5 is a schematic top view structure of the first-level swinging arm of a table tennis training robot according to some embodiments of the present application; Figure 6 is a schematic top view structure of the second-level swinging arm of a table tennis training robot according to some embodiments of the present application; Figure 7 is a schematic top view structure of the third-level swinging arm of a table tennis training robot according to some embodiments of the present application; Figure 8Schematic diagram of the internal structure of the grasping frame of a table tennis training robot according to some embodiments of the present application; Figure 9 Schematic diagram of the internal structure of the main control box of a table tennis training robot according to some embodiments of the present application; Figure 10 Schematic diagram of the circuit module structure of a table tennis training robot according to some embodiments of the present application.

[0019] Reference numerals: 1. Fixed bracket; 2. First-level rotating arm; 3. First-level swinging arm; 4. Concave connecting frame; 5. Mounting frame; 6. Second-level rotating arm; 7. Second-level swinging arm; 8. Third-level rotating arm; 9. Fixed plate; 10. Third-level swinging arm; 11. Grasping frame; 12. Grasping arm; 13. First servo motor; 14. Second servo motor; 15. Third servo motor; 16. Clamping plate; 17. Threaded fixing rod; 18. Handle; 19. First rubber pad; 20. Second rubber pad; 21. Main control box; 22. Photosensitive camera; 23. Control chip; 24. Signal processing module; 25. Power output module; 26. Capacitor; 27. Power supply module; 28. Fourth servo motor; 29. Fifth servo motor; 30. Main gear; 31. Adjusting shaft; 32. Sub-gear; 33. Sixth servo motor; 34. Rotating shaft; 35. Synchronous gear; 36. Convex tooth plate; 37. Reversible motor; 38. Driving gear; 39. Bidirectional lead screw; 40. Driven gear; 41. Guide rod; 42. Synchronous plate. Detailed implementation manners

[0020] In order to more clearly understand the above-mentioned objects, features and advantages of the present application, the present application will be further described in detail below with reference to the drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0021] Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0022] The following refers to Figures 1 to 10 Describe the table tennis training robot provided according to some embodiments of the present application.

[0023] Please refer to Figures 1 to 10, for the table tennis training robot provided by some embodiments of the present application, there is a fixed bracket 1; a main control box 21 is fixed to the left side of the fixed bracket 1. A clamping plate 16 is arranged inside the fixed bracket 1. A threaded fixing rod 17 is fixed to the right end of the clamping plate 16. The threaded fixing rod 17 penetrates through the right side of the fixed bracket 1 in a threaded manner, and a handle 18 is fixed to the right end of the threaded fixing rod 17.

[0024] In this embodiment, by installing the fixed bracket 1 on the table tennis table, during this process, the clamping plate 16 is located under the table tennis table, and the inner top surface of the fixed bracket 1 is located above the table tennis table. By turning the handle 18 to rotate the threaded fixing rod 17, the clamping plate 16 is driven to clamp under the table tennis table, and at the same time, the fixed bracket 1 is pressed against the table tennis table above, achieving the effect of fixedly installing the robot.

[0025] In some embodiments, a first rubber pad 19 is connected to the left side inside the fixed bracket 1, and a second rubber pad 20 is connected to the left side of the clamping plate 16.

[0026] In this embodiment, by providing the first rubber pad 19 and the second rubber pad 20, when the clamping plate 16 and the fixed bracket 1 clamp the table tennis table, the first rubber pad 19 and the second rubber pad 20 are in contact with the table tennis table, achieving the effect of protecting the table tennis table and preventing it from being damaged by clamping.

[0027] In some embodiments, the swing arm assembly, the first-stage swing drive assembly, and the second-stage swing drive assembly are all disposed to the left of the fixed bracket 1 and are used to adjust the hitting position. The first-stage rotating arm 2 is fixed to the end of the fixed bracket 1. The first-stage swing arm 3 is disposed at the end of the first-stage rotating arm 2. A first servo motor 13 is fixed inside the first-stage rotating arm 2, and the right end of the first-stage swing arm 3 is connected to the power end of the first servo motor 13. The second-stage rotating arm 6 is disposed at the end of the first-stage swing arm 3. The first-stage swing drive assembly is disposed to the right of the second-stage rotating arm 6. The swing arm assembly further includes: a second-stage swing arm 7 rotatably connected to the end of the second-stage rotating arm 6. The second-stage swing drive assembly is disposed between the second-stage rotating arm 6 and the second-stage swing arm 7. The third-stage rotating arm 8 is disposed at the end of the second-stage swing arm 7. The third-stage swing arm 10 is disposed at the end of the third-stage rotating arm 8. The first-stage swing drive assembly includes: a mounting bracket 5 disposed at the right end of the second-stage rotating arm 6. A second servo motor 14 is fixed inside the mounting bracket 5, and the right end of the second-stage rotating arm 6 is connected to the power end of the second servo motor 14. A concave connecting bracket 4 is fixed to the right end of the mounting bracket 5, and the first-stage swing arm 3 is rotatably connected to the concave connecting bracket 4. A fourth servo motor 28 is fixed to one side of the first-stage swing arm 3, and the inner side of the concave connecting bracket 4 is connected to the power end of the fourth servo motor 28. The second-stage swing drive assembly includes: a fifth servo motor 29 fixed to the inner side of the second-stage swing arm 7. A third servo motor 15 is fixed to the end of the second-stage swing arm 7, and the right end of the third-stage rotating arm 8 is connected to the power end of the third servo motor 15. A main gear 30 is connected to the power end of the fifth servo motor 29. An adjusting shaft 31 is fixed to the end of the second-stage rotating arm 6. A sub-gear 32 is fixed to the periphery of the adjusting shaft 31, and the sub-gear 32 meshes with the main gear 30. Fixing plates 9 are fixed to the front and rear ends of the third-stage rotating arm 8. The third-stage swing arm 10 is rotatably connected to one of the fixing plates 9, and a sixth servo motor 33 is fixed to the inner side of the other fixing plate 9. One side of the third-stage swing arm 10 is connected to the power end of the sixth servo motor 33.

[0028] In this embodiment, during the hitting process of the robot, the working processes of the first to sixth servo motors are as follows. When the first servo motor 13 works, it drives the first-stage rotating arm 2 to rotate freely. When the second servo motor 14 works, it drives the second-stage rotating arm 6 to rotate. The third servo motor 15 drives the third-stage rotating arm 8 to rotate. Therefore, through the work of the first servo motor 13, the second servo motor 14, and the third servo motor 15, it is beneficial to control the racket to rotate 360 degrees for hitting. When the fourth servo motor 28 works, it drives the second-stage rotating arm 6 to swing freely. When the fifth servo motor 29 works, it drives the main gear 30, the sub-gear 32, the adjusting shaft 31, and the second-stage swing arm 7 to swing freely. When the sixth servo motor 33 works, it drives the third-stage swing arm 10 to swing freely. Therefore, it is beneficial to control the racket to hit at various angles and positions.

[0029] In some embodiments, a control chip 23, a signal processing module 24, a power output module 25, a capacitor 26 and a power supply module 27 are installed in the main control box 21; a photosensitive camera 22 is installed outside the main control box 21; a first rotating arm 2 is fixed to the end of the fixed bracket 1; a first swinging arm 3 is arranged at the end of the first rotating arm 2; a second rotating arm 6 is arranged at the end of the first swinging arm 3; a first swinging drive assembly is arranged to the right of the second rotating arm 6; a second swinging arm 7 is rotatably connected to the end of the second rotating arm 6; a second swinging drive assembly is arranged between the second rotating arm 6 and the second swinging arm 7; a third rotating arm 8 is arranged at the end of the second swinging arm 7; a third swinging arm 10 is arranged at the end of the third rotating arm 8.

[0030] In this embodiment, the optical scanning workflow of the robot when playing table tennis is as follows: The photosensitive camera 22, the control chip 23, the signal processing module 24, the power output module 25, and the capacitor 26 are all set to be electrically connected to the power supply module 27, and the control chip 23 is used to control the first servo motor 13, the second servo motor 14, the third servo motor 15, the fourth servo motor 28, the fifth servo motor 29, and the sixth servo motor 33 to work. During this period, the photosensitive camera 22 is signal-connected to the control chip 23. The capacitor 26 receives the photosensitive signal of the photosensitive camera 22. The signal processing module 24 processes the signal of the capacitor 26, and then the power output module 25 processes the control signal processed by the signal processing module 24, and finally transmits it to the first servo motor 13, the second servo motor 14, the third servo motor 15, the fourth servo motor 28, the fifth servo motor 29, and the sixth servo motor 33 for control operations, specifically as follows: In the optical scanning stage, the photosensitive camera 22 is set to capture the position of the table tennis ball. It scans the spatial shape, structure, and color of the table tennis ball to obtain the spatial coordinates on the surface of the table tennis ball, detects parameters such as the position, distance, speed, and direction of the object, and can convert the three-dimensional information of the table tennis ball into data that the control chip 23 can directly process. The control chip 23 receives and processes these feedback signals, and then adjusts the movement and position of the first to sixth servo motors (i.e., the first servo motor 13, the second servo motor 14, the third servo motor 15, the fourth servo motor 28, the fifth servo motor 29, and the sixth servo motor 33) as needed to achieve closed-loop control. In the optical scanning system, the control chip 23 cooperates closely with each servo motor to control and drive each servo motor to work, converting the signal of the control chip 23 into the current and voltage required by each servo motor, so as to achieve precise control of each servo motor. The control chip 23 issues instructions, and the servo motor completes the corresponding actions according to the instructions; In the optical processing stage, when a table tennis ball is scanned, the capacitor 26 will be charged to an extent proportional to the light intensity. The capacitor 26 array transfers the charge from one node to another until it reaches the final capacitor 26. Then the charge is amplified into a voltage and flows into the wire, and the charge pattern is read by another device and recompiled into a pixel map representing the scanned table tennis ball; In the logic programming stage, the control logic in the control chip 23 is implemented through programming. According to different optical scanning requirements, corresponding program codes are written so that the control chip 23 can accurately process various signals and issue appropriate control instructions. According to the start and stop requirements of the first to sixth servo motors, a reasonable PLC program is written in advance, and using the principle of the scanning cycle, precise control of the first to sixth servo motors is achieved; In the signal processing stage, the control chip 23 receives external control instructions related to parameters such as the rotation speed, rotation direction, and acceleration of the first to sixth servo motors. The signal processing module 24 decodes and processes these instructions. The signal processing module 24 includes input and output ports, control logic, and timing control, etc. The input and output ports are responsible for receiving and sending signals, the control logic analyzes and judges the signals, and the timing control ensures that the signals are processed and transmitted at the appropriate time, thereby obtaining corresponding control logic and timing control signals; In the power output stage, the control signal processed by the signal processing module 24 is further transmitted to the power output module 25. The main task of the power output module 25 is to convert the control signal into the current and voltage outputs required by the first to sixth servo motors. The power output module 25 consists of a power amplifier and an output protection circuit, etc. The power amplifier amplifies the control signal to the current and voltage levels required for the normal operation of the first to sixth servo motors, and the output protection circuit protects the output to prevent the first to sixth servo motors from being damaged due to overcurrent, overheating, etc.; In the power management stage, the power supply module 27 not only provides a stable power supply for the control chip 23 and the first to sixth servo motors, but also takes protection measures such as overcurrent and overheating protection for the servo motors, ensuring that the first to sixth servo motors operate in a safe working environment and extending the service life of the first to sixth servo motors; In summary, through the coordination of the optical scanning stage, optical processing stage, logic programming stage, signal processing stage, power output stage, and power management stage, the control of the first to sixth servo motors is achieved. When the first servo motor 13 operates, the first servo motor 13 drives the first-level swing arm 3, second-level rotating arm 6, second-level swing arm 7, third-level rotating arm 8, third-level swing arm 10, gripper 11, and the racket to rotate together. After rotation, the first adjustment of the hitting position is realized. When the second servo motor 14 operates, the second servo motor 14 drives the second-level rotating arm 6, second-level swing arm 7, third-level rotating arm 8, third-level swing arm 10, gripper 11, and the racket to rotate together. After rotation, the second adjustment of the hitting position is realized. When the third servo motor 15 operates, the third servo motor 15 drives the third-level rotating arm 8, third-level swing arm 10, gripper 11, and the racket to rotate together. After rotation, the third adjustment of the hitting position is realized. As can be seen from the above, when the racket hits the ball, the hitting position of the racket is adjusted one by one through three rotations. This robot is conducive to achieving accurate hitting; When the fourth servo motor 28 operates, the fourth servo motor 28 drives the concave connecting frame 4 to swing. Therefore, the concave connecting frame 4 will drive the mounting frame 5, second-level rotating arm 6, second-level swing arm 7, third-level rotating arm 8, third-level swing arm 10, gripper 11, and the racket to swing together, thus facilitating the change of the hitting position of the racket. And through the operation of the fifth servo motor 29, the main gear 30, auxiliary gear 32, adjusting shaft 31, and second-level swing arm 7 are driven to swing together. At the same time, the second-level swing arm 7 will drive the third-level rotating arm 8, third-level swing arm 10, gripper 11, and the racket to swing together, realizing the re-adjustment of the hitting position. And through the operation of the sixth servo motor 33, the third-level swing arm 10, gripper 11, and the racket are driven to swing together. As can be seen from the above, when the racket hits the ball, the hitting position of the racket is adjusted one by one through three swings. This robot is conducive to hitting the ball more accurately; Therefore, by automatically adjusting the first-level rotating arm 2, first-level swing arm 3, second-level rotating arm 6, second-level swing arm 7, third-level rotating arm 8, and third-level swing arm 10 to perform hitting operations at various angles and positions, the receiving angle is controlled to return the ball, thus effectively solving the technical problems of the high work intensity and low efficiency of the sparring partner caused by double-person training, and the lack of fun of double-person playing in the automatic ball feeder.

[0031] In some embodiments, a grasping frame 11 is fixed to the end of a three-stage swing arm 10. Two grasping arms 12 are respectively arranged at the upper and lower parts of the grasping frame 10. A grasping assembly is arranged inside the grasping frame 10 and is used to control the grasping arms 12 to grip a table tennis racket. Two rotating shafts 34 are respectively fixed to the right ends of the two grasping arms 12, and the rotating shafts 34 rotate through the grasping frame 11 from front to back. The grasping assembly includes: two synchronous gears 35 respectively and fixedly sleeved on the middle parts of the two rotating shafts 34; a guide rod 41 fixed inside the grasping frame 11; two synchronous plates 42 both slidably sleeved on the guide rod 41; two convex tooth plates 36 respectively fixed to the outer sides of the two synchronous plates 42, and the convex tooth plates 36 are both meshed with the adjacent synchronous gears 35. The grasping assembly further includes: a forward and reverse motor 37 fixed to the inner wall of the grasping frame 11; a driving gear 38 connected to the power end of the forward and reverse motor 37; a bidirectional lead screw 39 rotatably connected inside the grasping frame 11; a driven gear 40 fixedly sleeved on the periphery of the bidirectional lead screw 39, and the driven gear 40 is meshed with the driving gear 38.

[0032] During the installation process of the table tennis racket, the forward and reverse motor 37 works to drive the driving gear 38, the driven gear 40 and the bidirectional lead screw 39 to rotate forward. The bidirectional lead screw 39 will drive the two synchronous plates 42 to approach each other, thereby pulling the convex tooth plates 36 through the synchronous plates 42, and then driving the synchronous gears 35 and the rotating shafts 34 to rotate through the convex tooth plates 36, so that the two grasping arms 12 are unfolded. The handle of the table tennis racket is placed between the two grasping arms 12. Then, the forward and reverse motor 37 works to drive the driving gear 38, the driven gear 40 and the bidirectional lead screw 39 to rotate in reverse. The bidirectional lead screw 39 will drive the two synchronous plates 42 to move away from each other, thereby pushing the convex tooth plates 36 through the synchronous plates 42, and then driving the synchronous gears 35 and the rotating shafts 34 to rotate and reset through the convex tooth plates 36, so that the two grasping arms 12 are closed, and the grasping arms 12 grip and fix the table tennis racket, so as to operate the table tennis racket through the robot for table tennis training.

[0033] In the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present application.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0035] In this application, unless otherwise clearly specified and defined, the terms "installed" and "connected" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. The term "a plurality of" refers to two or more, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0036] In this application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0037] In this application, descriptions such as "an embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0038] The above are only the preferred embodiments of this application and are not used to limit this application. For those skilled in the art, various changes and modifications can be made to this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. Table tennis training robot, characterized in that, Comprising: Fixed bracket (1); Main control box (21), fixed to the left side of the fixed bracket (1), and a control chip (23), a signal processing module (24), a power output module (25), a capacitor (26) and a power supply module (27) are installed in the main control box (21); Photosensitive camera (22), installed outside the main control box (21); Swing arm assembly, primary swing drive assembly and secondary swing drive assembly, all arranged to the left of the fixed bracket (1) for adjusting the hitting position; Grasping assembly, arranged to the left of the swing arm assembly for grasping the table tennis racket.

2. The table tennis training robot according to claim 1, wherein A clamping plate (16) is provided in the fixed bracket (1), a threaded fixing rod (17) is fixed to the right end of the clamping plate (16), the threaded fixing rod (17) passes through the right side of the fixed bracket (1) in a right-handed thread, and a handle (18) is fixed to the right end of the threaded fixing rod (17). A first rubber pad (19) is connected to the left side inside the fixed bracket (1), and a second rubber pad (20) is connected to the left side of the clamping plate (16).

3. The table tennis practice robot according to claim 1, characterized in that, The swing arm assembly includes: Primary rotating arm (2), fixed to the end of the fixed bracket (1); Primary swing arm (3), arranged at the end of the primary rotating arm (2), a first servo motor (13) is fixed inside the primary rotating arm (2), and the right end of the primary swing arm (3) is connected to the power end of the first servo motor (13); Secondary rotating arm (6), arranged at the end of the primary swing arm (3), and the primary swing drive assembly is arranged to the right of the secondary rotating arm (6).

4. The table tennis training robot according to claim 3, characterized in that, The swing arm assembly further includes: Secondary swing arm (7), rotatably connected to the end of the secondary rotating arm (6), and the secondary swing drive assembly is arranged between the secondary rotating arm (6) and the secondary swing arm (7); Tertiary rotating arm (8), arranged at the end of the secondary swing arm (7); Tertiary swing arm (10), arranged at the end of the tertiary rotating arm (8).

5. The table tennis training robot according to claim 3, wherein The primary swing drive assembly includes: Mounting frame (5), arranged at the right end of the secondary rotating arm (6), a second servo motor (14) is fixed inside the mounting frame (5), and the right end of the secondary rotating arm (6) is connected to the power end of the second servo motor (14); Concave connecting frame (4), fixed to the right end of the mounting frame (5), and the primary swing arm (3) is rotatably connected to the concave connecting frame (4); Fourth servo motor (28), fixed to one side of the primary swing arm (3), and the inner side of the concave connecting frame (4) is connected to the power end of the fourth servo motor (28).

6. The table tennis training robot according to claim 4, characterized in that, The secondary swing drive assembly includes: Fifth servo motor (29), fixed to the inner side of the secondary swing arm (7), a third servo motor (15) is fixed to the end of the secondary swing arm (7), and the right end of the tertiary rotating arm (8) is connected to the power end of the third servo motor (15); Main gear (30), connected to the power end of the fifth servo motor (29); Adjusting shaft (31), fixed to the end of the secondary rotating arm (6); Auxiliary gear (32), fixed to the periphery of the adjusting shaft (31), and the auxiliary gear (32) meshes with the main gear (30).

7. The table tennis training robot according to claim 4, wherein The front and rear ends of the third-level rotating arm (8) are both fixed with fixing plates (9). The third-level swinging arm (10) is rotatably connected to one of the fixing plates (9). A sixth servo motor (33) is fixed inside the other fixing plate (9). One side of the third-level swinging arm (10) is connected to the power end of the sixth servo motor (33).

8. The table tennis training robot according to claim 4, wherein The grasping assembly includes: A grasping frame (11), fixed to the end of the third-level swinging arm (10); Two grasping arms (12), respectively arranged at the upper and lower parts of the grasping frame (10); Two rotating shafts (34), respectively fixed to the right ends of the two grasping arms (12), and the rotating shafts (34) rotatably penetrate through the grasping frame (11) from front to back; Two synchronous gears (35), respectively fixedly sleeved on the middle parts of the two rotating shafts (34); A guide rod (41), fixed inside the grasping frame (11); Two synchronous plates (42), both slidably sleeved on the guide rod (41); Two convex tooth plates (36), respectively fixed to the outer sides of the two synchronous plates (42), and the convex tooth plates (36) are both meshed with the adjacent synchronous gears (35).

9. The table tennis training robot according to claim 8, wherein, The grasping assembly further includes: A positive and negative motor (37), fixed to the inner wall of the grasping frame (11); A driving gear (38), connected to the power end of the positive and negative motor (37); A bidirectional lead screw (39), rotatably connected inside the grasping frame (11); A driven gear (40), fixedly sleeved on the periphery of the bidirectional lead screw (39), and the driven gear (40) is meshed with the driving gear (38).

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