Intelligent tennis robot

Abstract

The application relates to the technical field of sports training equipment, and provides an intelligent tennis robot, which comprises a chassis device provided with a plurality of walking wheels, the ratio of the axial speed to the tangential speed of the walking wheels being 0-0.2; a ball serving device comprising a mounting frame, a swing assembly and a ball serving mechanism, the ball serving mechanism being rotatably connected to the mounting frame, the swing assembly being in transmission connection with the ball serving mechanism to drive the ball serving mechanism to swing up and down; and a ball receiving device arranged on the ball serving device and formed with a receiving space provided with a receiving opening, the receiving space being communicated with the ball serving mechanism so that the received tennis ball enters the ball serving mechanism. The technical scheme of the application can realize the moving ball receiving and ball serving operations, the tangential acceleration of the walking wheels is large, the moving response is rapid, the frequency of manual ball picking operation can be reduced, and the convenience is high; the ball serving device can realize the adjustment of the up-and-down launching angle, the ball serving angle range is expanded, different training requirements in the tennis training process can be met, and the use experience is better.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sports training equipment, in particular to an intelligent tennis robot. BACKGROUND

[0002] Tennis is a popular sports fitness project in recent years, and the number of people participating in tennis is increasing. In the traditional tennis training process, a special accompanying trainer is usually needed to serve. In order to improve the training convenience, some manufacturers provide training devices that can automatically serve to replace the accompanying trainer, thereby realizing single-person training. However, the above-mentioned devices can usually only launch tennis balls in a fixed direction, and it is difficult to adjust the pitch launch direction or angle, and it is impossible to launch skill balls with various pitch launch directions. Moreover, it is difficult to combine the ball receiving and ball launching organically, and an additional ball picking and recycling operation is required, and the moving speed is relatively slow, and the use experience is not good. CONTENT OF THE UTILITY MODEL

[0003] In order to solve the problems that the existing tennis training device is difficult to adjust the pitch launch angle or direction, the ball receiving and ball launching are not organically combined, the moving speed is relatively slow, and the use experience is not good, the present application provides an intelligent tennis robot.

[0004] In an embodiment of the present application, an intelligent tennis robot is provided, which comprises: a chassis device, the bottom of the chassis device having a plurality of walking wheels, the ratio of the axial speed to the tangential speed of the walking wheels being 0 to 0.2; a ball serving device provided on the chassis device, the ball serving device comprising a mounting frame, a swing assembly and a ball serving mechanism, the ball serving mechanism being rotatably connected to the mounting frame, the ball serving mechanism being used for launching a tennis ball, the swing assembly being in transmission connection with the ball serving mechanism and being used for driving the ball serving mechanism to swing in pitch relative to the mounting frame to adjust the pitch launch angle of the ball serving mechanism; and a ball receiving device provided on the ball serving device, the ball receiving device forming a receiving space having a receiving opening, the receiving space being communicated to the ball serving mechanism, the receiving space being used for receiving the tennis ball and making the tennis ball enter the ball serving mechanism.

[0005] In a further embodiment of the present application, the chassis device comprises a chassis body, a walking wheel connecting frame and a walking wheel mechanism; the chassis body is connected to the bottom of the ball serving device, the bottom of the chassis body being spaced apart in a first direction and provided with at least two walking wheel connecting frames and at least two groups of walking wheel mechanisms; the walking wheel connecting frame extends in a second direction and is connected to the chassis body, each walking wheel connecting frame being connected to a corresponding group of walking wheel mechanisms, and each group of walking wheel mechanisms comprising at least two walking wheels located on both sides of the walking wheel connecting frame in the second direction; wherein the second direction is perpendicular to the first direction, and the axial speed of the walking wheel is 0.

[0006] In a further embodiment of the present application, the walking wheel connecting frame comprises a cross beam and a side support, the cross beam extends along the second direction and is connected to the chassis body, and the cross beam is connected with the side support at both ends in the second direction; each set of walking wheel mechanism further comprises two walking wheel driving members, each walking wheel driving member is connected to the inner side of one of the side supports, and the output end of the walking wheel driving member extends outward along the second direction through the side support and is in transmission connection with the corresponding walking wheel; wherein the walking wheel is a rubber wheel.

[0007] In a further embodiment of the present application, the detection mechanism is arranged on the ball launching device or the ball receiving device, and is used to detect the position information of the ball to be received; and the controller is in communication connection with the detection mechanism, the ball launching device and the chassis device, and the controller can control the chassis device to move to the target position and control the ball launching device to adjust the pitch launch angle according to the received position information.

[0008] In a further embodiment of the present application, the chassis device comprises two sets of walking wheel mechanisms arranged at intervals along the first direction, each set of walking wheel mechanism comprises two walking wheels arranged oppositely and two walking wheel driving members, and each walking wheel driving member is in transmission connection with one of the walking wheels; the controller comprises a speed control module, the speed control module is in communication connection with the four walking wheel driving members, so that the chassis device can return to the preset track when the movement track deviates.

[0009] In a further embodiment of the present application, the swing assembly is at least partially arranged on the mounting frame, and the swing assembly comprises a swing driving member and a swing transmission member in transmission connection; the swing driving member is connected to the mounting frame, and the output shaft of the swing driving member is arranged along the horizontal direction; one end of the swing transmission member is connected to the output shaft of the swing driving member, and the other end of the swing transmission member is in rotational connection with the ball launching mechanism, and the connection point of the swing transmission member with the ball launching mechanism is arranged eccentrically with respect to the swing shaft of the ball launching mechanism, and the swing driving member can drive the ball launching mechanism to pitch swing around the swing shaft through the swing transmission member.

[0010] In a further embodiment of the present application, the swing transmission member comprises a first swing arm and a second swing arm, one end of the first swing arm is connected to the output shaft of the swing driving member, the other end of the first swing arm is in rotational connection with the second swing arm, and the end of the second swing arm away from the first swing arm is in rotational connection with the ball launching mechanism; wherein the length of the first swing arm is less than the length of the second swing arm.

[0011] In a further embodiment of the present application, the mounting frame comprises a mounting base connected with the chassis device, the mounting base having a support part extending upward in the vertical direction; a mounting frame body comprising a mounting base plate and a mounting side plate connected with each other, the mounting base plate being connected to the support part, and the mounting side plate extending upward in the vertical direction relative to the mounting base plate; wherein the ball launching mechanism is connected with the mounting side plate, and at least part of the swing assembly is connected with the mounting side plate.

[0012] In a further embodiment of the present application, the mounting frame is rotationally connected with the chassis device, and the rotation axis of the mounting frame extends in the vertical direction; the ball launching device further comprises a rotation assembly rotationally connected with the mounting frame, for driving the mounting frame to rotate horizontally relative to the chassis device to adjust the horizontal launching angle of the ball launching mechanism.

[0013] In a further embodiment of the present application, the ball launching device further comprises a cover connected to the top of the chassis device and covering the outside of the mounting frame, the swing assembly and the ball launching mechanism in the circumferential direction, and a first opening is formed in the side wall of the cover corresponding to the launching port of the ball launching mechanism; wherein the top of the cover is formed with a receiving groove, a second opening communicating with the ball launching mechanism is formed in the groove bottom wall of the receiving groove, and the ball receiving device is connected to the top of the cover, and the receiving space is in communication with the receiving groove.

[0014] In a further embodiment of the present application, the ball receiving device comprises a ball receiving base provided on the top of the ball launching device, the ball receiving base being penetrated in the height direction; at least three telescopic members are arranged at intervals in the circumferential direction around the ball receiving base, one end or side of each telescopic member is connected with the ball receiving base, and the other end of each telescopic member is configured to be telescopically protrude out of the top surface of the ball receiving base; and a shielding member of flexible structure is connected between the at least three telescopic members and the ball receiving base, and forms a receiving space; wherein the shielding member is configured to be unfolded and folded, the shielding member is unfolded when all the telescopic members are in the extended state, the shielding member is folded when all the telescopic members are in the retracted state, and at least part of the shielding member is received in the ball receiving base.

[0015] In a further embodiment of the present application, a plurality of mounting holes are arranged at intervals in the circumferential direction on the ball receiving base, one telescopic member is inserted in each mounting hole, the axis of the mounting hole extends obliquely from bottom to top to the outside of the ball receiving base, and forms a preset angle A with the height direction, wherein the preset angle A satisfies 0°≤A≤45°.

[0016] The beneficial effects of the above technical solutions of the present application are: According to the technical solution in the application, the ball serving device, the ball receiving device and the chassis device are organically combined through improvement and optimization of the structure, the tangential acceleration of the walking wheel is larger, the moving response is more rapid, the tennis ball received by the ball receiving device can be directly conveyed to the ball serving mechanism for serving operation, the operation frequency of manual ball picking and ball supplementing can be greatly reduced, the convenience is higher, the ball serving device can realize adjustment of the pitching angle of serving, the serving angle range is expanded, the tennis ball can be served at different pitching angles of serving, different training requirements in the process of tennis training are met, and the use experience is better. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a three-dimensional schematic view of an intelligent tennis robot in an embodiment of the application; Figure 2 It is a front view of an intelligent tennis robot in an embodiment of the application; Figure 3 It is a schematic view of part of the structure of the chassis device and the ball serving device in an embodiment of the application; Figure 4 It is a schematic view of part of the structure of the ball serving device in an embodiment of the application; Figure 5 It is a schematic view of the chassis device in an embodiment of the application; Figure 6 It is a schematic block diagram of an intelligent tennis robot in another embodiment of the application; Figure 7 It is a top view of part of the structure of the chassis device and the ball serving device in an embodiment of the application; Figure 8 It is a three-dimensional schematic view of part of the structure of the chassis device and the ball serving device in an embodiment of the application; Figure 9 It is a rear view of part of the structure of the chassis device and the ball serving device (the chassis device is cut along a first direction) in an embodiment of the application; Figure 10 It is a side three-dimensional schematic view of part of the structure of the chassis device and the ball serving device (the chassis device and the mounting frame are cut along a second direction) in an embodiment of the application; Figure 11 It is a three-dimensional schematic view of the mounting frame in an embodiment of the application; Figure 12 It is a side view of part of the structure of an intelligent tennis robot in an embodiment of the application; Figure 13 It is a front view of part of the structure of an intelligent tennis robot in an embodiment of the application; Figure 14 A top view of a chassis device and a ball serving device in an embodiment of the present application; Figure 15 A perspective view of a partial structure of an intelligent tennis robot in another embodiment of the present application; Figure 16 A perspective view of a guide groove in another embodiment of the present application; Figure 17 A right view of an intelligent tennis robot in an embodiment of the present application; Figure 18 A schematic view of a ball receiving device in an embodiment of the present application (the shielding member is in a folded state); Figure 19 A schematic view of a connecting seat in an embodiment of the present application; Figure 20 A sectional view of the connecting seat in an embodiment of the present application.

[0018] In the above-mentioned figures, arrow F1 represents a first direction, arrow F2 represents a second direction, and arrow F3 represents a height direction.

[0019] In addition, it should be noted that, Figure 3 , Figure 4 , Figure 12 , Figure 13 and Figure 15 The ball guide tubes shown in the above-mentioned figures are in a state without flexible deformation, and thus the flared structure parts shown in the figures are located outside the ball guide tubes. In fact, the flared structure is located inside the ball guide tube and presses the inner side wall of the ball guide tube, so that the inner side wall of the ball guide tube is flexibly deformed outwardly.

[0020] Explanation of reference signs: 400 intelligent tennis robot; 1 chassis device, 11 walking wheel mechanism, 111 walking wheel, 112 walking wheel driving piece, 12 walking wheel connecting frame, 121 crossbeam, 122 side support, 13 chassis main body, 131 bottom groove, 14 protective cover, 2 ball catching device, 21 ball catching base, 211 ball catching base main body, 212 connecting seat, 2121 mounting hole, 2122 connecting part, 213 second fixing piece, 22 telescopic piece, 221 first fixing piece, 222 third fixing piece, 23 shielding piece, 231 storage space, 232 storage opening, 24 buffer piece, 31 detection mechanism, 32 controller; 4 ball launching device, 413 mounting frame, 4131 mounting base, 4132 support part, 4133 mounting frame main body, 4134 mounting bottom plate, 4135 mounting side plate, 4136 rotating shaft, 4137 swinging shaft, 4138 swinging bearing, 4139 rotating bearing, 42 rotating assembly, 422 rotating driving mechanism, 4221 rotating driving piece, 4222 rotating transmission piece, 4223 first transmission arm, 4224 second transmission arm, 43 ball launching mechanism, 431 launching opening, 432 conveying channel, 433 guide ball cylinder, 4331 third opening, 434 guide groove, 4341 flared structure, 44 cover shell, 441 containing cavity, 442 first opening, 443 storage groove, 444 second opening, 45 swinging assembly, 451 swinging driving piece, 452 swinging transmission piece, 4521 first swinging arm, 4522 second swinging arm, 4523 first segment, 4524 second segment, 4525 third segment; preset angle A. DETAILED DESCRIPTION

[0021] The application will be further described in details below with specific embodiments and accompanying drawings. In different embodiments, similar elements are denoted by similar reference signs. In the following embodiments, many details are described in order to make the application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different cases, or can be replaced by other elements, materials, methods. In some cases, some operations related to the application are not shown or described in the specification, in order to avoid the core part of the application being overwhelmed by too much description, and it is not necessary to describe these related operations in detail for those skilled in the art, who can fully understand the related operations according to the description in the specification and general technical knowledge in the art.

[0022] In the description of the present application, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the purpose of facilitating the description of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0023] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited.

[0024] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, it can be abutment, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0025] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0026] Some embodiments of the intelligent tennis robot of the present application are provided below in conjunction with the drawings.

[0027] For the purpose of description, the lateral direction of the chassis device is taken as the first direction and the longitudinal direction of the chassis device is taken as the second direction in the following embodiments. Among them, the longitudinal direction of the chassis device represents the front-back direction with the launch port of the ball launching mechanism as the reference, and the lateral direction of the chassis device represents the left-right direction with the launch port of the ball launching mechanism as the reference.

[0028] One embodiment of the present application provides a smart tennis robot 400. As shown in Figure 1 、 Figure 2 and Figure 3 and Figure 4 , the smart tennis robot 400 comprises a chassis device 1, a ball receiving device 2 and a ball launching device 4. The chassis device 1 serves as a mounting base, and a plurality of walking wheels 111 are arranged at the bottom of the chassis device 1. The ratio of the axial speed to the tangential speed of each walking wheel 111 is in the range of 0 to 0.2, so that the walking wheel 111 has a relatively large tangential speed, and the movement response is more rapid. The ball launching device 4 and the ball receiving device 2 are arranged on the chassis device 1 and can move under the driving of the chassis device 1. The ball launching device 4 comprises a mounting frame 413, a swing assembly 45 and a ball launching mechanism 43. The ball launching mechanism 43 can load and launch a tennis ball outward, achieving the operation of launching the tennis ball to the target direction. As shown in Figure 3 and Figure 4 , the mounting frame 413 is connected to the chassis device 1, the ball launching mechanism 43 is rotatably connected to the mounting frame 413, and the swing axis 4137 of the ball launching mechanism 43 is arranged in the horizontal direction, so as to be able to pitch and yaw relative to the mounting frame 413 in the vertical plane; the swing assembly 45 is in transmission connection with the ball launching mechanism 43, for driving the ball launching mechanism 43 to pitch and yaw relative to the mounting frame 413, adjusting the pitch launch angle of the ball launching mechanism 43, so as to launch the tennis ball according to the training requirements of the user. Wherein, the mounting frame 413 bears the ball launching mechanism 43, and the swing assembly 45 only serves as a power output mechanism, not as a bearing of the ball launching mechanism 43. As shown in Figure 1 and Figure 2 , the ball receiving device 2 is arranged above the ball launching device 4, the ball receiving device 2 forms a receiving space 231, the receiving space 231 is communicated to the ball launching mechanism 43, and the receiving space 231 is provided with a receiving opening 232. The receiving space 231 can receive the tennis ball and make the tennis ball enter the ball launching mechanism 43 through the receiving space 231, and then launch the tennis ball outward through the ball launching mechanism 43.

[0029] The intelligent tennis robot 400 in the embodiment can realize mobile ball receiving and ball serving operation through the improvement and optimization of the structure, the tangential acceleration of the walking wheel 111 is greater, and the moving response is more rapid; moreover, the tennis ball received by the ball receiving device 2 can be directly conveyed to the ball serving mechanism 43 for ball serving operation, which can greatly reduce the operation frequency of manual ball picking and ball supplementing, and is high in convenience; the ball serving device 4 can realize the adjustment of the pitching angle of launch through the transmission connection of the swing assembly 45 and the ball serving mechanism 43, the driving of the ball serving mechanism 43 relative to the mounting frame 413 by the swing assembly 45, the expansion of the ball serving angle range, the launch of the tennis ball at different pitching angles of launch, and the satisfaction of different training requirements in the process of tennis training, and the use experience is better.

[0030] In further embodiments of the application, as shown in Figures 1 to 5 The chassis device 1 includes a chassis main body 13, a walking wheel connecting frame 12 and a walking wheel mechanism 11; the chassis main body 13 serves as a mounting base and is connected with the bottom of the ball serving device 4; the walking wheel connecting frame 12 and the walking wheel mechanism 11 are arranged at the bottom of the chassis main body 13. The first direction is perpendicular to the second direction; in the first direction, the bottom of the chassis main body 13 is spaced apart from at least two walking wheel connecting frames 12 and at least two groups of walking wheel mechanisms 11, each walking wheel connecting frame 12 is connected with a corresponding group of walking wheel mechanisms 11, the walking wheel connecting frame 12 extends along the second direction and is connected with the bottom of the chassis main body 13. The walking wheel mechanism 11 includes a walking wheel 111 and a corresponding walking wheel driving member 112; in each group of walking wheel mechanisms 11, at least two walking wheels 111 are respectively located on both sides of the walking wheel connecting frame 12 in the second direction; the walking wheel driving member 112 is fixedly connected with the walking wheel connecting frame 12, and the walking wheel driving member 112 is in transmission connection with the corresponding walking wheel 111 to output torque to the walking wheel 111, drive the walking wheel 111 to rotate, and then drive the ball receiving device 2 and the ball serving device 4 to move through the chassis device 1. Wherein, the walking wheel mechanism 11 can drive the chassis device 1 to move along the tangent direction of the walking wheel 111, the axial speed of the walking wheel 111 is 0, that is, the walking wheel 111 can only move along the tangent direction when rotating, and cannot move along the axial direction, at this time, the output torque of the walking wheel driving member 112 is all used to increase the tangential speed of the walking wheel 111, which can further improve the acceleration of the walking wheel 111 along the tangent direction and the response speed. The walking wheel driving member 112 can be a driving motor.

[0031] It should be noted that when each group of walking wheel mechanisms 11 is arranged with two walking wheels 111 in the second direction, as Figure 5In the example, the walking wheel mechanism 11 has one walking wheel 111 on each of its two sides in the second direction; when each group of walking wheel mechanisms 11 has four walking wheels 111 arranged opposite each other in the second direction, then the walking wheel mechanism 11 has two walking wheels 111 on each of its two sides in the second direction. The tangential direction of the walking wheel 111 is the first direction, and the axial direction of the walking wheel 111 is the second direction.

[0032] Furthermore, in a specific implementation, such as Figure 5 As shown, the wheel connecting frame 12 specifically includes a crossbeam 121 and two side supports 122. The crossbeam 121 extends along a second direction and is connected to the bottom of the chassis body 13, specifically by bolts as shown in the figure, or by welding. Each end of the crossbeam 121 in the second direction is connected to a side support 122 for docking and assembly with the wheel 111 and the wheel drive component 112. Each wheel mechanism 11 includes two wheel drive components 112, respectively corresponding to two side supports 122. In the second direction, each wheel drive component 112 is connected to the inner side of the corresponding side support 122, and the wheel 111 is located on the outer side of the corresponding side support 122. The output end of the wheel drive component 112 extends outward through the side support 122 and is connected to the corresponding wheel 111 to drive the wheel 111 to rotate. The side supports 122 can be constructed using... Figure 5 The L-shaped bent plate shown can be further reinforced with inclined reinforcing rods or plates on the side brackets 122 to improve connection strength. By providing two driving members 112 in each set of walking wheel mechanisms 11 to drive the walking wheels 111 on both sides respectively, independent driving of the walking wheels 111 on both sides can be achieved. This further enhances power performance and allows for different torque outputs to the left and right walking wheels 111 as needed. For example, differential rotation of the left and right walking wheels 111 can achieve steering, enabling the intelligent tennis robot 400 to move in both the first and second directions according to the different movement paths of the tennis ball, thus achieving omnidirectional movement on the horizontal plane.

[0033] Among them, such as Figure 5 In the example, an opening or through hole extending in the second direction can be provided on the plate of the side bracket 122 facing the traveling wheel 111, so that the output end of the traveling wheel drive 112 can pass through the opening or through hole to form a transmission connection with the outer traveling wheel 111; the output end of the traveling wheel drive 112 can be connected to the traveling wheel 111 by a coupling or similar connection structure, which can both transmit power and limit the traveling wheel 111 in the axial direction, so that the traveling wheel 111 only generates tangential speed when rotating, and prevents the traveling wheel 111 from generating relative movement in the axial direction.

[0034] Furthermore, in a specific example, such as Figures 1 to 5 As shown, the wheels 111 of the chassis device 1 are made of rubber, which have relatively good elasticity and friction performance and can adapt to different tennis courts.

[0035] In further embodiments of this application, such as Figures 1 to 6 As shown, the intelligent tennis robot 400 also includes a detection mechanism 31 and a controller 32. The detection mechanism 31 is mounted on the serving device 4 or the receiving device 2 (e.g., Figure 2 The ball receiving device 2 and the ball serving device 4 are positioned near the top of the front of the ball serving device 4 and are connected to the controller 32. The detection mechanism 31 is used to detect the position information of the tennis ball to be received and send the detected position information to the controller 32. The controller 32 is also connected to the ball serving device 4 and the chassis device 1. The controller 32 can perform corresponding calculations and processing operations according to the received position information and control the running wheel mechanism 11 of the chassis device 1 to drive the ball receiving device 2 and the ball serving device 4 to the target position through the chassis device 1, so that the tennis ball can enter the storage space 231 of the ball receiving device 2 and realize the ball receiving operation and retrieval operation, and complete the ball replenishment operation of the ball serving device 4. The controller 32 can also control the ball serving device 4 to adjust the pitch and launch angle.

[0036] Preferably, the detection mechanism 31 can employ a visual acquisition device, such as a high-speed camera, to acquire the tennis ball's position information in real time. Correspondingly, the controller 32 has a visual recognition module that can analyze and process the video and / or images acquired by the visual acquisition device to calculate the tennis ball's trajectory and landing point, thereby controlling the chassis device 1 to move to the target position promptly and accurately, thus improving the ball-catching accuracy. The controller 32 can also be equipped with a wireless communication module to establish wireless communication connections with users' mobile phones, computers, remote controls, cloud servers, and other devices, facilitating user control of the intelligent tennis robot 400 and storage of relevant data.

[0037] Furthermore, in a specific example, such as Figures 1 to 6As shown, the chassis device 1 includes two groups of traveling wheel mechanisms 11 arranged in the first direction, each group of traveling wheel mechanisms 11 includes two traveling wheels 111 arranged opposite in the second direction and two traveling wheel driving members 112, each traveling wheel driving member 112 is in driving connection with a corresponding traveling wheel 111, and four-wheel independent driving can be realized. Correspondingly, the controller 32 includes a speed control module, the speed control module is in communication connection with the four traveling wheel driving members 112, and can independently send control instructions to each traveling wheel driving member 112 to control the output torque of each traveling wheel driving member 112, and then make the corresponding traveling wheel 111 rotate at the required speed.

[0038] In actual application, if the actual running track of the chassis device 2 deviates from the preset track due to the structure or installation error of the traveling wheel 111, the size of the output torque of the corresponding traveling wheel driving member 112 of each traveling wheel 111 can be adjusted by the speed control module of the controller 32, so as to control the speed difference of the four traveling wheels 111, and the four traveling wheels 111 cooperate with each other, so that the overall running track of the chassis device 1 returns to the preset track, thereby realizing the correction control of the equipment running track, which is beneficial to improve the overall motion accuracy of the equipment and prevent the normal tennis training operation from being affected by the deviation of the running track. Specifically, the running route model including the preset track can be pre-stored in the speed control module of the controller 32, and adaptive adjustment can be made according to the actual deviation during running.

[0039] Further, in a specific example, as Figure 3 indicated in the example, the chassis device 1 further includes a protective cover 14 arranged on the circumferential outer side of the chassis main body 13, the protective cover 14 is connected with the chassis main body 13 and can cover the circumferential side wall and part of the top wall of the chassis main body 13 to form shielding and protection for the chassis main body 13. As Figure 3 and Figure 5 indicated in the example, in the height direction, the protective cover 14 extends to between the bottom end of the traveling wheel connecting frame 12 and the bottom end of the traveling wheel 111, so that the protective cover 14 can laterally shield the traveling wheel connecting frame 12, but can also maintain a proper gap with the ground to avoid affecting normal running.

[0040] In further embodiments of the present application, as Figure 3 , Figure 4 indicated in the example, in the serving device 4, at least part of the swing assembly 45 is arranged on the mounting frame 413, so that the swing assembly 45 is close to the serving mechanism 43, facilitating connection and assembly, and being beneficial to make the whole device more compact. Preferably, the swing assembly 45 is arranged on the mounting frame 413.

[0041] As Figure 7 , Figure 8In the example, the swing assembly 45 includes a swing drive 451 and a swing transmission 452 connected by a transmission. The swing drive 451 is connected to the mounting bracket 413, and its output shaft is arranged in a horizontal direction. Correspondingly, one end of the swing transmission 452 is connected to the output shaft of the swing drive 451, and the other end is rotatably connected to the serving mechanism 43. The swing drive 451 can transmit power to the serving mechanism 43 through the swing transmission 452. The connection point between the swing transmission 452 and the serving mechanism 43 is eccentrically arranged relative to the swing axis 4137 of the serving mechanism 43, that is, there is a certain distance between the connection point between the swing transmission 452 and the serving mechanism 43 and the connection point between the serving mechanism 43 and the mounting bracket 413. When the output power of the swing drive 451 is transmitted to the serving mechanism 43 through the swing transmission 452, it can push the serving mechanism 43 to swing around the swing axis 4137, thereby adjusting the pitch and launch angle of the serving mechanism 43.

[0042] Furthermore, in a specific example, such as Figure 7 , Figure 8 and Figure 9 In the example shown, the swing transmission 452 includes a first swing arm 4521 and a second swing arm 4522; the swing drive 451 employs a drive motor and is connected to the mounting bracket 413 (e.g., Figure 9 As shown in the mounting side plate 4135, the output shaft of the swing drive 451 extends horizontally. One end of the first swing arm 4521 is connected to the output shaft of the swing drive 451, and the other end is rotatably connected to the second swing arm 4522. The end of the second swing arm 4522 away from the first swing arm 4521 is connected to the serving mechanism 43, forming a two-link transmission mechanism. When the swing drive 451 is working, the output shaft of the swing drive 451 drives the first swing arm 4521 and the second swing arm 4522 to swing, thereby causing the serving mechanism 43 to pitch relative to the mounting frame 413. The specific shape and size of the first swing arm 4521 and the second swing arm 4522 can be set according to the required pitch swing amplitude of the serving mechanism 43. When the serving mechanism 43 needs to pitch in the opposite direction, the output shaft of the swing drive 451 can be controlled to rotate in the opposite direction, thereby driving the first swing arm 4521 and the second swing arm 4522 to swing in the opposite direction, thereby pushing the serving mechanism 43 to pitch in the opposite direction. The first swing arm 4521 and the second swing arm 4522 can limit the pitch swing of the serving mechanism 43. In practical applications, the dimensions of the first swing arm 4521 and the second swing arm 4522 can be designed according to the pitch swing angle range that the serving mechanism 43 needs to adjust, so as to meet the needs of pitch swing angle adjustment.

[0043] Furthermore, in a specific example, such as Figures 7 to 10As shown, on the mounting frame 413, the swing driving member 451 is located on the side away from the launch port 431 of the ball launching mechanism 43, i.e., at the rear of the ball launching mechanism 43, so as to avoid interference with the launch range of the launch port 431 and make full use of the space at the rear of the ball launching mechanism 43 for structural layout. The connection point of the ball launching mechanism 43 and the swing transmission member 452 is located below the swing shaft 4137 of the ball launching mechanism 43 (i.e., below the connection point of the ball launching mechanism 43 and the mounting frame 413), which can generate a larger force arm of the swing transmission member 452 relative to the swing shaft 4137 of the ball launching mechanism 43, so as to generate a relatively large torque with a smaller power, and can also lower the installation height of the swing driving member 451 and the swing transmission member 452, which is conducive to further lowering the overall gravity center of the equipment.

[0044] Further, as shown in the examples of Figure 7 and Figure 8 , the second swing arm 4522 specifically includes a first segment 4523, a second segment 4524 and a third segment 4525 connected in sequence. The first segment 4523 and the third segment 4525 are arranged in a staggered manner in the thickness direction, and the second segment 4524 is arranged in an inclined manner relative to the first segment 4523 and the third segment 4525. The two ends of the second segment 4524 are connected with the first segment 4523 and the third segment 4525 respectively, and at least part of the second swing arm 2522 forms a bent state. By adopting the second swing arm 4522 in the bent state, the structural strength can be effectively improved, the bending deformation caused by the lateral force can be prevented, and the shape of the mounting frame 413 can be matched, facilitating connection and assembly. Figure 7 Figure 8 As shown in the examples of Figure 7 and Figure 8 , the swing driving member 451 and the ball launching mechanism 43 are both connected to the mounting side plate 4135 of the mounting frame 413. However, since the output shaft of the swing driving member 451 needs to be connected to the first swing arm 4521 first, and then the first swing arm 4521 is connected to the second swing arm 4522, a certain distance is formed between the connection positions of the second swing arm 4522 and the ball launching mechanism 43 in the first direction. By arranging the second swing arm 4522 in the bent state, the distance in the first direction can be effectively compensated, so as to facilitate the connection with the ball launching mechanism 43.

[0045] Preferably, the length of the first swing arm 4521 is smaller than the length of the second swing arm 4522. When the swing driving member 451 drives the first swing arm 4521 to swing, the swing trajectory of the first swing arm 4521 does not occupy too much space, so as to avoid interference with other structures around, and there is no need to reserve a large avoiding space, which is conducive to space layout. At the same time, the above arrangement can also avoid that the length of the first swing arm 4521 is too large to cause the swing amplitude of the ball launching mechanism 43 to be too large, which is conducive to improving the adjustment accuracy of the swing amplitude of the ball launching mechanism 43.

[0046] In further embodiments of the present application, as shown in Figure 9 、 Figure 10 and Figure 11 , the mounting rack 413 comprises a mounting base 4131 and a mounting body 4133 arranged in sequence in the vertical direction. The mounting base 4131 is rotatably connected with the chassis device 1 to be able to rotate horizontally relative to the chassis device 1; the mounting base 4131 has a support portion 4132 extending upward in the vertical direction, and the mounting body 4133 is connected to the support portion 4132 to form a certain gap between the mounting body 4133 and the bottom wall of the mounting base 4131, so as to facilitate the arrangement of the connecting structure of the mounting base 4131 and the chassis device 1. The mounting body 4133 specifically comprises a mounting bottom plate 4134 and a mounting side plate 4135 connected with each other, the mounting bottom plate 4134 is connected with the support portion 4132, and the mounting side plate 4135 extends upward in the vertical direction relative to the mounting bottom plate 4134 to form a three-dimensional rack body structure. As shown in Figure 9 、 Figure 10 , the ball launching mechanism 43 is arranged on the mounting body 4133 and is rotatably connected with the mounting side plate 4135, and at least part of the swing assembly 45 is connected with the mounting side plate 4135.

[0047] Preferably, the mounting base 4131 is provided with two opposite support portions 4132, which can adopt the form of a bent plate as shown in Figure 11 . Similarly, the mounting body 4133 is also provided with two opposite mounting side plates 4135 to facilitate connection with the ball launching mechanism 43. In addition, the mounting bottom plate 4134 and the mounting side plate 4135 can be provided with corresponding openings or hollow structures to facilitate avoidance and weight reduction. In further embodiments of the present application, as shown in Figures 7 to 10 , the mounting rack 413 is rotatably connected with the chassis device 1, and the rotation axis 4136 of the mounting rack 413 extends in the vertical direction. The ball launching device 4 further comprises a rotating assembly 42 arranged on the chassis device 1, and the rotating assembly 42 is drivingly connected with the mounting rack 413 to drive the mounting rack 413 to rotate horizontally relative to the chassis device 1 through the rotating assembly 42, so as to adjust the horizontal launching angle of the ball launching mechanism 43 to perform the ball launching operation according to the training requirements of the user. In the top view state (as shown in Figure 7 ), the projection of the rotating assembly 42 on the horizontal plane is at least partially located outside the projection of the mounting rack 413 on the horizontal plane, i.e., at least part of the structure of the rotating assembly 42 is located to the side of the mounting rack 413, so as to make full use of the space on the chassis device 1, reasonably arrange the mounting rack 413 and the rotating assembly 42, reduce the space occupied in the height direction, and reduce the overall center of gravity height, thereby improving the motion stability of the ball launching device 4.

[0048] Further, as shown in Figures 7 to 10As shown, the rotating assembly 42 specifically comprises a rotating driving member 4221 and a rotating transmission member 4222; the rotating driving member 4221 is used for outputting power and is in transmission connection with the rotating transmission member 4222 to transmit power through the rotating transmission member 4222. Among the rotating driving member 4221 and the rotating transmission member 4222, one is connected with the mounting rack 413 and the other is connected with the chassis device 1; the connecting point of the rotating assembly 42 with the mounting rack 413 is eccentrically arranged relative to the rotating shaft 4136 of the mounting rack 413 itself, so that a force arm is formed between the stress point (the connecting point with the rotating assembly 42) of the mounting rack 413 to the rotating shaft 4136 and a torque is formed when the rotating assembly 42 outputs power, to drive the mounting rack 413 to horizontally rotate around the rotating shaft 4136.

[0049] Preferably, as shown in the examples of Figure 7 and Figure 10 , the rotating driving member 4221 is connected on the mounting rack 413 and the rotating transmission member 4222 is located on the side away from the launching port 431 of the ball launching mechanism 43; the rotating transmission member 4222 comprises a first transmission arm 4223 and a second transmission arm 4224 which are connected with each other; the output shaft of the rotating driving member 4221 is arranged in the vertical direction (for example, downward in the examples shown in the drawings), one end of the first transmission arm 4223 is rotationally connected with the chassis device 1, the other end of the first transmission arm 4223 is rotationally connected with one end of the second transmission arm 4224, and the end of the second transmission arm 4224 away from the first transmission arm 4223 is fixedly connected with the output shaft of the rotating driving member 4221, forming a two-link transmission mechanism. When the rotating driving member 4221 works, the output shaft of the rotating driving member 4221 drives the second transmission arm 4224 to swing, and the first transmission arm 4223 swings adaptively at the same time, and the reaction force formed by the chassis device 1 is conducted to the mounting rack 413 through the first transmission arm 4223 and the second transmission arm 4224, so that the mounting rack 413 generates a torque relative to the rotating shaft 4136, and then drives the mounting rack 413 and the ball launching mechanism 43 located thereon to horizontally rotate around the rotating shaft 4136. When the ball launching mechanism 43 needs to rotate in the opposite direction, the output shaft of the rotating driving member 4221 can be controlled to rotate in the opposite direction, which in turn drives the second transmission arm 4224 and the first transmission arm 4223 to rotate in the opposite direction, and then drives the mounting rack 413 and the ball launching mechanism 43 located thereon to rotate in the opposite direction. Among them, the first transmission arm 4223 and the second transmission arm 4224 can limit the rotation of the mounting rack 413; in actual application, the sizes of the first transmission arm 4223 and the second transmission arm 4224 can be designed according to the required horizontal angle range of the ball launching mechanism 43 to meet the requirements of horizontal angle adjustment.

[0050] Further, as shown in the examples of Figures 1 to 5As shown, the chassis device 1 further comprises a protective cover 14. The top of the chassis body 13 is provided with a downwardly recessed bottom groove 131, and the mounting frame 413, the rotating driving mechanism 422 and the ball launching mechanism 43 are at least partially arranged in the bottom groove 131, and the mounting frame 413 is rotationally connected with the groove bottom wall of the bottom groove 131, so that the overall height and gravity center of the ball launching device 4 are further lowered, which is beneficial to further improve the movement stability. The protective cover 14 is arranged in the circumference of the chassis body 13 and can cover the circumferential side wall and part of the top wall of the chassis body 13 to form protection for the chassis body 13; wherein the bottom groove 131 is exposed in the height direction relative to the protective cover 14 to facilitate the installation of the ball launching mechanism 43.

[0051] Further, as shown in Figure 9 、 Figure 10 、 Figure 12 and Figure 13 , the mounting base 4131 of the mounting frame 413 is connected with the chassis body 13 of the chassis device 1 through a vertically arranged rotating shaft 4136. Specifically, corresponding positions on the mounting base 4131 and the chassis body 13 are both provided with shaft holes, the rotating shaft 4136 passes through the two shaft holes, and a rotating bearing 4139 is arranged on the side of the mounting base 4131 facing the chassis body 13. The rotating bearing 4139 specifically adopts a disc-shaped needle bearing with a relatively large diameter, and is coaxially arranged with the rotating shaft 4136. The mounting base 4131 is rotationally connected with the chassis body 13 through the rotating bearing 4139 and the rotating shaft 4136. The rotating bearing 4139 can adapt to the horizontal rotation of the mounting frame 413 and support the mounting frame 413 between the chassis body 13 and the mounting base 4131 through the rotating bearing 4139. The rotating bearing 4139 forms a large-sized annular contact surface with the mounting base 4131, and the force exerted by the mounting frame 413 on the chassis body 13 is uniformly distributed, so that the ball launching mechanism 43 on the mounting frame 413 can be adjusted in horizontal angle more stably, and the connection strength is improved, which can effectively prevent the mounting frame 413 from tilting relative to the rotating shaft 4136. Specifically, the rotating shaft 4136 can adopt the form of a pin shaft or a bolt, and is axially fixed by using a split pin or a nut.

[0052] Further, as shown in Figure 9 and Figure 13As shown, the connection between the ball launching mechanism 43 and the swing shaft 4137 is provided with a swing bearing 4138. Specifically, the swing bearing 4138 adopts a needle bearing; an axle hole is formed on the side wall of the ball launching mechanism 43 and the mounting side plate 4135 of the mounting frame 413, and one swing bearing 4138 is arranged on each side of the side wall of the ball launching mechanism 43, and the two swing bearings 4138 are coaxially arranged with the axle holes on the side wall of the ball launching mechanism 43 and the axle holes on the mounting side plate 4135; the swing shaft 4137 passes through the two swing bearings 4138 and the two axle holes, so that the ball launching mechanism 43 is rotationally connected with the mounting frame 413. The swing shaft 4137 can specifically adopt the form of a pin shaft or a bolt, and is axially fixed by using a split pin or a nut. By arranging the swing bearings 4138 on both sides of the side wall of the ball launching mechanism 43, the ball launching mechanism 43 can pitch and swing relative to the mounting side plate 4135 of the mounting frame 413 through the swing bearings 4138 and the swing shaft 4137, and the resistance is small during the swing, so that the pitch angle adjustment operation of the ball launching mechanism 43 is more smooth; moreover, the swing bearing 4138 has a compact structure and occupies a small space, and is suitable for use in the narrow space between the side wall of the ball launching mechanism 43 and the mounting side plate 4135 of the mounting frame 413. More preferably, the connection between the opposite two side walls of the ball launching mechanism 43 and the corresponding swing shaft 4137 is provided with a swing bearing 4138, so that the two side walls of the ball launching mechanism 43 are rotationally connected with the two mounting side plates 4135 of the mounting frame 413, and the stress on the ball launching mechanism 43 is more uniform.

[0053] In further embodiments of the application, as in the examples of Figure 1 、 Figure 2 、 Figure 4 and Figure 14 , the ball launching device 4 further comprises a cover 44 arranged on the top of the chassis device 1, the bottom of the cover 44 is connected with the chassis device 1, and the cover 44 and the chassis device 1 together form a containing cavity 441, and the ball launching mechanism 43, the mounting frame 413 and the swing assembly 45 are all arranged in the containing cavity 441, so as to be shielded and protected by the cover 44. A first opening 442 is formed on one side wall of the cover 44 corresponding to the launching port 431 of the ball launching mechanism 43, the launching port 431 of the ball launching mechanism 43 is located inside the first opening 442, and the tennis ball launched by the launching port 431 can pass through the first opening 442 and be launched outward; the shape and size of the first opening 442 can be set according to the range of the launching angle of the launching port 431 of the ball launching mechanism 43, so that the launching port 431 can be covered by the first opening 442 at any angle that can be reached, so as to avoid blocking the launched tennis ball. Correspondingly, as in Figure 1 、 Figure 2 、 Figure 3 and Figure 14In the example shown in FIG. 4, the top of the cover 44 is provided with a receiving groove 443, a second opening 444 is formed in the groove bottom wall of the receiving groove 443, and the second opening 444 communicates with the conveying channel 432, and the conveying channel 432 is connected to the ball launching mechanism 43 at an end away from the second opening 444. The ball receiving device 2 is correspondingly arranged on the top of the cover 44, and the receiving space 231 of the ball receiving device 2 communicates with the receiving groove 443 on the top of the cover 44. During use, after the tennis ball enters the receiving space 231 of the ball receiving device 2, it falls into the receiving groove 443 under the action of gravity, passes through the second opening 444 into the conveying channel 432, and enters the ball launching mechanism 43 along the conveying channel 432, and is then launched outward from the launching port 431 under the drive of the ball launching mechanism 43.

[0054] Further, as shown in FIG. 4, Figure 3 、 Figure 4 、 Figures 12 to 15 The ball launching device 4 further includes a ball guide cylinder 433 and a guide groove 434 arranged in the cover 44. The ball guide cylinder 433 is a cylindrical structure of flexible material, the top of the ball guide cylinder 433 communicates with the second opening 444 of the cover 44, and the third opening 4331 is formed in the side of the ball guide cylinder 433 facing the ball launching mechanism 43. Correspondingly, the guide groove 434 is arranged on the side of the ball guide cylinder 433 facing the ball launching mechanism 43 and is connected with the ball launching mechanism 43; one end of the guide groove 434 communicates with the launching port 431, and the other end of the guide groove 434 extends into the ball guide cylinder 433 through the third opening 4331, the guide groove 434 and the ball guide cylinder 433 form the conveying channel 432, the conveying channel 432 communicates with the ball launching mechanism 43, and the tennis ball entering the ball guide cylinder 433 through the second opening 444 can fall into the guide groove 434 and move along the guide groove 434 to the launching port 431 of the ball launching mechanism 43; the portion of the guide groove 434 extending into the ball guide cylinder 433 expands outward on both sides and forms a flared structure 4341, i.e., the width of the flared structure 4341 is greater than the width of other regions of the guide groove 434, and at the same time, the outer edge of the flared structure 4341 abuts against the inner side wall of the ball guide cylinder 433 to increase the coverage area of the guide groove 434 relative to the internal space of the ball guide cylinder 433, so as to ensure that the tennis ball entering the ball guide cylinder 433 through the second opening 444 can accurately fall into the flared structure 4341 of the guide groove 434 and avoid falling off. The ball guide cylinder 433 can be fixedly connected with the cover 44 or the bottom plate main body 13.

[0055] The guide groove 434 is connected with the ball launching mechanism 43, and can rotate horizontally with the ball launching mechanism 43 when the ball launching mechanism 43 rotates horizontally under the driving of the rotating assembly 42. The flared structure 4341 rotates horizontally inside the guide ball cylinder 433. Since the guide ball cylinder 433 is a flexible structure, the inner side wall of the guide ball cylinder 433 can be flexibly deformed under the extrusion of the flared structure 4341 to adapt to the horizontal rotation of the flared structure 4341 inside the guide ball cylinder 433, so that the conveying channel 432 formed by the guide groove 434 and the guide ball cylinder 433 remains unblocked when the guide groove 434 and the ball launching mechanism 43 rotate to any angle, so that the tennis ball can move smoothly to the launching port 431 of the ball launching mechanism 43 through the conveying channel 432.

[0056] Further, in a specific example, as shown in Figure 12 、 Figure 13 、 Figure 15 and Figure 16 , the guide ball cylinder 433 is specifically a flexible structure made of soft rubber material, which has good elasticity. The inner side wall of the guide ball cylinder 433 can be elastically deformed adaptively with the rotation of the flared structure 4341, and can be deformed accordingly with the change of the pressure action of the flared structure 4341, which has a strong reset function.

[0057] More preferably, as shown in the example of Figure 16 , the outer edge of the flared structure 4341 is set to be arc-shaped to adapt to the inner side wall of the guide ball cylinder 433, thereby increasing the contact area between the guide ball cylinder 433 and the flared structure 4341. The size of the flared structure 4341 can be set to be slightly larger than the inner diameter of the guide ball cylinder 433, so that the flared structure 4341 can be in contact with the inner wall of the guide ball cylinder 433 in any state and produce a certain extrusion effect, so that the inner side wall of the guide ball cylinder 433 is slightly deformed outward. The coverage area of the flared structure 4341 can be further increased. In addition, the inner region of the flared structure 4341 can be set to a smooth curved surface to further enhance the guiding effect of the tennis ball.

[0058] Further, in a specific example, as shown in the examples of Figure 12 and Figure 13 , the height of the flared structure 4341 of the guide groove 434 is greater than the height of the guide groove 434 at the end of the launching port 431, so that the guide groove 434 as a whole is in an inclined state. When the tennis ball falls into the flared structure 4341, the tennis ball can roll in the guide groove 434 by using its own gravity, and then move to the launching port 431 of the ball launching mechanism 43. Through the setting mode of the guide groove 434 in this embodiment, the self-moving conveying of the tennis ball can be realized without additional driving force, and the phenomenon of blockage of the tennis ball in the guide ball cylinder 433 can be effectively avoided.

[0059] In addition, it should be noted that the guide groove 434 can also perform pitching swing together with the ball launching mechanism 43, and the flared structure 4341 of the guide groove 434 can also perform pitching swing within the guide ball cylinder 433, and the inner side wall of the guide ball cylinder 433 can be flexibly deformed under the extrusion of the flared structure 4341, so as to avoid the phenomenon of blocking or interference.

[0060] In further embodiments of the present application, as shown in Figure 1 , Figure 2 , Figure 17 and Figure 18 , the ball receiving device 2 comprises a ball receiving base 21, a telescopic member 22, and a shielding member 23. The ball receiving base 21 is installed on the top of the ball launching device 4 in the height direction, and the ball receiving base 21 penetrates in the height direction; at least three telescopic members 22 are arranged at intervals around the circumference of the ball receiving base 21, one end or side of each telescopic member 22 is connected with the ball receiving base 21, and the other end of each telescopic member 22 is configured to be telescopically protrude from the top surface of the ball receiving base 21, i.e. the other end of the telescopic member 22 can be extended or retracted relative to the top surface of the ball receiving base 21. The shielding member 23 is a flexible structure and is connected between the at least three telescopic members 22 and the ball receiving base 21, and forms a receiving space 231. When the telescopic member 22 is extended, the shielding member 23 can be driven by the telescopic member 22 to protrude from the top surface of the ball receiving base 21 to form an unfolded state, as shown in Figure 1 and Figure 2 , at this time, the receiving space 231 is in the state of maximum space to facilitate the reception of the tennis ball, the tennis ball can pass through the receiving opening 232 into the receiving space 231 and slow down under the blocking of the shielding member 23, and then fall into the ball launching device 4 to realize the operation of receiving and recycling. When the telescopic member 22 is retracted, the shielding member 23 can also be folded under the driving of the telescopic member 22, as shown in Figure 18 , so as to accommodate at least part of the shielding member 23 in the ball receiving base 21. Among them, the number of telescopic members 22 can be four as shown in Figure 1 and Figure 17 , the shielding member 23 can cover two sides in the first direction and one side in the second direction, and the side in the second direction which is not covered by the shielding member 23 forms the receiving opening 232 for the tennis ball to pass through and enter the receiving space 231.

[0061] By the extension and retraction operation of the telescopic member 22, the shielding member 23 is unfolded and folded, which can adjust the overall state of the ball receiving device 2 according to the use needs, so as to unfold the shielding member 23 when the tennis ball training is performed to meet the use needs of receiving the ball, and fold the shielding member 23 in the non-use state to effectively reduce the volume of the ball receiving device 2, facilitating carrying and transportation.

[0062] It should be noted that the shielding piece 23 can be made of a flexible material with a certain elasticity, such as silicone, rubber, TPU (thermoplastic polyurethane), TPE (thermoplastic elastomer), etc. When the tennis ball contacts the shielding piece 23, the kinetic energy of the tennis ball can be effectively buffered and eliminated, so that the tennis ball can fall into the ball receiving base 21 more smoothly.

[0063] In addition, the telescopic piece 22 can have one or more telescopic segments, each telescopic segment being a hollow tubular structure, and each telescopic segment being sequentially sleeved, and a small gap being reserved between two telescopic segments sleeved with each other to ensure that the two telescopic segments can slide freely, thereby realizing the telescopic function of the telescopic piece 22. In addition, the outer surface of each telescopic segment is formed with a groove along the longitudinal direction of the telescopic segment, and the grooves of the telescopic segments are correspondingly sleeved with each other when the telescopic segments are sequentially sleeved, thereby avoiding the circumferential rotation between the two telescopic segments sleeved with each other.

[0064] Further, in a specific example, the shielding piece 23 can adopt a mesh structure, which can save materials on the one hand and allow airflow to pass through on the other hand, thereby reducing wind resistance and effectively reducing the adverse effects of wind resistance on the movement speed of the intelligent tennis robot 400, and also reducing the risk of damage to the shielding piece 23 and other structures caused by wind power.

[0065] Further, in a specific example, as shown in Figure 1 , Figure 2 , Figure 17 and Figure 18 , the top of the telescopic piece 22 is provided with a first fixing piece 221, and the top of the shielding piece 23 is connected with the first fixing piece 221; a plurality of second fixing pieces 213 are arranged on the ball receiving base 21 in a circumferential direction, and the bottom of the shielding piece 23 is connected with the second fixing pieces 213; a plurality of third fixing pieces 222 are arranged on the telescopic piece 22 near the receiving opening 232 in an axial direction, so as to be connected with the side of the shielding piece 23 facing the one end of the receiving opening 232. Through the above-mentioned first fixing piece 221, second fixing piece 213 and third fixing piece 222, the shielding piece 23 can cover the top surface of the receiving space 231, the two side surfaces in the first direction and the side surface opposite to the receiving opening 232, forming a form similar to a fishing net, only the receiving opening 232 and the bottom of the receiving space 231 are communicated with the conveying passage 432 of the ball launching mechanism 43, so as to facilitate the receiving and recycling of the tennis ball, and also to prevent the tennis ball from escaping from the receiving space 231 to the outside after contacting the shielding piece 23.

[0066] In further embodiments of the present application, as shown in Figure 1 , Figure 2As shown, the receiving space 231 of the ball receiving device 2 is also provided with a buffer 24. The buffer 24 has a flexible structure and can be unfolded with the extension of the telescopic member 22 and folded with the retraction of the telescopic member 22. The buffer 24 is provided corresponding to the receiving opening 232. In the unfolded state, most of the tennis balls entering the receiving space 231 can hit the buffer 24 and reduce the kinetic energy of the tennis balls through the buffer 24, so that the tennis balls can fall into the serving device 4 more stably, and at the same time, the tennis balls can be prevented from escaping from the receiving space 231 due to large kinetic energy. Specifically, the buffer 24 can be made of a material with a certain elasticity, and the buffer 24 can also have a mesh structure to reduce wind resistance and save materials. Preferably, at least part of the buffer 24 can be connected with the shielding member 23, and part of the buffer 24 can also be connected with the telescopic member 22 or the ball receiving base 21, so that the buffer 24 can be kept stable in the unfolded state.

[0067] In further embodiments of the present application, as shown in Figure 17 、 Figure 18 , the ball receiving device 2 is provided with a plurality of mounting holes 2121 on the ball receiving base 21 and spaced apart circumferentially for fixing the telescopic member 22. The axis of each mounting hole 2121 gradually inclines outward of the ball receiving base 21 from bottom to top. As shown in the examples in Figure 19 and Figure 20 , the axis of the mounting hole 2121 forms a preset angle A with the height direction, and the preset angle A satisfies 0°≤A≤45°. One telescopic member 22 is inserted into each mounting hole 2121. In the extended state, the telescopic member 22 is gradually inclined outward of the ball receiving base 21 from bottom to top, so that the receiving space 231 formed by the shielding member 23 has sufficient size, and the receiving space 231 gradually increases from bottom to top, thereby expanding the ball receiving coverage and improving the ball receiving efficiency and accuracy. The specific value range of the preset angle A can be obtained by experimental test.

[0068] Specifically, as shown in Figure 17 、 Figure 18 、 Figure 19 and Figure 20In the example in FIG. 21, the ball receiving base 21 includes a ball receiving base body 211 and a connecting seat 212. The ball receiving base body 211 is through in the height direction, and a plurality of connecting seats 212 are arranged at intervals around the circumference of the ball receiving base body 211 and are fixedly connected to the outer side wall of the ball receiving base body 211. Each connecting seat 212 has a mounting hole 2121 formed in the top portion thereof, and the bottom portion of the telescopic member 22 is inserted into the corresponding mounting hole 2121. The outer side wall of the connecting seat 212 has two connecting portions 2122 arranged at intervals in the circumferential direction and forming a certain included angle to match the included angle of the two adjacent side walls of the ball receiving base body 211. Each connecting portion 2122 is fixedly connected to a corresponding one of the side walls, so that the connecting seat 212 is located at the connection between the two adjacent side walls of the ball receiving base body 211. Figure 17 and Figure 18 In the example in FIG. 21, the ball receiving base body 211 is a rectangular box structure, and the four connecting seats 212 are respectively located at the four corner points of the ball receiving base body 211. One telescopic member 22 is inserted into the mounting hole 2121 of each connecting seat 212, so that the shape of the shielding member 23 in the unfolded state matches the shape of the ball receiving base body 211. The connecting portions 2122 and the ball receiving base body 211 have corresponding bolt holes formed therein, and the connecting portions 2122 and the ball receiving base body 211 are fixedly connected by bolts.

[0069] Further, the telescopic member 22 of the ball receiving device 2 can be in the form of an electric telescopic mechanism and is in communication connection with the controller 32, so as to control the telescopic member 22 to automatically perform telescopic operation by the controller 32.

[0070] Further, the intelligent tennis robot 400 can further be provided with a corresponding power supply assembly. The power supply assembly is arranged in the accommodating cavity 441 surrounded by the shell 44 and the chassis device 1 and is electrically connected to the chassis device 1, the ball serving device 4 and the controller 32, so as to supply power to the above-mentioned components.

[0071] Through the intelligent tennis robot 400 in the embodiment, automatic driving, mobile tennis launching and ball recovery can be realized, ball receiving and ball launching integration is realized, the walking wheel 111 of the chassis device 1 has higher moving acceleration and more rapid moving response, and can adapt to high-speed moving tennis balls; the pitching launching angle of the ball launching device 4 can be adjusted, and the tennis ball can be launched at different pitching launching angles, so that different requirements in the tennis training process are met, and the use experience is better. Wherein, the swing assembly 45 is in transmission connection with the ball launching mechanism 43, the swing assembly 45 is used for driving the ball launching mechanism 43 to pitch and swing relative to the mounting frame 413, so as to adjust the pitching launching angle of the ball launching mechanism 43, the tennis ball can be launched at different pitching launching angles, and the user's experience is improved. Through the improvement and optimization of the structure, the arrangement mode of the swing assembly 45 is optimized under the condition that the pitching launching angle of the ball launching mechanism 43 is adjusted, the mounting frame 413 is used for supporting the swing assembly 45 and the ball launching mechanism 43 at the same time, only transmission connection is formed between the swing assembly 45 and the ball launching mechanism 43, the swing assembly 45 does not need to be supported by the ball launching mechanism 43, so that the increase of the weight and the swing inertia of the ball launching mechanism 43 is avoided, which is beneficial to reduce the energy consumption and the difficulty of control operation. In addition, when the ball launching device 4 is further provided with the rotating assembly 42, the mounting frame 413 and the ball launching mechanism 43 on the mounting frame 413 can be driven to horizontally rotate relative to the chassis device 1, so as to adjust the horizontal launching angle of the ball launching mechanism 43, so as to further expand the coverage range of the ball launching angle.

[0072] The above application of specific examples is used to describe the utility model, which is only used to help understand the utility model, and does not limit the utility model. For the skilled person in the art to which the utility model belongs, according to the idea of the utility model, a number of simple deductions, deformations or substitutions can be made.

Claims

1. An intelligent tennis robot, characterized in that, include: A chassis assembly, the bottom of which has a plurality of wheels, wherein the ratio of the axial velocity to the tangential velocity of the wheels is 0 to 0.2; A serving device is mounted on the chassis device. The serving device includes a mounting frame, a swing assembly, and a serving mechanism. The serving mechanism is rotatably connected to the mounting frame and is used to launch a tennis ball. The swing assembly is drivenly connected to the serving mechanism and is used to drive the serving mechanism to swing in pitch relative to the mounting frame to adjust the pitch launch angle of the serving mechanism. A ball receiving device is provided on the serving device. The ball receiving device forms a storage space with a storage opening. The storage space is connected to the serving mechanism and is used to store the tennis ball and allow the tennis ball to enter the serving mechanism.

2. The intelligent tennis robot according to claim 1, characterized in that, The chassis assembly includes a chassis body, a wheel connection frame, and a wheel mechanism. The chassis body is connected to the bottom of the serving device, and at least two of the walking wheel connecting frames and at least two sets of the walking wheel mechanism are provided at intervals along the first direction on the bottom of the chassis body; The walking wheel connecting frame extends along the second direction and is connected to the chassis body. Each walking wheel connecting frame is connected to a corresponding set of walking wheel mechanisms, and each set of walking wheel mechanisms includes at least two walking wheels located on both sides of the walking wheel connecting frame in the second direction. Wherein, the second direction is perpendicular to the first direction, and the axial velocity of the walking wheel is 0.

3. The intelligent tennis robot according to claim 2, characterized in that, The walking wheel connecting frame includes a crossbeam and side supports. The crossbeam extends along a second direction and is connected to the chassis body. The side supports are connected to both ends of the crossbeam in the second direction. Each set of walking wheel mechanisms also includes two walking wheel drive components. Each walking wheel drive component is connected to the inner side of one of the side brackets, and the output end of the walking wheel drive component extends outward through the side bracket along the second direction and is connected to the corresponding walking wheel drive. The wheels are rubber wheels.

4. The intelligent tennis robot according to claim 1, characterized in that, Also includes: A detection mechanism, which is located on the ball-serving device or the ball-receiving device, is used to detect the position information of the tennis ball to be received; The system includes a controller that is communicatively connected to the detection mechanism, the ball-serving device, and the chassis device. The controller is able to control the chassis device to move to the target position and control the ball-serving device to adjust the pitch and launch angle based on the received position information.

5. The intelligent tennis robot according to claim 4, characterized in that, The chassis device includes two sets of walking wheel mechanisms spaced apart along a first direction. Each set of walking wheel mechanisms includes two walking wheels and two walking wheel drive components arranged opposite to each other. Each walking wheel drive component is connected to one of the walking wheels in a transmission manner. The controller includes a speed control module, which is communicatively connected to the four drive components of the walking wheels. By controlling the speed difference of the four walking wheels, the chassis device can return to the preset trajectory as a whole when there is a deviation in the movement trajectory.

6. The intelligent tennis robot according to claim 1, characterized in that, The swing assembly is at least partially disposed on the mounting frame, and the swing assembly includes a swing drive component and a swing transmission component that are connected in a transmission manner. The swing drive is connected to the mounting bracket, and the output shaft of the swing drive is arranged in the horizontal direction; One end of the swing transmission component is connected to the output shaft of the swing drive component, and the other end of the swing transmission component is rotatably connected to the serving mechanism. The connection point between the swing transmission component and the serving mechanism is eccentrically set relative to the swing axis of the serving mechanism. The swing drive component can drive the serving mechanism to pitch and swing around the swing axis through the swing transmission component.

7. The intelligent tennis robot according to claim 6, characterized in that, The swing transmission component includes a first swing arm and a second swing arm. One end of the first swing arm is connected to the output shaft of the swing drive component, and the other end of the first swing arm is rotatably connected to the second swing arm. The end of the second swing arm away from the first swing arm is rotatably connected to the serving mechanism. The length of the first swing arm is less than the length of the second swing arm.

8. The intelligent tennis robot according to any one of claims 1 to 7, characterized in that, The mounting bracket includes: Mounting base, which is connected to the chassis device, has a support portion extending vertically upward; The mounting frame body includes a mounting base plate and mounting side plates connected to each other. The mounting base plate is connected to the support part, and the mounting side plates extend vertically upward relative to the mounting base plate. The ball-serving mechanism is connected to the mounting side plate, and at least a portion of the swing assembly is connected to the mounting side plate.

9. The intelligent tennis robot according to any one of claims 1 to 7, characterized in that, The mounting bracket is rotatably connected to the chassis device, and the rotation axis of the mounting bracket extends vertically. The ball-serving device also includes a rotating component, which is throttle-connected to the mounting frame and used to drive the mounting frame to rotate horizontally relative to the chassis device to adjust the horizontal launch angle of the ball-serving mechanism.

10. The intelligent tennis robot according to any one of claims 1 to 7, characterized in that, The ball-serving device also includes a cover, which is connected to the top of the chassis device and covers the outside of the mounting frame, the swing assembly and the ball-serving mechanism in a circumferential direction. A first opening is provided on the side wall of the cover corresponding to the launching port of the ball-serving mechanism. The top of the cover has a storage groove, and the bottom wall of the storage groove has a second opening that connects to the ball-serving mechanism. The ball-receiving device is connected to the top of the cover, and the storage space is connected to the storage groove.

11. The intelligent tennis robot according to any one of claims 1 to 7, characterized in that, The ball-receiving device includes: A ball-receiving base is located at the top of the serving device, and the ball-receiving base extends through the height direction; At least three telescopic members are arranged circumferentially around the ball receiving base, one end or side of each telescopic member is connected to the ball receiving base, and the other end of each telescopic member is configured to telescopically protrude from the top surface of the ball receiving base. And a shielding component, the shielding component being a flexible structure, the shielding component being connected between at least three of the telescopic components and the ball receiving base, and forming the storage space; The shielding member is configured to be unfoldable and foldable. The shielding member is unfolded when all the telescopic members are extended, and folded when all the telescopic members are retracted. At least a portion of the shielding member is housed in the ball-receiving base.

12. The intelligent tennis robot according to claim 11, characterized in that, The ball receiving base is provided with a plurality of mounting holes spaced around its circumference. A telescopic component is inserted into each mounting hole. The axis of the mounting hole gradually extends outward from bottom to top towards the outside of the ball receiving base and forms a preset angle A with the height direction, wherein the preset angle A satisfies 0°≤A≤45°.

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