Ball catching robot

Abstract

This application relates to the field of sports training equipment technology, and provides a ball-receiving robot. The ball-receiving robot includes: a chassis device with at least two sets of walking wheels spaced apart in a first direction at its bottom. The walking wheels can drive the chassis device to move, and the ratio of the axial velocity to the tangential velocity of the walking wheels is 0-0.2; a ball-receiving device located above the chassis device, the ball-receiving device having a shielding member forming a storage space, and the storage space having a storage opening on one side in the first direction or the second direction for a tennis ball to pass through. The technical solution of this application enables mobile ball receiving and retrieval. The walking wheels have a large tangential velocity when rotating, which can reduce the adverse effect of axial velocity on tangential velocity, resulting in higher tangential acceleration and enabling rapid response and movement. This meets the requirements for receiving and retrieving high-speed tennis balls and is suitable for high-intensity tennis training scenarios.

Description

Technical Field

[0001] This application relates to the field of sports training equipment technology, specifically to a ball-catching robot. Background Technology

[0002] Tennis has become a popular sport in recent years, with an increasing number of participants. During tennis training, users frequently need to practice serving, but the served balls need to be retrieved. This is typically done manually or with semi-automatic retrieval machines, but this is time-consuming and labor-intensive, and the retrieval operation is often difficult to synchronize with tennis training. Currently, some manufacturers offer ball-catching robots for tennis training, using Mecanum wheels for movement to receive moving balls. However, these robots have drawbacks: their movement speed is relatively slow, especially during acceleration from a stationary state or during reverse movement, resulting in slow response times. When the tennis ball is moving at high speed, they struggle to accurately catch it, failing to meet the needs of high-intensity tennis training scenarios. Utility Model Content

[0003] To address the problems of slow movement speed, insufficient reaction time, and difficulty in accurately catching fast-moving tennis balls in related technologies, this application provides a ball-catching robot.

[0004] One embodiment of this application provides a ball-catching robot, including: a chassis device, the bottom of which has at least two sets of walking wheel mechanisms spaced apart in a first direction, each set of walking wheel mechanisms including at least two walking wheels arranged opposite each other in a second direction, the second direction being perpendicular to the first direction, the walking wheel mechanisms being able to drive the chassis device to move, and the ratio of the axial velocity to the tangential velocity of the walking wheels being 0-0.2; and a ball-catching device, which is disposed above the chassis device, the ball-catching device having a blocking member, the blocking member forming a storage space, the storage space having a storage opening on one side in the first direction or in the second direction for a tennis ball to pass through.

[0005] In a further embodiment of this application, the chassis device includes a chassis body, a wheel mounting frame, and a wheel mechanism. A ball receiving device is disposed above the chassis body. At least two wheel mounting frames are spaced apart in a first direction. Each wheel mounting frame extends along a second direction and is connected to the bottom of the chassis body. Each wheel mounting frame is correspondingly disposed and connected to one of the wheel mechanisms. The wheel mechanism includes a wheel and a drive mechanism. In the second direction, at least two wheels are respectively disposed on both sides of the wheel mounting frame. The drive mechanism is connected to the wheel mounting frame and is driven by the corresponding wheel to drive the wheel to rotate. The wheel mechanism can drive the chassis device to move along the tangential direction of the wheel, and the axial velocity of the wheel is 0.

[0006] In a further embodiment of this application, the walking wheel mounting frame includes a crossbeam and side supports. The crossbeam extends along a second direction and is connected to the chassis body. Both ends of the crossbeam in the second direction are connected to side supports. Each walking wheel mechanism includes two drive mechanisms. Each drive mechanism is connected to the inner side of one of the side supports, and the output end of the drive mechanism extends outward through the side support along the second direction and is connected to the corresponding walking wheel drive.

[0007] In a further embodiment of this application, the chassis device further includes a protective cover, which is disposed circumferentially on the outside of the chassis body and connected to the chassis body. In the height direction, the protective cover extends to the area between the bottom end of the wheel mounting bracket and the bottom end of the corresponding wheel; and / or, the wheel is a rubber wheel.

[0008] In a further embodiment of this application, the two ends of the chassis device protrude outward relative to the ball receiving device in the first direction; in the first direction, at least two sets of walking wheel mechanisms are symmetrically arranged relative to the ball receiving device.

[0009] In a further embodiment of this application, the ball-receiving device includes: a base, the top surface of which is recessed to form a receiving groove, and the receiving groove is in communication with a storage space; at least three telescopic members, all of which are circumferentially spaced around the base, one end or side of each telescopic member being connected to the base, and the other end of each telescopic member being configured to extend retractably protrude from the top surface of the base; and a blocking member, which is a flexible structure and is connected between the at least three telescopic members and the base, and is configured to be unfoldable and foldable; wherein the blocking member is unfolded when all telescopic members are extended; the blocking member is folded when all telescopic members are retracted, and at least a portion of the blocking member is housed in the receiving groove.

[0010] In a further embodiment of this application, a plurality of mounting holes are provided circumferentially on the base, and a telescopic member is inserted into each mounting hole. The axis of the mounting hole gradually extends outward from bottom to top towards the outside of the base and forms a preset angle A with the height direction, wherein the preset angle A satisfies 0°≤A≤45°.

[0011] In a further embodiment of this application, the base includes a base body and a plurality of connecting seats. The receiving groove is located inside the base body. The plurality of connecting seats are arranged circumferentially around the base body, and each connecting seat has two connecting parts arranged circumferentially on its outer side wall. The two connecting parts are respectively connected to two adjacent side walls on the base body. Each connecting seat has a mounting hole on its top.

[0012] In a further embodiment of this application, the ball-receiving robot further includes: a ball-serving device, which is located on top of the chassis device and below the ball-receiving device. The ball-serving device is connected to the storage space of the ball-receiving device and is capable of launching tennis balls from the storage space outward.

[0013] In a further embodiment of this application, the ball-catching robot further includes: a detection mechanism for detecting the position information of the tennis ball to be received; and a controller, which is communicatively connected to the detection mechanism and the walking wheel mechanism, and is able to receive the position information of the detection mechanism and control the movement of the walking wheel mechanism accordingly.

[0014] In a further embodiment of this application, the number of walking wheel mechanisms is two sets, and each set of walking wheel mechanisms includes two walking wheels arranged opposite to each other and two drive mechanisms. Each drive mechanism is connected to one of the walking wheels, and the axial speed of each walking wheel is 0. The controller includes a speed control module, which is communicatively connected to the four drive mechanisms so as to control the speed difference of the four walking wheels, thereby enabling the chassis device to return to the preset trajectory as a whole when there is a deviation in the movement trajectory.

[0015] In a further embodiment of this application, the first direction is the tangential direction of the wheel, and the second direction is the axial direction of the wheel.

[0016] The beneficial effects of the above-mentioned technical solution of this application are as follows: According to the ball-receiving robot in this application, through structural improvements and optimizations, it can achieve mobile ball receiving and retrieval. Moreover, the walking wheels of the chassis device can generate a large tangential speed when rotating. Compared with the common Mecanum wheels, it can significantly reduce the adverse effects of axial speed on tangential speed, resulting in higher tangential movement acceleration. This enables rapid response and movement, meeting the requirements for receiving and retrieving high-speed tennis balls, and is suitable for high-intensity tennis training scenarios. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of a ball-catching robot in one embodiment of this application; Figure 2 This is a front view of a ball-catching robot in one embodiment of this application; Figure 3 This is a bottom view of a chassis device in one embodiment of this application; Figure 4 This is a perspective view of the bottom structure of the chassis device in another embodiment of this application; Figure 5 This is a right view of a ball-catching robot according to one embodiment of this application; Figure 6This is a partial schematic diagram of a ball-catching robot in the retracted state of its telescopic component, according to one embodiment of this application. Figure 7 This is a top view of a ball-catching robot according to one embodiment of this application; Figure 8 This is a schematic diagram of a connector in one embodiment of this application; Figure 9 This is a cross-sectional view of the connector in one embodiment of this application; Figure 10 This is a three-dimensional schematic diagram of a ball-catching robot according to another embodiment of this application; Figure 11 This is a schematic block diagram of a ball-catching robot in one embodiment of this application.

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

[0019] Explanation of reference numerals in the attached figures: 100 Ball-catching robot; 1 chassis assembly, 11 wheel mechanism, 111 wheel, 112 drive mechanism, 12 wheel mounting frame, 121 crossbeam, 122 side support, 13 chassis body, 14 protective cover, 2 ball-catching device, 21 base, 211 base body, 2111 receiving groove, 212 connecting seat, 2121 mounting hole, 2122 connecting part, 213 second fixing component, 22 telescopic component, 221 first fixing component, 222 third fixing component, 23 shielding component, 231 storage space, 232 storage opening, 24 buffer component, 31 detection mechanism, 32 controller, 4 ball-launching device; preset angle A. Detailed Implementation

[0020] 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.

[0021] In the description of this application, 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", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are 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, and therefore should not be construed as a limitation of this application.

[0022] 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 as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0023] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," 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 or an indirect connection through an intermediate medium; they can refer to abutment; 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.

[0024] 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.

[0025] The ball-catching robot in this application can move according to the movement path of the tennis ball, and use the storage space formed by the shielding component to receive the moving tennis ball, thereby realizing ball catching and retrieval. Its chassis device's walking wheel mechanism can achieve high tangential acceleration, react quickly, and move rapidly to the target position, making it suitable for application in scenarios where the tennis ball moves at a high speed.

[0026] For ease of description, in the following embodiments, the lateral direction of the chassis device of the ball-catching robot is taken as the first direction, and the longitudinal direction of the chassis device is taken as the second direction; wherein, the lateral direction of the chassis device represents the tangential direction of the walking wheel, and the longitudinal direction of the chassis device represents the axial direction of the walking wheel.

[0027] The following are some embodiments of the ball-catching robot provided in this application, with reference to the accompanying drawings.

[0028] One embodiment of this application provides a ball-catching robot 100. For example... Figure 1 , Figure 2 As shown, the ball-catching robot 100 includes a chassis 1 and a ball-catching device 2; the ball-catching device 2 is mounted above the chassis 1 and can move with the chassis 1. The ball-catching device 2 has a blocking member 23, which forms a storage space 231 with a storage opening 232. The storage opening 232 can be located on one side of the storage space 231 in a first direction or on one side of the storage space 231 in a second direction, so that when in use, the storage opening 232 faces the tennis ball, allowing the moving tennis ball to pass through the storage opening 232 and be blocked by the blocking member 23, causing the tennis ball to slow down and fall into the storage space 231. Figure 3 and Figure 4 As shown, the chassis device 1 includes at least two sets of walking wheel mechanisms 11 located at the bottom. The walking wheel mechanisms 11 are spaced apart in a first direction, and each set of walking wheel mechanisms 11 includes at least two walking wheels 111 arranged opposite each other in a second direction. When each set of walking wheel mechanisms 11 has two walking wheels 111 arranged opposite each other in the second direction, one walking wheel 111 is provided on each side of the second direction. When each set of walking wheel mechanisms 11 has four walking wheels 111 arranged opposite each other in the second direction, two walking wheels 111 are provided on each side of the second direction. The second direction is perpendicular to the first 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. When the walking wheel 111 rotates, it can drive the chassis device 1 to move. The ratio of the axial velocity to the tangential velocity of the walking wheel 111 is 0-0.2 (the ratio is within the range of 0-0.2, including the two endpoints 0 and 0.2), making the tangential velocity of the walking wheel much greater than its axial velocity. This allows the walking wheel 111 to have a larger acceleration in the tangential direction during startup or reverse movement, resulting in a faster response speed. When used in tennis training courts, the orientation of the ball-catching robot can be set according to actual usage needs, for example, using... Figure 1 For example, if the receiving port 232 of the ball receiving device 2 faces one side of the second direction, the tangent direction of the walking wheel 111 of the chassis device 1 can be oriented towards the lateral direction of the tennis court, so that the ball receiving robot can move left and right along the lateral direction of the tennis court according to the different directions of the tennis ball's movement.

[0029] It is understandable that common ball-catching robots use Mecanum wheels to drive the chassis to move in all directions. However, this structure has drawbacks. During the rotation of the Mecanum wheel, the tangential speed is equal to the axial speed, resulting in relatively small acceleration and slow start-up response. When the tennis ball moves at a high speed, there is a tendency for the ball to be caught and move slowly, making it difficult to accurately receive high-speed tennis balls and limiting its application scenarios.

[0030] The ball-catching robot in this embodiment, through structural improvements and optimizations, can achieve mobile ball catching and retrieval. Moreover, when the chassis wheels rotate, the output torque is mainly used to drive the wheels to move along the tangential direction. Compared with common Mecanum wheels, it can effectively improve tangential movement acceleration, achieve rapid response and movement, and meet the requirements for catching and retrieving high-speed tennis balls. It is suitable for high-intensity tennis training scenarios.

[0031] It should be noted that in practical applications, the number of the walking wheel mechanism 11 and the number of walking wheels 111 in each group of walking wheel mechanisms 11 are not limited to the example shown in the figure, and can be set according to the usage requirements. In addition, the chassis device 1 has a drive component that drives the walking wheel mechanism 11 to move, thereby achieving self-movement. Specifically, to maximize the acceleration of the walking wheels 111, the smaller the ratio of axial velocity to tangential velocity, the greater the tangential velocity. Therefore, the ratio of the axial velocity to tangential velocity of the walking wheels 111 can be designed to be as small as possible, so that the output torque is used as much as possible to drive the tangential motion of the walking wheels 111, reducing the influence of axial motion on the acceleration. In special cases, the axial velocity of the walking wheels can be set to 0, in which case the ratio of axial velocity to tangential velocity is 0. In practical applications, the specific ratio of axial velocity to tangential velocity can be obtained through corresponding experiments according to the usage requirements.

[0032] In further embodiments of this application, such as Figures 1 to 4As shown, the chassis device 1 includes a chassis body 13, a wheel mounting frame 12, and a wheel mechanism 11. The chassis body 13 serves as the mounting base, the ball receiving device 2 is disposed above the chassis body 13, and the wheel mounting frame 12 and the wheel mechanism 11 are disposed at the bottom of the chassis body 13. In a first direction, at least two wheel mounting frames 12 are spaced apart at the bottom of the chassis body 13. Each wheel mounting frame 12 corresponds to one set of wheel mechanisms 11. The wheel mounting frames 12 extend along a second direction and are connected to the bottom of the chassis body 13. The wheel mechanism 11 includes a wheel 111 and a corresponding drive mechanism 112. In each set of wheel mechanisms 11, at least two wheels 111 are located on both sides of the wheel mounting frame 12 in the second direction. The drive mechanism 112 is fixedly connected to the wheel mounting frame 12 and is also connected to the corresponding wheel 111 for transmission, so as to output torque to the wheel 111, drive the wheel 111 to rotate, and thereby drive the chassis device 1 and the ball receiving device 2 to move. The traveling wheel mechanism 11 drives the chassis device 1 to move along the tangential direction of the traveling wheel 111. The axial velocity of the traveling wheel 111 is 0, meaning it can only move tangentially and not axially. In this case, the output torque of the drive mechanism 112 is entirely used to increase the tangential velocity of the traveling wheel, further improving the acceleration of the traveling wheel 111 along the tangential direction and resulting in a faster response. Each traveling wheel mechanism 11 has its own independent drive mechanism 112, which effectively improves the overall power performance of the chassis device 1 and helps increase the tangential acceleration of the chassis device 1. The drive mechanism 112 can specifically be a drive motor.

[0033] Furthermore, in one implementation, such as Figure 3 and Figure 4 As shown, the wheel mounting bracket 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, for example, 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 drive mechanism 112. Each wheel mechanism 11 includes two drive mechanisms 112, each corresponding to one of the two side supports 122. In the second direction, each drive mechanism 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 drive mechanism 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 3 and Figure 4The L-shaped bent plate shown can be further reinforced with inclined reinforcing rods or plates on the side brackets 122 to improve connection strength, depending on actual usage requirements. Two drive mechanisms 112 are provided in each set of walking wheel mechanisms 11 to drive the walking wheels 111 on both sides independently. This enhances power performance and allows for different torque outputs to the left and right walking wheels 111 as needed. The differential rotation of the left and right walking wheels 111 enables steering, allowing the ball-catching robot 100 to move in both the first and second directions according to the different trajectory of the tennis ball, thus achieving omnidirectional movement on the horizontal plane.

[0034] Among them, such as Figure 3 and Figure 4 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 drive mechanism 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 drive mechanism 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.

[0035] Furthermore, in a specific example, such as Figures 1 to 4 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.

[0036] Furthermore, in a specific example, such as Figures 1 to 4 As shown, the chassis device 1 is provided with two sets of walking wheel mechanisms 11, and in the first direction, the two sets of walking wheel mechanisms 11 are located at both ends of the chassis device 1, so as to further increase the wheelbase of the two sets of walking wheel mechanisms 11, which is beneficial to improve the stability during movement and prevent overturning due to inertia during high-speed movement.

[0037] Furthermore, in a specific example, such as Figure 4 In the example shown, the chassis assembly 1 also includes a protective cover 14 disposed on the outer periphery of the chassis body 13. The protective cover 14 is connected to the chassis body 13 to provide lateral shielding and protection for the chassis body 13. For example, Figure 4 and Figure 5In the example, in the height direction, the shield 14 extends between the bottom end of the wheel mounting bracket 12 and the bottom end of the wheel 111, so that the shield 14 can shield the wheel mounting bracket 12 in the lateral direction, but can also maintain an appropriate gap with the ground so as not to affect normal driving.

[0038] It should be noted that in practical applications, corresponding hollow structures or openings can be provided in the area corresponding to the protective cover 14 and the walking wheel 111 to avoid the walking wheel 111 and the drive mechanism 112; in addition, according to the connection position relationship between the chassis body 13 and the ball receiving device 2, a part of the horizontal plate can be provided on the top of the protective cover 14 to shield part of the top of the chassis body 13.

[0039] In addition, it should be emphasized that the chassis device 1 and the ball receiving device 2 can adopt different connection methods. In one specific connection method, the chassis body 13 of the chassis device 1 can also serve as the base of the ball receiving device 2. The ball receiving device 2 does not need to be set up with a separate base, which helps to simplify the overall structure, reduce the overall weight of the equipment, and make the equipment more flexible in movement.

[0040] In further embodiments of this application, such as Figure 1 , Figure 2 In the example, in the first direction, both ends of the chassis device 1 protrude outward relative to the ball receiving device 2, which increases the coverage area of ​​the chassis device 1 and extends the wheelbase between the walking wheel mechanisms 11, thereby further lowering the center of gravity of the overall equipment and improving motion stability. At least two sets of walking wheel mechanisms 11 are symmetrically arranged relative to the ball receiving device 2 in the first direction. When the chassis device 1 moves forward or backward in the first direction, the force distribution of each walking wheel mechanism 11 is relatively uniform. Moreover, the ball receiving device 2 is located relatively between the chassis device 1 and the at least two sets of walking wheel mechanisms 11, which helps to further reduce or eliminate the error in ball receiving operation of the chassis device 1 during forward and backward movements, thereby improving the accuracy of ball receiving at different positions.

[0041] In further embodiments of this application, such as Figures 1 to 5In the example shown, the ball-receiving device 2 includes a base 21, telescopic members 22, and a blocking member 23. The base 21 serves as both the mounting and retrieval base and is mounted above the chassis device 1 in the height direction. A receiving groove 2111 is formed inside the base 21, communicating with a storage space 231. At least three telescopic members 22 are circumferentially spaced around the base 21. One end or side of each telescopic member 22 is connected to the base 21, while the other end of each telescopic member 22 is configured to extend retractably from the top surface of the base 21, meaning the other end of the telescopic member 22 can extend or retract relative to the top surface of the base 21. The blocking member 23 is a flexible structure connected between the at least three telescopic members 22 and the base 21. When the telescopic members 22 extend, the blocking member 23 can be moved by the telescopic members 22 to protrude from the top surface of the base 21, forming an extended state, such as... Figure 1 As shown in the diagram, the storage space 231 is at its maximum capacity to facilitate receiving tennis balls. The tennis ball can pass through the storage opening 232 into the storage space 231, and is slowed down by the blocking member 23 before falling into the receiving slot 2111, thus achieving the ball catching and retrieval operation. When the telescopic member 22 retracts, the blocking member 23 can also fold under the action of the telescopic member 22, as shown in the diagram. Figure 6 The state shown in the figure allows at least a portion of the blocking member 23 to be housed in the receiving groove 2111. The number of telescopic members 22 can be as follows: Figure 6 and Figure 7 The four shields 23 shown can cover both sides in the first direction and one side in the second direction, while the side not covered by the shields 23 in the second direction forms a storage opening 232 for the tennis ball to pass through and enter the storage space 231.

[0042] By extending and retracting the telescopic component 22, the shield 23 can be unfolded and folded, allowing the overall state of the receiving device 2 to be adjusted according to usage needs. When tennis training is being conducted, the shield 23 can be unfolded to meet the needs of receiving the ball, while when not in use, the shield 23 can be folded, effectively reducing the size of the receiving device 2 and making it easier to carry and transport.

[0043] It should be noted that the shield 23 can be made of a flexible material with a certain degree of elasticity, such as silicone, rubber, TPU (thermoplastic polyurethane), TPE (thermoplastic elastomer), etc. When the tennis ball comes into contact with the shield 23, it can effectively buffer and eliminate the kinetic energy of the tennis ball, so that the tennis ball can fall into the receiving groove 2111 relatively smoothly.

[0044] Furthermore, the telescopic component 22 may have one or more telescopic segments, each of which is a hollow tubular structure. These segments are sequentially nested together, with a small gap between each nested segment to ensure free sliding and thus achieve the telescopic function of the telescopic component 22. Additionally, each telescopic segment has a groove formed on its outer surface along its longitudinal direction. When the segments are sequentially nested, the grooves of each segment correspond to each other, preventing circumferential rotation between nested segments.

[0045] Furthermore, in a specific example, the shield 23 can adopt a mesh structure, which can save materials on the one hand and allow airflow to pass through on the other hand, effectively reducing the adverse effects of wind resistance on the movement speed of the docking ball robot 100, while also reducing the risk of wind damage to the shield 23 and other structures.

[0046] Furthermore, in a specific example, such as Figure 1 , Figure 2 , Figure 5 and Figure 7 As shown, a first fixing member 221 is provided on the top of the telescopic member 22, and the top of the shielding member 23 is connected to the first fixing member 221; multiple second fixing members 213 are provided circumferentially on the base 21, and the bottom of the shielding member 23 is connected to the second fixing members 213; multiple third fixing members 222 are provided axially on the telescopic member 22 near the storage opening 232, so as to connect with the side of the shielding member 23 facing the storage opening 232. Through the above-mentioned first fixing member 221, second fixing member 213 and third fixing member 222, the shielding member 23 can cover the top surface of the storage space 231, the two sides in the first direction and the side opposite to the storage opening 232, forming a net-like shape, leaving only the storage opening 232 and the communication channel between the bottom and the receiving groove 2111, so as to facilitate the reception and retrieval of tennis balls, and also to prevent the tennis balls from falling out of the storage space 231 after contacting the shielding member 23.

[0047] Specifically, the first fixing member 221, the second fixing member 213, and the third fixing member 222 can each include corresponding fixing parts and mating parts, and can adopt corresponding structural forms according to usage requirements. For example, the fixing part of the first fixing member 221 can be in the form of a fixing cover, and the mating part can be a circular eyelet buckle, which is connected to the blocking member 23. The blocking member 23 is sleeved on the end of the telescopic member 22 through the circular eyelet buckle, and the fixing cover is connected to the circular eyelet buckle and the telescopic member 22 to achieve locking and fixation. For example, the mating part of the second fixing member 213 can be in the form of a hook, and the fixing part is provided with a mating hole. The blocking member 23 is hooked into the corresponding mating hole through the hook to achieve the connection between the blocking member 23 and the base 21. For example, the fixing part of the third fixing member 222 adopts a self-locking open ring, and the mating part adopts a circular eyelet buckle. The circular eyelet buckle is connected to the blocking member 23, and the self-locking open ring is sleeved on the telescopic member 22 and connected to the circular eyelet buckle. When the telescopic member 22 is in the extended state, the self-locking open ring receives the traction of the blocking member 23 and abuts against the outer wall of the telescopic member 22 to keep it fixed on the telescopic member 22. At the same time, the self-locking open ring can react to the blocking member 23 to enhance the structural stability of the blocking member 23.

[0048] In further embodiments of this application, such as Figure 1 , Figure 2 As shown, a buffer 24 is also provided in the storage space 231 of the ball receiving device 2. The buffer 24 has a flexible structure and can unfold as the telescopic member 22 extends and fold as the telescopic member 22 retracts. The buffer 24 is correspondingly arranged with the storage opening 232. In the unfolded state, most of the tennis balls entering the storage space 231 can hit the buffer 24, and the buffer 24 reduces the kinetic energy of the tennis balls, allowing them to fall into the receiving groove 2111 more smoothly, while preventing the tennis balls from falling out of the storage space 231 due to excessive kinetic energy.

[0049] Specifically, the buffer 24 can be made of a material with a certain degree of elasticity, or it can have a mesh structure to reduce wind resistance and save materials. Preferably, at least a portion of the buffer 24 can be connected to the shield 23, or a portion of the buffer 24 can be connected to the telescopic member 22 or the base 21 to keep the buffer 24 stable in the deployed state.

[0050] In further embodiments of this application, such as Figure 6 , Figure 7 As shown, in the ball receiving device 2, the base 21 is also provided with multiple mounting holes 2121 along the circumferential direction for fixing the telescopic component 22. The axis of each mounting hole 2121 gradually extends outward from bottom to top towards the outer side of the base 21. Figure 8 and Figure 9In the example, the axis of the mounting hole 2121 forms a preset angle A with respect to the height direction, and the preset angle A satisfies 0°≤A≤45°. A telescopic member 22 is inserted into each mounting hole 2121. When extended, the telescopic member 22 gradually tilts outwards from bottom to top towards the outside of the base 21, so that the storage space 231 formed by the shielding member 23 has sufficient volume, and the storage space 231 gradually increases from bottom to top, thereby expanding the ball-catching coverage area and improving ball-catching efficiency and accuracy. The specific range of the angle A can be obtained through experimental testing.

[0051] Furthermore, in a specific implementation, such as Figures 6 to 9 In the example shown, the base 21 includes a base body 211 and connecting seats 212. The base body 211 has an internal receiving groove 2111, and multiple connecting seats 212 are circumferentially spaced around the base body 211 and fixedly connected to it. Each connecting seat 212 has a mounting hole 2121 at its top, and the bottom of the telescopic member 22 is inserted into the corresponding mounting hole 2121. Preferably, the connecting seats 212 are all located on the outer wall of the base body 211 to avoid obstructing the receiving groove 2111.

[0052] Furthermore, the outer wall of the connecting seat 212 has two connecting portions 2122, which are spaced apart circumferentially and form a certain included angle to match the included angle of two adjacent side walls of the base body 211. Each connecting portion 2122 is connected and fixed to a corresponding side wall, so that the connecting seat 212 is located at the connection point of two adjacent side walls of the base body 211. For example Figure 1 In the example, the base body 211 is a rectangular box structure, and four connecting seats 212 are located at the four corners of the base body 211. A telescopic component 22 is inserted into the mounting hole 2121 of each connecting seat 212 so that the shape of the shielding component 23 in the unfolded state is adapted to the shape of the base body 211.

[0053] The connecting part 2122 and the base body 211 can be connected and fixed by means of threaded connection, adhesive, snap-fit, etc., for example Figure 7 and Figure 8 In the example, the connecting part 2122 and the base body 211 are provided with corresponding bolt holes. When the connecting part 2122 is assembled with the base body 211, the threaded holes on the connecting part 2122 are aligned with the threaded holes on the base body 211, and the connection and fixation between the two are achieved by bolts. In addition, the telescopic member 22 and the connecting seat 212 can be connected by an interference fit or by a threaded connection.

[0054] It should be noted that the axis of the mounting hole 2121 in different connectors 212 has different inclination directions and inclination angles, for example... Figure 5 and Figure 6 In the example, in the two connecting seats 212 on the side closer to the storage opening 232 in the second direction, their mounting holes 2121 are respectively inclined to the outside of the base body 211 in the first direction, while in the two connecting seats 212 on the side farther from the storage opening 232 in the second direction, their mounting holes 2121 are simultaneously inclined to the outside of the base body 211 in both the first and second directions.

[0055] In further embodiments of this application, such as Figure 10 In the example shown, the ball-receiving robot 100 also includes a serving device 4. The serving device 4 includes a serving mechanism 41 and a housing 42. The serving mechanism 41 is located inside the housing 42. The serving device 4 is positioned on top of the chassis device 1 and below the receiving device 2, meaning the receiving device 2 is above the serving device 4. The serving device 4 is connected to the storage space 231 of the receiving device 2. After a tennis ball enters the storage space 231 of the receiving device 2, it can be transported to the serving mechanism 41 of the serving device 4, and then launched outwards by the serving mechanism 41. Through the serving device 4 and the receiving device 2 in this embodiment, the serving and receiving functions can be coordinated, enabling multi-functional tennis training and further improving the user experience.

[0056] It should be emphasized that the chassis device 1 and the ball-serving device 4 can adopt different connection methods. In one specific connection method, the chassis body 13 of the chassis device 1 can also serve as the base of the ball-serving device 4. The ball-serving device 4 does not need to be set up with a separate base, which helps to simplify the overall structure, reduce the overall weight of the equipment, and make the equipment more flexible in movement.

[0057] In further embodiments of this application, such as Figure 1 , Figure 2 and Figure 11 As shown, the ball-receiving robot 100 also includes a detection mechanism 31 and a controller 32. The detection mechanism 31 is mounted on the ball-receiving device 2 or the ball-serving device 4 and is communicatively connected to the controller 32. The controller 32 is also communicatively connected to the walking wheel mechanism 11. The detection mechanism 31 is used to detect the position information of the tennis ball to be received and send the detected position information of the tennis ball to the controller 32. The controller 32 performs corresponding calculations and processing operations based on the received position information of the tennis ball and controls the walking wheel mechanism 11 of the chassis device 1 to move, so that the chassis device 1 drives the ball-receiving device 2 to move to the corresponding position, so that the tennis ball can enter the storage space 231 of the ball-receiving device 2 and realize the ball-receiving and retrieval operations.

[0058] 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 capable of analyzing and processing 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 receiving position promptly and accurately, thus improving the receiving accuracy. The controller 32 can be housed within the casing 42; the controller 32 and the detection mechanism 31 can communicate via wired or wireless means.

[0059] Furthermore, the telescopic component 22 can be in the form of an electric telescopic mechanism and communicate with the controller 32 so that the controller 32 can control the telescopic component 22 to perform automatic telescopic operation.

[0060] In addition, the controller 32 may also be equipped with a wireless communication module to establish a wireless communication connection with the user's mobile phone, computer, remote control, cloud server and other devices, so that the user can perform corresponding control operations on the ball robot 100, and can also perform operations such as storing relevant data information.

[0061] In further embodiments of this application, such as Figure 1 , Figure 2 and Figure 11 As shown, the chassis device 1 includes two sets of wheel mechanisms 11 spaced apart in a first direction. Each set of wheel mechanisms 11 includes two wheels 111 opposite to each other in a second direction and two drive mechanisms 112. Each drive mechanism 112 is connected to a corresponding wheel 111, enabling independent four-wheel drive. The axial speed of each wheel 111 is 0, so that each wheel 111 has only tangential speed. Correspondingly, the controller 32 includes a speed control module, which is communicatively connected to the four drive mechanisms 112 and can independently send control commands to each drive mechanism 112 to control the output torque of each drive mechanism 112, thereby causing the corresponding wheel 111 to rotate at the required speed.

[0062] In practical applications, if the actual driving trajectory of the chassis device deviates from the preset trajectory due to structural or installation errors of the traveling wheels 111, the output torque of the drive mechanism 112 corresponding to each traveling wheel 111 can be adjusted by the speed control module of the controller 32. This controls the speed difference of the four traveling wheels 111, allowing the four traveling wheels 111 to cooperate and bring the overall driving trajectory of the chassis device 1 back to the preset trajectory. This achieves corrective control of the device's driving trajectory, improving the overall motion accuracy of the device and preventing deviations in the driving trajectory from affecting normal tennis training operations. Specifically, the speed control module of the controller 32 can pre-store a driving route model including the preset trajectory, which can adaptively adjust according to the actual deviation during driving.

[0063] The above-described specific examples are for illustrative purposes only and are not intended to limit the scope of this invention. Those skilled in the art to which this invention pertains can make various simple deductions, modifications, or substitutions based on the concept of this invention.

Claims

1. A ball-catching robot, characterized in that, include: A chassis device, the bottom of which has at least two sets of walking wheel mechanisms spaced apart in a first direction, each set of walking wheel mechanisms including at least two walking wheels arranged opposite each other in a second direction, the second direction being perpendicular to the first direction, the walking wheel mechanism being able to drive the chassis device to move, and the ratio of the axial velocity to the tangential velocity of the walking wheel being 0-0.2; A ball receiving device is located above the chassis device. The ball receiving device has a shielding member that forms a storage space. The storage space has a storage opening on one side in a first direction or a second direction for a tennis ball to pass through.

2. The ball-catching robot according to claim 1, characterized in that, The chassis device includes a chassis body, a wheel mounting frame, and a wheel mechanism. The ball receiving device is located above the chassis body. At least two wheel mounting frames are spaced apart in a first direction. Each wheel mounting frame extends along a second direction and is connected to the bottom of the chassis body. Each wheel mounting frame is correspondingly arranged and connected to one of the wheel mechanisms. The traveling wheel mechanism includes the traveling wheel and a drive mechanism. In the second direction, at least two traveling wheels are respectively disposed on both sides of the traveling wheel mounting frame. The drive mechanism is connected to the traveling wheel mounting frame and is drivenly connected to the corresponding traveling wheel to drive the traveling wheel to rotate. The traveling wheel mechanism can drive the chassis device to move along the tangential direction of the traveling wheel, and the axial velocity of the traveling wheel is 0.

3. The ball-catching robot according to claim 2, characterized in that, The wheel mounting 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 includes two drive mechanisms. Each drive mechanism is connected to the inner side of one of the side supports, and the output end of the drive mechanism extends outward through the side support along the second direction and is connected to the corresponding walking wheel.

4. The ball-catching robot according to claim 2, characterized in that, The chassis assembly further includes a protective cover, which is circumferentially disposed on the outer side of the chassis body and connected to the chassis body. In the vertical direction, the protective cover extends between the bottom end of the wheel mounting bracket and the bottom end of the corresponding wheel; and / or, The wheels are rubber wheels.

5. The ball-catching robot according to claim 1, characterized in that, The two ends of the chassis device in the first direction protrude outward relative to the ball receiving device; In the first direction, at least two sets of the walking wheel mechanisms are symmetrically arranged with respect to the ball receiving device.

6. The ball-catching robot according to claim 1, characterized in that, The ball-receiving device includes: A base, the top surface of which is recessed to form a receiving groove, and the receiving groove is connected to the storage space; At least three telescopic members are provided, all of which are circumferentially spaced around the base, one end or side of each telescopic member is connected to the base, and the other end of each telescopic member is configured to telescopically protrude from the top surface of the base. And the shielding member, which is a flexible structure and is connected between at least three of the telescopic members and the base, and the shielding member is configured to be unfoldable and foldable; The shielding member is deployed when all the telescopic members are extended; the shielding member is folded when all the telescopic members are retracted, and at least a portion of the shielding member is housed in the receiving groove.

7. The ball-catching robot according to claim 6, characterized in that, The base is provided with a plurality of mounting holes spaced around its circumference, and a telescopic member is inserted into each mounting hole. The axis of the mounting hole gradually extends outward from bottom to top towards the outside of the base and forms a preset angle A with the height direction, wherein the preset angle A satisfies 0°≤A≤45°.

8. The ball-catching robot according to claim 7, characterized in that, The base includes a base body and a plurality of connecting seats. The receiving groove is located inside the base body. The plurality of connecting seats are circumferentially spaced around the base body, and each connecting seat has two connecting parts circumferentially spaced on its outer side wall. The two connecting parts are respectively connected to two adjacent side walls on the base body. Each of the connectors has a mounting hole on its top.

9. The ball-catching robot according to any one of claims 1 to 8, characterized in that, Also includes: A serving device is located on top of the chassis and below the receiving device. The serving device is connected to the storage space. It is connected and can launch tennis balls from the storage space outwards.

10. The ball-catching robot according to any one of claims 1 to 8, characterized in that, Also includes: A testing agency used to detect the location information of tennis balls to be received; The system includes a controller that is communicatively connected to the detection mechanism and the walking wheel mechanism. The controller can receive the position information of the detection mechanism and control the movement of the walking wheel mechanism accordingly.

11. The ball-catching robot according to claim 10, characterized in that, The number of the walking wheel mechanism is two sets, and each set of the walking wheel mechanism includes two walking wheels arranged opposite each other and two drive mechanisms. Each drive mechanism is connected to one of the walking wheels, and the axial speed of each walking wheel is 0. The controller includes a speed control module, which is communicatively connected to the four drive mechanisms to control the speed difference of the four walking wheels, so that the chassis device can return to the preset trajectory as a whole when there is a deviation in the movement trajectory.

12. The ball-catching robot according to any one of claims 1 to 8, characterized in that, The first direction is the tangential direction of the wheel, and the second direction is the axial direction of the wheel.

Images