Tennis ball catching device and tennis robot

Abstract

The application relates to the technical field of exercise equipment, in particular to a tennis ball catching device and a tennis robot. The main body structure of the tennis ball catching device has a containing cavity for the tennis ball to fall into. In order to improve the ball catching success rate, a supporting piece is installed on the main body structure, a flexible stop piece is connected to the supporting piece and surrounds a ball catching space, the tennis ball enters the ball catching space through a ball inlet, is stopped by the flexible stop piece and can fall into the containing cavity. After the tennis ball contacts the flexible stop piece, the kinetic energy of the tennis ball can be absorbed through the stopping of the flexible stop piece. Since the elastic connecting piece connects the flexible stop piece and the supporting piece, after the tennis ball impacts the flexible stop piece, the flexible stop piece can pull the elastic connecting piece to make the elastic connecting piece elastically deform, the kinetic energy of the tennis ball is further absorbed, the tennis ball is less likely to rebound, the tennis ball can more easily enter the containing cavity, and the ball catching success rate of the ball catching device is improved.

Description

Technical Field

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

[0002] Tennis, as a fitness activity, plays a positive role in improving physical fitness, developing intelligence, and cultivating perseverance. However, during tennis training, the frequent need to retrieve the ball wastes a significant amount of energy for both athletes and coaches, leading to a decline in training quality and efficiency. While automatic ball-catching devices can predict the trajectory of the tennis ball and catch it automatically, the high launch height of the ball results in a low success rate for existing devices. Utility Model Content

[0003] This application provides a tennis ball receiving device to improve the technical problem of low ball receiving success rate of current receiving devices.

[0004] In addition, the purpose of this application is to provide a tennis robot that uses the above-mentioned tennis ball receiving device.

[0005] In a first aspect, one embodiment provides a tennis ball receiving device, comprising:

[0006] The main structure has a receiving cavity, and the top of the receiving cavity has a drop inlet for the tennis ball to fall into;

[0007] A support member, which is mounted on the main structure;

[0008] A flexible stop member is connected to the support member and is used to enclose a ball-receiving space, the ball-receiving space having a ball-entry opening for the tennis ball to enter; the flexible stop member is used to block the tennis ball from entering the ball-receiving space; the ball-receiving space communicates with the receiving cavity so that the tennis ball falls into the receiving cavity after being blocked.

[0009] And an elastic connector, which connects the flexible stop and the support.

[0010] In a further embodiment, the support member includes a first support member and a second support member, with the inlet formed between the first support member and the second support member, and both the first support member and the second support member being connected to the flexible stop member through the elastic connector.

[0011] In a further embodiment, the elastic connector includes a first elastic connector connected to the first support member, the number of the first elastic connectors is two or more, the flexible stop member has a first connecting edge, and each of the first elastic connectors is connected to the first connecting edge and arranged at intervals along the first connecting edge.

[0012] And / or the elastic connector includes a second elastic connector connected to the second support member, the number of the second elastic connectors being two or more, the flexible stop member having a second connecting edge, each of the second elastic connectors being connected to the second connecting edge and arranged at intervals along the second connecting edge.

[0013] In a further embodiment, the support member further includes a third support member and a fourth support member. The upper end of the third support member is connected to the flexible stop member, and the lower end of the third support member is mounted on the main structure. The upper end of the fourth support member is connected to the flexible stop member, and the lower end of the fourth support member is mounted on the main structure. The first support member, the second support member, the third support member, and the fourth support member are arranged at circumferential intervals along the main structure.

[0014] In a further embodiment, the tennis ball receiving device further includes a connecting ring connected to the flexible stop member, and the elastic connecting member is connected to the flexible stop member through the connecting ring.

[0015] In another embodiment, the elastic connector is an elastic pull rope.

[0016] In another embodiment, the support member is a telescopic member, which extends or retracts the flexible stop member by telescopically extending or retracting it.

[0017] In another embodiment, the flexible stop is an elastic mesh or elastic fabric.

[0018] In another embodiment, the lower end of the flexible stop is connected to the inner wall of the receiving cavity.

[0019] In a second aspect, one embodiment provides a tennis robot, including a mobile robot and a tennis ball receiving device as described in any embodiment of the first aspect, the tennis ball receiving device being mounted on the mobile robot.

[0020] According to the tennis ball receiving device of the above embodiment, the main structure of the tennis ball receiving device has a receiving cavity for the tennis ball to fall into. In order to improve the success rate of receiving the ball, a support member is installed on the main structure, and a flexible stop member is connected to the support member and surrounds the receiving space. After the tennis ball enters through the inlet of the receiving space, it is stopped by the flexible stop member and can fall into the receiving cavity. After the tennis ball comes into contact with the flexible stop member, the kinetic energy of the tennis ball can be reduced by the stopping effect of the flexible stop member. Since the elastic connector connects the flexible stop member and the support member, after the tennis ball impacts the flexible stop member, the flexible stop member can pull the elastic connector member to cause the elastic connector member to deform elastically, further absorbing the kinetic energy of the tennis ball. The tennis ball is less likely to bounce, making it easier for the tennis ball to enter the receiving cavity, thereby improving the success rate of receiving the ball of the receiving device. Attached Figure Description

[0021] Figure 1 This is a diagram showing the state of the flexible stopper in a tennis robot after it has been deployed in one embodiment.

[0022] Figure 2 This is a diagram showing the state of the tennis robot after its flexible stop is retracted in one embodiment.

[0023] Figure 3 This is a schematic diagram of the main structure of a tennis ball receiving device in one embodiment.

[0024] The following is a list of feature names corresponding to the reference numerals in the figure: 1. Mobile robot; 11. Visual recognition module; 12. Drive wheel; 2. Tennis ball receiving device; 21. Main structure; 211. Receiving cavity; 212. Mounting component; 213. Connecting buckle; 214. Guide part; 215. First side wall; 216. Second side wall; 217. Third side wall; 218. Fourth side wall; 22. Support component; 221. First support component; 222. Second support component; 223. Third support component; 224. Fourth support component; 23. Flexible stop component; 231. Ball receiving space; 232. Ball inlet; 233. First connecting edge; 234. Second connecting edge; 24. Elastic connector; 241. First elastic connector; 242. Second elastic connector; 25. Connecting ring.

[0025] Explanation of reference numerals in parentheses in the accompanying drawings: The feature referred to by the reference numerals in parentheses in the accompanying drawings is the feature represented by both the number inside the parentheses and the number outside the parentheses. Detailed Implementation

[0026] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0027] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0028] In the description herein, it should be understood that the terms “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0030] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection, an abutment, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0031] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0032] The embodiments described in the detailed implementation can be combined in any suitable manner without contradiction. For example, different implementation methods can be formed by combining different embodiments. In order to avoid unnecessary repetition, the various possible combinations of the embodiments will not be described separately.

[0033] To address the low success rate of current tennis ball-catching devices, this application provides a tennis ball-catching device. The main structure of this device includes a support member and a flexible stop member. The flexible stop member is connected to the support member via an elastic connector. The flexible stop member blocks the tennis ball, and when deformed, it pulls the elastic connector to deform elastically, absorbing the kinetic energy of the tennis ball and making it easier for it to enter the receiving cavity. The tennis robot and tennis ball-catching device of this application are described in detail below with reference to the accompanying drawings.

[0034] Please refer to Figure 1 and Figure 2 In some embodiments, the tennis robot includes a mobile robot 1 and a tennis ball catching device 2, wherein the tennis ball catching device 2 is mounted on the mobile robot 1 and moves with the mobile robot 1. In some embodiments, the mobile robot 1 has a vision recognition module 11 and drive wheels 12. Based on the tennis ball trajectory recognized by the vision recognition module 11, the mobile robot 1 can drive the tennis ball catching device 2 to move, so that the tennis ball catching device 2 catches the tennis ball.

[0035] In some embodiments, please refer to Figure 1 and Figure 2The tennis ball receiving device 2 includes a main structure 21, a support member 22, and a flexible stop member 23. The main structure 21 has a receiving cavity 211, with an opening at the top for the tennis ball to fall into. The support member 22 is mounted on the main structure 21, and the flexible stop member 23 is connected to the support member 22 and forms a receiving space 231. The receiving space 231 has an entry port 232 for the tennis ball. The flexible stop member 23 blocks the tennis ball from entering the receiving space 231. The receiving space 231 communicates with the receiving cavity 211, allowing the tennis ball to fall into the receiving cavity 211 after being blocked. After entering the receiving space 231 through the entry port 232, the tennis ball is stopped by the flexible stop member 23. The flexible stop member 23 absorbs the kinetic energy of the tennis ball, preventing it from easily bouncing out of the receiving space 231.

[0036] The tennis ball receiving device also includes an elastic connector 24, which connects the flexible stop 23 and the support 22. Because the elastic connector 24 connects the flexible stop 23 and the support 22, after the tennis ball impacts the flexible stop 23, the part connecting the flexible stop 23 and the elastic connector 24 is subjected to a pulling force and can move relative to the support 22. The flexible stop 23 can pull the elastic connector 24, causing it to elastically deform, further absorbing the kinetic energy of the tennis ball, making it less likely to bounce.

[0037] Understandably, the flexible stop 23 is prone to deformation under stress. This deformation can be either elastic or non-recoverable. For example, the flexible stop 23 can be a mesh made of inelastic flexible rope or a mesh made of elastic flexible rope. In addition to a mesh structure, the flexible stop 23 can also be made of fabric.

[0038] In some embodiments, the flexible stop 23 is an elastic mesh or elastic fabric, so that the flexible stop 23 can also elastically deform and absorb the kinetic energy of the tennis ball under the impact of the tennis ball. When the flexible stop 23 is made of elastic material, it can be made of materials such as nylon, polyester, silicone, rubber (natural / synthetic), TPU (thermoplastic polyurethane), TPE (thermoplastic elastomer), etc.

[0039] When the flexible stopper 23 adopts an elastic mesh structure, less material is used, resulting in a lighter weight and greater ease of use. When a tennis ball impacts the flexible stopper 23, the impact force is dispersed across multiple nodes and lines of the mesh structure, preventing material damage caused by concentrated force. The mesh structure directly "catches" the ball through elastic deformation, making the tennis ball less prone to bouncing and allowing it to fall more smoothly. Furthermore, the mesh structure allows air to pass through, reducing wind resistance and making it less likely to be blown over in windy conditions.

[0040] That's understandable, please refer to it. Figure 1The receiving space 231 is located above the receiving cavity 211, and the ball-collecting opening 232 faces the direction from which the tennis ball is coming. To reduce the difficulty of catching the tennis ball, the ball-collecting opening 232 faces to the horizontal direction. For some embodiments, please refer to... Figure 1 and Figure 2 In order to prevent the tennis ball from easily bouncing out of the receiving space 231, the top of the receiving space 231 is also covered by a flexible stop 23.

[0041] It should be noted that the elastic connector 24 in this application connects the support member 22 and the flexible stop member 23, including but not limited to the support member 22 and the flexible stop member 23 being connected solely by the elastic connector 24. For example, in some embodiments, when there are multiple support members 22, some support members 22 and the flexible stop member 23 are connected by the elastic connector 24, while others are connected by non-elastic connectors. Furthermore, in some embodiments, the same support member 22 may be connected to the flexible stop member 23 at some locations via elastic connectors, and to the flexible stop member 23 at others via non-elastic connectors. Specifically, in one embodiment, the upper end of the support member 22 is connected to the flexible stop member 23 via a non-elastic connector, and the middle and lower parts of the support member 22 are connected to the flexible stop member 23 via the elastic connector 24. It is understood that the non-elastic connectors described in the embodiments of this application include, but are not limited to, rigid components, flexible components, such as cable ties or rigid straps that do not deform elastically.

[0042] For ease of connection with the flexible stop 23, please refer to some embodiments. Figure 1 The tennis ball receiving device also includes a connecting ring 25 connected to the flexible stop 23, and an elastic connector 24 connected to the flexible stop 23 via the connecting ring 25. Alternatively, in some other embodiments, the flexible stop 23 may have a through hole, through which the elastic connector 24 passes and connects to the flexible stop 23. In some embodiments, the connecting ring 25 penetrates the flexible stop 23.

[0043] In some embodiments, the elastic connector 24 is an elastic cord. In some other embodiments, the elastic connector 24 may also be a spring.

[0044] Regarding the structure of the support member 22, please refer to some embodiments. Figure 1The support member 22 includes a first support member 221 and a second support member 222, forming a ball-in-the-goal opening 232 between the first support member 221 and the second support member 222. Both the first support member 221 and the second support member 222 are connected to the flexible stop member 23 via an elastic connector 24. Since the first support member 221 and the second support member 222 are located at the ball-in-the-goal opening 232, after the tennis ball enters the receiving space 231, it is easier to pull the portion of the flexible stop member 23 connected to the ball-in-the-goal opening 232. The elastic connector 24 connects the first support member 221 to the flexible stop member 23 and the second support member 222 to the flexible stop member 23, allowing the elastic connector 24 to better absorb the kinetic energy of the tennis ball through elastic deformation and reduce the rebound of the tennis ball.

[0045] Furthermore, in some embodiments, please refer to Figure 1 The elastic connector 24 includes a first elastic connector 241 connected to the first support member 221. There are two or more first elastic connectors 241. The flexible stop member 23 has a first connecting edge 233. Each first elastic connector 241 is connected to the first connecting edge 233 and is spaced apart along the first connecting edge 233. The spaced arrangement of the first elastic connectors 241 along the first connecting edge 233 allows for more uniform force distribution on the first connecting edge 233 of the flexible stop member 23, avoiding damage caused by excessive local force and ensuring a more reliable connection with the first support member 221.

[0046] Similarly, in some embodiments, please refer to Figure 1 The elastic connector 24 includes a second elastic connector 242 connected to the second support member 222. The number of second elastic connectors 242 is two or more. The flexible stop member 23 has a second connecting edge 234. Each second elastic connector 242 is connected to the second connecting edge 234 and is arranged at intervals along the second connecting edge 234.

[0047] Regarding the number of support members 22, please refer to some embodiments. Figure 1 The number of support members 22 is four. In some other embodiments, the number of support members 22 may also be two, namely the first support member 221 and the second support member 222. Of course, in some other embodiments, the number of support members 22 may also be three, five, or other feasible numbers.

[0048] Furthermore, in some embodiments, please refer to Figure 1The support member 22 also includes a third support member 223 and a fourth support member 224. The upper end of the third support member 223 is connected to the flexible stop member 23, and the lower end of the third support member 223 is mounted on the main structure 21. The upper end of the fourth support member 224 is connected to the flexible stop member 23, and the lower end of the fourth support member 224 is mounted on the main structure 21. The first support member 221, the second support member 222, the third support member 223, and the fourth support member 224 are arranged circumferentially around the main structure 21. This provides better stability to the ball-receiving space 231 supported by the first support member 221, the second support member 222, the third support member 223, and the fourth support member 224. In some embodiments, the third support member 223 is only connected to the flexible stop member 23 at its upper end, and the fourth support member 224 is only connected to the flexible stop member 23 at its upper end. This allows the flexible stop member 23 to have a larger range of motion when the tennis ball impacts it, enabling it to adapt to impacts from multiple angles.

[0049] In some other embodiments, when there is no need for the support member 22 to extend or retract, the support member 22 can be a support frame structure formed by connecting multiple support rods, in which case the number of support members 22 can be only one.

[0050] For ease of storage, please refer to some embodiments. Figure 1 and Figure 2 The support member 22 is a telescopic member, which extends or retracts the flexible stop member 23. When the support member 22 extends, the flexible stop member 23 unfolds, forming a ball-receiving space 231 inside. When the support member 22 shortens, the flexible stop member 23 retracts, reducing its space occupation and facilitating storage.

[0051] Therefore, before using the tennis ball receiving device to receive the ball, each support member 22 needs to be extended and the flexible stop member 23 needs to be unfolded. When not in use, the support members 22 need to be retracted and the flexible stop member 23 needs to be folded up. At this time, part of the flexible stop member 23 can be stored in the receiving cavity 211. After the flexible stop member 23 is folded up, the volume is smaller and easier for the user to carry. Of course, in some other embodiments, the support member 22 can also be a fixed length rod, in which case the support member 22 cannot be extended or retracted.

[0052] Specifically, in some embodiments, please refer to Figure 1 The main structure 21 is provided with a mounting member 212 for mounting the support member 22. In some embodiments, the mounting member 212 has a mounting hole, which can be a threaded hole, and the support member 22 is screwed into the mounting hole. The mounting hole can also be an insertion hole, and the support member 22 is directly inserted into the mounting hole.

[0053] In some embodiments, please refer to Figure 1 and Figure 3The lower end of the flexible stop 23 is connected to the inner side of the side wall of the main structure 21, that is, it is installed on the inner wall of the receiving cavity 211. Specifically, a connecting buckle 213 is provided on the inner side of the side wall of the main structure 21, and the lower end of the flexible stop 23 is connected to the connecting buckle 213 through a connecting structure (such as a connecting rope, connecting strap, etc.). In this way, after the flexible stop 23 elastically deforms, it is not easy for excessively large gaps to appear between the flexible stop 23 and the main structure 21.

[0054] To facilitate easier entry of the tennis ball from the receiving space 231 into the receiving cavity 211, in some embodiments, please refer to Figure 1 and Figure 3 The top of the main structure 21 is provided with a guide part 214, which is located at the drop entrance and extends from bottom to top away from the center of the drop entrance. In this way, the guide part 214 can guide the tennis ball from the receiving space 231 into the receiving cavity 211, and the tennis ball is less likely to get stuck on the outside of the drop entrance.

[0055] Regarding the guide section 214, please refer to some embodiments. Figure 3 The guide portion 214 is formed by bending. Specifically, the guide portion 214 and the main structure 21 are integrally bent, that is, the guide portion 214 is the outward bending edge of the top of the main structure 21. Of course, in some other embodiments, the bent portion can also be formed and then fixed to the main structure 21 by welding, fasteners, or other methods.

[0056] To facilitate the processing of the guide portion 214, please refer to some embodiments. Figure 3 The number of guide parts 214 is two or more, and each guide part 214 is arranged at intervals along the outer periphery of the drop inlet. Compared with the continuous arrangement of guide parts 214, the arrangement of two or more guide parts 214 at intervals along the outer periphery of the drop inlet makes it easier to process them one by one and is less likely to cause stress concentration problems.

[0057] In some embodiments, please refer to Figure 1 and Figure 3 The main structure 21 includes at least three sidewalls connected in sequence, and the entrance formed by each sidewall is a polygonal opening. For details, please refer to... Figures 1 to 3 The main structure 21 has four side walls: a first side wall 215, a second side wall 216, a third side wall 217, and a fourth side wall 218. Correspondingly, the entrance is a quadrilateral opening. In some other embodiments, the main structure 21 may have three or five side walls. Of course, the side walls of the main structure 21 may also be cylindrical, in which case there is only one side wall.

[0058] Since the connection between adjacent sidewalls forms a corner, in order to facilitate the processing of the guide portion 214, in some embodiments, please refer to... Figure 1 and Figure 3 The guide portion 214 is connected to the top edge of the side wall, and the gap formed between adjacent guide portions 214 is located above the connection point of adjacent side walls. In this way, the gap between adjacent guide portions 214 can allow the guide portion 214 to avoid stress concentration areas, the guide portion 214 is not easy to deform, and it is not easy to break during molding, thus reducing the requirements for the molding process.

[0059] Specifically, in some embodiments, please refer to Figure 1 The main structure 21 includes a first sidewall 215, with a ball-filling opening 232 located above the first sidewall 215. The main structure 21 also includes other sidewalls, which are connected to the first sidewall 215 to form a receiving cavity 211. A guide portion 214 is located on the other sidewalls. This design prevents the guide portion 214 from obstructing the ball-filling opening 232, and the larger size of the ball-filling opening 232 makes it easier for the tennis ball to enter the receiving space 231.

[0060] For details, please refer to Figure 1 and Figure 3 Guide portions 214 are connected to the second side wall 216, the third side wall 217 and the fourth side wall 218. The guide portions 214 on the third side wall 217 are arranged at intervals with the guide portions 214 on the other two side walls.

[0061] Regarding the shape of the guide portion 214, please refer to some embodiments. Figure 1 and Figure 3 The guide section 214 is elongated and extends circumferentially along the drop inlet. The height of the guide section 214 is vertical, and its width is horizontal. Vertically, the upper width of the guide section 214 is smaller than its lower width, and the width gradually decreases from bottom to top. This results in obtuse angles at the upper corners of the guide section 214, reducing the risk of scratching the user. Furthermore, to further enhance safety, both upper corners of the guide section 214 are rounded.

[0062] The above examples illustrate this application only to aid understanding and are not intended to limit its scope. Those skilled in the art to which this application pertains can make various simple deductions, modifications, or substitutions based on the ideas presented.

Claims

1. A tennis ball receiving device, characterized in that, include: The main structure has a receiving cavity, and the top of the receiving cavity has a drop inlet for the tennis ball to fall into; A support member, which is mounted on the main structure; A flexible stop member is connected to the support member and is used to enclose a ball-receiving space, the ball-receiving space having a ball-entry opening for the tennis ball to enter; the flexible stop member is used to block the tennis ball from entering the ball-receiving space; the ball-receiving space communicates with the receiving cavity so that the tennis ball falls into the receiving cavity after being blocked. And an elastic connector, which connects the flexible stop and the support.

2. The tennis ball receiving device as described in claim 1, characterized in that, The support includes a first support and a second support, with the inlet formed between the first support and the second support. Both the first support and the second support are connected to the flexible stop via the elastic connector.

3. The tennis ball receiving device as described in claim 2, characterized in that, The elastic connector includes a first elastic connector connected to the first support member, and the number of the first elastic connectors is two or more. The flexible stop member has a first connecting edge, and each of the first elastic connectors is connected to the first connecting edge and arranged at intervals along the first connecting edge. And / or the elastic connector includes a second elastic connector connected to the second support member, the number of the second elastic connectors being two or more, the flexible stop member having a second connecting edge, each of the second elastic connectors being connected to the second connecting edge and arranged at intervals along the second connecting edge.

4. The tennis ball receiving device as described in claim 2, characterized in that, The support also includes a third support and a fourth support. The upper end of the third support is connected to the flexible stop and the lower end of the third support is mounted on the main structure. The upper end of the fourth support is connected to the flexible stop and the lower end of the fourth support is mounted on the main structure. The first support, the second support, the third support, and the fourth support are arranged sequentially at intervals along the circumference of the main structure.

5. The tennis ball receiving device as described in any one of claims 1-4, characterized in that, The tennis ball receiving device also includes a connecting ring connected to the flexible stop, and the elastic connecting member is connected to the flexible stop through the connecting ring.

6. The tennis ball receiving device according to any one of claims 1-4, characterized in that, The elastic connector is an elastic pull rope.

7. The tennis ball receiving device as described in any one of claims 1-4, characterized in that, The support member is a telescopic member, which extends or retracts the flexible stop member.

8. The tennis ball receiving device according to any one of claims 1-4, characterized in that, The flexible stop is an elastic mesh or elastic fabric.

9. The tennis ball receiving device according to any one of claims 1-4, characterized in that, The lower end of the flexible stop is connected to the inner wall of the receiving cavity.

10. A tennis robot, characterized in that, It includes a mobile robot and a tennis ball receiving device as described in any one of claims 1-9, wherein the tennis ball receiving device is mounted on the mobile robot.

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