Movable lifting high-speed ball serving robot

Abstract

The invention discloses a mobile liftable high-speed ball serving robot, and relates to the technical field of physical training equipment, the mobile liftable high-speed ball serving robot comprises a robot main body mechanism, the robot main body mechanism comprises a support beam frame, and the upper surface and the bottom surface of the support beam frame are both fixedly connected with two groups of connecting lugs; two middle cross beams are fixedly connected to the upper surface of the supporting beam frame, a power supply battery is connected to the interior of the supporting beam frame in a clamped mode, and the power supply battery is electrically connected with electric equipment of the small ball serving robot through a wire. Different kinds of balls are conveyed into the launching head located at the high position, it is ensured that the balls smoothly enter an inlet of the ball conveying bin under the action of gravity, the balls are separated into the small chambers to be conveyed, and the compatibility of the shapes, the sizes and the number of the balls is remarkably improved; the device can be used for launching small balls such as tennis balls, badminton balls, Pick balls, table tennis balls and baseballs.

Description

Technical Field

[0001] This invention relates to the field of sports training equipment technology, specifically to a mobile, liftable, high-speed ball-serving robot. Background Technology

[0002] In the training process of various small ball sports, the ball-serving equipment plays a crucial role. The high-speed small ball serving robot is an automated device specifically designed to launch various small balls. It is mainly used in sports training, teaching, and entertainment scenarios. Through mechanical structure and control system, it can simulate the human serving action to achieve high-speed, accurate, and diverse serving effects, helping athletes or enthusiasts improve their specific skills such as receiving and reaction.

[0003] Most existing ball-serving machines, such as tennis ball-serving machines, cannot move. The speed and trajectory of the ball are strongly correlated with the landing point. Once the landing point is determined, the ball speed and trajectory are fixed, making it difficult to simulate a real match. The launch port is close to the ground, so the ball can only undergo an upward projectile motion. The height of the launch port cannot be adjusted, which makes the tennis ball fly out of the court easily due to its high speed. This limits the ball speed of the tennis ball-serving machine. Due to the limitations of the mechanical structure, tennis ball-serving machines cannot be integrated with large AI models, resulting in limited functionality, poor simulation, and suitability only for beginner teaching. In addition, the limited functionality of the ball-serving machine often means that it can only launch one type of ball.

[0004] Combining the above issues, we find that existing high-speed ball-serving robots on the market cannot simultaneously avoid the problems mentioned above. Even if they can be solved, they require external tools, thus failing to achieve the desired effect. Therefore, we propose a mobile, liftable high-speed ball-serving robot. Summary of the Invention

[0005] The purpose of this invention is to provide a mobile, liftable, high-speed ball-serving robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a mobile, liftable, high-speed ball-serving robot, comprising a robot main body mechanism, the robot main body mechanism including a support beam frame, two sets of connecting lugs fixedly connected to the upper surface and the bottom surface of the support beam frame, two intermediate crossbeams fixedly connected to the upper surface of the support beam frame, a power supply battery snapped into the inside of the support beam frame, the power supply battery being electrically connected to the power supply equipment of the ball-serving robot via wires, a battery support plate fixedly connected to the bottom surface of the support beam frame, the bottom surface of the power supply battery contacting the upper surface of the battery support plate, and a ball-serving mechanism disposed above the support beam frame; The ball-serving mechanism includes a ball storage and supply unit located above the support beam. The ball storage and supply unit is used to store and supply small balls. The ball-launching mechanism also includes an adjustment launch unit, which is located to the left of the ball storage and supply unit. The ball storage and supply unit works in conjunction with the adjustment launch unit, which is used to adjust the launch of small balls in different states and of different types. A suspension and movement mechanism is provided below the adjustment and launching unit. The suspension and movement mechanism works in conjunction with the ball-serving mechanism to enable the ball-serving robot to move on various terrains.

[0007] Preferably, the ball storage and supply unit includes a platform support base. The bottom surface of the platform support base is fixedly connected to the upper surfaces of two intermediate crossbeams. An L-shaped cover plate and a ball delivery chamber are fixedly connected to the upper surface of the platform support base. A ball storage chamber is fixedly connected to the right side of the ball delivery chamber. A ball delivery outlet cylinder is fixedly connected to the upper surface of the ball delivery chamber. A spring chain is movably hinged to the upper surface of the ball delivery outlet cylinder. A connecting joint is fixedly connected to the end of the spring chain away from the ball delivery outlet cylinder. A stepper motor is fixedly connected to the inner wall of the L-shaped cover plate. Gear shafts arranged at equal intervals are rotatably connected inside the L-shaped cover plate. A rotating gear is fixedly connected to the outer surface of each gear shaft. Several rotating gears mesh in pairs. A synchronous wheel is fixedly connected to the left side of one of the rotating gears. A synchronous belt is fitted on the output end of the stepper motor and the outer surface of the synchronous wheel. A transmission wheel is fixedly connected to the right end of each gear shaft. Driven wheel shafts arranged at equal intervals are rotatably connected inside the ball feeding chamber. A tension wheel is fixedly connected to the outer surface of each driven wheel shaft. Conveyor belts are fitted on the outer surfaces of several tension wheels and several transmission wheels. The left side of each conveyor belt contacts the right side of the L-shaped cover plate. Stepped conveyor plates arranged at equal intervals are fixedly connected to the outer surface of each conveyor belt.

[0008] Preferably, two guide arc plates are fixedly connected to the right side of the L-shaped cover plate, and the right side of both guide arc plates is in contact with the inner wall of the ball delivery chamber.

[0009] Preferably, the upper surface of the support beam and the upper surface of the two intermediate crossbeams are each fixedly connected to two mounting brackets, and the upper surface of each mounting bracket is fixedly connected to a support top plate.

[0010] Preferably, the adjustment and launching unit includes a transition box, the bottom surface of the connecting joint is fixedly connected to the upper surface of the transition box, the front of the transition box is fixedly connected to a ball feeding channel, the bottom surface and the upper surface of the ball feeding channel are respectively fixedly connected to a launch head base plate and a launch head cover plate, the upper surface of the launch head base plate and the bottom surface of the launch head cover plate are jointly fixedly connected to a launch barrel, the upper surface of the launch head cover plate is fixedly connected to a camera, the bottom surface of the launch head base plate has two shifting grooves, the interior of each of the two shifting grooves is slidably connected to a friction wheel shaft, the upper surface of each of the two friction wheel shafts is fixedly connected to a friction wheel motor, and the two friction wheel motors... The output ends of each device are fixedly connected to rotating friction wheels. A transmitter mounting plate is provided below the transmitter base plate. Two support plates are fixedly connected to the upper surface of the transmitter mounting plate. Two transmitter uprights are fixedly connected to the upper surface of the transmitter base plate and the bottom surface of the transmitter cover plate. A pitch motor is fixedly connected to the inner wall of one of the support uprights. An L-shaped upper bracket is fixedly connected to the bottom surface of the transmitter mounting plate. A rotating platform is provided below the L-shaped upper bracket. A transmitter platform is fixedly connected to the bottom surface of the rotating platform. A ball screw module is fixedly connected to the inner wall of the L-shaped cover plate. A drive motor is fixedly connected to the input end of the ball screw module.

[0011] Preferably, an L-shaped lower support is provided below the L-shaped upper support, the bottom surface of the L-shaped lower support is fixedly connected to the upper surface of the rotating platform, a damper is fixedly connected to the inner wall of the L-shaped lower support and the inner wall of the L-shaped upper support, and two slide rails are fixedly connected to the upper surface of the rotating platform, both of which are slidably connected to the inside of the L-shaped upper support.

[0012] Preferably, both the front and back sides of the ball screw module are fixedly connected to triangular reinforcing frames, and the bottom surfaces of both triangular reinforcing frames are fixedly connected to the inner wall of the L-shaped cover plate.

[0013] Preferably, a mounting bracket is fixedly connected to the right side of the ball screw module, and the bottom surface of the mounting bracket is fixedly connected to the upper surface of the ball delivery chamber.

[0014] Preferably, the suspension movement mechanism includes a radar mounting bracket, the bottom surface of which is fixedly connected to the upper surfaces of two intermediate crossbeams. A lidar is fixedly connected to the upper surface of the radar mounting bracket. Front and rear suspension connecting plates are fixedly connected to the upper surfaces and bottom surfaces of the two intermediate crossbeams. A shock absorber hinge is movably hinged to the left and right sides of each front and rear suspension connecting plate. A shock absorber bracket is movably hinged to the side of each of the shock absorber hinges that are far apart from each other. A shock absorber is movably hinged to the inner wall of each shock absorber bracket. A high-speed brushless servo motor is fixedly connected to the telescopic end of each shock absorber. A Mecklen wheel is fixedly connected to the output end of each high-speed brushless servo motor. A main controller is fixedly connected to the bottom surfaces of the two intermediate crossbeams. A speed sensor is fixedly connected to the upper surface of the support beam.

[0015] Preferably, the bottom surface of the support beam is fixedly connected with equidistant universal joints, and each universal joint is rotatably connected with anti-tipping wheels.

[0016] A launching method for a mobile, liftable, high-speed ball-launching robot includes the following steps: Let the horizontal component of the initial velocity of the ball be V1, the height of the tennis net bead be h = 0.914m, the length of the half court be d = 11.885m, the acceleration due to gravity be g = 9.8, and assume H = 3m; Traditional methods Since the tennis ball undergoes upward projectile motion, let t be the time it takes to reach the middle of the net. When the initial horizontal velocity is at its fastest and the ball is not out of bounds, it will be close to the top of the middle net. Neglecting air resistance, we can calculate: t=0.432s V1 = d / t = 27.511 m / s = 99 km / h Lifting method Since the tennis ball undergoes a downward throwing motion, h < 1 / 2H. Therefore, theoretically, as long as the launcher hardware has sufficient power, the horizontal velocity V2 is not limited by the field and V2 ≫ V1, and can be infinitely large.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. By setting up a ball storage and supply unit, this invention can transport different types of balls to the launching head located at a high position, ensuring that the balls can smoothly enter the ball delivery chamber entrance under the action of gravity. Furthermore, the balls are separated into small chambers for transport, which significantly improves the compatibility with the shape, size, and quantity of the balls. This allows the device to launch small balls such as tennis balls, badminton shuttlecocks, pickles, table tennis balls, and baseballs, thereby enabling the high-speed ball launching robot to send different types of balls.

[0018] 2. This invention, by setting up an adjustable launching unit, can launch different types of balls. The ball storage and supply unit transmits the ball to the adjustable launching unit via a chain conveyor, where a high-speed rotating friction wheel forces the projectile out, completing the launch. This mobile, liftable, high-speed ball-launching robot can arbitrarily adjust the height of the launching nozzle within 0.2-3 meters, thus simulating the realistic serving height of various ball types. The launching nozzle can rotate horizontally from 0-180°, covering the entire court. The nozzle can also perform a -90-90° pitch motion around the motor axis. Adjusting the launching nozzle height of this ball-launching robot causes the tennis ball to undergo a downward trajectory. In theory, as long as the launcher's hardware power is sufficient, the horizontal speed is not limited by the field and can be infinitely large, allowing for the launch of balls with more trajectories and a wider range of ball speeds, enabling the launched ball speed to reach 180km / h. By adjusting the differential speed of the friction wheels, left-spin and right-spin balls can be launched. The position of the friction wheels can be adjusted, thereby adjusting the distance between the friction wheels, making it suitable for launching different types of balls. A velocity measuring instrument is installed inside the launch cannon to feed back the ball speed data to the sensors and corresponding receivers for data recording. A camera is installed on the top of the launcher to identify the position of the trainee on the opposite side, thereby launching targeted training trajectory balls, which can improve the compatibility and intelligence of this small ball launching robot.

[0019] 3. This invention utilizes a suspended movement mechanism with four independently suspended drive wheels to ensure the robot's stability during movement and adaptability to various ball-shaped terrains. A laser radar is installed at the front of the device to determine the speed and direction of incoming balls and transmit this information to the main control system, enabling the robot to determine the landing point and move to that point to serve, simulating a real-person match. In addition, the laser radar can record the speed and landing position of each ball, generating a playing report for trainees to review later. The use of McClum wheel drive allows the chassis to move quickly and flexibly, enabling translation in all directions and rotation, ensuring the robot can quickly move to the target point to serve. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the supporting beam frame of the present invention; Figure 3 This is a bottom view of the supporting beam structure of the present invention; Figure 4 This is a schematic diagram of the stepper motor of the present invention; Figure 5 This is a schematic diagram of the ball delivery compartment of the present invention; Figure 6 This is a rear view structural diagram of the L-shaped cover plate of the present invention; Figure 7 This is a schematic diagram of the transition box of the present invention; Figure 8 This is a schematic diagram of the structure of the firing barrel of the present invention; Figure 9 This is a bottom view of the transmitter base plate of the present invention; Figure 10 This is a schematic diagram of the launch speed of the present invention.

[0021] In the diagram: 1. Main robot structure; 11. Support beam; 12. Connecting lug; 13. Intermediate crossbeam; 14. Mounting frame; 15. Supporting top plate; 16. Power supply battery; 17. Battery support plate; 2. Ball serving mechanism; 21. Ball storage and supply unit; 2101. Platform support base; 2102. Ball delivery bin; 2103. L-shaped cover plate; 2104. Ball storage bin; 2105. Ball delivery and guide tube; 2106. Wire chain; 2107. Connecting joint; 2108. Stepper... 2109. Motor; 2110. Synchronous pulley; 2111. Synchronous belt; 2111. Rotating gear; 2112. Gear shaft; 2113. Transmission wheel; 2114. Driven wheel shaft; 2115. Conveyor belt; 2116. Stepped conveyor plate; 2117. Guide arc plate; 2118. Tensioning wheel; 22. Adjustment launch unit; 2201. Transition box; 2202. Ball delivery channel; 2203. Launch head base plate; 2204. Launch head cover plate; 2205. Launch head upright plate; 2206. Pitch motor; 2207. Support plate; 2208. Launcher mounting plate; 2209. L-shaped upper bracket; 2210. Damper; 2211. Rotating platform; 2212. Launch platform; 2213. Camera; 2214. Launch barrel; 2215. Friction wheel motor; 2216. Rotating friction wheel; 2217. Friction wheel shaft; 2218. Displacement groove; 2219. Triangular reinforcement frame; 2220. Drive motor; 2221. Ball screw 1. Brace module; 2222. Mounting bracket; 2223. Slide rail; 2224. L-shaped lower bracket; 3. Suspension moving mechanism; 301. Radar mounting bracket; 302. LiDAR; 303. Front and rear suspension connecting plates; 304. Shock absorber hinge; 305. Shock absorber bracket; 306. Shock absorber; 307. High-speed brushless servo motor; 308. Mechram wheel; 309. Universal bracket; 310. Anti-tipping wheel; 311. Main controller; 312. Speed ​​sensor. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Example 1: Please refer to Figures 1-7 The present invention provides a technical solution: a mobile, liftable, high-speed ball-serving robot, including a robot main body 1, the robot main body 1 including a support beam 11, two sets of connecting lugs 12 are fixedly connected to the upper surface and the bottom surface of the support beam 11, two intermediate crossbeams 13 are fixedly connected to the upper surface of the support beam 11, a power supply battery 16 is snapped into the inside of the support beam 11, the power supply battery 16 is electrically connected to the power supply equipment of the ball-serving robot through wires, a battery support plate 17 is fixedly connected to the bottom surface of the support beam 11, the bottom surface of the power supply battery 16 is in contact with the upper surface of the battery support plate 17, and a ball-serving mechanism 2 is arranged above the support beam 11; Two mounting brackets 14 are fixedly connected to the upper surface of the support beam 11 and the upper surface of the two intermediate crossbeams 13. Each mounting bracket 14 has a support top plate 15 fixedly connected to its upper surface. By using multiple mounting brackets 14, multiple support top plates 15 can be installed on top of the support beam 11, thereby facilitating the installation of other equipment onto the high-speed small ball serving robot and improving the multi-functional performance of the high-speed small ball serving robot.

[0024] The ball-serving mechanism 2 includes a ball storage and supply unit 21, which is located above the support beam 11. The ball storage and supply unit 21 is used to store and supply small balls.

[0025] As a further definition of the ball-serving mechanism 2 of the present invention, the ball storage and supply unit 21 includes a platform support 2101. The bottom surface of the platform support 2101 is fixedly connected to the upper surfaces of two intermediate crossbeams 13. An L-shaped cover plate 2103 and a ball delivery chamber 2102 are fixedly connected to the upper surface of the platform support 2101, respectively. The right side of the L-shaped cover plate 2103 is fixedly connected to the left side of the ball delivery chamber 2102. A ball storage chamber 2104 is fixedly connected to the right side of the ball delivery chamber 2102. A ball delivery guide cylinder 2105 is fixedly connected to the upper surface of the ball delivery guide cylinder 2102. A spring chain 2106 is movably hinged to the upper surface of the ball delivery guide cylinder 2105. One end of the spring chain 2106 away from the ball delivery guide cylinder 2105 is fixedly connected to the upper surface of the ball delivery guide cylinder 2105. A connecting joint 2107 is fixedly connected to the inner wall of the L-shaped cover plate 2103. A stepper motor 2108 is fixedly connected to the inner wall of the L-shaped cover plate 2103. The stepper motor 2108 is an open-loop control motor that converts electrical pulse signals into angular or linear displacement. Gear shafts 2112 arranged at equal intervals are rotatably connected inside the L-shaped cover plate 2103. A rotating gear 2111 is fixedly connected to the outer surface of each gear shaft 2112. Several rotating gears 2111 mesh in pairs. The right side of each rotating gear 2111 is in contact with the left side of the L-shaped cover plate 2103. A synchronous wheel 2109 is fixedly connected to the left side of one of the rotating gears 2111. The output end of the stepper motor 2108 and the synchronous wheel 2109 are connected to the synchronous wheel 2109. The outer surfaces of the 9 gear shafts are all fitted with a synchronous belt 2110. A drive wheel 2113 is fixedly connected to the right end of each gear shaft 2112. Each drive wheel 2113 is rotatably connected to the inside of the ball feeding chamber 2102. Equally spaced driven wheel shafts 2114 are rotatably connected inside the ball feeding chamber 2102. The left end of each driven wheel shaft 2114 passes through an L-shaped cover plate 2103 and extends to the left side of the L-shaped cover plate 2103. A tensioning wheel 2118 is fixedly connected to the outer surface of each driven wheel shaft 2114. Each tensioning wheel 2118 is rotatably connected to the inside of the ball feeding chamber 2102. The outer surfaces of several tensioning wheels 2118 and several drive wheels 2113 are fitted with conveyor belts. The conveyor belt 2115 has its left side in contact with the right side of the L-shaped cover plate 2103. Each conveyor belt 2115 has equidistantly arranged stepped conveyor plates 2116 fixedly connected to its outer surface. By setting up the ball storage and supply unit 21, different types of balls can be conveyed to the launching head located at a high position, ensuring that the balls can smoothly enter the ball delivery chamber 2102 entrance under the action of gravity. The balls are separated into small chambers for conveying, which significantly improves the compatibility with the shape, size and quantity of the balls. This allows the device to launch balls such as tennis balls, badminton shuttlecocks, pickles, table tennis balls and baseballs, thus enabling the high-speed ball launching robot to send different types of balls. Two guide arc plates 2117 are fixedly connected to the right side of the L-shaped cover plate 2103. The right side of both guide arc plates 2117 is in contact with the inner wall of the ball delivery chamber 2102. By fixing the two guide arc plates 2117 between the L-shaped cover plate 2103 and the ball delivery chamber 2102, the ball being transported in the ball delivery chamber 2102 can be easily guided, thereby reducing the jamming of the ball delivery in the high-speed ball launching robot.

[0026] The specific implementation of this embodiment is as follows: When training is required using this mobile, liftable, high-speed ball-launching robot to launch balls with different launch heights, horizontal angles, pitch angles, and launch speeds, the high-speed ball-launching robot is first placed manually on a horizontal surface. The power supply battery 16 supplies power to the robot's equipment. A platform support 2101 is fixed on the support beam 11 to secure the ball storage and supply unit 21 and the launch adjustment unit 22. Then, the balls to be launched are manually placed from the ball storage compartment 210. 4. The ball is placed inside the ball storage chamber 2104. Since the ball storage chamber 2104 is rectangular with a sloping bottom edge, a sloping surface facing the entrance of the ball delivery chamber 2102 is provided at the bottom, where it connects to the ball delivery chamber 2102. This ensures that the ball can smoothly enter the entrance of the ball delivery chamber 2102 under the influence of gravity. After the ball enters the ball delivery chamber 2102, by controlling the power supply of the stepper motor 2108, the stepper motor 2108 drives the synchronous pulley 2109 to rotate via the synchronous belt 2110. This synchronous pulley 2109 then drives a rotating gear 2111 to rotate. Multiple rotating gears 2111 mesh in pairs, with adjacent gears rotating in opposite directions. This facilitates the rotation of multiple gear shafts 2112, which drive the transmission wheel 2113, within the ball feeding chamber 2102. A driven wheel shaft 2114 and a tension wheel 2118 are fitted within the ball feeding chamber 2102 to move the conveyor belt 2115 carrying the stepped conveyor plate 2116. Two guide arc plates 2117 are fixedly installed within the ball feeding chamber 2102 and the L-shaped cover plate 2103 to guide the movement of the balls, ensuring they follow a predetermined path. The ball moves in an S-shape until it reaches the ball delivery chamber 2102 outlet. By separating the balls into individual chambers for transport, the compatibility with the shape, size, and quantity of the balls is significantly improved. This allows the device to handle small balls such as tennis balls, badminton shuttlecocks, pickles, table tennis balls, and baseballs. The transported balls are conveyed from the ball delivery chamber 2102 outlet to the ball delivery tube 2105. Continuing to transport the balls will cause them to be conveyed along the spring chain 2106 to the connecting joint 2107, until a ball is provided for the adjustment and launching unit 22 of the high-speed ball launching robot to launch different types of balls.

[0027] Example 2: Please refer to Figure 1 , Figure 4 , Figure 5 and Figures 7-10 The present invention provides a technical solution: a mobile, liftable, high-speed ball-serving robot, which makes corresponding improvements to the technical problems mentioned in the background art.

[0028] As a further limitation of the ball-launching mechanism 2 of the present invention, the ball-launching mechanism 2 also includes an adjustment launch unit 22, which is located to the left of the ball storage and supply unit 21. The ball storage and supply unit 21 and the adjustment launch unit 22 are used together, and the adjustment launch unit 22 is used to adjust the launch of small balls in different states and of different types. The adjustment and launching unit 22 includes a transition box 2201. The bottom surface of the connecting joint 2107 is fixedly connected to the upper surface of the transition box 2201. The front of the transition box 2201 is fixedly connected to a ball delivery channel 2202. The bottom surface and the upper surface of the ball delivery channel 2202 are respectively fixedly connected to a launch head base plate 2203 and a launch head cover plate 2204. The upper surface of the launch head base plate 2203 and the bottom surface of the launch head cover plate 2204 are jointly fixedly connected to a launching barrel 2214. A camera 2213 is fixedly connected to the upper surface of the launch head cover plate 2204. The camera 2213 is a video input device, belonging to closed-circuit television. Two shifting grooves 2218 are formed on the bottom surface of the transmitter head base plate 2203. Friction wheel shafts 2217 are slidably connected inside each of the two shifting grooves 2218. Friction wheel motors 2215 are fixedly connected to the upper surfaces of the two friction wheel shafts 2217. The bottom surfaces of the two friction wheel motors 2215 are in contact with the upper surface of the transmitter head base plate 2203. Rotating friction wheels 2216 are fixedly connected to the output ends of the two friction wheel motors 2215. A transmitter head mounting plate 2208 is provided below the transmitter head base plate 2203. Two support plates 2207 are fixedly connected to the upper surface of the transmitter head mounting plate 2208. The upper surface of the transmitter head base plate 2203 and... Two transmitter head uprights 2205 are fixedly connected to the bottom surface of the transmitter head cover 2204. The sides of the two transmitter head uprights 2205 that are far apart from each other contact the sides of the two support uprights 2207 that are close to each other. A pitch motor 2206 is fixedly connected to the inner wall of one of the support uprights 2207. The output end of the pitch motor 2206 is fixedly connected to the front of one of the transmitter head uprights 2205. An L-shaped upper bracket 2209 is fixedly connected to the bottom surface of the transmitter head mounting plate 2208. A rotating platform 2211 is located below the L-shaped upper bracket 2209. A launch platform 2212 is fixedly connected to the bottom surface of the rotating platform 2211. A ball screw module 2221 is fixedly connected to the inner wall of the L-shaped cover plate 2103. The output end of the ball screw module 2221 is fixedly connected to the right side of the launching platform 2212. A drive motor 2220 is fixedly connected to the input end of the ball screw module 2221. The bottom surface of the drive motor 2220 is fixedly connected to the inner wall of the L-shaped cover plate 2103. By setting and adjusting the launching unit 22, different types of balls can be launched. After the ball is transported to the launching unit 22 by the ball storage and supply unit 21 through the bullet chain 2106, the projectile is squeezed out by the high-speed rotating friction wheel 2216 to complete the launch. The height of the launching port can be adjusted arbitrarily at 0.The ball-launching robot can launch balls at any height within 2-3 meters, simulating the real hitting height of various ball types. The launch muzzle can rotate horizontally from 0-180°, covering the entire court. The muzzle can also pitch from -90° to 90° around the motor axis. Combined with the launch height, it can launch balls with more trajectories and a wider range of speeds, reaching a ball speed of up to 180 km / h. By adjusting the differential speed of the two rotating friction wheels 2216, it can launch left-spin and right-spin balls. The position of the rotating friction wheels 2216 can be adjusted, thereby adjusting the distance between the two wheels to accommodate different types of balls. A velocimeter is installed inside the launch barrel 2214 to feed ball speed data back to sensors and corresponding receivers for recording. A camera 2213 is mounted at the top of the launch barrel 2214 to identify the position of the opposing trainee, thus launching targeted training trajectory balls, thereby improving the compatibility and intelligence of this small ball-launching robot. Below the L-shaped upper support 2209, an L-shaped lower support 2224 is provided. The bottom surface of the L-shaped lower support 2224 is fixedly connected to the upper surface of the rotating platform 2211. A damper 2210 is fixedly connected to the inner wall of both the L-shaped lower support 2224 and the inner wall of the L-shaped upper support 2209. The damper 2210 is a device that uses damping characteristics to reduce mechanical vibration and dissipate kinetic energy. Two slide rails 2223 are fixedly connected to the upper surface of the rotating platform 2211. The rails 2223 are slidably connected to the inside of the L-shaped upper support 2209. The recoil force generated by the firing barrel 2214 firing the ball can be used to make the L-shaped upper support 2209 slide on the rotating platform 2211. The damper 2210 is set between the L-shaped upper support 2209 and the L-shaped lower support 2224 to buffer the recoil force, and the two slide rails 2223 guide the sliding of the L-shaped upper support 2209. Both the front and back of the ball screw module 2221 are fixedly connected with triangular reinforcing brackets 2219. The bottom surfaces of the two triangular reinforcing brackets 2219 are fixedly connected to the inner wall of the L-shaped cover plate 2103. The ball screw module 2221 is connected and fixed to the inner wall of the L-shaped cover plate 2103 through the two triangular reinforcing brackets 2219, thereby improving the installation stability of the ball screw module 2221. A mounting bracket 2222 is fixedly connected to the right side of the ball screw module 2221. The bottom surface of the mounting bracket 2222 is fixedly connected to the upper surface of the ball feed chamber 2102. The mounting bracket 2222 is used to fix the right side of the ball screw module 2221 to the upper surface of the ball feed chamber 2102, thereby further improving the installation stability of the ball screw module 2221.

[0029] The specific implementation of this embodiment is as follows: After the ball storage and supply unit 21 provides the ball to be launched to the adjustment and launching unit 22, the ball can be transported through the connecting joint 2107 to the transition box 2201 connected to the connecting joint 2107. Since one end of the transition box 2201 is connected to the ball feeding channel 2202, the ball can roll under a row of smooth bearings installed in the ball feeding channel 2202 until the ball moves between the two rotating friction wheels 2216. By manually controlling the power supply of the friction wheel motor 2215, the friction wheel motor 2215 can drive the rotating friction wheels 2216 to rotate. Since the friction wheel motor 2215 is a brushless high-speed motor with a linear velocity of more than 50m / s, the launched ball speed can reach 180km / h. By adjusting the two rotating friction wheels... The differential speed of the dynamic friction wheel 2216 can launch left-spin and right-spin balls, allowing the ball to be launched through the launching barrel 2214. When using this high-speed ball launching robot, it is necessary to launch balls with different launch heights, horizontal angles, and pitch angles. By controlling the power supply of the drive motor 2220, the drive motor 2220 can drive the ball screw in the ball screw module 2221 to rotate, causing the slider inside to slide. Since the slider is connected to the launching platform 2212, the vertical movement of the launching platform 2212 can be used to make the entire launching mechanism move up and down in height. Thus, the height of the launching barrel 2214 can be adjusted arbitrarily within the range of 0.2-3m for arbitrary launching, thereby simulating the real launching height of various balls. Let the horizontal component of the initial velocity of the ball be V1, the height of the tennis net bead be h = 0.914m, the length of the half court be d = 11.885m, the acceleration due to gravity be g = 9.8, and assume H = 3m.

[0030] Traditional methods Since the tennis ball undergoes upward projectile motion, let t be the time it takes to reach the middle of the net. When the initial horizontal velocity is at its fastest and the ball is not out of bounds, it will be close to the top of the middle net. Neglecting air resistance, we can calculate: t= =0.432s V1 = d / t = 27.511 m / s = 99 km / h Lifting method Since the tennis ball undergoes a downward throwing motion, h < 1 / 2H. Therefore, theoretically, as long as the launcher hardware has sufficient power, the horizontal velocity V2 is not limited by the field and V2 ≫ V1, and can be infinitely large.

[0031] Then, using the rotating platform 2211 fixed on the launching platform 2212, the launching barrel 2214 can rotate horizontally from 0 to 180°, allowing the launching range to cover the entire court. By using the pitch motor 2206 to drive the launching head plate 2205 to rotate, the launching barrel 2214 can perform a pitch motion of -90 to 90° around the motor axis. Combined with the launching height, this allows for the firing of balls with more trajectories and a wider range of speeds. Furthermore, by manually sliding the friction wheel shaft 2217 fixed under the friction wheel motor 2215 within the displacement groove 2218 under the launching head base plate 2203, the distance between the two rotating friction wheels 2216 can be adjusted, enabling the launch of different types of balls. Because the ball speed is very high and the launching position is relatively high, a [missing information - likely a design feature] is set between the rotating platform 2211 and the launching barrel 2214. The damper 2210 enables the recoil force generated by the ball launched from the launching barrel 2214 to act on the L-shaped upper support 2209. Since the damper 2210 is fixed between the L-shaped upper support 2209 and the L-shaped lower support 2224 and slides within the L-shaped upper support 2209 using the slide rail 2223, the damper 2210 can stably absorb the recoil force generated by the ball launched from the launching barrel 2214, thereby absorbing the impact force generated by the launch and improving the stability of the high-speed ball launching robot. A velocimeter is installed inside the launching barrel 2214 to feed back the ball speed data to the sensors and corresponding receivers for data recording. A camera 2213 is installed on the upper surface of the launching head cover 2204 to identify the position of the opposite trainee, thereby launching targeted training trajectory balls, which can improve the compatibility and intelligence of the ball launching robot.

[0032] Example 3: Please refer to Figures 1-3 The present invention provides a technical solution: a mobile, liftable, high-speed ball-serving robot, which makes corresponding improvements to the technical problems mentioned in the background art.

[0033] As a further limitation of the ball-launching mechanism 2 of the present invention, a suspension moving mechanism 3 is provided below the launching unit 22. The suspension moving mechanism 3 is used in conjunction with the ball-launching mechanism 2 to enable the ball-launching robot to move on various terrains. The suspension moving mechanism 3 includes a radar mounting bracket 301. The bottom surface of the radar mounting bracket 301 is fixedly connected to the upper surfaces of two intermediate crossbeams 13. A laser radar 302 is fixedly connected to the upper surface of the radar mounting bracket 301. The laser radar 302 is a radar system that uses laser beams to detect the position, velocity, and other characteristics of a target. Front and rear suspension connecting plates 303 are fixedly connected to the upper and bottom surfaces of the two intermediate crossbeams 13. The left side of each front and rear suspension connecting plate 303 and each front and rear suspension connecting plate 303... Each of the right sides is movably hinged with a shock absorber hinge 304. Each side of the shock absorber hinge 304, which is located away from each other, is movably hinged with a shock absorber bracket 305. The inner wall of each shock absorber bracket 305 is movably hinged with a shock absorber 306. The shock absorber 306 is a device used to suppress the oscillation during the rebound after the spring absorbs shock and the impact from the road surface. The telescopic end of each shock absorber 306 is fixedly connected to a high-speed brushless servo motor 307. The output end of each high-speed brushless servo motor 307 is fixedly connected to a Mechram wheel 308. 308 is a wheel that allows 360-degree movement in any direction through a special roller structure. The bottom surfaces of the two intermediate crossbeams 13 are fixedly connected to the main controller 311, and the upper surface of the support beam 11 is fixedly connected to the speed sensor 312. The speed sensor 312 is a component that converts speed changes into electrical changes. By setting up a suspension movement mechanism 3 and using four independently suspended drive wheels, the stability of the robot during movement is ensured, and the robot can adapt to various ball terrains. A laser radar 302 is installed at the front of the device to determine the speed and direction of the incoming ball and transmit the information to the main control system, so that the robot can determine the landing point and move to the landing point to serve, simulating a real-person match scenario. In addition, the laser radar 302 can record the ball speed and landing point of each ball and generate a playing report for the trainee to review afterwards. A high-speed brushless servo motor 307 drives the McLambert wheel 308 to rotate, which enables the device to move quickly and flexibly, and can realize forward, backward, left and right translation and left and right rotation, ensuring that the robot can quickly move to the target point to serve. The bottom surface of the support beam 11 is fixedly connected with equidistant universal joints 309. Each universal joint 309 is rotatably connected with an anti-tipping wheel 310. By fixing multiple universal joints 309 to the bottom surface of the support beam 11 and setting rotatable anti-tipping wheels 310 inside the universal joints 309, the rolling of the anti-tipping wheels 310 can be conveniently used to improve the movement stability of the high-speed ball-serving robot.

[0034] The specific implementation of this embodiment is as follows: While launching the ball using the launching cannon 2214, the main controller 311 controls the high-speed ball-launching robot to move under the rolling of the McClum wheels 308. Four independently suspended McClum wheels 308 are used to ensure the stability of the robot during movement. A front and rear suspension connecting plate 303 is set between the two sets of McClum wheels 308, allowing for feedback adjustment between the two McClum wheels 308. When the front wheel encounters an obstacle and lifts up, the rear wheel can be raised accordingly to maintain the level of the table surface, supporting the beam frame 11 and the middle... The crossbeams 13 all adopt a hollow closed tubular beam structure, ensuring the rigidity of the frame while reducing the structural weight. A universal joint 309 and anti-tipping wheels 310 are installed at the front and rear to mitigate the risk of tipping during sudden stops in rapid movement. Additionally, the anti-tipping wheels 310 are equipped with limit sensors to ensure they can signal an emergency stop when encountering obstacles. A laser radar 302 is installed at the front end of the support beam 11 to determine the speed and direction of the incoming ball and transmit this information to the main control system. This allows the robot to determine the landing point and move to that point to serve, simulating a real-person playing scenario. The lidar 302 can record the speed and landing position of each ball, generating a ball-playing report for trainees to review later. A power supply battery 16 is located at the rear end of the support beam 11, and a battery support plate 17 is located at the bottom of the power supply battery 16 to protect it from impact. A speed sensor 312 is located on the upper end of the power supply battery 16, which can monitor the robot's movement speed, direction, and acceleration, and feed this information back to the main controller 311. This allows the main controller 311 to control the robot based on the ball information detected by the lidar 302, enabling it to quickly move to the landing position. To simulate a realistic ball-hitting effect, a mounting bracket 14 and a supporting top plate 15 are set at the front, back, left, and right of the chassis to support the structure above. The main controller 311 is located at the center of the chassis to minimize the signal transmission path to each control terminal. The drive system, consisting of a shock-absorbing hinge 304, a shock-absorbing bracket 305, a shock absorber 306, a high-speed brushless servo motor 307, and a McLambert wheel 308, allows the chassis to move quickly and flexibly. The two sets of McLambert wheels 308 can achieve forward, backward, left, and right translation as well as left and right rotation, ensuring that the robot can quickly move to the target point to serve.

[0035] A launching method for a mobile, liftable, high-speed ball-launching robot includes the following steps: Let the horizontal component of the initial velocity of the ball be V1, the height of the tennis net bead be h = 0.914m, the length of the half court be d = 11.885m, the acceleration due to gravity be g = 9.8, and assume H = 3m; Traditional methods Since the tennis ball undergoes upward projectile motion, let t be the time it takes to reach the middle of the net. When the initial horizontal velocity is at its fastest and the ball is not out of bounds, it will be close to the top of the middle net. Neglecting air resistance, we can calculate: t=0.432s V1 = d / t = 27.511 m / s = 99 km / h Lifting method Since the tennis ball undergoes a downward throwing motion, h < 1 / 2H. Therefore, theoretically, as long as the launcher hardware has sufficient power, the horizontal velocity V2 is not limited by the field and V2 ≫ V1, and can be infinitely large.

[0036] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0037] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mobile, liftable, high-speed ball-serving robot, comprising a main robot body (1), characterized in that: The main body of the robot (1) includes a support beam (11). Two sets of connecting lugs (12) are fixedly connected to the upper surface and the bottom surface of the support beam (11). Two intermediate crossbeams (13) are fixedly connected to the upper surface of the support beam (11). A power supply battery (16) is snapped into the inside of the support beam (11). The power supply battery (16) is electrically connected to the power supply equipment of the ball-serving robot through wires. A battery support plate (17) is fixedly connected to the bottom surface of the support beam (11). The bottom surface of the power supply battery (16) is in contact with the upper surface of the battery support plate (17). A ball-serving mechanism (2) is provided above the support beam (11). The ball-serving mechanism (2) includes a ball storage and supply unit (21), which is located above the support beam (11) and is used to store and supply small balls. The ball-launching mechanism (2) also includes an adjustment launch unit (22), which is located to the left of the ball storage and supply unit (21). The ball storage and supply unit (21) works in conjunction with the adjustment launch unit (22), which is used to adjust the launch of small balls in different states and of different types. A suspension moving mechanism (3) is provided below the adjustment launching unit (22). The suspension moving mechanism (3) is used in conjunction with the ball launching mechanism (2). The suspension moving mechanism (3) is used to enable the ball launching robot to move on various terrains.

2. The mobile, liftable, high-speed ball-serving robot according to claim 1, characterized in that: The ball storage and supply unit (21) includes a platform support (2101). The bottom surface of the platform support (2101) is fixedly connected to the upper surface of two intermediate crossbeams (13). An L-shaped cover plate (2103) and a ball delivery chamber (2102) are fixedly connected to the upper surface of the platform support (2101). A ball storage chamber (2104) is fixedly connected to the right side of the ball delivery chamber (2102). A ball delivery outlet cylinder (2105) is fixedly connected to the upper surface of the ball delivery chamber (2102). The upper surface of the ball feeding and guiding cylinder (2105) is movably hinged with a spring chain (2106). A connecting joint (2107) is fixedly connected to one end of the spring chain (2106) away from the ball feeding and guiding cylinder (2105). A stepper motor (2108) is fixedly connected to the inner wall of the L-shaped cover plate (2103). Gear shafts (2112) arranged at equal intervals are rotatably connected inside the L-shaped cover plate (2103). A rotating gear is fixedly connected to the outer surface of each gear shaft (2112). 2111), several of the rotating gears (2111) mesh in pairs, and a synchronous pulley (2109) is fixedly connected to the left side of one of the rotating gears (2111). The output end of the stepper motor (2108) and the outer surface of the synchronous pulley (2109) are jointly fitted with a synchronous belt (2110). A transmission wheel (2113) is fixedly connected to the right end of each gear shaft (2112). The ball feeding chamber (2102) is rotatably connected with equally spaced driven gears. Each driven wheel axle (2114) has a tensioning wheel (2118) fixedly connected to its outer surface. Conveyor belts (2115) are fitted onto the outer surfaces of several tensioning wheels (2118) and several drive wheels (2113). The left side of each conveyor belt (2115) is in contact with the right side of the L-shaped cover plate (2103). Each conveyor belt (2115) has stepped conveyor plates (2116) arranged at equal intervals fixedly connected to its outer surface.

3. The mobile, liftable, high-speed ball-serving robot according to claim 2, characterized in that: Two guide arc plates (2117) are fixedly connected to the right side of the L-shaped cover plate (2103), and the right side of both guide arc plates (2117) is in contact with the inner wall of the ball delivery chamber (2102).

4. The mobile, liftable, high-speed ball-serving robot according to claim 1, characterized in that: The upper surface of the support beam frame (11) and the upper surface of the two intermediate crossbeams (13) are fixedly connected to two mounting brackets (14), and the upper surface of each mounting bracket (14) is fixedly connected to a support top plate (15).

5. A mobile, liftable, high-speed ball-serving robot according to claim 2, characterized in that: The adjustment launch unit (22) includes a transition box (2201). The bottom surface of the connecting joint (2107) is fixedly connected to the upper surface of the transition box (2201). The front of the transition box (2201) is fixedly connected to a ball delivery channel (2202). The bottom surface and the upper surface of the ball delivery channel (2202) are respectively fixedly connected to a launch head base plate (2203) and a launch head cover plate (2204). The upper surface of the launch head base plate (2203) and the launch head cover plate (2204) are respectively fixedly connected. The bottom surface of the plate (2204) is fixedly connected to the firing barrel (2214), and the upper surface of the firing head cover plate (2204) is fixedly connected to the camera (2213). The bottom surface of the firing head base plate (2203) has two shifting grooves (2218), and friction wheel shafts (2217) are slidably connected inside the two shifting grooves (2218). Friction wheel motors (2215) are fixedly connected to the upper surfaces of the two friction wheel shafts (2217). The output ends of 15) are all fixedly connected to rotating friction wheels (2216). A transmitter mounting plate (2208) is provided below the transmitter base plate (2203). Two support plates (2207) are fixedly connected to the upper surface of the transmitter mounting plate (2208). Two transmitter uprights (2205) are fixedly connected to the upper surface of the transmitter base plate (2203) and the bottom surface of the transmitter cover plate (2204). A downward-facing... An elevating motor (2206) is provided. An L-shaped upper bracket (2209) is fixedly connected to the bottom surface of the launch head mounting plate (2208). A rotating platform (2211) is provided below the L-shaped upper bracket (2209). A launch platform (2212) is fixedly connected to the bottom surface of the rotating platform (2211). A ball screw module (2221) is fixedly connected to the inner wall of the L-shaped cover plate (2103). A drive motor (2220) is fixedly connected to the input end of the ball screw module (2221).

6. The mobile, liftable, high-speed ball-serving robot according to claim 5, characterized in that: An L-shaped lower support (2224) is provided below the L-shaped upper support (2209). The bottom surface of the L-shaped lower support (2224) is fixedly connected to the upper surface of the rotating platform (2211). A damper (2210) is fixedly connected to the inner wall of the L-shaped lower support (2224) and the inner wall of the L-shaped upper support (2209). Two slide rails (2223) are fixedly connected to the upper surface of the rotating platform (2211). Both slide rails (2223) are slidably connected inside the L-shaped upper support (2209).

7. A mobile, liftable, high-speed ball-serving robot according to claim 5, characterized in that: Both the front and back sides of the ball screw module (2221) are fixedly connected to triangular reinforcing brackets (2219), and the bottom surfaces of the two triangular reinforcing brackets (2219) are fixedly connected to the inner wall of the L-shaped cover plate (2103).

8. A mobile, liftable, high-speed ball-serving robot according to claim 5, characterized in that: The right side of the ball screw module (2221) is fixedly connected to a mounting bracket (2222), and the bottom surface of the mounting bracket (2222) is fixedly connected to the upper surface of the ball delivery chamber (2102).

9. A mobile, liftable, high-speed ball-serving robot according to claim 1, characterized in that: The suspension moving mechanism (3) includes a radar mounting bracket (301), the bottom surface of which is fixedly connected to the upper surface of two intermediate crossbeams (13). A laser radar (302) is fixedly connected to the upper surface of the radar mounting bracket (301). Front and rear suspension connecting plates (303) are fixedly connected to the upper surface and the bottom surface of the two intermediate crossbeams (13). A shock absorber hinge (304) is movably hinged to the left side and the right side of each front and rear suspension connecting plate (303). Several of the... Each of the shock absorber brackets (305) is movably hinged to one of the opposite sides of the shock absorber brackets (304). Each shock absorber bracket (305) is movably hinged to the inner wall of ...

10. A mobile, liftable, high-speed ball-serving robot according to claim 1, characterized in that: The bottom surface of the support beam (11) is fixedly connected with equidistant universal joints (309), and each universal joint (309) is rotatably connected with an anti-tipping wheel (310).

11. A launching method for a mobile, liftable, high-speed ball-launching robot according to any one of claims 1-10, characterized in that: Specifically, the following steps are included: Let the horizontal component of the initial velocity of the ball be V1, the height of the tennis net bead be h = 0.914m, the length of the half court be d = 11.885m, the acceleration due to gravity be g = 9.8, and assume H = 3m; Traditional methods Since the tennis ball undergoes upward projectile motion, let t be the time it takes to reach the middle of the net. When the initial horizontal velocity is at its fastest and the ball is not out of bounds, it will be close to the top of the middle net. Neglecting air resistance, we can calculate: t=0.432s V1 = d / t = 27.511 m / s = 99 km / h Lifting method Since the tennis ball undergoes a downward throwing motion, h < 1 / 2H. Therefore, theoretically, as long as the launcher hardware has sufficient power, the horizontal velocity V2 is not limited by the field and V2 ≫ V1, and can be infinitely large.

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