Ball serving device and control method thereof

Abstract

The invention discloses a ball serving training device and a control method thereof. The ball serving training device comprises a base, a lifting support, a clamping mechanism, a photoelectric sensing system and a controller. The clamping mechanism is installed on the lifting support and used for clamping and fixing the tennis ball at the preparation position. The photoelectric sensing system is used for detecting the waving track of the racket. And the controller is in communication connection with the clamping mechanism and the photoelectric sensing system, and is configured to control the clamping mechanism to execute release operation in response to the photoelectric sensing system detecting that the racket waving track passes through the preset sensing area. The release operation includes causing the gripping mechanism to release the tennis ball and move it away from the ready position to avoid interference with a subsequent swing of the racket. Fixing and releasing of the clamping mechanism are triggered through photoelectric sensing, the tennis ball is released at the ball hitting moment, the clamping mechanism is rapidly moved away, the technical problems that in a traditional training device, the ball hitting point is not accurate, and a fixing mechanism interferes with racket swinging are effectively solved, and the training effect is remarkably improved.

Description

A ball-serving device and its control method Technical Field

[0001] This application relates to the field of sports training equipment technology, and in particular to a ball-serving device and its control method. Background Technology

[0002] The serve training device is a device that can automatically launch various types of balls. It is mainly used in training for ball sports such as tennis, table tennis, and badminton. It simulates the serve trajectory in actual sports, providing trainees with a stable and controllable serve training environment, and solving the instability problem of manual training.

[0003] However, existing serving training devices have at least the following technical problems: the serving training device cannot stably fix the ball, and the ball has a falling speed after release, resulting in a certain falling distance, which leads to inaccurate hitting point and affects the training effect of the trainee's hitting action; the ball fixing mechanism of the serving training device may obstruct the trainee's swing trajectory, and the trainee may hit the fixing mechanism when swinging, thereby reducing the trainee's swing training effect.

[0004] Therefore, how to solve the problems of instability, release delay, and interference with the swing in traditional training devices, so as to improve the training effect of the trainee's swing action, has become an urgent problem to be solved. Summary of the Invention

[0005] In view of this, the main objective of this application is to provide a ball-serving device and its control method, which aims to at least solve the aforementioned technical problems.

[0006] To achieve the above objectives, in a first aspect, this application provides a serve training device comprising: a base; a lifting bracket disposed on the base; a clamping mechanism mounted on the lifting bracket for clamping and fixing a ball in a ready position; a photoelectric sensing system mounted on the lifting bracket for detecting the swing trajectory of a racket; and a controller communicatively connected to the clamping mechanism and the photoelectric sensing system, respectively; wherein the clamping mechanism includes a release component, and the controller is configured to: in response to the photoelectric sensing system detecting that the swing trajectory of the racket passes through a preset sensing area, control the release component to perform a release operation, the release operation including causing the clamping mechanism to release the ball and causing the clamping mechanism to move away from the ready position to avoid interfering with subsequent swings of the racket.

[0007] As an optional implementation, the photoelectric sensing system includes at least one pair of light emitters and light receivers, which are arranged opposite to each other to form the preset sensing area, wherein the light emitter is a racket sensor and the light receiver is a probe.

[0008] As an optional implementation, the clamping mechanism includes: a housing; at least one pair of clamping parts movably disposed in the housing for clamping the ball; a clamping driver connected to the at least one pair of clamping parts for driving the clamping parts to perform clamping or releasing actions; a rotating assembly for driving the housing and the clamping parts to rotate relative to the lifting bracket; and a locking assembly for locking the housing in the ready position; wherein the releasing assembly includes the clamping driver and the rotating assembly; the controller controls the release operation by: first, controlling the clamping driver to drive the clamping parts to release the ball; then, controlling the locking assembly to unlock and driving the rotating assembly to rotate and move the clamping parts away from the ready position.

[0009] As an optional implementation, the rotating assembly includes: a first drive shaft rotatably connecting the housing to the lifting bracket; a first main drive member for driving the housing to rotate and reset around the first drive shaft; and a first elastic member for driving the housing to rotate around the first drive shaft to move away after the locking assembly is unlocked.

[0010] As an optional implementation, the clamping driver includes an electromagnetic drive, an elastic reset member, and a transmission member; the transmission member is linked to the clamping part; the electromagnetic drive responds to the signal of the controller, overcomes the elastic force of the elastic reset member to drive the transmission member, thereby causing the clamping part to release the ball; when the electromagnetic drive is de-energized, the elastic reset member drives the transmission member to reset, thereby causing the clamping part to reset to the clamping state.

[0011] As an optional implementation, the locking component is an electromagnetic bolt lock, including an electromagnetic component, a permanent magnet component, and a slot on the bracket, all disposed on the housing; the controller drives the permanent magnet component to insert into or remove from the slot by controlling the on / off power of the electromagnetic component, thereby achieving locking or unlocking.

[0012] As an optional implementation, a visual feedback system is also included, which includes at least one camera that is communicatively connected to the controller for acquiring images of the spatial position of the ball; the controller is further configured to: in ball-throwing training mode, determine the actual position of the ball thrown by the trainee based on the images acquired by the camera, compare the actual position with a preset standard hitting position, and generate feedback information.

[0013] As an optional implementation, a ball-dispensing mechanism is also included, which is used to hold multiple balls and is electrically connected to the controller; the controller controls the movement of the ball-dispensing mechanism according to the state of the clamping mechanism, so as to deliver the balls therein to the ball-supplying position.

[0014] The second invention of this application provides a control method for a serve training device, the serve training device including a clamping mechanism and a photoelectric sensing system, the control method including: a preparation step: controlling the clamping mechanism to clamp and fix the ball in a preparation position; a detection step: using the photoelectric sensing system to detect in real time whether a racket swing trajectory passes through a preset sensing area; a release step: in response to detecting that the racket swing trajectory passes through the preset sensing area, controlling the clamping mechanism to perform a release operation, the release operation including: a first stage: controlling the clamping mechanism to release the ball, allowing it to begin to fall freely; and a second stage: controlling the clamping mechanism to move away from the preparation position.

[0015] As an optional implementation, in the release step, there is a preset time delay between the first stage and the second stage.

[0016] This invention discloses a serve training device and its control method. A clamping mechanism secures the ball in a preset ready position, while a photoelectric sensing system detects the racket's swing trajectory in real time. When the swing trajectory is detected to pass through a preset sensing area, the controller immediately triggers a release operation, controlling the clamping mechanism to first release the ball, allowing it to fall freely, and then quickly move it away from the ready position. This ensures accurate hitting points and avoids interference with the swing action. This design significantly improves the accuracy, safety, and simulation effect of training. Attached Figure Description

[0017] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0018] Figure 1 is a structural schematic diagram of the serving device disclosed in an embodiment of this application; Figure 2 is an exploded view of the serving device disclosed in an embodiment of this application with the support frame removed; Figure 3 is an exploded view of the clamping structure of the serving device disclosed in an embodiment of this application; Figure 4 is a schematic diagram of the module connection within the counterweight host disclosed in an embodiment of this application; Figure 5 is a structural schematic diagram of the clamping mechanism of the serving device disclosed in an embodiment of this application in the preparation stage; Figure 6 is a structural schematic diagram of the clamping mechanism of the serving device disclosed in an embodiment of this application in the preparation stage from another angle; Figure 7 is a cross-sectional view of the clamping mechanism of the serving device disclosed in an embodiment of this application in the preparation stage; Figure 8 is a cross-sectional view of the clamping mechanism of the serving device disclosed in an embodiment of this application in the preparation stage from another angle; Figure 9 is a structural schematic diagram of the serving device disclosed in an embodiment of this application. Figure 10 is a structural schematic diagram of the clamping mechanism of the serving device in the hitting training stage; Figure 11 is a cross-sectional view of the clamping mechanism of the serving device in the hitting training stage; Figure 12 is a structural schematic diagram of the clamping mechanism of the serving device in the reset stage; Figure 13 is a structural schematic diagram of the clamping mechanism of the serving device in the reset stage; Figure 14 is a structural schematic diagram of the clamping mechanism of the serving device in the toss training stage; Figure 15 is a structural schematic diagram of the clamping mechanism of the serving device in the toss training stage.

[0019] In the diagram: 1. Ball serving device; 100. Clamping mechanism; 110. Clamping part; 120. First drive part; 1211. First housing; 1212. First main drive component; 1213. First elastic element fixing part; 122. First mating part; 1221. Second housing; 1222. Second elastic element fixing part; 1223. Second permanent magnet; 1224. Third elastic element; 1225. Second electromagnetic component; 12251. Second electromagnetic coil; 1226. Second slot; 123. First elastic element; 124. First drive shaft; 125. Second main drive part; 1251. Second elastic element; 1252. First electromagnetic component; 12521. 1253 First electromagnetic coil; 126 Second mating part; 1261 First slot; 200 Ball release mechanism; 210 Ball release port; 220 Ball inlet port; 230 Ball separator; 300 Support frame; 310 Counterweight base; 320 Lifting bracket; 330 Counterweight main unit; 331 Control module; 332 Signal transmission module; 333 Signal receiving module; 334 Power module; 340 Cantilever connecting rod; 341 Connecting arm; 342 Ball cylinder fixing groove; 400 Ball; 500 Clamping space; 600 Racket sensor; 610 Probe; 700 Ball sensor; 710 Camera. Detailed Implementation

[0020] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected to" another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and similar expressions used in this specification are for illustrative purposes only. In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or implying the number of indicated technical features. Thus, unless otherwise stated, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature; "multiple" means two or more. The term "comprising" and any variations thereof mean non-exclusive inclusion, where one or more other features, integers, steps, operations, units, components, and / or combinations thereof may be present or added.

[0021] Furthermore, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections via an intermediate medium, or internal communication between two components. All technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0022] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0023] As shown in Figure 1, which is a structural schematic diagram of the serving device in this embodiment, specifically, it includes a clamping mechanism, a ball delivery mechanism 200, and a support frame 300. The support frame 300 is used to support the main body of the serving device 1 and to install the clamping mechanism and the ball delivery mechanism 200. The ball delivery mechanism 200 and the clamping mechanism cooperate to serve the ball 400.

[0024] In this embodiment, the controller is a counterweight host 330, and the base is a counterweight base 310. The support frame 300 includes a counterweight base 310, a lifting bracket 320, and a counterweight host 330. The counterweight host 330 is installed on the upper part of the lifting bracket 320, and the counterweight base 310 is installed on the lower part of the lifting bracket 320. The counterweight base 310 increases the weight of the bottom of the overall support frame 300, and the counterweight host 330 further increases the weight of the overall support frame 300, so that the center of gravity of the overall support frame 300 is located at the lower part of the support frame 300, thereby increasing the stability of the overall device.

[0025] As shown in Figure 4, the counterweight host 330 of this embodiment is a schematic diagram of the module connection. The counterweight host 330 includes a control module 331, a signal transmitting module 332, a signal receiving module 333, and a power supply module 334. The control module 331 is electrically connected to the signal transmitting module 332, the signal receiving module 333, and the power supply module 334. The counterweight host 330 is used to receive and analyze the signals emitted by the sensors on the clamping mechanism and the ball launching device 1, and to send control signals to the sensors on the clamping mechanism and the ball launching device 1 to control the movement state and position of the clamping mechanism and the ball launching mechanism 200.

[0026] As shown in Figure 2, which is an exploded view of the serving device of this embodiment after removing the support frame, the serving device also includes a cantilever connecting rod 340. The cantilever connecting rod 340 is used to fix the clamping mechanism and the ball delivery mechanism 200. One end of the cantilever connecting rod 340 is fixedly connected to the counterweight host 330, or fixedly connected to the upper part of the lifting bracket 320. The lower part of the support frame 300 is fixedly connected to the clamping mechanism. Specifically, the support frame 300 has two connecting arms 341 extending downwards, and the two connecting arms 341 are respectively connected to two clamping structures. A ball tube fixing groove 342 is provided in the middle of the support frame 300. The ball delivery mechanism 200 is inserted into the ball tube fixing groove 342 to be fixed on the support frame 300 and above the clamping mechanism. Specifically, the axial position of the ball delivery mechanism 200 falls at or near the midpoint of the radial line connecting the two clamping mechanisms, so that the clamping mechanism 100 and / or other clamping mechanisms can clamp the ball 400 delivered by the ball delivery mechanism 200.

[0027] In this embodiment, the ball dispensing mechanism 200 is electrically connected to the controller (counterweight host 330) and is used to control the ball dispensing mechanism 200 to descend or rise according to the state of the clamping mechanism, so as to deliver the bottom ball 400 to the ball supply position aligned with the clamping space 500 so that the clamping mechanism 100 can clamp it.

[0028] As shown in Figure 6, which is a schematic diagram of the clamping mechanism of the serving device in the preparation stage, in some embodiments, the ball-ejecting mechanism 200 stores a certain number of training balls 400. The stored training balls 400 are launched from one ball-ejecting port 210 to the clamping space 500. Multiple ball-ejecting ports 210 can also be provided for continuous ball-ejection 400. Alternatively, a ball-inlet port 220 can be provided for replenishing the balls 400. The ball-ejecting port 210 is located at one end of the ball-ejecting mechanism 200 near the clamping space 500, and the ball-inlet port 220... The ball-ejecting mechanism 200 is located at the end furthest from the clamping space 500. The ball-ejecting mechanism 200 can be cylindrical, and its diameter can be adjusted according to the diameter of the training ball 400. Multiple ball-ejecting mechanisms 200 with different diameters can also be used, each storing balls 400 of different diameters, such as tennis balls, table tennis balls, badminton shuttlecocks, etc., which require hitting with a racket. Users can practice their hitting posture by hitting the training ball 400 emitted by the ball-ejecting mechanism 200. The ball-ejecting mechanism 200 faces the clamping space 500. A ball separator 230 is also provided at one end of the holding space 500. The ball separator 230 is used to separate the ball 400 stored in the ball dispensing mechanism 200 from the ball 400 that is dispensing, so as to prevent the ball stored in the ball dispensing mechanism 200 from being dispensed after the ball 400 is dispensed from the ball dispensing port 210. The ball separator 230 has a certain ability to deform and recover its deformation. The ball dispensing from the ball dispensing port 210 can be pushed open by the force applied to the ball dispensing port 210 and leave the ball dispensing port 210. After the ball is dispensing, the ball separator 230 returns to its original shape. The ball is held in its original position to clamp the next ball to be served; a ball-serving drive can be provided in the ball-serving mechanism 200 to push the ball in the ball-serving mechanism 200 to move towards the ball-serving port 210; the ball-serving mechanism 200 is arranged in the longitudinal direction of the clamping space 500 and at least one ball-serving port 210 is directly facing the clamping space 500, or the ball-serving port 210 of the ball-serving mechanism 200 faces the clamping space 500, and the ball-serving path of the ball-serving mechanism 200 passes through the clamping space 500 to ensure that the served ball is clamped by the clamping structure.

[0029] In some embodiments, the serving device 1 further includes a racket sensor 600, which is used to sense the position of the trainee's racket, or the position of the trainee's hand, grip, arm, etc., to determine the position of the racket and / or the trainee's grip, thereby determining whether the trainee's hitting posture and the racket hitting position are accurate; the racket sensor 600 records the racket's motion trajectory data and / or the racket hitting position, and transmits it to the signal receiving module 333 of the counterweight host 330; the control module 331 of the counterweight host 330 analyzes the data and can compare it with standard racket motion trajectory data and / or racket hitting position, thereby analyzing whether the trainee's corresponding racket motion trajectory data and the hitting position of this hitting action meet the standard requirements, obtaining the deviation value from the standard data, making evaluation and improvement suggestions for the accuracy of this hitting action, and improving the trainee's hitting action effect. Specifically, as shown in Figure 13, which is a structural schematic diagram of the clamping mechanism of the serving device in the reset phase from another angle, the racket sensor 600 is a photoelectric sensor. The racket sensor 600 is respectively set on the side of the two clamping mechanisms close to the trainee. When the trainee swings the racket to hit the ball served by the clamping mechanism, and the racket swing trajectory passes through the line connecting the two probes 610 of the photoelectric sensor system (the dotted line in Figure 13), the sensor signal is triggered and transmitted to the counterweight host 330, which is used by the counterweight host 330 to switch the state of the clamping mechanism according to the spatial position of the racket.

[0030] In some embodiments, a ball sensor 700 is also included. The ball sensor 700 is used to sense the real-time position of the ball launched by the serving mechanism, thereby recording the ball's trajectory data from launch to being hit. The recorded ball trajectory data is transmitted to the signal receiving module 333 of the counterweight host 330. The control module 331 of the counterweight host 330 analyzes the data and compares it with standard ball trajectory data. This analysis determines whether the trainee's hitting action with the corresponding ball trajectory data meets the standard requirements, calculates the deviation value from the standard data, and provides evaluation and improvement suggestions for the hitting action to improve the trainee's hitting action effect. Specifically, the ball sensor 700 includes a camera 710, which can be set at both ends of the cantilever connecting rod 340. The camera 710 can capture the spatial position of the ball from different angles.

[0031] The clamping mechanism can include two types: one is a rotatable clamping mechanism 100, and the other is a relatively fixed (non-rotatable) other clamping mechanism. The clamping part 110 cooperates with the clamping parts 110 of other clamping mechanisms to form a clamping space 500. The clamping space 500 is a three-dimensional space that can clamp and fix external components.

[0032] In some embodiments, the clamping mechanism 100 includes a housing, at least one pair of clamping portions 110 disposed on the housing, and a driving and locking assembly, such as a first driving portion 120, disposed within the housing. The clamping portions 110 and the first driving portion 120 are movably connected, and the first driving portion 120 is rotatably disposed, driving the clamping portions 110 to rotate.

[0033] As shown in Figure 3, which is an exploded view of the clamping mechanism, in some embodiments, a rotating assembly is used to drive the housing and clamping part 110 to rotate. The rotating assembly corresponds to some components of the eastern part 120 of the first region. The rotating assembly includes a first main drive member 1212, a first drive shaft 124, and a first elastic member 123. The first driving unit 120 includes a first main driving member 1212, a first mating part 122, a first elastic member 123, and a first driving shaft 124. The first main driving member 1212 is movably connected to the first mating part 122, and the first mating part 122 is movably connected to the clamping part 110. In some embodiments, the first driving unit 120 includes a first housing 1211, the first main driving member 1212, and a first elastic member fixing part 1213, which are disposed within the first housing 1211. The first mating part 122 includes a second housing 1221 and a second elastic member fixing part 1222, which are disposed within the second housing 1221. The first mating part 122 is rotatably disposed relative to the first housing 1211.

[0034] As shown in Figure 3, the housing of the clamping mechanism 100 is formed by the interlocking of a first housing 1211 and a second housing 1221. The first housing 1211 and the second housing 1221 are matched in position and shape. The first housing 1211 is disposed on the second housing 1221 so that the first housing 1211 and the second housing 1221 surround and form a receiving cavity. The first main driving member 1212, the first elastic member fixing part 1213, the second elastic member fixing part 1222, and the first driving shaft 124 are all disposed in the receiving cavity.

[0035] One end of the first elastic element 123 is fixedly connected to the first elastic element fixing part 1213, and the other end of the first elastic element 123 is fixedly connected to the second elastic element fixing part 1222. One end of the first drive shaft 124 is movably connected to the first main drive member 1212, and the other end of the first drive shaft 124 is fixedly connected to the second housing 1221. Specifically, the first drive shaft 124 can be rotatably set relative to the first main drive member 1212. The first main drive member 1212 can be controlled by a motor to rotate the first drive shaft 124, thereby driving the second housing 1221 to rotate as well. When the first main drive member 1212 drives the second housing 1221 to rotate, the second housing 1221 rotates relative to the first housing 1211, and the second elastic element fixing part 1222 also rotates relative to the first elastic element fixing part 1213, thereby compressing the first elastic element 123. The first elastic element 123 is subjected to compressive force and deforms, and is in a compressed state.

[0036] The first elastic element 123 is fitted with the first main drive element 1212, and the first main drive element 1212 is fitted with the first drive shaft 124.

[0037] In some embodiments, the first drive unit 120 further includes a second main drive unit 125 and a second mating part 126, which are movably connected. Specifically, the second main drive unit 125 and the second mating part 126 are connected by a pin. The second main drive unit 125 is disposed in the first housing 1211 of the first drive unit 120, and the second mating part 126 is disposed in the second housing 1221 of the first mating part 122, or the second main drive unit 125 is disposed in the second housing 1221 of the first mating part 122, and the second mating part 126 is disposed in the first housing 1211 of the first drive unit 120.

[0038] In some embodiments, the locking assembly is used to lock the housing in a ready position. In this embodiment, the locking assembly is an electromagnetic bolt lock, which includes a first electromagnetic element 1252, a first permanent magnet element 1253, and a first slot 1261.

[0039] Referring to Figures 3 and 7, the second main drive unit 125 and the second mating unit 126 are connected by a pin. Specifically, the second main drive unit 125 includes a second elastic element 1251, a first electromagnetic element 1252, and a first permanent magnet element 1253. One end of the second elastic element 1251 is fixedly connected to the first electromagnetic element 1252, and the other end of the second elastic element 1251 is fixedly connected to the first permanent magnet element 1253.

[0040] The second mating part 126 includes a first slot 1261, and a first electromagnetic element 1252 and a second elastic element 1251 cooperate to drive a first permanent magnet element 1253 to be inserted into and pulled out of the first slot 1261.

[0041] The first electromagnetic component 1252 includes a first electromagnetic coil 12521. The first electromagnetic coil 12521 and an external power source can form an electrical connection. When the first electromagnetic coil 12521 is energized, the first electromagnetic component 1252 generates a magnetic field, thereby attracting / repelling the first permanent magnet 1253, thus moving it closer to or away from the second elastic component 1251.

[0042] Specifically, when the first electromagnetic coil 12521 is de-energized, the second elastic member 1251 is in a relatively extended state, the first permanent magnet 1253 is inserted into the first slot 1261, or the first permanent magnet 1253 drives the pin connected to the second main drive part 125 to be inserted into the first slot 1261, thereby locking the second drive part and the second mating part 126, so that the second drive part and the second mating part 126 are in a relatively stationary state.

[0043] When the first electromagnetic coil 12521 is energized, the first electromagnetic component 1252 generates a magnetic field. The first electromagnetic component 1252 attracts the first permanent magnet component 1253 to move in the direction of compressing the second elastic component 1251, that is, in the direction away from the first slot 1261. The first permanent magnet component 1253 is pulled out of the first slot 1261 or the first permanent magnet component 1253 drives the pin connected to the second main drive part 125 to be pulled out of the first slot 1261, thereby unlocking the second main drive part 125 and the second mating part 126, so that the second main drive part 125 and the second mating part 126 are in a state of relative movement.

[0044] In some embodiments, the clamping portion 110 and the first mating portion 122 are connected by a pin. Specifically, the clamping mechanism 100 includes a clamping driver (corresponding to some components of the first mating portion 122) for driving the clamping portion 110 to perform clamping or releasing actions. The clamping driver includes a second electromagnetic element 1225 as an electromagnetic driving element, a third elastic element 1224 as an elastic reset element, and a second permanent magnet element 1223 as a transmission element. The clamping portion 110 is provided with the second permanent magnet element 1223 at one end connected to the first mating portion 122. The first mating portion 122 also includes the third elastic element 1224 and the second electromagnetic element 1225. One end of the third elastic element 1224 is fixedly connected to the second permanent magnet element 1223, and the other end of the third elastic element 1224 is fixedly connected to the first mating portion 122.

[0045] The first mating part 122 also includes a second slot 1226, which is disposed on the side or bottom of the second housing 1221, and the slot of the second slot 1226 faces the clamping space 500; the second electromagnetic component 1225 and the third elastic component 1224 cooperate to drive the second permanent magnet component 1223 to insert into and pull out of the second slot 1226, that is, the clamping part 110 is retractable relative to the first mating part 122.

[0046] The second electromagnetic component 1225 includes a second electromagnetic coil 12251. The second electromagnetic coil 12251 and an external power source can form an electrical connection. When the second electromagnetic coil 12251 is energized, the second electromagnetic component 1225 generates a magnetic field, thereby attracting / repelling the second permanent magnet component 1223, thus moving closer to or away from the second elastic component.

[0047] Specifically, when the second electromagnetic component 1225 is de-energized, the third elastic component 1224 is in a relatively extended state. The third elastic component 1224 pushes the second permanent magnet component 1223 away from the second slot 1226, or the third elastic component 1224 pushes the pin connected to the second permanent magnet component 1223 away from / out of the second slot 1226, so that the clamping part 110 is away from the first mating part 122 and forms a clamping space 500 with the clamping parts 110 of other clamping mechanisms, forming a pushing force on the object located in the clamping space 500; when the second electromagnetic component 1225 is energized, the second electromagnetic component 1225 generates a magnetic field, and the third electromagnetic component attracts the second permanent magnet component 1223. 23 moves toward compressing the third elastic member 1224, that is, moves toward the direction closer to the first slot 1261. The second permanent magnet 1223 is inserted into the second slot 1226, or the second permanent magnet 1223 drives one end of the clamping part 110 fixedly connected to the second permanent magnet 1223 to be inserted into the second slot 1226. One end of the clamping part 110 is inserted into the second slot 1226 or moves toward the second slot 1226, thereby causing the clamping part 110 and another clamping part 110 away from other clamping mechanisms to lose the pushing force on the object in the clamping space 500, and the object in the clamping space 500 leaves the clamping space 500.

[0048] In some embodiments, the serving device 1 includes at least two clamping structures as disclosed above, with clamping portions 110 of the at least two clamping structures facing each other to form a clamping space 500. Specifically, the clamping portions 110 of the two clamping structures may be arranged opposite each other, with a certain clamping gap between the two clamping portions 110 for clamping the ball served by the serving mechanism, and the opposite ends of the two clamping portions 110 forming the clamping space 500. Alternatively, there may be three clamping structures, with the clamping portions 110 of the three clamping structures diverging about the clamping space 500 as the midpoint, and the included angle between adjacent clamping portions 110 being the same. Or, the clamping portions 110 of the two clamping structures may be arranged opposite each other, and the third clamping portion 110 may be arranged at any position around the clamping space 500, as long as it is ensured that at least two clamping portions 110 exert opposite forces on the clamping space 500 to ensure that the serving mechanism can be clamped. The ball can be served; alternatively, there can be four clamping structures, with the clamping parts 110 of the four clamping structures radiating outwards from the clamping space 500 as the midpoint, and the included angle between adjacent clamping parts 110 being the same, i.e., the included angle between adjacent clamping parts 110 is 90°; or, two adjacent clamping parts 110 form a pair, and the included angle of each pair of clamping parts 110 is the same; or, the clamping parts 110 of two clamping structures are arranged opposite to each other, and the other two clamping parts 110 can be arranged at any position around the clamping space 500, as long as it is ensured that at least two clamping parts 110 exert opposite forces on the clamping space 500 to ensure that the ball served by the serving mechanism can be clamped; similarly, five or more clamping structures are also possible, but at least two clamping parts 110 must exert opposite forces on the clamping space 500 to ensure that the ball served by the serving mechanism can be clamped.

[0049] In some embodiments, the serving device 1 includes at least one clamping structure as disclosed in the above embodiments. The clamping mechanism 100 may also be a combination of a movable structure (i.e., including a drive component) and a static structure. The static structure may be referred to as the second clamping part. A static structure is a structure that is relatively fixed or cannot rotate. It should be noted that being relatively fixed or unable to rotate does not mean that it is completely fixed and cannot rotate; there may be a slight relative displacement. At least one clamping part 110 of the clamped structure is arranged facing the second clamping part to form a clamping space 500.

[0050] Specifically, the clamping parts 110 and the second clamping part of the clamping structure can be arranged opposite each other, with a certain clamping gap between the clamping parts 110 and the second clamping part for clamping the ball served by the serving mechanism. The opposite ends of the clamping parts 110 and the second clamping part form a clamping space 500. Similar to the above-mentioned scheme with multiple clamping parts 110, the number of clamping parts 110 and the second clamping part can also be three, four or more, but it must include at least one clamping part 110 and one second clamping part. At least one clamping part 110 and one second clamping part are arranged opposite each other to form the clamping space 500. Similarly, it is necessary to have at least one clamping part 110, or multiple clamping parts 110, or at least one clamping part 110 and a combination of the second clamping part, with the force exerted by each clamping part and the second clamping part on the clamping space 500 in opposite directions to ensure that the ball served by the serving mechanism can be clamped.

[0051] The working principle and steps of the serving device 1 are briefly described below: (I) When the serving device 1 is in the preparation stage, as shown in Figures 5-8, Figure 5 is a structural schematic diagram of the clamping mechanism in the preparation stage, Figure 6 is a structural schematic diagram of the clamping mechanism in the preparation stage from another angle, Figure 7 is a cross-sectional view of the clamping mechanism in the preparation stage, and Figure 8 is a cross-sectional view of the clamping mechanism in the preparation stage from another angle; Specifically, the clamping mechanism 100 and other clamping mechanisms clamp the ball 400 emitted by the ball-ejecting mechanism 200, and the ball 400 is fixed at the clamping space 500; In some embodiments, the ball 400 stored in the ball-ejecting mechanism 200 is pushed down and falls from the ball-ejecting port 210, and the ball 400 is clamped by the two clamping parts 110 of the clamping mechanism, thereby fixing it in In the gap between the two clamping parts 110 (clamping space 500); the first driving part 120 and the first mating part 122 are locked by a locking structure, the first permanent magnet 1253 is inserted into the first slot 1261, and the first housing 1211 and the second housing 1221 are fixedly installed; the first elastic member fixing part 1213 and the second elastic member respectively compress the first elastic member 123 in opposite directions, and the first elastic member 123 is in a compressed state; the third elastic member 1224 restores its deformation and generates a pushing force on the clamping part 110 toward the outside of the second slot 1226, and the clamping part 110 generates a pushing force toward the clamping space 500, thereby cooperating with other clamping parts 110 and / or other clamping parts to generate a clamping force on the object in the clamping space 500.

[0052] (II) When the serving device 1 is in the hitting training stage, as shown in Figures 9-11, Figure 9 is a structural schematic diagram of the clamping mechanism of the serving device in the hitting training stage, Figure 10 is a structural schematic diagram of the clamping mechanism in the hitting training stage from another angle, and Figure 11 is a cross-sectional view of the clamping mechanism in the hitting training stage; the trainee swings the racket toward the position of the ball fixed in the clamping space 500, and the trajectory of the racket swing passes through the line connecting the two probes 610 of the racket sensor 600. The racket sensor 600 generates a racket position signal, which is transmitted to the counterweight host. The signal receiving module 333 and the control module 331 of the counterweight host 330 analyze the data and transmit it to the first electromagnetic component 1252 and the second electromagnetic component 1225 via the signal transmitting module 332. The clamping part 110 retracts away from the clamping space 500 and the ball and further inserts into the second slot 1226. The ball in the clamping space 500 loses the force of the clamping part 110 and / or other clamping parts and enters a free fall state. It should be noted that the first electromagnetic component 1252 and the second electromagnetic component 1225 do not operate simultaneously. The operation sequence is as follows: the second electromagnetic component... There is a brief time difference between the movement of the first electromagnetic component 1225 and the second electromagnetic component 1222. This ensures that the ball within the clamping space 500 is not subjected to horizontal force, which would cause the ball's trajectory to deviate and affect the accuracy of the hitting point. The second electromagnetic component 1225 first drives the clamping part 110 to retract into the second slot 1226, causing the ball within the clamping space 500 to lose clamping force and enter free fall. The trainee swings the racket and hits the ball, thereby training the hitting action and practicing the hitting position. The first electromagnetic component 1252 releases... The first mating part 122 and the second mating part 126 rotate relative to the first driving part 120 in a direction away from the trainee, causing the clamping part 110 to rotate away from the trainee's defensive line. When the trainee swings the racket to hit the ball, the ball release mechanism 200 releases the ball towards the clamping space 500. The racket sensor 600 senses the racket position and transmits it to the signal receiving module 333 of the counterweight host 330. The control module 331 of the counterweight host 330 analyzes the data and sends it to the second electromagnetic component 1225 and the first electromagnetic component 1252 through the signal sending module 332 to prepare for the subsequent reset stage.

[0053] The locking structure unlocks when the first permanent magnet 1253 is pulled out of the first slot 1261 by the attraction of the first electromagnetic component 1252. The first mating part 122 rotates relative to the first driving part 120 in the first direction, thereby causing the clamping part 110 to rotate in the first direction as well. The second housing 1221 loses the force from the first housing 1211, and the second elastic component loses the external pressure and extends in the second direction, pushing the second elastic component fixing part 1222 to rotate in the first direction. The second elastic component drives the second elastic component fixing part 1222 to rotate in the first direction. 222 also rotates in the first direction, and the second housing 1221 rotates relative to the first housing 1211; the second electromagnetic component 1225 is energized to generate a magnetic field that attracts the second permanent magnet component 1223. The second permanent magnet component 1223 moves toward the second electromagnetic component 1225 and compresses the third elastic component 1224 to drive the clamping part 110 toward the second electromagnetic component 1225, thereby causing the clamping part 110 to be inserted into the second slot 1226, thereby leaving the clamping space 500 and losing the clamping force on the object in the clamping space 500.

[0054] In this embodiment, the ball within the clamping space 500 remains fixed in one position until it is about to be hit by the racket. Only then is the ball released from its fixed position within the clamping space 500. After release, the clamping part 110 quickly leaves the swing trajectory of the racket, thereby avoiding interference with the swing and improving the efficiency and effectiveness of the trainee's hitting training.

[0055] (III) When the ball-serving device 1 is in the reset phase, as shown in Figures 12 and 13, Figure 12 is a structural schematic diagram of the clamping mechanism in the reset phase, and Figure 13 is a structural schematic diagram of the clamping mechanism in the reset phase from another angle; after the trainee swings the racket to hit the ball, the racket sensor 600 and the ball sensor 700 send racket position data and ball position data to the counterweight host 330. The counterweight host 330 receives and analyzes the data through the signal receiving module 333, and sends reset control signals to the first main drive component 1212, the second electromagnetic component 1225 and the first electromagnetic component 1252 of the first drive unit 120 respectively through the signal sending module 332. The first main drive member 1212 drives the first drive shaft 124 to rotate in the second direction (towards the trainee). The first drive shaft 124 drives the first mating part 122 to rotate in the direction of the trainee. When the clamping part 110 is rotated by the first mating part 122 to the position of the ball return phase, the first electromagnetic member 1252 drives the first permanent magnet 1253 to insert into the first slot 1261, thereby locking the first drive part 120 and the first mating part 122. The second electromagnetic member 1225 is de-energized, and the third elastic member 1224 restores its deformation and pushes the second permanent magnet 1223 to move toward the clamping space 500, thereby clamping the ball in the clamping space 500.

[0056] The first driving part 120 drives the first mating part 122 to rotate in the second direction so as to drive the clamping part 110 to rotate in the second direction as well. When the first mating part 122 rotates at a certain angle, the locking structure locks the first mating part 122 and the first driving part 120.

[0057] The first main drive unit 1212 drives the first drive shaft 124 to rotate a certain angle in the second direction. The first drive shaft 124 drives the second housing 1221 to rotate in the second direction, thereby driving the second elastic element fixing part 1222 to rotate in the second direction. The second elastic element fixing part 1222 compresses the first elastic element 123. The first electromagnetic element 1252 drives the first permanent magnet element 1253 to insert into the first slot 1261. The first drive unit 120 and the first mating part 122 are in a locked state.

[0058] The second permanent magnet 1223 loses the attraction of the second electromagnetic component 1225, and the third elastic component 1224 loses the pressure of the second permanent magnet 1223 and thus recovers its deformation, generating a pushing force on the clamping part 110 toward the second permanent magnet 1223. The clamping part 110 is pushed by the third elastic component 1224 and thus inserts into the second slot 1226, thereby leaving the clamping space 500 and losing the clamping force on the object in the clamping space 500. The ball stored in the ball dispensing mechanism 200 is pushed down and falls from the ball dispensing port 210. The ball is clamped by the two clamping parts 110 of the clamping mechanism and thus fixed in the clamping space 500 between the two clamping parts 110.

[0059] In some embodiments, the ball dispensing mechanism 200 can be controlled by the counterweight host 330 to descend to the same height as a ball at the ball outlet 210 and the two clamping mechanisms, so that after clamping a ball, the ball dispensing mechanism 200 rises back, thereby completing the automatic filling function.

[0060] (iv) When the ball-throwing device 1 is in the ball-throwing training stage, as shown in Figures 14 and 15, Figure 14 is a structural schematic diagram of the clamping mechanism in the ball-throwing training stage, and Figure 15 is a structural schematic diagram of the clamping mechanism in the ball-throwing training stage from another angle; the ball sensor 700 records the spatial position of the ball in the preparation stage by the camera 710, and the clamping part 110 is in the same position as in the hitting training stage, in a position away from the trainee; the trainee practices the ball-throwing action under the clamping mechanism 100. During the ball-throwing process, the camera 710 of the ball sensor 700 records the spatial position of the thrown ball and compares it with the spatial position of the ball in the hitting training, thereby providing the trainee with immediate feedback and helping the trainee to throw the ball to a stable position.

[0061] In the above-mentioned disclosure, it should be clarified that: the first direction is the direction closer to the trainee, and the second direction is the direction farther away from the trainee; the first elastic element 123, the second elastic element and the third elastic element 1224 are specifically spring structures.

[0062] During the trainee's swing, the ball in the clamping space 500 remains fixed in one position until just before impact. This minimizes the distance between the actual hitting point and the fixed point of the ball, allowing the trainee to maintain focus on the hitting point and concentrate on practicing the swing without needing to pay attention to the ball toss.

[0063] Meanwhile, because the ball falls a short distance after being released from the clamping space (500mm) before being hit, the effect after hitting the ball is closer to the highest point of the ball's impact during an actual serve, and the ball's trajectory and landing point are also closer to an actual serve. After releasing the ball, this device ensures that the mechanism holding the ball quickly leaves the swing path, without interfering with the trainee's swing, while maintaining low energy consumption and noise, making it suitable for more training scenarios.

[0064] It should be noted that the detailed description of each specific component (such as the first housing 1211, the second electromagnetic component 1225, the first main drive component 1212, etc.) in this embodiment is an explanation of the specific implementation of the higher-level functional units (such as the housing, the clamping driver, the rotating assembly, etc.) in the claims. Those skilled in the art will understand that the scope of protection of the claims is not limited to the component structures listed in the above specific embodiments.

[0065] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A serve training device, characterized in that, include: Base; A lifting support is mounted on the base; A clamping mechanism, mounted on the lifting bracket, is used to clamp and fix the ball in the ready position; An optoelectronic sensing system, installed on the lifting bracket, is used to detect the swing trajectory of the racket; The controller is communicatively connected to the clamping mechanism and the photoelectric sensing system, respectively. The clamping mechanism includes a release component, and the controller is configured to: in response to the photoelectric sensing system detecting that the racket swing trajectory passes through a preset sensing area, control the release component to perform a release operation, the release operation including causing the clamping mechanism to release the ball and causing the clamping mechanism to move away from the ready position to avoid interfering with the subsequent swing of the racket.

2. The serve training device according to claim 1, characterized in that, The photoelectric sensing system includes at least one pair of light emitters and light receivers, which are arranged opposite each other to form the preset sensing area. The light emitter is a racket sensor and the light receiver is a probe.

3. The serve training device according to claim 1 or 2, characterized in that, The clamping mechanism includes: a housing; at least one pair of clamping parts movably disposed in the housing for clamping the ball; a clamping driver connected to the at least one pair of clamping parts for driving the clamping parts to perform clamping or releasing actions; a rotating assembly for driving the housing and the clamping parts to rotate relative to the lifting bracket; and a locking assembly for locking the housing in the ready position; wherein the releasing assembly includes the clamping driver and the rotating assembly; the steps of the controller controlling the releasing operation include: first, controlling the clamping driver to drive the clamping parts to release the ball; then, controlling the locking assembly to unlock and driving the rotating assembly to rotate and move the clamping parts away from the ready position.

4. The serve training device according to claim 3, characterized in that, The rotating assembly includes: a first drive shaft for rotatably connecting the housing to the lifting bracket; a first main drive member for driving the housing to rotate and reset around the first drive shaft; and a first elastic member for driving the housing to rotate around the first drive shaft to move away after the locking assembly is unlocked.

5. The serve training device according to claim 3, characterized in that, The clamping driver includes an electromagnetic drive, an elastic reset member, and a transmission member; the transmission member is linked to the clamping part; the electromagnetic drive responds to the signal of the controller, overcomes the elastic force of the elastic reset member to drive the transmission member, thereby causing the clamping part to release the ball; when the electromagnetic drive is de-energized, the elastic reset member drives the transmission member to reset, thereby causing the clamping part to reset to the clamping state.

6. The serve training device according to claim 3, characterized in that, The locking component is an electromagnetic bolt lock, including an electromagnetic component, a permanent magnet component, and a slot on the bracket, all mounted on the housing. The controller controls the on / off power supply of the electromagnetic component to drive the permanent magnet component to insert into or remove from the slot, thereby achieving locking or unlocking.

7. The serve training device according to claim 1, characterized in that, It also includes a visual feedback system, which includes at least one camera that is communicatively connected to the controller for acquiring images of the ball's spatial position. The controller is further configured to: in ball-throwing training mode, determine the actual position of the ball thrown by the trainee based on the images acquired by the camera, compare the actual position with a preset standard hitting position, and generate feedback information.

8. The serve training device according to claim 1, characterized in that, It also includes a ball-dispensing mechanism for holding multiple balls and electrically connected to the controller; the controller controls the movement of the ball-dispensing mechanism according to the state of the clamping mechanism to deliver the balls to the ball-supplying position.

9. A control method for a serve training device, the serve training device comprising a clamping mechanism and a photoelectric sensing system, characterized in that, The control method includes: a preparation step: controlling the clamping mechanism to clamp and fix the ball in a preparation position; a detection step: using the photoelectric sensing system to detect in real time whether a racket swing trajectory passes through a preset sensing area; and a release step: in response to detecting that the racket swing trajectory passes through the preset sensing area, controlling the clamping mechanism to perform a release operation, the release operation including: a first stage: controlling the clamping mechanism to release the ball, allowing it to begin to fall freely; and a second stage: controlling the clamping mechanism to move away from the preparation position.

10. The control method according to claim 9, characterized in that, In the release step, there is a preset time delay between the first stage and the second stage.

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