Exercise equipment and training system

Abstract

The invention discloses sports equipment and a training system.The sports equipment can comprise a movable machine body, a ball bin device, a ball receiving device and a ball serving device, a support is arranged on the movable machine body, at least one rotating shaft is formed on the support, and the support is rotationally connected to the movable machine body through the rotating shafts; the ball bin device is arranged on the movable machine body, the ball bin device is provided with a ball feeding outlet, and a ball storage space is formed in the ball bin device; the ball collecting device comprises a ball collecting guide piece, the ball collecting guide piece is arranged on the movable machine body and provided with a ball storage opening and a ball collecting opening, the ball collecting opening is used for collecting balls on the ground, and the ball storage opening is used for conveying the balls to the ball bin device; the ball serving device at least comprises a first driving module, the first driving module is arranged on the support, the position of the rotating shaft is higher than the position of the first driving module, the first driving module comprises a disc type motor and a friction wheel, the friction wheel is arranged on the periphery of the disc type motor in a sleeving mode, and the ball serving device communicates with the ball storage space through the ball feeding outlet. The equipment has the advantages of high efficiency, stability, reliability and the like.

Description

Technical Field

[0001] The present application relates to the technical field of sports equipment, and in particular to a sports equipment and training system. Background Art

[0002] Small ball sports like tennis, squash, and table tennis have always been popular. However, traditional tennis, squash, and table tennis serving machines often only serve the ball. Due to their niche nature and lack of mass production verification, these devices often suffer from immature designs, unreliability, low efficiency, and bulky structures, creating numerous user inconveniences. Improving the design of sports equipment to enhance its reliability and usability has become a pressing issue. Summary of the Invention

[0003] In view of this, the present application proposes a sports device and sports equipment, which has the advantages of compact structure, good reusability, high ball collection efficiency, stability, reliability and durability.

[0004] In a first aspect, the present application provides a sports device, comprising:

[0005] A movable body, wherein a bracket is provided on the movable body, the bracket is formed with at least one rotating shaft, and the bracket is rotatably connected to the movable body via the rotating shaft;

[0006] The ball bin device is arranged on the movable body, has a ball feeding outlet, and forms a ball storage space;

[0007] The ball collecting device includes a ball collecting guide, which is arranged on the movable body and has a ball storage port and a ball receiving port. The ball receiving port is used to collect balls on the ground, and the ball storage port is used to transport the balls to the ball bin device.

[0008] The ball serving device includes at least a first drive module, which is disposed on the bracket. The position of the rotating shaft is higher than that of the first drive module. The first drive module includes a disc motor and a friction wheel. The friction wheel is sleeved on the outer periphery of the disc motor. The ball serving device is connected to the ball storage space through the ball feeding outlet.

[0009] Among them, the bracket can adjust the ball receiving position by rotating relative to the rotating shaft, so that the friction wheel contacts the ball, and accelerates the ball through the friction transmission of the first drive module, so that the ball passes through the ball receiving guide and reaches the ball storage port. The bracket can also adjust the ball serving position by rotating relative to the rotating shaft, and the first drive module is used for serving the ball.

[0010] In a second aspect, the present application proposes a training system, which includes a terminal device and the sports equipment in any embodiment of the present application.

[0011] On the third aspect, the present application proposes a serving method, which is applied to the sports equipment in any embodiment of the present application. The serving method includes controlling the rotation speed of the friction wheel to serve a spin ball.

[0012] The sports equipment and training system proposed in this application improve the efficiency of sending and receiving small balls such as tennis, squash, and table tennis through the arrangement of a ball bin device, a ball serving device, and a ball receiving device; the design of the friction wheel can provide sufficient power for serving and receiving, thereby improving the efficiency of sending and receiving small balls; the design of the adjustable bracket and the first drive module not only allows the first drive module to be reused, making the structure of the sports equipment more compact, but also makes it possible to adjust the serve elevation angle. In conjunction with the movable body, multi-angle serve can be achieved, thereby improving the quality and efficiency of the serve. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained from these drawings without any creative work.

[0014] Figure 1 This is a schematic diagram of the structure of a sports device from a first perspective according to an embodiment of the present application;

[0015] Figure 2 This is a schematic diagram of the structure of partial components of a sports device according to an embodiment of the present application;

[0016] Figure 3 This is a schematic diagram of the structure of partial components of a sports device according to an embodiment of the present application;

[0017] Figure 4 This is a schematic diagram of the structure of a sports device from a second perspective according to an embodiment of the present application;

[0018] Figure 5 This is a schematic diagram of the structure of a sports device from a third perspective according to an embodiment of the present application;

[0019] Figure 6 This is a schematic diagram of the structure of a sports device from a fourth perspective according to an embodiment of the present application;

[0020] Figure 7 This is a schematic structural diagram of a sports device from a fifth perspective according to an embodiment of the present application;

[0021] Figure 8 This is a schematic diagram of the structure of a sports device from a sixth perspective according to an embodiment of the present application;

[0022] Figure 9This is a schematic structural diagram of a sports device according to an embodiment of the present application;

[0023] Figure 10 This is a schematic structural diagram of a ball bin device from a first perspective according to one embodiment of the present application;

[0024] Figure 11 This is a schematic structural diagram of a ball bin device from a second perspective according to one embodiment of the present application;

[0025] Figure 12 This is a schematic structural diagram of a ball warehouse device from a third perspective according to one embodiment of the present application;

[0026] Figure 13 This is a schematic cross-sectional structural diagram of a ball warehouse device along the AA direction according to one embodiment of the present application;

[0027] Figure 14 This is a schematic cross-sectional view of a ball chamber device along the BB direction according to an embodiment of the present application;

[0028] Figure 15 This is a schematic diagram of the exploded structure of a ball silo device according to one embodiment of the present application;

[0029] Figure 16 This is a schematic structural diagram of a sports device according to an embodiment of the present application;

[0030] Figure 17 This is a schematic diagram of the structure of a ball receiving device from a first perspective according to an embodiment of the present application;

[0031] Figure 18 This is a schematic diagram of the structure of a ball receiving device from a second perspective according to an embodiment of the present application;

[0032] Figure 19 This is a schematic diagram of the structure of a ball receiving device from a third perspective according to an embodiment of the present application;

[0033] Figure 20 This is a schematic diagram of the structure of partial components of a sports device according to an embodiment of the present application;

[0034] Figure 21 This is a structural diagram of a first guide module according to an embodiment of the present application;

[0035] Figure 22 This is a structural diagram of a second guide module according to an embodiment of the present application;

[0036] Figure 23 This is a schematic diagram of the structure of a serving device from a first perspective according to one embodiment of the present application;

[0037] Figure 24 This is a schematic structural diagram from a second perspective of a ball serving device according to an embodiment of the present application.

[0038] Description of reference numerals:

[0039] 100. Sports equipment; 200. Ball; 10. Movable body; 20. Ball storage device; 30. Ball collecting device; 40. Ball serving device;

[0040] 11. Bracket; 111. First side of bracket; 112. Second side of bracket; 113. Ball guide; 114. Ball serving surface; 115. Ball serving port; 12. Rotating shaft; 13. Housing; 131. Retractable pull rod; 132. Power supply assembly; 133. Driven wheel; 14. Chassis; 141. Translation track; 142. Omnidirectional wheel; 15. Opening and closing assembly; 151. Opening and closing member; 1511. Ball guide notch; 152. Sliding pair; 153. First guide motor; 16. Protective bar; 161. First position; 162. Second position; 171. First guide module; 172. Second guide module; 181. Second guide motor; 182. Driving wheel shaft; 183. Driven shaft; 184. Conveyor belt;

[0041] 21. Warehouse body; 211. Bottom wall; 212. Side wall; 213. Ball drop port; 214. Ball storage space; 22. Ball guide tube; 221. Ball feed inlet; 222. Ball feed channel; 2221. First channel; 2222. Second channel; 2223. Third channel; 223. Ball feed outlet; 23. Ball feed assembly; 24. Mounting slot; 251. First bend; 252. Second bend; 253. Third bend; 261. First ball guide slope; 262. Second ball guide slope; 263. Third ball guide slope; 27. Ball lowering assembly; 271. Ball lowering motor; 272. Ball dribbling disc; 2721. Ball trough; 273. Ball shifting bar; 274. Coupling; 275. Lower ball baffle;

[0042] 31. Ball collecting guide; 311. Ball storage port; 312. Ball collecting port; 313. Ball collecting pipe; 3131. Accommodation port; 314. Shielding portion; 32. Lock;

[0043] 41. First drive module; 42. Second drive module; 43. Disc motor; 44. Friction wheel; 441. Cone; 442. Side; 443. Friction surface; 445. Upper base; 446. Lower base; 45. Attitude control module; 451. Attitude control motor; 452. Driving pulley; 453. Driven pulley; 454. Synchronous belt; 455. Tensioner. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0045] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0046] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0047] It should also be understood that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element through an intervening element.

[0048] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. For example, the terms "first," "second," and so on are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, the term "first" or "second" may explicitly or implicitly include at least one of the features.

[0049] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0050] The present application provides a sports device, which may include a tennis machine, table tennis machine, squash machine or other ball sports equipment, and in particular can be used for sending and receiving balls such as tennis, squash, pickleball, cricket, etc. Figure 1 and Figure 2 ,like Figure 1 and Figure 2As shown, the sports equipment 100 may include a movable body 10, a ball bin device 20, a ball receiving device 30 and a ball serving device 40, wherein a bracket 11 may be provided on the movable body 10, and the bracket 11 is formed with at least one rotating shaft 12, and the bracket 11 can be rotatably connected to the movable body 10 through the rotating shaft 12.

[0051] It should be understood that the rotating shaft 12 can be an active rotating shaft 12 directly driven by a motor or other power source, or a driven rotating shaft 12 driven by a belt, chain, or other transmission device rather than directly driven by a motor, or a virtual rotating shaft 12 generated by the entire system. The integral bracket 11 can rotate relative to the movable body 10 with the rotating shaft 12 as the axis.

[0052] See also Figures 2 to 4 The ball bin device 20 can be disposed on the movable body 10. The ball bin device 20 is formed with a ball storage space 214 and has at least one ball outlet 223. The ball storage space 214 can be connected to the ball serving device 40 through the ball outlet 223. It should be understood that the ball outlet 223 can be directly or indirectly connected to the ball storage space 214, or directly or indirectly connected to the ball serving device 40, and is not specifically limited here.

[0053] In some embodiments, as Figures 2 to 4 As shown, the ball collecting device 30 may include a ball collecting guide 31 having a ball storage port 311 and a ball receiving port 312, and may be disposed on the movable body 10. The ball storage port 311 may be directly or indirectly connected to the ball storage space 214. The ball storage port 312 may be used to collect balls on the ground, and the ball storage port 311 may be used to transport balls to the ball bin device 20.

[0054] In some embodiments, see Figure 2 、 Figure 5 and Figure 6 The serving device 40 may include at least a first drive module 41, which may be disposed on the bracket 11. The position of the rotating shaft 12 of the bracket 11 may be higher than the position of the first drive module 41, so that the position or posture of the bracket 11 and the first drive module 41 can be adjusted by the rotating shaft 12, thereby better controlling the serving elevation angle or the receiving efficiency. For example, the bracket 11 can rotate relative to the rotating shaft 12 to adjust the receiving position. It should be understood that since the serving elevation angle is adjustable, the direction of the reaction impulse generated during the serving process can be further adjusted, the impulse distance can be reduced, the device can be prevented from overturning, and the stability and reliability of the serving can be ensured.

[0055] Specifically, the first drive module 41 may include a disc motor 43 and a friction wheel 44, which may be sleeved around the outer circumference of the disc motor 43. It should be understood that the bracket 11 can rotate relative to the rotating shaft 12 and adjust to a ball receiving position. The friction wheel 44 can contact the ball and, through friction transmission from the first drive module 41, accelerate the ball, allowing the ball to pass through the ball receiving guide 31 and reach the ball storage port 311. The bracket 11 can also rotate relative to the rotating shaft 12 to adjust the ball serving position, in which case the first drive module 41 can be used for serving. By utilizing a disc motor 43 with a higher energy conversion efficiency, the power and performance of the ball receiving device 30 and the ball serving device 40 can be improved, making them more stable and reliable in training scenarios such as long-term, high-frequency, and high-force training. In addition, by placing the friction wheel 44 on the outer periphery of the disc motor 43, not only is the instantaneous speed regulation response performance improved through direct drive, but it also prevents belt slippage due to aging, eliminating transmission structures such as V-belts and gear sets, improving energy transfer efficiency, control sensitivity, and ball receiving and serving efficiency, but also saving internal space, and improving the compactness, controllability, and transportation, storage, and maintenance convenience of the sports equipment 100. It should be further understood that since the specific ball shape, ball receiving and serving elevation angle, and specific receive and serve training plans preferred by users vary from person to person, the specific angle ranges of the serving and receiving positions can be completely different, or they can overlap at least partially, and are not specifically limited here.

[0056] It should be understood that when the ball-serving device 40, the ball-receiving device 30, and the sports equipment 100 are performing the ball-receiving task, the ball 200 may collide with the first drive module 41, causing the bracket 11 to bounce and shift, resulting in a failure to collect the ball. In some embodiments, a lock 32 or a brake may be provided on the bracket 11, the ball-receiving device 30, or the ball-serving device 40 to fix the posture of the bracket 11 and ensure the efficiency of collecting the ball. Specifically, the lock 32 may include an electromagnetic lock, a pin lock, an electrically or pneumatically controlled wedge, a pawl, etc., and the brake may include a holding brake, a magnetic powder brake, etc. It should be further understood that the lock 32 and the brake may be provided not only on the bracket 11 and the rotating shaft 12, but also on components such as a transmission belt and a gear set that provide power to the rotating shaft 12, and no specific limitation is made here.

[0057] It is worth noting that see Figure 7 and Figure 8 Since the bracket 11 and the first drive module 41 can both play a role in the ball receiving and serving tasks, for the convenience of description, the bracket 11 and the first drive module 41 can be part of the serving device 40, part of the ball receiving device 30, or part of the movable body 10, which is not specifically limited here.

[0058] Please refer to Figures 2 to 4 as well as Figure 10The present application also provides a ball bin device 20, which includes a bin body 21, a ball guide tube 22, and a ball feeding assembly 23. The bin body 21 may include at least a bottom wall 211, which is formed with at least one ball drop opening 213, and a ball storage space 214 may be formed above the bottom wall 211.

[0059] In some embodiments, see Figure 9 and Figure 10 The ball guide tube 22 may have a ball feeding inlet 221, a ball feeding channel 222, and a ball feeding outlet 223. The ball feeding inlet 221 is connected to the ball drop port 213, and the ball feeding outlet 223 is connected to the ball feeding inlet 221 through the ball feeding channel 222. The ball feeding outlet 223 is located higher than the ball feeding inlet 221. The ball feeding assembly 23 includes a disc motor 43 and a friction wheel 44. The friction wheel 44 is rotatably connected to the disc motor 43. At least a portion of the friction wheel 44 is disposed in the ball feeding channel 222. When the ball 200 passes through the ball drop port 213 and the ball feeding channel 222, the friction wheel 44 can generate friction transmission with the ball 200, causing the ball to accelerate and reach the ball feeding outlet 223.

[0060] It should be understood that through the power and guide design of the ball feeding assembly 23, it is possible to make the position of the ball feeding outlet 223 higher than the ball feeding inlet 221, thereby expanding the allowable height range of the position design of the ball serving device 40, ensuring that the ball bin device 20 will not be too higher than the ball serving device 40, lowering the center of gravity of the equipment, thereby preventing the reaction impact generated by the ball serving process from causing problems such as equipment overturning, and improving the stability and safety of the equipment.

[0061] It should be understood that, through the arrangement of the ball guide tube 22 and the ball feeding assembly 23, on the one hand, sufficient power can be provided for the ball feeding task of the ball bin device 20, so that the position of the ball feeding outlet 223 is higher than the ball feeding inlet 221, and the position design of the ball serving device 40 is more flexible, and the center of gravity of the entire machine of the sports equipment 100 such as the tennis machine can be adjusted by adjusting the position of the ball serving device 40. For example, the heavier ball bin can be set at a lower position or a side position relative to the ball serving device 40, so as to effectively balance the reaction impact generated during the serving process, thereby improving the stability and reliability of the equipment during operation, transportation and warehousing, and improving the flexibility and simplicity of the design, production, maintenance and modification processes; on the other hand, by providing sufficient power for the ball feeding task, problems such as ball feeding blockage can be prevented during high-throughput and high-intensity training. Due to the relevant structural design, the ball bin device 20 and the sports equipment also have the advantages of compact and simple structure, easy production, stability and reliability, and easy control and routing.

[0062] Please refer to Figure 3 、 Figure 9 and Figure 10In some embodiments, to reduce the weight of the device and facilitate transportation and production, the bin body 21 does not necessarily need to completely surround the ball storage space 214. For example, the bin body 21 may include a top cover and sidewalls 212, with a ball storage opening 311 defined in the sidewalls 212. The sports equipment 100 may also include a ball receiving device 30 for transferring the balls 200 to the ball storage opening 311. For another example, the sports equipment 100 may further include a housing 13, with at least a portion of the inner wall of the housing 13 serving as at least a portion of the sidewalls 212 of the bin body 21, thereby forming the ball storage space 214 above the bottom wall 211. It should be understood that the sidewalls 212 of the bin body 21 may comprise a portion of the ball bin assembly 20, a portion of another device in the sports equipment 100, or may be solely part of the ball bin assembly 20 or the housing 13, without further limitation. For example, the sidewalls 212 of the bin body 21 may also comprise a portion of the movable body 10.

[0063] See also Figure 12 and Figure 13 In some embodiments, the bottom wall 211 may be provided with a first ball guiding slope 261 for guiding the balls to the ball drop port 213. By guiding the balls to the ball drop port 213, it is possible to prevent the balls from becoming clogged in the chamber 21, thereby ensuring ball feeding efficiency and improving the stability and reliability of the ball serving process of the sports device 100.

[0064] See also Figure 10 、 Figure 11 and Figure 15 In some embodiments, the ball feeding channel 222 may include a first channel 2221, a second channel 2222, and a third channel 2223. Specifically, the ball feeding inlet 221 may be located in the first channel 2221, and the ball feeding outlet 223 may be located in the third channel 2223. At least a portion of the third channel 2223 is positioned above the ball drop port 213. The first channel 2221 and the second channel 2222 form a first bend 251, and the second channel 2222 and the third channel 2223 form a second bend 252. The design of the ball feeding channel 222 allows the ball feeding outlet 223 to be positioned higher than the ball drop port 213, thereby expanding the range of positionable locations and providing greater design flexibility for the ball serving device 40. This facilitates improving the stability and reliability of the sports equipment 100 through the overall counterweight design. It should be understood that the angles of the first bend 251, the second bend 252, and the third bend 253 can be adjusted based on structural design or process requirements and are not specifically limited herein.

[0065] See also Figures 13 and 14In some embodiments, at least a portion of the friction wheel 44 can be disposed at the first bend 251 or the second bend 252. By disposing the friction wheel 44 at the bend, the friction area between the friction wheel 44 and the ball can be increased, thereby improving the friction-assisted rotation effect and enhancing the ball feeding efficiency.

[0066] In some embodiments, inclined surfaces and other design features can be used to facilitate smooth movement of the ball from the ball guide tube 22 to the friction wheel 44 for rotation, thereby reducing blockage and ensuring efficient ball feeding. For example, at least a portion of the second bend 252 can be lower than the ball feed inlet 221. Alternatively, the first channel 2221 can be provided with a second ball guide inclined surface 262 to guide the ball to the first bend 251.

[0067] See also Figure 11 、 Figure 12 and Figure 15 In some embodiments, the ball bin device 20 may further include a lower ball assembly 27, which may be disposed between the bottom wall 211 and the ball guide tube 22. The lower ball assembly 27 communicates with the ball storage space 214 via a ball drop port 213, and communicates with the ball feed channel 222 via a ball feed inlet 221. The design of the lower ball assembly 27 prevents balls from blocking the ball drop port 213 or the ball guide tube 22, ensuring smooth operation of the ball bin device 20.

[0068] Illustratively, the lower ball assembly 27 may include a lower ball motor 271 and a ball dribbling disc 272. The ball dribbling disc 272 is rotatably connected to the lower ball motor 271. The ball dribbling disc 272 cooperates with the bottom surface of the lower ball assembly 27 to form a plurality of ball grooves 2721. Balls can fall into the ball grooves 2721 through the ball drop opening 213. The ball dribbling disc 272 drives the balls through the ball grooves 2721 and causes the balls to fall into the ball feed inlet 221. It should be understood that the design of the ball dribbling disc 272 and the ball grooves 2721 can limit the ball bin device 20 to feeding balls individually as much as possible, thereby preventing blockage of the ball guide tube 22, ensuring the stability and reliability of the equipment operation, and reducing repair and maintenance costs.

[0069] For example, the lower ball assembly 27 may further include a ball-moving bar 273, which is rotatably connected to the lower ball motor 271 and disposed above the ball-moving disc 272 for moving balls that are blocking the ball drop opening 213 or the ball slot 2721. This configuration prevents the ball bin device 20 from becoming blocked, thereby ensuring the stability and reliability of the ball bin device 20 and the sports equipment 100.

[0070] See also Figure 11 and Figure 13In some embodiments, the lower ball assembly 27 may further include a coupling 274, through which the lower ball motor 271 is connected to the ball dribbling disc 272. The power output shaft of the lower ball motor 271 forms an angle with the rotation axis 12 of the ball dribbling disc 272. The coupling 274 enables the power output of the lower ball motor 271 to be diverted, making the placement of the lower ball motor 271 more flexible. This avoids the problems of a longitudinal placement of the lower ball motor 271, such as difficulty in fixing, structural fragility, height and volume occupation, and limited ball chamber capacity. This makes the overall structure of the lower ball assembly 27 more compact and facilitates the design and layout of the entire sports equipment 100, particularly the movable body 10, chassis, and other devices.

[0071] In some embodiments, the ball can be smoothly introduced into the ball guide tube 22 by means of inclined surfaces, position design, etc., thereby reducing blockage and the like. For example, the ball feed inlet 221 can be provided on the bottom surface of the lower ball assembly 27. For another example, the bottom surface of the lower ball assembly 27 can be provided with a third ball guide inclined surface 263, and the third ball guide inclined surface 263 is used to guide the ball to the ball feed inlet 221. For another example, the lower ball assembly 27 also includes a lower ball baffle 275, at least a portion of which is provided corresponding to the ball feed inlet 221. It should be understood that during high-intensity training, the dribbling disc 272 may "carry" the ball across the ball feed inlet 221 due to excessive rotation speed, thereby causing the ball to be unable to smoothly fall into the ball guide tube 22, thereby limiting the speed and efficiency of the serve. Through the design of the lower ball baffle 275, it can be ensured that the balls in the lower ball assembly can fall smoothly into the ball guide tube 22, thereby improving the efficiency and effectiveness of the equipment in feeding and serving the balls, better adapting to high-intensity, high-shooting-rate, high-ball-volume and other training scenarios, and improving the reliability and stability of the ball bin device 20.

[0072] See also Figure 15 In some embodiments, a mounting slot 24 may be provided in the housing 21 and / or the ball guide tube 22, and the disc motor 43 may be engaged and fixedly mounted in the mounting slot 24. It should be understood that the design of the mounting slot 24 can, on the one hand, make the structure more compact and the fixation easier, thereby reducing the mass production cost of the device. On the other hand, due to the working mode of the friction wheel 44 and other factors, it may become loose due to friction and pressure reaction during long-term use. The design of the slot can further strengthen its mechanical structure and prevent problems such as falling off.

[0073] Please refer to Figure 15 In some embodiments, at least a portion of the friction surface 443 of the friction wheel 44 may be a curved surface, which may be adapted to the shape of the ball. For example, the curved surface may include an arc surface that is concave in the axial direction, and the curvature of the arc surface is 0.05 cm. -1 -0.315cm -1 .

[0074] Typically, but not limited to, the curvature of the arc surface can be 0.05, 0.10, 0.15, 0.20, 0.25, 0.30, 0.315, 0.35, or a range of any two values. For example, the curvature of the arc surface can be 0.05 cm -1 -0.315cm -1 The curved surface design can better apply friction and rotation to balls such as squash, tennis, and cricket, improving ball delivery efficiency and ensuring the stability and reliability of serving.

[0075] In some embodiments, see Figure 2 、 Figure 10 and Figure 16 The sports equipment may include a ball collecting guide 31 and a ball bin device 20. The ball collecting guide 31 has a ball storage port 311 and a ball receiving port 312. The ball storage port 311 is located higher than the ball receiving port 312. The ball receiving port 312 is connected to the ball bin device 20 through the ball storage port 311. A first driving module 41 is provided above the ball receiving port 312, which is used to contact the ball through the friction wheel 44 and accelerate the ball through friction transmission, so that the ball passes through the ball collecting guide 31 and reaches the ball bin device 20.

[0076] This arrangement enables the first drive module 41 to perform both the ball serving and ball collecting functions, making the overall device design more compact, saving design and production costs, improving the reusability of various systems within the device, and reducing the difficulty of assembly, maintenance, and production processes. Furthermore, it facilitates tasks such as transportation, storage, and maintenance, improving the modularity of the device. By using the same set of friction wheels for both ball collection and serving, and by eliminating the need for an additional elevator through the design of the ball bin device, the overall weight of the device is reduced, making the device more compact, and shortening the time required to retrieve and re-throw a single ball, thereby improving serving efficiency.

[0077] See also Figures 17 to 19 The present application also provides a ball collecting device 30, which can be used in the aforementioned tennis machine, squash machine, or other sports equipment 100. The ball collecting device 30 can be mounted on a movable body 10. The ball collecting device 30 specifically includes a ball collecting guide 31, a bracket 11, and a first drive module 41. The ball collecting guide 31 is connected to the movable body 10 and has a ball storage port 311 and a ball receiving port 312. The ball receiving port 312 is for balls on the ground, and the ball storage port 311 is for delivering balls to the ball bin device 20.

[0078] In some embodiments, the bracket 11 may be formed with at least one rotating shaft 12, through which the bracket 11 is rotatably connected to the movable body 10, and the position of the rotating shaft 12 is higher than the position of the ball receiving port 312. The rotating shaft 12 can be an active rotating shaft 12 directly driven by a motor or other power source, or a driven rotating shaft 12 driven by a belt, chain, or other transmission device rather than directly driven by a motor, or a virtual rotating shaft 12 generated by the entire system. The entire bracket 11 can rotate relative to the movable body 10 with the rotating shaft 12 as the axis.

[0079] In some embodiments, please refer to Figure 20 The first drive module 41 may include at least a disc motor 43 and a friction wheel 44. The friction wheel 44 of the first drive module 41 is sleeved around the outer periphery of the disc motor 43, and the rotation shaft 12 is positioned higher than the first drive module 41. It should be understood that the bracket 11 can rotate relative to the rotation shaft 12 to adjust the ball receiving position, so that the friction wheel 44 contacts the ball. The friction transmission of the first drive module 41 accelerates the ball, allowing the ball to pass through the ball receiving guide 31 and reach the ball storage port 311.

[0080] In some embodiments, see Figures 17 to 19 The ball collection guide 31 may be provided with a shielding portion 314 around the ball storage opening 311, or the movable body 10 may be provided with a shielding portion 314 corresponding to the ball storage opening 311. The shielding portion 314 is used to adjust the trajectory of the ball as it flies out of the ball collection guide 31. The design of the shielding portion 314 ensures that the ball falls securely into the ball storage space 214, reducing the risk of the ball hitting the storage wall or even flying out. This protects the device's internal delicate structure, improves ball collection efficiency, and ensures more stable and reliable operation.

[0081] In some embodiments, see Figure 17 and Figure 21The movable body 10 may include a chassis 14 and an opening / closing assembly 15. A retractable protective bar 16 is disposed around the periphery of the chassis 14. The opening / closing assembly 15 is connected to the protective bar 16 to drive the protective bar 16 to open or close. When opened, the protective bar 16 guides the ball into a ball receiving port 312. The ball receiving port 312 has a first side and a second side in a horizontal plane. The opening / closing assembly 15 and the protective bar 16 form a first guide module 171, which is disposed on one side of the ball receiving port 312. By cleverly utilizing the protective bar 16 on the chassis 14, the wheel hub, transmission mechanism, and other structures of the chassis 14 can be fully protected during high-intensity training, preventing direct hits from balls returned by the user, thereby improving the stability and reliability of the device. Furthermore, by modifying specific structures on the device to complete the ball collection task, material and design and production costs are saved, resulting in a more compact structure. Furthermore, the ball collection area can be expanded, improving ball collection efficiency. It should be further understood that the chassis 14 can have active motion capabilities, i.e., a motion chassis 14, or can only have passive motion capabilities, without specific limitation herein. Due to the design of the chassis 14 of the movable body 10, the ball collection device 30 can cooperate with the device's mobility to achieve automatic or remote ball collection, thereby improving user convenience. This arrangement allows for quick and convenient folding of the protective barrier, reducing the transport width of the sports device 100, making it easier to pass a trunk test and convenient for users to carry and transport.

[0082] In some embodiments, see Figure 7 、 Figure 8 and Figure 18 , the movable body 10 can be provided with a retractable pull rod 131 and a driven wheel 133. For another example, the movable body 10 can be provided with a motion chassis 14, and the motion chassis 14 includes at least three omnidirectional wheels 142. Through the design of the retractable pull rod 131 and the driven wheel 133, the user can simply and easily complete tasks such as moving the device, storing the device, carrying the device, and collecting the ball in scenarios such as insufficient power and failure of the motion chassis 14. Through the design of the motion chassis 14, on the one hand, the mobility is ensured, and on the other hand, through the design of the three omnidirectional wheels 142, while ensuring the stable standing of the device, it can also ensure good motion control ability of the device.

[0083] In some embodiments, the movable body 10 may be provided with a Bluetooth communication module, a wireless network communication module, a visual sensor, or a radar sensor. Through the design of the Bluetooth communication module, the wireless network communication module, the visual sensor, the radar sensor, etc., it becomes possible for the device to complete tasks such as scanning, obstacle avoidance, automatic ball picking, automatic charging, and automatic storage. Furthermore, the movable body 10 may also be provided with a power supply assembly 132 for powering the sports device 100. Specifically, the power supply assembly 132 may include a battery and a battery slot, wherein the battery is detachably connected to the battery slot, and the battery can be removed for charging.

[0084] In some embodiments, see Figure 16 、 Figure 17 and Figure 21 The opening and closing assembly 15 includes an opening and closing member 151, a sliding pair 152, and a first guide motor 153. The protective bar 16 has a first position 161 and a second position 162. The first position 161 is rotatably connected to one end of the opening and closing member 151, and the other end of the opening and closing member 151 is rotatably connected to the first guide motor 153. The second position 162 is slidably connected to the movable body 10 via the sliding pair 152. This arrangement enables the opening and closing assembly 15 to form a planar four-bar structure. Firstly, the opening and closing of the protective bar 16 can be achieved using only a single guide motor, facilitating control. Secondly, due to the high structural strength of the mechanism, it has better reliability, durability, and stability than a single rotational opening and closing mechanism. Thirdly, due to the mechanism's opening and closing direction design, the protective bar 16 can be closed to protect the chassis 14 and the ball receiving port 312 when the ball receiving device 30 is not in use, thereby reducing floor space, making the structure more compact, and further improving the reliability, durability, and transportability of the device.

[0085] Specifically, the first position 161 can be located between 1 / 6 and 5 / 6 of the total length of the protective bar 16, and the second position 162 can be located at the end of the protective bar 16 closest to the ball receiving opening 312. The rotation angle range of the protective bar 16 can include at least 0°-60°. It should be understood that by designing, adjusting, and controlling the angle range or position range, ball receiving performance and efficiency can be effectively improved.

[0086] Typically, but not limiting, the first position 161 may be located at 1 / 6, 1 / 4, 1 / 3, 1 / 2, 2 / 3, 3 / 4, 5 / 6 of the total length of the protection bar 16, or a range consisting of any two thereof. The rotation angle of the protection bar 16 may include 0°, 10°, 20°, 30°, 40°, 50°, 60°, or a range consisting of any two thereof.

[0087] In some embodiments, the opening and closing member 151 may be provided with a ball-guiding notch 1511. This notch 1511 prevents the ball from being obstructed when the protective bar 16 is open and guiding the ball to the ball receiving opening 312. It should be understood that when the protective bar 16 is guiding and collecting the ball, a portion of the opening and closing member 151 may obstruct the ball's trajectory to the ball receiving opening 312. The ball-guiding notch 1511 effectively prevents this problem.

[0088] In some embodiments, please refer to Figure 16 、 Figure 17 and Figure 22 The movable body 10 is also provided with a second guide module 172. The second guide module 172 is provided on the other side of the ball receiving port 312 relative to the first guide module 171. The second guide module 172 is provided on the other side of the ball receiving port 312 relative to the protective baffle 16. The second guide module 172 is used to guide the ball 200 to the ball receiving port 312. It should be understood that the use of the second guide module 172 can further expand the ball receiving and collecting area and improve the ball collecting efficiency. It should be further understood that the first guide module 171 and the second guide module 172 can be provided on the movable body 10 and can also play a role in the ball collecting task. Therefore, the first guide module 171 and the second guide module 172 can be either part of the ball collecting device or part of the movable body, and no specific limitation is made here.

[0089] In some embodiments, a translation rail 141 may be provided on the periphery of the chassis 14, and one end of the second guide module 172 is movably connected to the movable body 10 via the translation rail 141. With such a configuration, the second guide module 172 can be recovered when the device's ball collection function is not in use or during transportation and warehousing, thereby avoiding accidental collisions, drops, damage, etc., and improving the reliability and safety of the device. In addition, for different ball shapes, by adjusting the relative position of the second guide module 172, blockage can be prevented when the amount of balls is too large, effectively improving the efficiency of collecting and gathering balls. Furthermore, the second guide module 172 can also be detachably provided on the translation rail 141. It should be understood that the translation rail 141 can be provided directly or indirectly on the chassis 14. For example, the translation rail 141 can be provided on the shell 13, and the shell 13 can be provided on the chassis 14.

[0090] In some embodiments, the second guide module 172 may include a second guide motor 181, a driving shaft 182, a driven shaft 183, and a conveyor belt 184. The driving shaft 182 is rotatably connected to the second guide motor 181. The distance between the driven shaft 183 and the ball receiving port 312 is greater than the distance between the driving shaft 182 and the ball receiving port 312. The ends of the conveyor belt 184 are respectively mounted on the driven shaft 183 and the driving shaft 182, and the conveyor belt 184 drives the balls to the ball receiving port 312. This arrangement can effectively prevent blockages during the ball receiving process, improve the smoothness of ball receiving, and enhance ball receiving efficiency.

[0091] In some embodiments, the ball receiving guide 31 includes a ball receiving channel 313. A receiving opening 3131 is defined in the ball receiving channel 313, corresponding to the position of the first drive module 41. The receiving opening 3131 is configured to accommodate at least a portion of the first drive module 41. The design of the receiving opening 3131 not only lowers the first drive module 41, lowering the center of gravity and improving the reliability and stability of the device, but also makes the overall structure of the device more compact and reliable, facilitating transportation, storage, and mass production.

[0092] See also Figure 20 、 Figure 23 and Figure 24 The present application also provides a serving device 40, which can be used in the aforementioned tennis machine, squash machine, or other sports equipment 100. The serving device 40 may include a bracket 11, a first drive module 41, and a second drive module 42. The first drive module 41 may include two disc motors 43 and two friction wheels 44. The two disc motors 43 of the first drive module 41 are disposed on the bracket 11 and arranged opposite each other. The two friction wheels 44 of the first drive module 41 are respectively mounted on the outer circumferences of the two disc motors 43. The second drive module 42 may include two disc motors 43 and two friction wheels 44. The two disc motors 43 of the second drive module 42 are disposed on the bracket 11 and arranged opposite each other. The two friction wheels 44 of the second drive module 42 are respectively mounted on the outer circumferences of the two disc motors 43. These four friction wheels 44 can generate friction transmission on the ball 200 when the ball 200 passes between the first drive module 41 and the second drive module 42, causing the ball 200 to spin and launch.

[0093] Specifically, the bracket 11 has a first side 111 and a second side 112. The two disc motors 43 of the first drive module 41 are disposed opposite each other and are respectively disposed on the first side 111 and the second side 112 of the bracket 11. The two disc motors 43 of the second drive module 42 are disposed opposite each other and are respectively disposed on the first side 111 and the second side 112 of the bracket 11. By arranging the two disc motors 43 of each drive module opposite each other on either side of the bracket 11, the bracket 11 can be more resistant to the significant reaction impulse generated by the serving device 40 during the serving process, thereby improving the reliability and stability of the device and equipment. In some embodiments, a connecting member such as a fixing rod or spring can be provided between the first side 111 and the second side 112 of the bracket 11 to further enhance the bracket 11's ability to withstand the reaction impulse generated by the serving process. Furthermore, the design of the first side 111 of the bracket 11 and the second side 112 of the bracket 11 can facilitate the routing of the ball serving device 40, the ball receiving device 30, the movable body 10, etc., improve the structural and functional independence of the ball serving and receiving tasks, and prevent problems such as entanglement and jamming. Furthermore, the area of ​​the upper base 445 of the frustum 441 can be smaller than the area of ​​the lower base 446, and the upper bases 445 of the frustum 441 of the two friction wheels 44 in the first drive module 41 or the second drive module 42 are arranged correspondingly. Such an arrangement can fully utilize the arrangement of the first side 111 of the bracket 11 and the second side 112 of the bracket 11, not only facilitating the assembly and production of the equipment, but also making the shape more intuitive and standardized, facilitating quality inspection and maintenance.

[0094] In some embodiments, the bracket 11 may further include a ball launch guide 113, which may be disposed between the first side and the second side. The ball launch guide 113 is configured to guide the ball between the first drive module 41 and the second drive module 42. It should be understood that the ball launch guide 113 may be a ball launch conduit, a ball launch guide plate, a ball launch groove, or any combination thereof, as long as it can guide the ball 200 between the first drive module 41 and the second drive module 42. It should be further understood that when the ball 200 is transferred from the ball bin device 20 to the ball launch device 40, it may have a certain velocity. Therefore, the ball launch guide 113 may encompass at least a portion of the distance from the ball outlet 223 to the ball launch device 40, or may encompass the entire distance, without specific limitation herein.

[0095] In some embodiments, the bracket 11 may have a serving surface 114, which may include a serving opening 115. At least a portion of the serving opening 115 corresponds to the position between the first drive module 41 and the second drive module 42. The serving surface 114 protects the internal system components of the device, reducing the risk of internal structural and circuit failures caused by dust, rain, and other factors during outdoor training, storage, and transportation. Furthermore, because tennis balls and squash balls are heavy, users may hit the sports device 100 during intense training. The serving surface 114 effectively protects the internal mechanical structure and electronic components of the sports device 100, particularly fragile components such as the posture control module 45, from malfunctioning under external impact. Therefore, the design of the serving surface 114 improves the stability and reliability of the serving device 40 and the sports device 100.

[0096] In some embodiments, the bracket 11 may be formed with at least one rotating shaft 12, and the ball-serving device 40 can be rotated via the rotating shaft 12 to adjust the serving angle. It should be understood that the rotating shaft 12 can be a driving shaft 12 directly driven by a motor or other power source, a driven shaft 12 driven by a conveyor belt, chain, or other transmission device rather than directly driven by a motor, or a virtual rotating shaft 12 generated by the entire system. The entire bracket 11 can rotate relative to the sports device 100 about the rotating shaft 12 as its axis. It should be further understood that the design of the rotating shaft 12, friction wheel 44, and disc motor 43 not only improves serving power, but also, through elevation control, enables the ball-serving device 40 to serve higher and farther from a lower position within the entire device. This allows the design of the position of the ball-serving device 40 within the entire device to better balance the significant reaction impulse generated by the ball-serving device 40 during serving, improving the stability, reliability, and safety of the entire device and preventing overturning.

[0097] In some embodiments, see Figure 20 The ball receiving device 30, the ball serving device 40, or the movable body 10 may also be provided with a posture control module 45. The posture control module 45 may be provided on the movable body 10 to adjust the posture of the bracket 11 relative to the movable body 10. This configuration can better accommodate various ball shapes, facilitate ball collection, and help ensure that at least a portion of the ball receiving device 30 is smoothly used for serving tasks.

[0098] In some embodiments, the attitude control module 45 may include an attitude control motor 451, a driving pulley 452, a driven pulley 453 and a synchronous belt 454. The driving pulley 452 is rotatably connected to the attitude control motor 451, and the driven pulley 453 is fixedly connected to the bracket 11. The attitude control motor 451 uses the driving pulley 452 to drive the driven pulley 453 through the synchronous belt 454, thereby driving the bracket 11 to rotate around the rotating shaft 12.

[0099] Specifically, the number of teeth of the driven pulley 453 is 1.5 to 15 times the number of teeth of the driving pulley 452. The attitude control module 45 is at least capable of driving the bracket 11 to rotate 0°-60° around the rotating shaft 12. Typically, but not limiting, the number of teeth of the driven pulley 453 is 1.5 times, 3 times, 4.5 times, 6 times, 7.5 times, 9 times, 10.5 times, 12 times, 13.5 times, 15 times, or a range consisting of any two values ​​of the number of teeth of the driving pulley 452. The attitude control module 45 is at least capable of driving the bracket 11 to rotate 10°, 20°, 30°, 40°, 50°, 60°, or a range consisting of any two values ​​of the number of teeth around the rotating shaft 12. For example, the number of teeth of the driven pulley 453 can be 40, and the number of teeth of the driving pulley 452 can be 200.

[0100] In some embodiments, the attitude control module 45 can also enhance stability, reliability, and other performance by adding specific devices. For example, the attitude control motor 451 can also include a speed reducer to enhance its power output and ensure its stability and reliability. Alternatively, the attitude control motor 451 can include a servo motor or a stepper motor to achieve elevation position control. Furthermore, the attitude control module 45 can also include a tensioning pulley 455, which engages with the synchronous belt 454 to adjust the loop configuration of the synchronous belt 454. The tensioner 455 adjusts the loop shape of the synchronous belt 454 to facilitate structural design, preventing the synchronous belt 454 from occupying excessive internal space and interfering with wiring or other device designs. The tensioner 455 also adjusts the tightness of the synchronous belt 454, thereby applying appropriate tension to ensure that the synchronous belt 454 maintains proper tightness during operation. This prevents slippage caused by insufficient tension or excessive wear caused by excessive tension, extends the life of the synchronous belt 454, maintains the synchronization accuracy of the synchronous belt 454, reduces deviation, vibration, and noise during operation, and compensates for the stretching and elongation of the synchronous belt 454 during long-term use, thereby improving the operational stability and reliability of the system. For example, the attitude control module 45 may also include a limit switch that resets the attitude control module 45 based on the position of the driven pulley 453. This limit switch-based reset design ensures that the attitude control module 45 is promptly and accurately corrected after use, preventing loss of pitch control accuracy after long-term use and improving the repeatability and reliability of the attitude control module 45.

[0101] In some embodiments, the rotating shaft 12 can be positioned above the first drive module 41 to facilitate adjustment of the serve elevation angle and ball receiving position. Specifically, the first drive module 41 can be positioned below the second drive module 42, with the second drive module 42 positioned closer to the rotating shaft 12 than the first drive module 41. It should be understood that the rotating shaft 12 can be positioned above or below the second drive module 42. When the rotating shaft 12 is below the second drive module 42, the rotating shaft 12 can be configured as a virtual rotating shaft 12, a rotating shaft 12 positioned outside the bracket 11, or other rotating shaft 12 that does not affect the serve. This reduces the length of the moment arm of the reaction impact relative to the rotating shaft 12 during the serve, minimizing impact damage and improving the stability of the rotating shaft 12. When the rotating shaft 12 is positioned above the second drive module 42, the first drive module 41 can be moved through a greater angle, thereby accommodating a wider range of balls of varying standards and enhancing the versatility of the ball receiving function.

[0102] In some embodiments, the friction wheel 44 may include at least a frustum 441, the frustum 441 having a side 442, and the side 442 of the frustum 441 forming a friction surface 443, the friction surface 443 being used to generate friction transmission on the ball and cause the ball to rotate and be launched when the ball passes between the first drive module 41 and the second drive module 42.

[0103] It should be understood that since the two disc motors 43 of the first drive module 41 and the two disc motors 43 of the second drive module 42 are all arranged on the bracket 11 and are arranged relative to each other, the power layout and space configuration are more reasonable, which not only saves the plate and equipment content space, but also makes the overall structure of the serving device 40 and the sports equipment 100 more compact, enhances the friction effect, and facilitates electronic control. It also has greater stability and reliability in mechanical structure strength, and can use thinner and lighter bracket 11 components to adapt to high-intensity, high-load, and long-term serving training.

[0104] It should be further understood that because the friction wheel 44 includes a frustum 441, and the frustum 441 can generate friction transmission on the ball through the friction surface 443 on the side 442, causing the ball to spin and launch, combined with the relative arrangement of the above-mentioned disc motor 43, friction-spin control in multiple different directions is achieved, making it possible to generate complex ball spin through multiple linearly independent friction forces. Specifically, the area of ​​the upper base 445 of the frustum 441 of the friction wheel 44 can be smaller than the area of ​​the lower base 446, and the upper bases 445 of the frustum 441 of the two friction wheels 44 in the first drive module 41 or the second drive module 42 are arranged in a corresponding manner. Furthermore, the disc motor 43 can also be provided with an encoder, which can be used to achieve speed control of the disc motor 43.

[0105] It should be understood that the friction wheel 44 can include only a frustum 441, a frustum 441 and a cylinder, or two frustums 441, without specific limitation. The term frustum 441 is used for convenience only. The upper base 445 and lower base 446 of the frustum 441 do not need to be a regular, standard circle, but can also be other patterns such as an ellipse. In addition, the side surface 442 of the frustum 441 does not need to be completely uniform. For example, the friction surface 443 of the frustum 441 can be formed into a curved surface that is concave toward the axis of the frustum 441 to further optimize the friction effect based on the curvature of the ball.

[0106] It should be further understood that the design of the inclination angle and the arc surface can make the friction wheel 44 more consistent with the deformation of balls such as tennis balls and squash balls when they are squeezed, and generate forces in four unrelated directions, which is conducive to achieving complex rotation control. For example, the curvature of the arc surface can be made greater than the curvature of a standard tennis ball, but not completely flat, which conforms to the shape of a tennis ball when squeezed and rubbed, thereby expanding the friction contact area, improving the friction effect, enhancing the efficiency of the device, reducing energy loss, and improving the energy conversion efficiency from electrical energy to kinetic energy.

[0107] Typically, but not limited to, the curvature of the arc surface can be 0.05, 0.10, 0.15, 0.20, 0.25, 0.30, 0.315, 0.35, or a range of any two values. For example, the curvature of the arc surface can be 0.05 cm -1 -0.315cm -1 The curved surface design can better provide friction and rotation for balls such as squash, tennis, and table tennis, improving serve quality and training results.

[0108] In some embodiments, the friction wheel 44 can be detachably mounted on the disc motor 43, or the friction wheel 44 can be provided with a removable arc-shaped bushing. This arrangement not only allows the curvature of the friction wheel to be adjustable and interchangeable, adapting to various ball shapes, but also allows for convenient replacement of the friction wheel, for example, easily replacing a worn friction wheel after long-term use, thereby reducing equipment maintenance costs.

[0109] The present application also provides a serving method that may include controlling the rotational speed of one or more friction wheels 44 to deliver spin. It should be understood that by independently controlling the rotational speed of multiple friction wheels 44, topspin, backspin, left-spin, right-spin, or any combination of at least two of these spins can be achieved, thereby improving serve quality, increasing serve diversity, and enhancing both the enjoyment of the sport and the effectiveness of training.

[0110] In some embodiments, the rotational speeds of the upper and lower friction wheels 44 can be controlled to produce topspin or backspin. By controlling the rotational speeds of the upper and lower left friction wheels 44, and the upper and lower right friction wheels 44, left-hand spin, right-hand spin, or a combination of at least two of these spins can be produced.

[0111] In some embodiments, different spin levels can be generated by varying the rotational speeds of the four friction wheels 44 in the first drive module 41 and the second drive module 42, and the intensity of the spin can be controlled by the rotational speeds of the friction wheels 44. For example, the friction wheels 44 of the second drive module 42 can be made faster than those of the first drive module 41 to generate topspin. Alternatively, the friction wheels 44 of the first drive module 41 can be made faster than those of the second drive module 42 to generate backspin. Alternatively, the left friction wheels 44 of the first and second drive modules 41 and 42 can both be made faster than their right friction wheels 44 to generate left side spin. Alternatively, the right friction wheels 44 of the first and second drive modules 41 and 42 can both be made faster than their left friction wheels 44 to generate right side spin.

[0112] In some embodiments, an encoder can also be provided for the disc motor 43 of the first drive module 41 and the second drive module 42. The encoder can be used to detect the motor speed, realize closed-loop control, and precisely regulate the speed. This not only improves the control accuracy and the quality of the serve, but also can quickly control and restore the speed to the preset speed when the friction wheel 44 slows down after each ball is launched, thereby ensuring the consistency of the speed of the friction wheel 44 and the quality of the serve for each ball.

[0113] In some embodiments, the angle of elevation of the serve can be controlled by controlling the rotation of the support 11 about the rotation axis 12. It should be understood that by controlling the elevation angle of the spin ball, the launch quality and diversity of the serve can be further improved, thereby improving the training effect. It should be further understood that the arrangement and design of the serving device 40 and the receiving device 30 in the embodiments of the present application, particularly the design of the friction wheel 44, the rotation axis 12, and the attitude control module 45, can simplify the structural design, reduce the overall mass and volume of the device, reduce the difficulty of serving control, and enhance the convenience of transportation, maintenance, and modification.

[0114] In some embodiments, the ball may be served using a serving method, which may be applied to a sports device as in any embodiment of the present application. The serving method may include steps S101 to S102.

[0115] S101: Obtain target serving parameters.

[0116] For example, serving parameters can be obtained via a mobile phone, tablet, or other terminal device or server. These serving parameters may include specific target linear velocity and target angular velocity, as well as specific training mode information. This configuration facilitates the user's use of the sports device 100, allowing them to better adjust and develop their training performance in serving tasks, improve training effectiveness, and make the sports device 100 more flexible and intelligent.

[0117] S102 , collecting encoder signals and controlling the disk motor 43 to operate.

[0118] For example, the rotational linear velocity of the friction wheel 44 can be made to reach a target linear velocity, and the speed difference between the left and right wheels can be made to reach a target angular velocity, so that the served ball meets the serving parameters.

[0119] In some embodiments, the trajectory of a ball can be predicted using a model such as a flight simulation LUT. Specifically, when the pitch angle and horizontal rotation angle of the support change, the sports device 100 can correct and adjust the friction wheel speed and wheel speed difference based on the motion data, thereby improving the reliability and accuracy of the ball 200 launch.

[0120] The present application also provides a sports device 100, which may include the ball bin device 20, the ball receiving device 30, or the ball serving device 40 of any embodiment of the present application. The sports device 100 may be a tennis machine, a squash machine, a cricket machine, a pickle ball machine, or a table tennis machine.

[0121] An embodiment of the present application further provides a training system, which may include a terminal device and a sports device as in any embodiment of the present application.

[0122] For example, the terminal device can be used to control the sports equipment to set serving parameters such as serving frequency, ball speed, strength, direction, elevation angle, and position. The terminal device can also be used to control the serving mode and receiving mode of the sports equipment, as well as perform tasks such as obstacle avoidance, map scanning, or self-checking. The terminal device can also be used to adjust parameters or modes according to actual conditions such as the number of players, positions, and proficiency, so as to more intelligently adapt to the user's training needs.

[0123] In some embodiments, the training system may also include a server, which can be used to parse requests from terminal devices or sports devices, send instructions to terminal devices or sports devices, and provide computing power assistance and storage resources to terminal devices or sports devices to further improve the training efficiency of sports devices.

[0124] Those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples without mutual contradiction.

[0125] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A sports equipment, characterized in that include: A movable body, wherein a bracket is provided on the movable body, the bracket is formed with at least one rotating shaft, and the bracket is rotatably connected to the movable body via the rotating shaft; A ball bin device is provided on the movable body, the ball bin device has a ball feeding outlet, and the ball bin device forms a ball storage space; a ball collecting device, the ball collecting device comprising a ball collecting guide, the ball collecting guide being disposed on the movable body, the ball collecting guide having a ball storage port and a ball collecting port, the ball collecting port being used to collect balls on the ground, and the ball storage port being used to transport balls to the ball bin device; A ball serving device, the ball serving device comprising at least a first drive module, the first drive module being disposed on the bracket, the position of the rotating shaft being higher than the position of the first drive module, the first drive module comprising a disc motor and a friction wheel, the friction wheel being sleeved on the outer circumference of the disc motor, the ball serving device being connected to the ball storage space through the ball feeding outlet; The bracket can rotate relative to the rotating shaft to adjust the ball receiving position, so that the friction wheel contacts the ball and accelerates the ball through friction transmission of the first drive module, so that the ball passes through the ball receiving guide and reaches the ball storage port. The bracket can also adjust the ball serving position by rotating relative to the rotating shaft, and the first drive module is used for serving the ball.

2. The exercise equipment according to claim 1, wherein The ball warehouse device comprises: A bin body, the bin body at least comprising a bottom wall, the bottom wall being formed with at least one ball drop opening, and a ball storage space being formed above the bottom wall; A ball guide tube, the ball guide tube having a ball feeding inlet, a ball feeding channel and a ball feeding outlet, the ball feeding inlet being connected to the ball drop port, the ball feeding outlet being connected to the ball feeding inlet through the ball feeding channel, and the ball feeding outlet being located higher than the ball feeding inlet; a ball feeding assembly, the ball feeding assembly comprising a ball feeding motor and a ball feeding wheel, the ball feeding wheel being rotatably connected to the ball feeding motor, and at least a portion of the ball feeding wheel being disposed in the ball feeding channel; When the ball passes through the ball drop port and the ball feeding channel, friction transmission occurs between the ball feeding wheel and the ball, so that the ball is accelerated and reaches the ball feeding outlet.

3. The exercise equipment according to claim 2, wherein The movable body also includes a shell, and the warehouse body also includes a side wall. At least a portion of the inner wall of the shell can serve as at least a portion of the side wall of the warehouse body, so that a ball storage space can be formed above the bottom wall, and the ball storage port is opened on the side wall.

4. The exercise equipment according to claim 3, wherein The shell further includes a top cover, at least a portion of which is detachably or movably disposed above the bottom wall.

5. The exercise equipment according to claim 2, wherein The ball feeding channel forms at least one bend, and at least a portion of the ball feeding wheel is arranged at the bend.

6. The exercise equipment according to claim 2, wherein The warehouse body and / or the ball guide tube are provided with a mounting slot, and the ball feeding motor is clamped and fixedly arranged in the mounting slot.

7. The exercise equipment according to claim 1, wherein The movable body includes a chassis and an opening and closing assembly. An openable and closeable protective baffle is provided on the circumference of the chassis. The opening and closing assembly is connected to the protective baffle and is used to drive the protective baffle to open or close. When the protective baffle is opened, it is used to guide the ball to the ball receiving port. The ball receiving port has a first side and a second side on a horizontal plane. The opening and closing assembly and the protective baffle constitute a first guide module, and the first guide module is provided on one side of the ball receiving port.

8. The exercise equipment according to claim 7, wherein The opening and closing assembly includes an opening and closing member, a sliding pair and a first guide motor. The protective barrier has a first position and a second position. The first position is rotationally connected to one end of the opening and closing member, and the other end of the opening and closing member is rotationally connected to the first guide motor. The second position is slidingly connected to the movable body through the sliding pair.

9. The exercise equipment according to claim 7, wherein The movable body is also provided with a second guide module, which is arranged on the other side of the ball receiving port relative to the first guide module, and is arranged on the other side of the ball receiving port relative to the protective baffle, and is used to guide the ball to the ball receiving port.

10. The exercise equipment according to claim 7, wherein The opening and closing angle range of the protection bar includes at least 0°-60°; or, The movable body is provided with a retractable pull rod and a driven wheel; or, The movable body is provided with a moving chassis, and the moving chassis includes at least three omnidirectional wheels.

11. The exercise equipment according to claim 1, wherein The ball serving device further includes a second drive module, wherein the first drive module includes two disc motors and two friction wheels, the two disc motors of the first drive module are disposed on the bracket and arranged opposite to each other, and the two friction wheels of the first drive module are respectively sleeved on the outer circumferences of the two disc motors; The second drive module includes two disc motors and two friction wheels. The two disc motors of the second drive module are arranged on the bracket and opposite to each other. The two friction wheels of the second drive module are respectively sleeved on the outer circumferences of the two disc motors. The friction wheel at least includes a frustum, the frustum includes a side surface, and the side surface of the frustum is formed with a friction surface, and the friction surface is used to generate friction transmission on the ball and cause the ball to be rotated and launched when the ball passes between the first drive module and the second drive module.

12. The exercise equipment according to claim 11, wherein The side surface of the truncated cone has an inclination angle of 45° to 85° relative to the side surface of the lower base of the truncated cone; or The friction surface of the frustum is formed into an arc surface that is concave toward the axis of the frustum, and the curvature of the arc surface is 0.05 cm -1 -0.315cm -1 ; or, The friction wheel is detachably mounted on the disc motor; or, The friction wheel is provided with a detachable arc-surface bushing.

13. The exercise equipment according to claim 11, wherein The bracket further includes a ball guide disposed between the first side and the second side, and configured to guide the ball from the ball feeding outlet to between the first driving module and the second driving module.

14. The exercise equipment according to claim 1, wherein The ball serving device further comprises: The attitude control module includes an attitude control motor, a driving pulley, a driven pulley and a synchronous belt. The driving pulley is rotatably connected to the attitude control motor, and the driven pulley is fixedly connected to the bracket. The attitude control motor uses the driving pulley to drive the driven pulley through the synchronous belt, thereby driving the bracket to rotate around the rotating shaft.

15. The exercise equipment according to claim 14, wherein The attitude control module further includes a reducer, the power output shaft of the attitude control motor is connected to the reducer, and the attitude control motor further includes a servo motor or a stepper motor; or, The attitude control module further includes a tensioning wheel, which cooperates with the synchronous belt and is used to adjust the loop shape of the synchronous belt; or, The attitude control module further includes a limit switch, and the limit switch is used to reset the attitude control module according to the position of the driven pulley.

16. The exercise equipment according to claim 14, wherein The attitude control module can at least drive the bracket to rotate 0°-60° around the rotation axis; or The number of teeth of the driven pulley is 1.5 to 15 times the number of teeth of the driving pulley.

17. The exercise equipment according to claim 1, wherein The ball receiving guide comprises a ball receiving pipe, wherein the ball receiving pipe is provided with a receiving opening corresponding to a position of the first driving module, and the receiving opening is used to receive at least a portion of the first driving module.

18. The exercise equipment according to claim 1, wherein The movable body is provided with a Bluetooth communication module, a wireless network communication module, a visual sensor or a radar sensor; or The disc motor is further provided with an encoder, and the encoder is used to realize speed control of the disc motor.

19. A training system, characterized in that: The training system includes a terminal device and the sports equipment according to any one of claims 1-18.

20. A serving method, characterized in that: Applied to the sports equipment according to any one of claims 1 to 18, the serving method comprises: The rotation speed of the friction wheel is controlled to generate spin on the ball.

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