Automatic juggling training equipment

Abstract

The utility model discloses automatic juggling training equipment, which relates to the technical field of sports equipment, and comprises a rack, at least two mechanical arms, at least two driving parts, at least one juggling plate and a camera, and the rack is provided with a detection opening; one end of each mechanical arm is movably connected to the rack, and the two mechanical arms are symmetrically arranged; the two driving parts are arranged on the rack, and each driving part is in transmission connection with one mechanical arm; the juggling plate is connected with the other ends of the two mechanical arms and is arranged opposite to the detection opening; the juggling plate is a transparent plate; the camera is connected with the rack, is located at the detection opening and is located below the juggling plate; according to the technical scheme, the response speed of the automatic juggling training equipment is increased, and the juggling accuracy of the automatic juggling training equipment is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of sports equipment, in particular to automatic ball juggling training equipment. Background Art

[0002] A table tennis juggling device, also known as a table tennis juggling robot, is an automated device used to train table tennis players in juggling techniques. The device primarily consists of a robotic arm, multiple depth sensors, and a main controller. The robotic arm simulates the arm movements of a player juggling the ball, precisely controlling the arm's movements to achieve juggling. The depth sensor captures image information of the table tennis ball, which is then transmitted to the main controller for processing. The main controller, acting as the control center, uses this image information to calculate the real-time three-dimensional position of the table tennis ball and, combined with a dynamic model of the ball, predicts its trajectory.

[0003] However, the multiple depth sensors of existing table tennis juggling equipment are generally set separately from the robotic arm and distributed near the device body. The image information of the multiple depth sensors is used for processing and analysis. This setting greatly increases the computing power of the main controller, affects the response speed of the table tennis juggling equipment, and causes the juggling accuracy of the table tennis juggling equipment to decrease. Utility Model Content

[0004] The main purpose of the utility model is to provide an automatic ball juggling training device, aiming to speed up the reaction speed of the automatic ball juggling training device and improve the ball juggling accuracy of the automatic ball juggling training device.

[0005] To achieve the above-mentioned purpose, the present invention provides an automatic ball juggling training device, which includes:

[0006] a frame having an inspection opening;

[0007] At least two robotic arms, one end of each of the robotic arms being movably connected to the frame, and the two robotic arms being symmetrically arranged;

[0008] At least two driving members, two of the driving members are provided on the frame, and each of the driving members is in transmission connection with one of the robotic arms;

[0009] At least one ball-bouncing plate, connected to the other ends of the two robotic arms and arranged opposite to the detection opening; the ball-bouncing plate is a transparent plate; and

[0010] A camera is connected to the frame and is located at the detection opening and below the ball-jigging plate.

[0011] In one embodiment, the camera is a high-speed camera.

[0012] In one embodiment, the robotic arm comprises:

[0013] a lower arm, one end of which is hinged to the frame and in transmission connection with the driving member; and

[0014] An upper arm, one end of the upper arm is hinged to the other end of the lower arm, and the other end of the upper arm is hinged to the ball-jigging plate.

[0015] In one embodiment, the lower arm comprises:

[0016] a first arm segment, one end of which is hinged to the frame and is in driving connection with the driving member; and

[0017] A second arm segment, one end of the second arm segment is hinged to the other end of the first arm segment, and the other end of the second arm segment is hinged to the upper arm.

[0018] In one embodiment, the upper arm comprises:

[0019] a main arm section, one end of which is hinged to the lower arm;

[0020] a jib section, one end of which is hinged to the other end of the main boom section; and

[0021] A connecting block, one end of which is connected to the ball-jigging plate, and the other end of which is rotatably connected to the other end of the auxiliary arm section.

[0022] In one embodiment, the end of the auxiliary arm section that is rotatably connected to the connecting block is the first end, and the end of the auxiliary arm section that is hinged to the lower arm is the second end; the extension direction of the rotation axis of the first end is perpendicular to the extension direction of the rotation axis of the second end.

[0023] In one embodiment, the automatic ball juggling training equipment further includes four robotic arms and four driving members, one end of each of the four robotic arms is movably connected to the frame, and the four driving members are all arranged on the frame, and each of the driving members is transmission-connected to one of the robotic arms; the four robotic arms are arranged in a cross shape on the frame.

[0024] In one embodiment, the automatic juggling training device further includes a level sensor, which is disposed on a side wall of the juggling board and is used to detect the level of the juggling board.

[0025] In one embodiment, the automatic ball juggling training device further includes a detection light source, which is disposed on the frame and adjacent to the camera.

[0026] The automatic juggling training device of the technical solution of the present invention includes a frame, at least two mechanical arms, at least two driving members, at least one juggling board and a camera, wherein the frame has a detection opening; one end of each mechanical arm is movably connected to the frame, and the two mechanical arms are symmetrically arranged; two driving members are arranged on the frame, and each driving member is transmission-connected to a mechanical arm; the juggling board is connected to the other ends of the two mechanical arms and is arranged directly opposite the detection opening; the juggling board is a transparent board; the camera is connected to the frame and is located at the detection opening and below the juggling board; in this way, automatic juggling training is achieved by arranging two mechanical arms and two driving members to drive the juggling board to move; a camera is arranged below the transparent juggling board, and the movement trajectory of the ball can be clearly seen by the camera, and a clearer movement image can be obtained and sent to the main controller of the automatic juggling training device, that is, only one camera is needed to accurately detect the ball, and there is no need to arrange multiple other cameras near the device, thereby reducing the computing power of the main controller of the automatic juggling training device, accelerating the response speed of the automatic juggling training device, and improving the juggling accuracy of the automatic juggling training device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0028] Figure 1 This is a structural diagram of an embodiment of the automatic ball-bouncing training device provided by the present invention;

[0029] Figure 2 This is a schematic structural diagram of the automatic juggling training device provided by the utility model after the juggling board is disassembled.

[0030] Description of Figure Numbers:

[0031] 10. Frame; 10a. Detection opening; 20. Robotic arm; 21. Lower arm; 211. First arm section; 212. Second arm section; 22. Upper arm; 221. Main arm section; 222. Auxiliary arm section; 223. Connecting block; 40. Ball-bouncing plate; 50. Camera.

[0032] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of the present invention.

[0034] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0035] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0036] The utility model provides an automatic ball-bouncing training device.

[0037] See also Figure 1 and Figure 2 In one embodiment of the present invention, the automatic juggling training equipment includes a frame 10, at least two robotic arms 20, at least two driving members 30, at least one juggling board 40 and a camera 50. The frame 10 has a detection opening 10a; one end of each robotic arm 20 is movably connected to the frame 10, and the two robotic arms 20 are symmetrically arranged; two driving members 30 are provided on the frame 10, and each driving member 30 is transmission-connected to a robotic arm 20; the juggling board 40 is connected to the other ends of the two robotic arms 20, and is arranged opposite to the detection opening 10a; the juggling board 40 is a transparent plate; the camera 50 is connected to the frame 10, and is located at the detection opening 10a, and is located below the juggling board 40.

[0038] The front end of the frame 10 is provided with a detection opening 10a for detecting the position of the ping-pong ball on the juggling board 40. The device includes two robotic arms 20, each connected to the frame 10 at one end via a movable connector. The two robotic arms 20 are arranged symmetrically to ensure balanced operation. Two driving members 30 are provided on the frame 10, each connected to a robotic arm 20 via a transmission connector to drive the movement of the robotic arm 20. The juggling board 40 is made of a transparent material, connected to the other end of the two robotic arms 20, and arranged directly opposite the detection opening 10a. The surface of the juggling board 40 is smooth to ensure smooth movement of the ping-pong ball during juggling. A camera 50 is connected to the frame 10 and located at the detection opening 10a. The camera 50 is located below the juggling board 40 and is used to capture the position and movement of the ping-pong ball in real time.

[0039] When the device is turned on, the driver 30 begins operating, driving the robotic arm 20. The movement of the robotic arm 20 causes the juggling board 40 to swing up and down, simulating the actual juggling motion. The camera 50 captures the position and motion of the ping-pong ball in real time and transmits this data to the control system. Based on the data provided by the camera 50, the control system adjusts the speed and direction of the robotic arm 20 to maintain the stability of the ball on the juggling board 40. By repeating this process, automated juggling training is achieved.

[0040] Due to the symmetry of the two robotic arms 20, they can provide balanced force during the juggling process, thereby ensuring the stability of the entire device and the accuracy of the juggling. In addition, the movable connection design of the robotic arms 20 makes the device more adaptable and can be used by users with different training needs.

[0041] In this embodiment, two robotic arms 20 and two driving members 30 are provided to drive the juggling board 40 to move, thereby realizing automatic juggling training. A camera 50 is provided below the transparent juggling board 40, and the movement trajectory of the ball can be clearly seen by the camera 50, so that a clearer motion image can be obtained and sent to the main controller of the automatic juggling training device. That is, only one camera 50 is needed to accurately detect the ball, and there is no need to set up multiple other cameras 50 near the device. This reduces the amount of calculation of the main controller of the automatic juggling training device, speeds up the response speed of the automatic juggling training device, and improves the juggling accuracy of the automatic juggling training device.

[0042] In one embodiment, see Figure 1 and Figure 2 , camera 50 is a high-speed camera.

[0043] The core technical features of the high-speed camera 50 lie in its advanced image processing algorithms and optimized optical system design, which significantly improves image acquisition and processing speeds. Compared to existing technologies, the high-speed camera of this utility model can capture and process more image frames per unit time, providing users with a smoother and more coherent visual experience. This improvement is particularly evident in high-speed motion scenes, effectively capturing dynamic details and avoiding the image smearing or blurring caused by the insufficient processing speed of traditional cameras 50.

[0044] In one embodiment, see Figure 1 and Figure 2 The robotic arm 20 includes a lower arm 21 and an upper arm 22. One end of the lower arm 21 is hinged to the frame 10 and is in transmission connection with the driving member 30; one end of the upper arm 22 is hinged to the other end of the lower arm 21, and the other end of the upper arm 22 is hinged to the ball-bouncing plate 40.

[0045] One end of the lower arm 21 is hingedly fixed to the frame 10 and is in transmission connection with the drive member 30, enabling flexible movement of the lower arm 21. One end of the upper arm 22 is hingedly connected to the other end of the lower arm 21, allowing the upper arm 22 to rotate or swing relative to the lower arm 21. The other end of the upper arm 22 is hingedly connected to the ball-bouncing plate 40, allowing the ball-bouncing plate 40 to move accordingly with the movement of the upper arm 22.

[0046] The driver 30 drives the lower arm 21 and can be a motor, pneumatic device, or other transmission device. The lower arm 21 and upper arm 22 are connected by an articulated joint, allowing relative movement. The juggling plate 40 is fixed to the other end of the upper arm 22 and is used to perform actions such as juggling.

[0047] In actual operation, by controlling the movement of the driver 30, the lower arm 21 can be rotated or swung relative to the frame 10. Due to the hinged connection between the upper arm 22 and the lower arm 21, the upper arm 22 also moves accordingly. Simultaneously, the ball-bouncing plate 40, fixed to the other end of the upper arm 22, also moves accordingly. In this way, the robotic arm 20 can achieve complex motion trajectories to meet diverse application requirements.

[0048] In one embodiment, see Figure 1 and Figure 2 The lower arm 21 includes a first arm segment 211 and a second arm segment 212. One end of the first arm segment 211 is hinged to the frame 10 and is in transmission connection with the driving member 30; one end of the second arm segment 212 is hinged to the other end of the first arm segment 211, and the other end of the second arm segment 212 is hinged to the upper arm 22.

[0049] The driver 30 is activated, causing the first arm segment 211 to rotate relative to the frame 10. The movement of the first arm segment 211 is transmitted to the second arm segment 212 via the hinge point, causing the second arm segment 212 to rotate relative to the first arm segment 211. The movement of the second arm segment 212 is further transmitted to the upper arm 22, completing the movement of the entire robotic arm 20.

[0050] One end of the second arm segment 212 is hinged to the other end of the first arm segment 211, and the other end is hinged to the upper arm 22. This unique articulation gives the entire robotic arm 20 greater flexibility and adaptability during movement. Whether performing delicate operations in complex working environments or making large movements, it maintains excellent dynamic balance and stability.

[0051] In one embodiment, see Figure 1 and Figure 2 The upper arm 22 includes a main arm section 221, a secondary arm section 222 and a connecting block 223. One end of the main arm section 221 is hinged to the lower arm 21; one end of the secondary arm section 222 is hinged to the other end of the main arm section 221; one end of the connecting block 223 is connected to the ball-bouncing plate 40, and the other end of the connecting block 223 is rotatably connected to the other end of the secondary arm section 222.

[0052] One end of the main arm section 221 is hinged and connected to the lower arm 21. One end of the auxiliary arm section 222 is hinged and connected to the other end of the main arm section 221. The connecting block 223 has a connecting structure at one end that connects to the ball-bouncing plate 40; the other end has a rotating connection structure that connects to the other end of the auxiliary arm section 222.

[0053] During use, the upper arm 22 can be extended and bent by adjusting the angle between the auxiliary arm section 222 and the main arm section 221 to meet the needs of different usage scenarios. In actual use, one end of the connecting block 223 is connected to the ball-bouncing plate 40, and the other end is rotatably connected to the other end of the auxiliary arm section 222. This structure enables the robot arm 20 to better adapt to complex working environments and perform various complex movements, effectively ensuring the stability of the ball-bouncing plate 40 during movement.

[0054] In one embodiment, see Figure 1 and Figure 2 The end where the auxiliary arm section 222 is rotatably connected to the connecting block 223 is the first end, and the end where the auxiliary arm section 222 is hinged to the lower arm 21 is the second end; the extension direction of the rotation axis of the first end is perpendicular to the extension direction of the rotation axis of the second end.

[0055] During operation, the axis of rotation extending perpendicularly between the first end of the auxiliary arm segment 222, where it is pivotally connected to the connecting block 223, and the second end of the auxiliary arm segment 222, where it is hinged to the lower arm 21, allows the robotic arm 20 to more flexibly adjust its posture when performing complex tasks, significantly expanding its operational range and applicable scenarios. This design not only optimizes the operational performance of the robotic arm 20 but also improves its efficiency in practical applications.

[0056] In one embodiment, see Figure 1 and Figure 2 The automatic ball-juggling training equipment also includes four robotic arms 20 and four driving members 30. One end of the four robotic arms 20 is movably connected to the frame 10. The four driving members 30 are all arranged on the frame 10. Each driving member 30 is transmission-connected to a robotic arm 20. The four robotic arms 20 are arranged in a cross shape on the frame 10.

[0057] The operator uses the control system to adjust the position of the robotic arms 20 to position the ball at the appropriate height and position. Under the control of the robotic arms 20, the ball begins automatic juggling training. Two of the robotic arms 20 control the ascent and descent of the juggling board 40, while the remaining two robotic arms 20 control the left and right movement of the ball. After training, the operator uses the control system to shut down the equipment, and the robotic arms 20 return to their initial positions.

[0058] The four robotic arms 20 are arranged in a cross shape on the frame 10, allowing for simultaneous multi-angle and multi-directional juggling training, greatly improving training efficiency. This layout allows trainees to receive comprehensive juggling technique training in a short period of time, thereby accelerating their skill improvement.

[0059] In one embodiment, see Figure 1 and Figure 2 The automatic juggling training device also includes a level sensor, which is arranged on the side wall of the juggling board 40 and is used to detect the horizontal degree of the juggling board 40.

[0060] The juggling board 40 is made of a lightweight, high-strength material and is rectangular in shape. Its surface has a certain degree of elasticity to ensure that the ball will rebound well when it contacts the board 40 during training. The size of the juggling board 40 can be adjusted according to actual needs. A level sensor is located on the side wall of the juggling board 40 to detect the horizontality of the board 40. The level sensor can be an electronic level, an infrared level, or another type of level detection device.

[0061] Start the level sensor to detect the horizontality of the juggling board 40; adjust the height of the support mechanism according to the detection result of the level sensor to keep the juggling board 40 horizontal; conduct juggling training. During the training, the level sensor detects the horizontality of the juggling board 40 in real time to ensure the training effect.

[0062] By adding a horizontal sensor, the device can monitor the horizontality of the juggling board 40 in real time. In this way, the juggling board 40 can be in an absolutely horizontal state before starting, and then the angle and position of the juggling board 40 can be accurately adjusted according to the trainee's movements, thereby improving the training efficiency and accuracy of the automatic juggling training equipment.

[0063] In one embodiment, see Figure 1 and Figure 2 The automatic ball-juggling training device further includes a detection light source, which is disposed on the frame 10 and adjacent to the camera 50 .

[0064] By adding a detection light source to the automatic juggling training device and placing it adjacent to the camera 50, the light intensity and angle can be monitored and adjusted in real time, ensuring sufficient and uniform lighting during training. This technical feature directly improves training efficiency, allowing athletes to train under more stable lighting conditions and master juggling techniques more quickly. The use of a detection light source allows for precise control of lighting conditions during training, helping athletes better observe the ball's trajectory and speed, thereby improving their ball control.

[0065] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An automatic ball-juggling training device, characterized in that: The automatic ball-juggling training device comprises: a frame having an inspection opening; At least two robotic arms, one end of each of the robotic arms being movably connected to the frame, and the two robotic arms being symmetrically arranged; At least two driving members, two of the driving members are provided on the frame, and each of the driving members is in transmission connection with one of the robotic arms; At least one ball-bouncing plate, connected to the other ends of the two robotic arms and arranged opposite to the detection opening; the ball-bouncing plate is a transparent plate; and A camera is connected to the frame and is located at the detection opening and below the ball-jigging plate.

2. The automatic ball juggling training device according to claim 1, characterized in that: The camera is a high-speed camera.

3. The automatic ball juggling training device according to claim 1, characterized in that: The robotic arm comprises: a lower arm, one end of which is hinged to the frame and in transmission connection with the driving member; and An upper arm, one end of the upper arm is hinged to the other end of the lower arm, and the other end of the upper arm is hinged to the ball-jigging plate.

4. The automatic ball juggling training device according to claim 3, characterized in that: The lower arm comprises: a first arm segment, one end of which is hinged to the frame and is in driving connection with the driving member; and A second arm segment, one end of the second arm segment is hinged to the other end of the first arm segment, and the other end of the second arm segment is hinged to the upper arm.

5. The automatic ball-juggling training device according to claim 3, characterized in that: The upper arm comprises: a main arm section, one end of which is hinged to the lower arm; a jib section, one end of which is hinged to the other end of the main boom section; and A connecting block, one end of which is connected to the ball-jigging plate, and the other end of which is rotatably connected to the other end of the auxiliary arm section.

6. The automatic ball juggling training device according to claim 5, characterized in that: The end of the auxiliary arm section rotatably connected to the connecting block is the first end, and the end of the auxiliary arm section hinged to the lower arm is the second end; the extension direction of the rotation axis of the first end is perpendicular to the extension direction of the rotation axis of the second end.

7. The automatic ball juggling training device according to claim 1, characterized in that: The automatic ball-juggling training equipment also includes four robotic arms and four driving members. One end of the four robotic arms is movably connected to the frame, and the four driving members are all arranged on the frame. Each driving member is transmission-connected to one robotic arm; the four robotic arms are arranged in a cross shape on the frame.

8. The automatic ball juggling training device according to claim 1, wherein: The automatic ball juggling training device further includes a level sensor, which is disposed on the side wall of the ball juggling board and is used to detect the level of the ball juggling board.

9. The automatic ball juggling training device according to claim 1, characterized in that: The automatic ball-juggling training device further includes a detection light source, which is disposed on the frame and adjacent to the camera.

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