Ball collecting device and sports equipment

Abstract

The application discloses a ball collecting device and sports equipment. The ball collecting device can be arranged on a movable body of a sports equipment such as a squash machine or a tennis machine. The ball collecting device comprises a ball collecting guide, a support and a first driving module. The ball collecting guide is connected to the movable body. The ball collecting guide has a ball storing port and a ball collecting port. The ball collecting port is used for collecting balls on the ground. The ball storing port is used for conveying the balls to a ball storage device. The support is formed with at least one rotating shaft. The support is rotatably connected to the movable body through the rotating shaft. The position of the rotating shaft is higher than that of the ball collecting port. The first driving module comprises at least a disc motor and a friction wheel. The friction wheel of the first driving module is sleeved on the outer periphery of the disc motor. The position of the rotating shaft is higher than that of the first driving module. The support can be rotated relative to the rotating shaft to adjust the ball collecting position, so that the friction wheel contacts the ball and accelerates the ball through friction transmission, thereby enabling the ball to pass through the ball collecting guide and reach the ball storing port. The ball collecting device has the advantages of strong universality and high efficiency.

Description

Technical Field

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

[0002] With the rapid improvement of people's living standards and health awareness, sports such as tennis and squash are gradually becoming more popular. However, the ball-collecting devices of traditional tennis, squash, and table tennis ball collectors are inefficient in team training and intense competitions due to their slow ball collection and storage speed. Although some new tennis, squash, and table tennis ball collectors have optimized and improved their collection efficiency, they can only effectively collect certain types of balls of specific sizes or standard shapes, limiting their reusability. Therefore, improving the design of the ball-collecting device to enhance collection efficiency and equipment reusability has become an urgent problem to be solved. Utility Model Content

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

[0004] In a first aspect, this application proposes a ball-collecting device, which includes:

[0005] The movable body includes a ball receiving guide, which has a ball storage port and a ball receiving port. The ball receiving port is used to collect balls on the ground, and the ball storage port is used to transport the balls to the ball storage device.

[0006] The bracket has at least one pivot, which is rotatably connected to the movable body. The position of the pivot is higher than the position of the ball receiving port.

[0007] The first drive module includes at least a disc motor and a friction wheel. The friction wheel of the first drive module is sleeved on the outer periphery of the disc motor, and the position of the rotating shaft is higher than that of the first drive module.

[0008] The bracket can be adjusted by rotating relative to the pivot, so that the friction wheel contacts the ball, and the ball is accelerated by friction transmission through the first drive module, so that the ball reaches the ball storage port through the ball receiving guide.

[0009] In some implementations, the support can be adjusted to the serving position by rotating relative to the pivot, and the first drive module is used for serving.

[0010] In some embodiments, the movable body includes a chassis and a tensioning assembly. A tensionable protective strip is provided around the chassis. The tensioning assembly is connected to the protective strip to drive the protective strip to open or close. When the protective strip is open, it guides the ball to the ball receiving port. The ball receiving port has a first side and a second side on a horizontal plane. The tensioning assembly and the protective strip form a first guiding module, which is located on one side of the ball receiving port.

[0011] In some embodiments, the tensioning assembly includes a tensioning member, a sliding pair, and a first guide motor. The protective baffle has a first position and a second position. The first position is rotatably connected to one end of the tensioning member, and the other end of the tensioning member is rotatably connected to the first guide motor. The second position is slidably connected to the movable body through the sliding pair.

[0012] In some embodiments, the first position is located within the range of 1 / 6 to 5 / 6 of the total length of the protective strip, and the second position is located at the end of the protective strip near the ball receiving opening; or, the rotation angle range of the protective strip includes at least 0°-60°.

[0013] In some embodiments, the opening member has a ball guide notch, which is used to avoid obstructing the ball's trajectory when the protective barrier opens and guides the ball to the receiving end.

[0014] In some embodiments, the movable body is further provided with a second guide module, which is disposed on the other side of the ball receiving port relative to the first guide module and on the other side of the ball receiving port relative to the protective baffle. The second guide module is used to guide the ball to the ball receiving port.

[0015] In some implementations, a translational track is provided around the chassis, and one end of the second guide module is movably connected to the movable body via the translational track.

[0016] In some embodiments, the second guide module includes a second guide motor, a drive wheel shaft, a driven shaft, and a conveyor belt. The drive wheel shaft is rotatably connected to the second guide motor. The distance from the driven shaft to the ball receiving port is greater than the distance from the drive wheel shaft to the ball receiving port. The two ends of the conveyor belt are respectively sleeved on the driven shaft and the drive wheel shaft, and the conveyor belt drives the ball to the ball receiving port.

[0017] In some embodiments, the ball receiving guide includes a ball receiving pipe with a receiving port corresponding to the position of the first drive module, the receiving port being used to receive at least a portion of the first drive module.

[0018] In some embodiments, the ball receiving guide is provided with a shielding part on the periphery of the ball storage port, or the movable body is provided with a shielding part corresponding to the ball storage port;

[0019] The shielding part is used to adjust the trajectory of the ball as it flies out of the ball-receiving guide.

[0020] In some embodiments, the ball-collecting device is further provided with an attitude control module, which is located on the movable body and is used to adjust the position and posture of the support relative to the movable body.

[0021] In some embodiments, the movable body is provided with a telescopic rod and driven wheels; or, the movable body is provided with a motion chassis, the motion chassis including at least three omnidirectional wheels.

[0022] In some implementations, the movable body is equipped with a Bluetooth communication module, a wireless network communication module, a vision sensor, or a radar sensor.

[0023] Secondly, this application proposes a sports device, which includes the ball-collecting device in any embodiment of this application. The sports device is a tennis machine, squash machine, cricket machine, peak ball machine, or table tennis machine.

[0024] The ball-collecting device and motion equipment proposed in this application, through the setting of the bracket and the first drive module, can adapt to ball-collecting tasks of different ball diameters. Furthermore, due to the power design of the friction wheel and the disc motor, the ball-collecting power is more sufficient, avoiding ball lane blockage, improving equipment reliability, and meeting the ball-collecting tasks of larger and heavier balls. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a first-view structural schematic diagram of a sports device according to an embodiment of this application;

[0027] Figure 2 This is a schematic diagram of a partial component structure of a sports device according to an embodiment of this application;

[0028] Figure 3 This is a schematic diagram of a partial component structure of a sports device according to an embodiment of this application;

[0029] Figure 4 This is a second-view structural schematic diagram of a motion device according to an embodiment of this application;

[0030] Figure 5 This is a third-view structural diagram of a sports device according to an embodiment of this application;

[0031] Figure 6This is a fourth-view structural diagram of a sports device according to an embodiment of this application;

[0032] Figure 7 This is a fifth-view structural diagram of a sports device according to an embodiment of this application;

[0033] Figure 8 This is a sixth-view structural diagram of a sports device according to an embodiment of this application;

[0034] Figure 9 This is a first-view perspective structural diagram of a sports device according to an embodiment of this application;

[0035] Figure 10 This is a first-view structural schematic diagram of a spherical container device according to an embodiment of this application;

[0036] Figure 11 This is a first-view structural schematic diagram of a ball-collecting device according to an embodiment of this application;

[0037] Figure 12 This is a second-view structural schematic diagram of a ball-collecting device according to an embodiment of this application;

[0038] Figure 13 This is a third-view structural schematic diagram of a ball-collecting device according to an embodiment of this application;

[0039] Figure 14 This is a schematic diagram of a partial component structure of a sports device according to an embodiment of this application;

[0040] Figure 15 This is a schematic diagram of the structure of a first guide module according to an embodiment of this application;

[0041] Figure 16 This is a schematic diagram of the structure of a second guide module according to an embodiment of this application;

[0042] Figure 17 This is a second-view perspective structural schematic diagram of a motion device according to an embodiment of this application.

[0043] Explanation of reference numerals in the attached figures:

[0044] 100. Sports equipment; 200. Ball; 10. Movable body; 20. Ball storage device; 30. Ball receiving device; 40. Ball serving device;

[0045] 11. Bracket; 12. Rotating shaft; 13. Housing; 131. Telescopic tie rod; 132. Power supply assembly; 133. Driven wheel; 14. Chassis; 141. Translation track; 142. Omnidirectional wheel; 15. Opening and closing assembly; 151. Opening and closing component; 1511. Ball guide notch; 152. Sliding pair; 153. First guide motor; 16. Protective stop bar; 161. First position; 162. Second position; 171. First guide module; 172. Second guide module; 181. Second guide motor; 182. Drive wheel shaft; 183. Driven shaft; 184. Conveyor belt;

[0046] 21. Chamber body; 211. Bottom wall; 212. Side wall; 213. Ball drop port; 214. Ball storage space; 22. Ball guide pipe; 221. Ball feeding inlet; 222. Ball feeding channel; 223. Ball feeding outlet; 23. Ball feeding assembly;

[0047] 31. Ball receiving guide; 311. Ball storage port; 312. Ball receiving port; 313. Ball receiving pipe; 3131. Receiving port; 314. Blocking part; 32. Locking device;

[0048] 41. First drive module; 42. Second drive module; 43. Disc motor; 44. Friction wheel; 441. Frustum; 442. Side surface; 443. Friction surface; 445. Upper base; 446. Lower base; 45. Attitude control module; 451. Attitude control motor; 452. Drive pulley; 453. Driven pulley; 454. Synchronous belt; 455. Tensioner. Detailed Implementation

[0049] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0051] It should be understood that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0052] It should also be understood that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or may be connected to an intermediary element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element through an intermediary element.

[0053] The terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. Descriptions using terms such as "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0054] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0055] Traditional sports equipment such as tennis machines, squash machines, peak ball machines, and cricket machines often have limited functions, only capable of serving or receiving the ball. Or, although they may have integrated both functions, due to limitations in structural design and electronic control technology, they are not only bulky, difficult to transport and store, and inconvenient to use, but also have limited stability and reliability. In high-intensity, high-power, and fast-serving scenarios, they are prone to problems such as low efficiency and blockage.

[0056] Furthermore, since sports like pickleball and squash are still in their early stages of development, while there is an urgent need for related sports equipment, users find it difficult to obtain affordable, mass-produced products due to market limitations and technological maturity. How to design sports equipment to adapt to different ball shapes and efficiently complete ball-receiving and receiving tasks, thereby expanding its practicality and versatility to meet the sports needs of a wide range of users, has become a pressing issue that needs to be addressed.

[0057] To address the aforementioned problems, this application proposes a sports device, which may include ball sports equipment such as tennis machines, table tennis machines, or squash machines, and is particularly applicable to the task of receiving and sending balls such as tennis balls, squash balls, pickles, and cricket balls. Please refer to... Figure 1 and Figure 2 ,like Figure 1 and Figure 2 As shown, the sports equipment 100 may include a movable body 10, a ball storage device 20, a ball receiving device 30, and a ball serving device 40. The movable body 10 may be provided with a bracket 11, which has at least one rotating shaft 12. The bracket 11 can be rotatably connected to the movable body 10 through the rotating shaft 12.

[0058] It should be understood that the rotating shaft 12 can be an active rotating shaft 12 directly driven by a motor or other power source, or a driven rotating shaft 12 driven by a transmission belt, chain or other transmission device rather than directly driven by a motor, or a virtual rotating shaft 12 generated by the system as a whole. The overall support 11 can rotate relative to the movable body 10 with the rotating shaft 12 as the axis.

[0059] Please see Figures 2 to 4 The ball storage device 20 can be disposed on the movable body 10. The ball storage device 20 forms a ball storage space 214 and has at least one ball feeding outlet 223. The ball storage space 214 can be connected to the ball serving device 40 through the ball feeding outlet 223. It should be understood that the ball feeding outlet 223 can be directly or indirectly connected to the ball storage space 214, or directly or indirectly connected to the ball serving device 40, without specific limitation.

[0060] In some embodiments, such as Figures 2 to 4 As shown, the ball receiving device 30 may include a ball receiving guide 31, which has a ball storage port 311 and a ball receiving port 312, and may be mounted on the movable body 10. The ball storage port 311 may be directly or indirectly connected to the aforementioned ball storage space 214, the ball receiving port 312 may be used to collect balls from the ground, and the ball storage port 311 may be used to transport the balls to the ball storage device 20.

[0061] In some embodiments, please refer to Figure 2 , Figure 5 and Figure 6 The serving device 40 may include at least a first drive module 41, which may be mounted on the support 11. The pivot 12 of the support 11 may be positioned higher than the first drive module 41, allowing adjustment of the position or orientation of the support 11 and the first drive module 41 via the pivot 12, thereby improving control over the serving angle and ball return efficiency. For example, the support 11 can rotate relative to the pivot 12 to adjust the ball return position. It should be understood that because the serving angle is adjustable, the direction of the reaction impulse generated during the serving process can be further adjusted, reducing the impulse distance, preventing the device from tipping over, and ensuring the stability and reliability of the serve.

[0062] Specifically, the first drive module 41 may include a disc motor 43 and a friction wheel 44, which may be sleeved on the outer periphery of the disc motor 43. It should be understood that the bracket 11 can rotate relative to the rotating shaft 12 and be adjusted to the ball-collecting position. The friction wheel 44 can contact the ball, and the ball is accelerated through friction transmission via the first drive module 41, thereby allowing the ball to pass through the ball-collecting guide 31 and reach the ball storage port 311. The bracket 11 can also be rotated relative to the rotating shaft 12 to adjust the serving position, in which case the first drive module 41 can be used for serving. By utilizing a disc motor 43 with higher energy conversion efficiency, the power and performance of the ball receiving device 30 and the ball serving device 40 can be improved, resulting in greater stability and reliability in training scenarios involving long durations, high frequencies, and high force. Furthermore, by mounting the friction wheel 44 around the outer periphery of the disc motor 43, not only is the instantaneous speed adjustment response improved through direct drive, but belt aging and slippage are also avoided. This eliminates the need for transmission structures such as V-belts and gear sets, improving energy transfer efficiency, control sensitivity, and ball receiving / serving performance. It also saves internal space, enhancing the compactness, controllability, and ease of transportation, storage, and maintenance of the entire sports equipment 100. It should be further understood that since users' specific ball shapes, ball receiving / serving angles, and specific training schemes for receiving serves vary from person to person, the specific angle ranges of the serving and receiving positions can be completely different or overlap at least partially; therefore, no specific limitations are made here.

[0063] It should be understood that during the ball-receiving process of the ball-serving device 40, the ball-receiving device 30, and the motion device 100, the ball 200 may impact the first drive module 41, causing the support 11 to bounce and shift, resulting in ball-receiving failure. In some embodiments, a locking device 32 or a brake can be provided on the support 11, the ball-receiving device 30, or the ball-serving device 40 to fix the posture of the support 11 and ensure ball-receiving efficiency. Specifically, the locking device 32 may include an electromagnetic lock, a pin lock, an electrically or pneumatically controlled wedge, a pawl, etc., and the brake may include a holding brake, a magnetic powder brake, etc. It should be further understood that the locking device 32 and the brake can not only be provided on the support 11 and the rotating shaft 12, but also on components such as transmission belts and gear sets that provide power to the rotating shaft 12, without specific limitations.

[0064] It is worth noting that, please refer to Figure 7 and Figure 8 Since both the support 11 and the first drive module 41 can play a role in the ball receiving and serving tasks, for ease of description, the support 11 and the first drive module 41 can be part of the serving device 40, part of the ball receiving device 30, or part of the movable body 10, and are not specifically limited here.

[0065] Please refer to the supplementary information. Figures 2 to 4 as well as Figure 10This application also proposes a ball storage device 20, which includes a storage body 21, a ball guide tube 22, and a ball feeding assembly 23. The storage body 21 may include at least a bottom wall 211, which has at least one ball drop port 213, and a ball storage space 214 may be formed above the bottom wall 211.

[0066] In some embodiments, please refer to Figure 9 and Figure 10 The ball guide tube 22 may have a ball inlet 221, a ball channel 222, and a ball outlet 223. The ball inlet 221 is connected to the ball drop port 213, and the ball outlet 223 is connected to the ball inlet 221 through the ball channel 222. The position of the ball outlet 223 is higher than that of the ball inlet 221. The ball feeding assembly 23 includes a disc motor 43 and a friction wheel 44. The friction wheel 44 is rotatably connected to the disc motor 43. At least a portion of the friction wheel 44 is disposed in the ball channel 222. When the ball 200 passes through the ball drop port 213 and travels through the ball channel 222, the friction wheel 44 can generate frictional transmission with the ball 200, causing the ball to accelerate and reach the ball outlet 223.

[0067] It should be understood that the power and guidance design of the ball feeding assembly 23 makes it possible to position the ball feeding outlet 223 higher than the ball feeding inlet 221, thereby expanding the allowable height range of the ball serving device 40 and ensuring that the ball storage device 20 is not too high above the ball serving device 40, lowering the center of gravity of the equipment, thereby preventing the equipment from tipping over due to the reaction impact generated during the ball serving process, and improving the stability and safety of the equipment.

[0068] Please refer to the supplementary information. Figure 3 , Figure 9 and Figure 10 In some embodiments, to reduce equipment weight and facilitate transportation and production, the hopper 21 may not completely enclose the ball storage space 214. For example, the hopper 21 may include a top cover and side walls 212, with a ball storage port 311 on the side walls 212. The motion device 100 may also include a ball receiving device 30 for transferring the ball 200 to the ball storage port 311. Alternatively, the motion device 100 may include a housing 13, with at least a portion of the inner wall of the housing 13 serving as at least a portion of the side walls 212 of the hopper 21, allowing the ball storage space 214 to be formed above the bottom wall 211. It should be understood that the side walls 212 of the hopper 21 may include a portion of the ball storage device 20, a portion of other devices in the motion device 100, or may consist solely of the ball storage device 20 or the housing 13; no specific limitation is made here. For example, the side walls 212 of the hopper 21 may also include a portion of the movable body 10.

[0069] Please see Figures 11 to 13This application also proposes a ball-collecting device 30, which can be used in the aforementioned sports equipment 100 such as tennis machines and squash machines. The ball-collecting device 30 can be mounted on a movable body 10. Specifically, the ball-collecting device 30 includes a ball-collecting guide 31, a support 11, and a first drive module 41. The ball-collecting guide 31 is connected to the movable body 10 and has a ball storage port 311 and a ball-collecting port 312. The ball-collecting port 312 is used to collect balls from the ground, and the ball storage port 311 is used to transport the balls to the ball storage device 20.

[0070] In some embodiments, the support 11 may have at least one rotating shaft 12, which is rotatably connected to the movable body 10. The rotating shaft 12 is positioned higher than the ball receiving port 312. The rotating shaft 12 can be an active rotating shaft directly driven by a motor or other power source, a driven rotating shaft 12 rotated by a transmission belt, chain, or other transmission device rather than directly driven by a motor, or a virtual rotating shaft 12 generated by the entire system. The overall support 11 can rotate relative to the movable body 10 with the rotating shaft 12 as its axis.

[0071] In some embodiments, please refer to the supplementary information. Figure 14 The first drive module 41 may include at least a disc motor 43 and a friction wheel 44. The friction wheel 44 of the first drive module 41 is sleeved on the outer periphery of the disc motor 43, and the position of the rotating shaft 12 is higher than that of the first drive module 41. It should be understood that the bracket 11 can rotate relative to the rotating shaft 12 to adjust the ball receiving position, so that the friction wheel 44 contacts the ball, and the ball is accelerated by friction transmission through the first drive module 41, so that the ball passes through the ball receiving guide 31 to reach the ball storage port 311.

[0072] In some embodiments, please refer to Figures 11 to 13 The ball-receiving guide 31 may be provided with a shielding part 314 on the periphery of the ball storage opening 311, or the movable body 10 may be provided with a shielding part 314 corresponding to the ball storage opening 311. The shielding part 314 is used to adjust the trajectory of the ball as it flies out of the ball-receiving guide 31. The design of the shielding part 314 ensures that the ball falls steadily into the ball storage space 214, reducing the chance of hitting the storage wall or even flying out, protecting the internal precision structure of the equipment, improving ball-receiving efficiency, and making the equipment operation more stable and reliable.

[0073] In some embodiments, please refer to Figure 11 and Figure 15The movable body 10 may include a chassis 14 and an opening / closing assembly 15. The chassis 14 has an opening / closing protective strip 16 on its periphery. The opening / closing assembly 15 is connected to the protective strip 16 to drive the protective strip 16 to open or close. When the protective strip 16 is open, it guides the ball to the ball collection port 312. The ball collection port 312 has a first side and a second side on a horizontal plane. The opening / closing assembly 15 and the protective strip 16 form a first guide module 171, which is located on one side of the ball collection port 312. By cleverly utilizing the protective strip 16 of the chassis 14, on the one hand, the hub, transmission mechanism, and other structures of the chassis 14 can be fully protected during high-intensity training, preventing direct impact from balls returned by the user, thus improving the stability and reliability of the equipment. Furthermore, by modifying specific structures on the equipment to complete the ball collection task, material and design / production costs are saved, making the structure more compact. On the other hand, the ball collection area can be expanded, improving ball collection efficiency. It should be further understood that the chassis 14 can have active movement capability, i.e., a moving chassis 14, or it can only have passive movement capability; no specific limitation is made here. Due to the design of the chassis 14 of the movable body 10, it becomes possible for the ball-collecting device 30 to cooperate with the mobility of the device to achieve automatic or remote-controlled ball collection, improving user convenience. This arrangement allows for quick and convenient folding of the protective strips, reducing the transport width of the moving equipment 100, making it easier to pass the rear cargo box test, and facilitating user carrying and transportation.

[0074] In some embodiments, please refer to Figure 12 The movable body 10 can be equipped with a telescopic rod 131 and driven wheels 133. Alternatively, the movable body 10 can be equipped with a motion chassis 14, which includes at least three omnidirectional wheels 142. Through the design of the telescopic rod 131 and driven wheels 133, users can easily and effortlessly complete tasks such as moving, storing, transporting, and collecting balls in scenarios such as insufficient power or chassis 14 malfunction. The design of the motion chassis 14 ensures mobility, while the three omnidirectional wheels 142 ensure stable standing of the equipment and good motion control.

[0075] In some embodiments, the movable body 10 may be equipped with a Bluetooth communication module, a wireless network communication module, a vision sensor, or a radar sensor. The inclusion of such modules enables the device to perform tasks such as mapping, obstacle avoidance, automatic ball retrieval, automatic charging, and automatic storage. Furthermore, the movable body 10 may also be equipped with a power supply component 132 for supplying power to the motion device 100. Specifically, the power supply component 132 may include a battery and a battery slot, wherein the battery is detachably connected to the battery slot and can be removed for charging.

[0076] In some embodiments, please refer to Figure 11 and Figure 15 The opening and closing assembly 15 includes an opening and closing member 151, a sliding pair 152, and a first guide motor 153. The protective stop bar 16 has a first position 161 and a second position 162. The first position 161 is rotatably connected to one end of the opening and closing member 151, and the other end of the opening and closing member 151 is rotatably connected to the first guide motor 153. The second position 162 is slidably connected to the movable body 10 through the sliding pair 152. This configuration allows the opening and closing assembly 15 to form a planar four-bar structure. Firstly, it allows the opening and closing of the protective stop bar 16 to be achieved using only one guide motor, facilitating control. Secondly, due to the high structural strength of the mechanism, it has better reliability, durability, and stability compared to a single rotary opening and closing mechanism. Thirdly, due to the design of the opening and closing direction of the mechanism, the protective stop bar 16 can be closed to protect the chassis 14 and the ball receiving port 312 when the ball receiving device 30 is not used, reducing the floor space, making the structure more compact, and further improving the reliability, durability, and transportation convenience of the equipment.

[0077] Specifically, the first position 161 can be located within the range of 1 / 6 to 5 / 6 of the total length of the protective baffle 16, and the second position 162 can be located at the end of the protective baffle 16 near the ball-receiving opening 312. The rotation angle range of the protective baffle 16 can include at least 0°-60°. It should be understood that by designing, adjusting, and controlling the angle range or position range, the ball-receiving efficiency can be effectively improved.

[0078] Typically, but not limitingly, the first position 161 can be located within a range of 1 / 6, 1 / 4, 1 / 3, 1 / 2, 2 / 3, 3 / 4, 5 / 6 of the total length of the protective stop 16, or any two of these values. The rotation angle of the protective stop 16 can include 0°, 10°, 20°, 30°, 40°, 50°, 60°, or any two of these values.

[0079] In some embodiments, the tensioning member 151 may have a ball-guiding notch 1511. When the protective barrier 16 is open and used to guide the ball to the ball-receiving opening 312, the ball-guiding notch 1511 is used to avoid obstructing the ball's trajectory. It should be understood that when the protective barrier 16 is performing the task of guiding and collecting the ball, a portion of the tensioning member 151 may obstruct the ball's movement trajectory to the ball-receiving opening 312. This problem can be effectively avoided by using the ball-guiding notch 1511.

[0080] In some embodiments, a positioning element may be provided between the protective baffle and the tensioning member. The positioning element may have at least three angle positioning holes, and the protective baffle can be switched to multiple angle positions through the angle positioning holes.

[0081] In some embodiments, please refer to the supplementary information. Figure 11 , Figure 16 and Figure 17 The movable body 10 is also provided with a second guide module 172. The second guide module 172 is located on the other side of the ball receiving port 312 relative to the first guide module 171, and on the other side of the ball receiving port 312 relative to the protective baffle 16. The second guide module 172 is used to guide the ball 200 to the ball receiving port 312. It should be understood that the second guide module 172 can further expand the ball receiving and gathering area and improve the ball receiving efficiency. It should be further understood that the first guide module 171 and the second guide module 172 can be both installed on the movable body 10 and play a role in the ball receiving task. Therefore, the first guide module 171 and the second guide module 172 can be part of the ball receiving device or part of the movable body, and no specific limitation is made here.

[0082] In some embodiments, a translational track 141 may be provided around the chassis 14, and one end of the second guide module 172 is movably connected to the movable body 10 via the translational track 141. This configuration allows the second guide module 172 to be retrieved when the equipment's ball-collecting function is not in use, or during transportation and storage, thereby avoiding accidental collisions, drops, damage, etc., and improving the reliability and safety of the equipment. Furthermore, for different ball shapes, adjusting the relative position of the second guide module 172 can prevent blockage when the ball quantity is too large, effectively improving ball collection and gathering efficiency. Further, the second guide module 172 can also be detachably mounted on the translational track 141. It should be understood that the translational track 141 can be directly or indirectly mounted on the chassis 14; for example, the translational track 141 can be mounted on the housing 13, and the housing 13 can be mounted on the chassis 14.

[0083] In some embodiments, the second guide module 172 may include a second guide motor 181, a drive shaft 182, a driven shaft 183, and a conveyor belt 184. The drive shaft 182 is rotatably connected to the second guide motor 181. The distance from the driven shaft 183 to the ball receiving port 312 is greater than the distance from the drive shaft 182 to the ball receiving port 312. The two ends of the conveyor belt 184 are respectively sleeved on the driven shaft 183 and the drive shaft 182, and the conveyor belt 184 drives the ball to the ball receiving port 312. This configuration can effectively prevent blockages during ball receiving, improve ball receiving smoothness, and increase ball receiving efficiency.

[0084] In some embodiments, the ball receiving guide 31 includes a ball receiving pipe 313, and the ball receiving pipe 313 has a receiving opening 3131 corresponding to the position of the first drive module 41. The receiving opening 3131 is used to receive at least a portion of the first drive module 41. By designing the receiving opening 3131, on the one hand, the position of the first drive module 41 can be further lowered, the center of gravity of the equipment can be lowered, and the reliability and stability of the equipment can be improved; on the other hand, the overall structure of the equipment can be made more compact and reliable, facilitating transportation, warehousing and mass production.

[0085] In some embodiments, please refer to Figure 14 The ball-collecting device 30, the ball-serving device 40, or the movable body 10 may also be equipped with an attitude control module 45. The attitude control module 45 may be located on the movable body 10 and is used to adjust the position and posture of the support 11 relative to the movable body 10. This arrangement can better adapt to various ball shapes, facilitate ball collection, and help ensure that at least a portion of the ball-collecting device 30 can be used smoothly for serving tasks.

[0086] In some embodiments, the attitude control module 45 may include an attitude control motor 451, a drive pulley 452, a driven pulley 453, and a timing belt 454. The drive pulley 452 is rotatably connected to the attitude control motor 451, and the driven pulley 453 is fixedly connected to the bracket 11. The attitude control motor 451 drives the driven pulley 453 through the timing belt 454 using the drive pulley 452, thereby causing the bracket 11 to rotate around the rotating shaft 12.

[0087] Specifically, the number of teeth on the driven pulley 453 is 1.5 to 15 times the number of teeth on the driving pulley 452. The attitude control module 45 is capable of rotating the support 11 around the axis 12 by at least 0° to 60°. Typically, but not limitingly, the number of teeth on the driven pulley 453 is 1.5 times, 3 times, 4.5 times, 6 times, 7.5 times, 9 times, 10.5 times, 12 times, 13.5 times, 15 times, or any combination of two of the number of teeth on the driving pulley 452. The attitude control module 45 is capable of rotating the support 11 around the axis 12 by at least 10°, 20°, 30°, 40°, 50°, 60°, or any combination of two of the number of teeth on the driving pulley 452. For example, the driven pulley 453 may have 40 teeth, and the driving pulley 452 may have 200 teeth.

[0088] In some embodiments, the attitude control module 45 can also improve stability, reliability, and other performance by adding specific devices. For example, the attitude control motor 451 can also include a reducer to enhance its power output and ensure its stability and reliability. Alternatively, the attitude control motor 451 can also include a servo motor or a stepper motor to achieve elevation position control. Furthermore, the attitude control module 45 can also include a tension pulley 455, which cooperates with the synchronous belt 454 to adjust the loop configuration of the synchronous belt 454. The loop configuration of the synchronous belt 454 can be adjusted by the tensioning pulley 455 to facilitate structural design, prevent the synchronous belt 454 from occupying excessive internal space of the equipment, affecting wiring or other device designs, and also adjust the tension of the synchronous belt 454 by applying appropriate tension. This ensures that the synchronous belt 454 maintains proper tension during operation, preventing slippage due to insufficient tension or excessive wear due to excessive tension, extending the life of the synchronous belt 454, maintaining the synchronization accuracy of the synchronous belt 454, reducing offset, vibration and noise of the synchronous belt 454 during operation, and compensating for the tensile elongation of the synchronous belt 454 during long-term use, thereby improving the operational stability and reliability of the system. Furthermore, the attitude control module 45 may also include a limit switch, which is used to reset the attitude control module 45 according to the position of the driven pulley 453. This reset design based on the limit switch ensures that the attitude control module 45 can be promptly and accurately corrected after use, preventing inaccurate pitch angle control accuracy after long-term use and improving the repeatability and reliability of the attitude control module 45.

[0089] In some embodiments, the pivot 12 can be positioned above the first drive module 41 to facilitate adjustment of the serve angle and the return position. Specifically, the first drive module 41 can also be positioned below the second drive module 42, with the second drive module 42 being closer to the pivot 12 than the first drive module 41. It should be understood that the pivot 12 can be positioned above or below the second drive module 42. When the pivot 12 is below the second drive module 42, it can be configured as a virtual pivot 12, a pivot 12 positioned outside the bracket 11, or a pivot 12 that does not affect the serve, thereby reducing the lever arm length of the reaction impact relative to the pivot 12 during the serve, reducing impact damage, and improving the stability of the pivot 12. When the pivot 12 is positioned above the second drive module 42, the first drive module 41 can be moved at a greater angle, thus adapting to a wider range of ball shapes and improving the versatility of the return function.

[0090] In some embodiments, the friction wheel 44 may include at least a frustum 441, the frustum 441 having a side surface 442, the side surface 442 of the frustum 441 having a friction surface 443, the friction surface 443 being used to generate frictional transmission on the ball and cause the ball to spin and launch when the ball passes between the first drive module 41 and the second drive module 42.

[0091] It should be understood that since the two disc motors 43 of the first drive module 41 and the two disc motors 43 of the second drive module 42 are all mounted on the bracket 11 and arranged opposite each other, the power layout and space configuration are more reasonable. This not only saves space in the plate and equipment, but also makes the overall structure of the ball-serving device 40 and the motion device 100 more compact, enhances the friction effect, and facilitates electronic control. Furthermore, it is more stable and reliable in terms of mechanical structural strength, and can adapt to high-intensity, high-load, and long-term ball-serving training with thinner and lighter bracket 11 components.

[0092] It should be further understood that since the friction wheel 44 includes a frustum 441, and the frustum 441 can generate frictional transmission to the ball through the friction surface 443 of its side 442, causing the ball to spin and launch, the relative arrangement of the disc motor 43 described above enables frictional rotation control in multiple different directions, making it possible to generate complex spinning balls through multiple linearly independent frictional forces. Specifically, the area of ​​the upper base 445 of the frustum 441 of the friction wheel 44 can be smaller than the area of ​​the lower base 446, and the upper bases 445 of the frustums 441 of the two friction wheels 44 in the first drive module 41 or the second drive module 42 are correspondingly arranged. Furthermore, the disc motor 43 can also be equipped with an encoder, which can be used to realize speed control of the disc motor 43.

[0093] It should be understood that the friction wheel 44 may include only one frustum 441, or it may include one frustum 441 and a cylinder, or it may include two frustums 441; no specific limitation is made here. The term frustum 441 is used for convenience only. The upper base 445 and lower base 446 of the frustum 441 do not necessarily have to be a regular, standard circle; they can also be ellipses or other patterns. In addition, the side surface 442 of the frustum 441 does not have to be completely uniform. For example, the friction surface 443 of the frustum 441 can form an arc surface that is concave towards the axis of the frustum 441 to further optimize the friction effect according to the curvature of the ball.

[0094] It should be further understood that the design of the tilt angle and the curved surface makes the friction wheel 44 more in line with the deformation of balls such as tennis balls and squash balls when they are squeezed, and generates forces in four unrelated directions, which is conducive to achieving complex rotation control. For example, the curvature of the curved surface can be greater than that of a standard tennis ball, but it is not a completely flat surface, which conforms to the shape of a tennis ball when it is squeezed and rubbed, thereby increasing the friction contact area, improving the friction effect, enhancing the efficiency of the device, reducing energy loss, and improving the energy conversion efficiency from electrical energy to kinetic energy.

[0095] Typically, but not restrictively, the curvature of the curved surface can be 0.05, 0.10, 0.15, 0.20, 0.25, 0.30, 0.315, 0.35, or any range of two values. For example, the curvature of the curved surface can be 0.05 cm. -1 -0.315cm -1 The curved surface design allows for better friction and spin on balls such as squash, tennis, and table tennis, improving serve quality and training effectiveness.

[0096] In some embodiments, the friction wheel 44 can be detachably mounted on the disc motor 43, or the friction wheel 44 can be equipped with a replaceable arc-shaped bushing. This configuration not only allows for adjustable and replaceable curvature of the friction wheel to adapt to various spherical shapes, but also enables convenient replacement of the friction wheel. For example, a worn friction wheel that has been used for a long time can be easily replaced, reducing the maintenance costs of the equipment.

[0097] This application also proposes a sports device 100, which may include a ball-collecting device 30 according to any embodiment of this application. The sports device 100 may be a tennis machine, squash machine, cricket machine, peak ball machine or table tennis machine.

[0098] Without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples.

[0099] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A ball-collecting device, characterized in that, The ball-collecting device, disposed on a movable body, includes: A ball-receiving guide is connected to the movable body. The ball-receiving guide has a ball storage port and a ball-receiving port. The ball-receiving port is used to collect balls on the ground. The ball storage port is used to transport the balls to the ball storage device. A support frame having at least one pivot shaft, the support frame being rotatably connected to the movable body via the pivot shaft, the pivot shaft being positioned higher than the ball receiving port. A first drive module, comprising at least a disc motor and a friction wheel, wherein the friction wheel of the first drive module is sleeved on the outer periphery of the disc motor, and the position of the rotating shaft is higher than that of the first drive module; The bracket can rotate relative to the rotating shaft to adjust the ball receiving position, so that the friction wheel contacts the ball, and the ball is accelerated by friction transmission through the first drive module, so that the ball passes through the ball receiving guide to reach the ball storage port.

2. The ball-collecting device as described in claim 1, characterized in that, The bracket can be adjusted to the serving position by rotating relative to the pivot, and the first drive module is used for serving.

3. The ball-collecting device as described in claim 1, characterized in that, The movable body includes a chassis and a tensioning assembly. The chassis is provided with tensionable protective bars on its periphery. The tensioning assembly is connected to the protective bars to drive the protective bars to open or close. When the protective bars are open, they are used to guide the ball to the ball receiving port. The ball receiving port has a first side and a second side on a horizontal plane. The tensioning assembly and the protective bars form a first guiding module, which is located on one side of the ball receiving port.

4. The ball-collecting device as described in claim 3, characterized in that, The opening and closing assembly includes an opening and closing member, a sliding pair, and a first guide motor. The protective baffle has a first position and a second position. The first position is rotatably connected to one end of the opening and closing member, and the other end of the opening and closing member is rotatably connected to the first guide motor. The second position is slidably connected to the movable body through the sliding pair.

5. The ball-collecting device as described in claim 4, characterized in that, The first position is located within 1 / 6 to 5 / 6 of the total length of the protective strip, and the second position is located at the end of the protective strip closer to the ball receiving opening; or... The rotation angle range of the protective barrier is at least 0°-60°.

6. The ball-collecting device as described in claim 4, characterized in that, The opening and closing member has a ball guide notch. When the protective barrier opens and guides the ball to the ball receiving opening, the ball guide notch is used to avoid obstructing the ball's trajectory.

7. The ball-collecting device as described in claim 3, characterized in that, The movable body is also provided with a second guide module, which is disposed on the other side of the ball receiving port relative to the first guide module and on the other side of the ball receiving port relative to the protective baffle. The second guide module is used to guide the ball to the ball receiving port.

8. The ball-collecting device as described in claim 7, characterized in that, The chassis is provided with a translation track, and one end of the second guide module is movably connected to the movable body through the translation track.

9. The ball-collecting device as described in claim 7, characterized in that, The second guiding module includes a second guiding motor, a driving wheel shaft, a driven shaft, and a conveyor belt. The driving wheel shaft is rotatably connected to the second guiding motor. The distance from the driven shaft to the ball receiving port is greater than the distance from the driving wheel shaft to the ball receiving port. The two ends of the conveyor belt are respectively sleeved on the driven shaft and the driving wheel shaft, and the conveyor belt drives the ball to the ball receiving port.

10. The ball-collecting device as claimed in claim 1, characterized in that, The ball receiving guide includes a ball receiving pipe, and the ball receiving pipe has a receiving port corresponding to the position of the first drive module. The receiving port is used to receive at least a portion of the first drive module.

11. The ball-collecting device as claimed in claim 1, characterized in that, The ball receiving guide is provided with a shielding part on the periphery of the ball storage port, or the movable body is provided with a shielding part corresponding to the ball storage port; The shielding part is used to adjust the trajectory of the ball as it flies out of the ball-receiving guide.

12. The ball-collecting device as described in claim 1, characterized in that, The ball-collecting device is also equipped with an attitude control module, which is located on the movable body and is used to adjust the position and posture of the support relative to the movable body.

13. The ball-collecting device as described in claim 1, characterized in that, The movable body is equipped with a retractable pull rod and driven wheels; or... The movable body is equipped with a motion chassis, which includes at least three omnidirectional wheels.

14. The ball-collecting device as claimed in claim 1, characterized in that, The movable body is equipped with a Bluetooth communication module, a wireless network communication module, a vision sensor, or a radar sensor.

15. A sports device, characterized in that, The sports equipment includes a ball-collecting device as described in any one of claims 1-14, wherein the sports equipment is a tennis machine, squash machine, cricket machine, peak ball machine, or table tennis machine.

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