Ball serving device and tennis robot

Abstract

The application relates to the technical field of sports training equipment, and provides a ball serving device and a tennis robot. The ball serving device comprises a base, a rotating assembly, a ball serving mechanism, and a rotating drive mechanism. The rotating assembly comprises a rotating frame and the rotating drive mechanism. The rotating frame is rotatably connected to the base. The rotating drive mechanism is in transmission connection with the rotating frame. The rotating drive mechanism is used for driving the rotating frame to horizontally rotate relative to the base. The ball serving mechanism is used for launching a tennis ball. The ball serving mechanism is connected to the rotating frame and can rotate with the rotating frame to adjust a horizontal launching angle. According to the technical scheme, the rotating drive mechanism can drive the rotating frame to horizontally rotate around the rotating shaft of the rotating frame to drive the ball serving mechanism to rotate and adjust the horizontal launching angle. The tennis ball can be launched in different horizontal directions at the same position. The skillful ball with longitudinal motion trend and transverse motion trend can be launched. The experience of the user can be effectively improved.

Description

Technical Field

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

[0002] Tennis has become a popular sport in recent years, with an increasing number of participants. Traditional tennis training involves frequent shot practice, often requiring a training partner to serve. To improve training convenience, some manufacturers offer automatic serve devices to replace training partners and enable individual training. However, these devices typically cannot adjust the launch direction or angle, only launching the ball in a fixed direction. They struggle to launch balls from the same position in different horizontal directions or to launch skillful shots with both longitudinal and lateral movements, thus reducing the user experience. Utility Model Content

[0003] To address the issues in related technologies where the serving angle is relatively fixed, making it impossible to launch skillful balls with both longitudinal and lateral movement trends, thus reducing the user experience, this application provides a serving device and a tennis robot.

[0004] An embodiment of the first aspect of this application provides a serving device, comprising: a base; a rotating assembly including a rotating frame and a rotating drive mechanism, the rotating frame being rotatably connected to the base, the rotating drive mechanism being drively connected to the rotating frame, the rotating drive mechanism being used to drive the rotating frame to rotate horizontally relative to the base; and a serving mechanism for launching a tennis ball, the serving mechanism being connected to the rotating frame and being able to rotate with the rotating frame to adjust the horizontal launching angle.

[0005] In a further embodiment of this application, the projection of the rotation drive mechanism on the horizontal plane is at least partially located outside the projection of the rotation frame on the horizontal plane.

[0006] In a further embodiment of this application, a portion of the rotation drive mechanism is connected to the base, and another portion of the rotation drive mechanism is connected to the rotation frame. The connection point between the rotation drive mechanism and the rotation frame is eccentrically arranged relative to the rotation axis of the rotation frame, and the rotation drive mechanism can drive the rotation frame to rotate around the rotation axis.

[0007] In a further embodiment of this application, the rotation drive mechanism includes a rotation drive member and a rotation transmission member that are connected by transmission; one of the rotation drive member and the rotation transmission member is connected to the rotation frame, and the other is connected to the base.

[0008] In a further embodiment of this application, the rotation drive is connected to the rotation frame, and the output shaft of the rotation drive is arranged vertically; the rotation transmission is located on the side away from the launching port of the ball-serving mechanism, and the rotation transmission includes a first transmission arm and a second transmission arm. One end of the first transmission arm is rotatably connected to the base, and the other end of the first transmission arm is rotatably connected to the second transmission arm. The end of the second transmission arm away from the first transmission arm is fixedly connected to the output shaft of the rotation drive.

[0009] In a further embodiment of this application, the rotation drive is connected to the side of the base away from the launching port of the ball-serving mechanism, and the output shaft of the rotation drive is arranged vertically; the rotation transmission includes a third transmission arm and a fourth transmission arm, one end of the third transmission arm is fixedly connected to the output shaft of the rotation drive, the other end of the third transmission arm is rotatably connected to the fourth transmission arm, and the end of the fourth transmission arm away from the third transmission arm is rotatably connected to the rotating frame.

[0010] In a further embodiment of this application, the base includes a base body and a base cover, the base cover being able to cover the circumferential sidewalls and part of the top wall of the base body; the top of the base body is provided with a downwardly recessed base bottom groove, the rotating component is at least partially disposed in the base bottom groove, the rotating frame is rotatably connected to the bottom wall of the base bottom groove, and / or the ball-serving mechanism is at least partially disposed in the base bottom groove.

[0011] In a further embodiment of this application, the rotating frame includes: a rotating base, which is rotatably connected to a base, and the rotating base has a support portion extending vertically upward; a mounting seat, which is connected to the support portion, and the mounting seat includes a mounting base plate and a mounting side plate connected to each other, the mounting side plate extending vertically upward; wherein, the ball-serving mechanism is connected to the mounting side plate, and the rotation drive mechanism is connected to the mounting base plate.

[0012] In a further embodiment of this application, a cover is connected to the top of the base and forms a receiving cavity with the base. The rotating component and the serving mechanism are both located in the receiving cavity. A first opening is provided on the side wall of the cover corresponding to the launching port of the serving mechanism, and the launching port is located in the first opening. The top of the cover has a receiving groove, and a second opening is provided on the bottom wall of the receiving groove. The second opening communicates with a conveying channel, and the end of the conveying channel away from the second opening communicates with the serving mechanism to convey a tennis ball to the serving mechanism.

[0013] In a further embodiment of this application, the ball-serving device includes a ball-guiding tube and a guide groove disposed within a housing; the ball-guiding tube is a flexible structure, with its top connected to a second opening and a third opening on the side of the ball-guiding tube facing the ball-serving mechanism; the guide groove is connected to the ball-serving mechanism, with one end of the guide groove connected to the launch port and the other end of the guide groove extending into the ball-guiding tube through the third opening, forming a conveying channel with the ball-guiding tube to convey a tennis ball to the launch port; the portion of the guide groove extending into the ball-guiding tube expands outward to both sides to form a flared structure, with the outer edge of the flared structure abutting against the inner wall of the ball-guiding tube; wherein, the guide groove can rotate horizontally with the ball-serving mechanism, and the ball-guiding tube can undergo flexible deformation under the compression of the flared structure.

[0014] In a further embodiment of this application, the ball guide tube is a soft rubber structure; and / or, the height of the flared structure is greater than the height of the guide groove at one end of the launch port.

[0015] In a further embodiment of this application, the serving mechanism is rotatably connected to the rotating frame; the serving device also includes a swing assembly, which is drively connected to the serving mechanism and is used to drive the serving mechanism to swing relative to the rotating frame to adjust the pitch launch angle of the serving mechanism.

[0016] An embodiment of the second aspect of this application provides a tennis robot, comprising: a serving device as described in any of the embodiments of the first aspect; a walking system disposed at the bottom of a base; and a controller communicatively connected to the walking system and the serving device, the controller being used to control the walking system to move the serving device and to control the serving device to launch a tennis ball toward a target direction.

[0017] The beneficial effects of the above-mentioned technical solution of this application are as follows: According to the technical solution in this application, through structural improvements and optimizations, the rotating frame can be driven to rotate horizontally around its own rotation axis by a rotation drive mechanism, thereby driving the serving mechanism to rotate to adjust the horizontal launch angle. This enables the launching of tennis balls in different horizontal directions from the same position, and also enables the launching of skill balls with both longitudinal and lateral movement trends, effectively enhancing the user experience. Attached Figure Description

[0018] Figure 1 This is a three-dimensional schematic diagram of a tennis robot according to one embodiment of this application; Figure 2 This is a perspective view of a portion of the structure of the ball-serving device in one embodiment of this application; Figure 3 This is a three-dimensional schematic diagram of a portion of the structure of a tennis robot in another embodiment of this application; Figure 4 This is a top view of a portion of the structure of the ball-serving device in one embodiment of this application; Figure 5 This is a perspective view of a portion of the structure of the ball-serving device in another embodiment of this application; Figure 6 This is a rear view of a serving device in one embodiment of this application (the base is cut along a first direction). Figure 7 This is a side perspective view of the ball-serving device in one embodiment of this application (the base and rotating frame are cut along the second direction). Figure 8 This is a perspective view of the rotating frame in one embodiment of this application; Figure 9 This is a side view of a partial structure of a tennis robot according to one embodiment of this application; Figure 10 This is a front view of a partial structure of a tennis robot according to one embodiment of this application; Figure 11 This is a top view of the tennis robot in another embodiment of this application; Figure 12 This is a three-dimensional schematic diagram of a partial structure of the tennis robot in another embodiment of this application; Figure 13 This is a perspective view of the guide groove in another embodiment of this application; Figure 14 This is a schematic block diagram of a tennis robot in another embodiment of this application.

[0019] In the above-mentioned figures, arrow F1 indicates the first direction, arrow F2 indicates the second direction, and arrow F3 indicates the height direction.

[0020] Additionally, it should be noted that, Figure 2 , Figure 3 , Figure 9 , Figure 10 as well as Figure 12 The ball guide tubes shown in the figure are all in a state without flexible deformation. Therefore, the flared structure shown in the figure is located on the outside of the ball guide tube. In reality, the flared structure is located inside the ball guide tube and squeezes the inner wall of the ball guide tube, causing the inner wall of the ball guide tube to undergo flexible deformation of outward bulging.

[0021] Explanation of reference numerals in the attached figures: 400 Tennis Robot; 1 Walking System, 111 Walking Wheels, 3 Controllers; 4 Serving Device, 41 Base, 411 Base Body, 4111 Base Groove, 412 Base Cover, 42 Rotating Assembly, 421 Rotating Frame, 4211 Rotating Base, 4212 Support, 4213 Mounting Base, 4214 Mounting Plate, 4215 Mounting Side Plate, 4216 Rotating Shaft, 4217 Swing Shaft, 4218 Swing Bearing, 4219 Rotating Bearing, 422 Rotating Drive Mechanism, 4221 4222 Rotary drive component, 4223 First transmission arm, 4224 Second transmission arm, 43 Ball launching mechanism, 431 Launch port, 432 Conveying channel, 433 Ball guide tube, 4331 Third opening, 434 Guide groove, 4341 Flared structure, 44 Cover, 441 Receiving cavity, 442 First opening, 443 Storage groove, 444 Second opening, 45 Swing assembly, 451 Swing drive component, 452 Swing transmission component, 4521 First swing arm, 4522 Second swing arm. Detailed Implementation

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] The serving device of this application can use a rotating component to drive the serving mechanism to rotate horizontally relative to the base, thereby adjusting the horizontal launch angle of the serving mechanism and enabling the tennis ball to be launched in different directions according to usage requirements during tennis training. The serving device can also be combined with a walking system to form a tennis robot, and move accordingly according to the control instructions of the controller to achieve mobile serving.

[0028] For ease of description, in the following embodiments, the horizontal direction of the serving device is taken as the first direction, and the vertical direction of the serving device is taken as the second direction. The vertical direction of the serving device refers to the front-to-back direction relative to the launch port of the serving mechanism, and the horizontal direction of the serving device refers to the left-to-right direction relative to the launch port of the serving mechanism.

[0029] The following provides some embodiments of the ball-serving device and tennis robot of this application, in conjunction with the accompanying drawings.

[0030] An embodiment of the first aspect of this application provides a ball-serving device 4. For example... Figure 1 , Figure 2 and Figure 3As shown, the serving device 4 includes a base 41, a rotating assembly 42, and a serving mechanism 43. The serving mechanism 43 can load a tennis ball and launch it outwards to achieve a serve towards the target direction. The base 41 serves as a load-bearing structure, and both the rotating assembly 42 and the serving mechanism 43 are mounted on the base 41; the base 41 can also be equipped with a walking system to form a movable chassis structure. The rotating assembly 42 includes a rotating frame 421 and a rotating drive mechanism 422; the rotating frame 421 is rotatably connected to the base 41, and the serving mechanism 43 is connected to the rotating frame 421 so that it can rotate horizontally relative to the base 41 along with the rotating frame 421; the rotating drive mechanism 422 is drively connected to the rotating frame 421 and is used to drive the rotating frame 421 to rotate horizontally relative to the base 41, adjusting the horizontal launch angle of the serving mechanism 43 to perform the serving operation according to the user's training requirements. The ball-serving mechanism 43 is supported by the rotating frame 421, and the rotating drive mechanism 422 is set on the base 41 and only serves as a power output mechanism, not as a support component of the ball-serving mechanism 43.

[0031] The serving device in this embodiment drives the rotating frame 421 to rotate horizontally relative to the base 41 through the rotation drive mechanism 422, thereby driving the serving mechanism 43 to rotate to adjust the horizontal launch angle. It can launch tennis balls in different horizontal directions from the same position, and can also launch skill balls with both longitudinal and lateral movement trends, which can effectively improve the user experience.

[0032] In further embodiments of this application, such as Figures 1 to 4 As shown, in the ball-serving device 4, in a top-down view (such as...) Figure 4 (As shown in the diagram), the projection of the rotation drive mechanism 422 on the horizontal plane is at least partially located outside the projection of the rotation frame 421 on the horizontal plane. That is, at least part of the structure of the rotation drive mechanism 422 is located on the side of the rotation frame 421, so as to make full use of the space on the base 41 and to reasonably arrange the rotation frame 421 and the rotation drive mechanism 422 to reduce the space occupied in the height direction, thereby lowering the overall center of gravity height and improving the motion stability of the ball-serving device 4.

[0033] In further embodiments of this application, such as Figures 4 to 5As shown, a portion of the rotation drive mechanism 422 is connected to the base 41, and another portion is connected to the rotating frame 421. The connection point between the rotation drive mechanism 422 and the rotating frame 421 is eccentrically positioned relative to the rotation axis 4216 of the rotating frame 421. This creates a lever arm between the force-bearing point of the rotating frame 421 (the connection point with the rotation drive mechanism 422) and the rotation axis 4216, generating torque when the rotation drive mechanism 422 outputs power. This torque drives the rotating frame 421 to rotate horizontally around the rotation axis 4216, thereby adjusting the horizontal launching angle of the ball-launching mechanism 43 located on the rotating frame 421. Furthermore, the eccentric connection between the rotation drive mechanism 422 and the rotating frame 421 allows them to be arranged horizontally, effectively overcoming the drawback of an elevated center of gravity caused by an up-and-down arrangement.

[0034] Furthermore, in a specific example, such as Figures 5 to 7 As shown, the rotation drive mechanism 422 specifically includes a rotation drive component 4221 and a rotation transmission component 4222. The rotation drive component 4221 outputs power and is connected to the rotation transmission component 4222 for transmitting power. Of the rotation drive component 4221 and the rotation transmission component 4222, one is connected to the rotating frame 421, and the other is connected to the base 41. When the rotation drive component 4221 outputs power, it transmits the power to the rotating frame 421 through the rotation transmission component 4222, thereby driving the rotating frame 421 to rotate horizontally. The rotation drive component 4221 can be a drive motor.

[0035] More preferably, such as Figure 6 and Figure 7In the example shown, the rotation drive 4221 is connected to the rotating frame 421, and the rotation transmission 4222 is located on the side away from the launching port 431 of the ball-serving mechanism 43. The rotation transmission 4222 includes a first transmission arm 4223 and a second transmission arm 4224 connected to each other. The output shaft of the rotation drive 4221 is arranged vertically (e.g., downward as shown in the figure). One end of the first transmission arm 4223 is rotatably connected to the base 41, and the other end of the first transmission arm 4223 is rotatably connected to one end of the second transmission arm 4224. The end of the second transmission arm 4224 away from the first transmission arm 4223 is fixedly connected to the output shaft of the rotation drive 4221, forming a two-link transmission mechanism. When the rotation drive 4221 is working, the output shaft drives the second transmission arm 4224 to swing, and the first transmission arm 4223 swings accordingly. At the same time, the reaction force generated by the base 41 is transmitted to the rotating frame 421 through the first transmission arm 4223 and the second transmission arm 4224, causing the rotating frame 421 to generate a torque relative to the rotating shaft 4216, thereby pushing the rotating frame 421 and the ball-serving mechanism 43 located on it to rotate horizontally around the rotating shaft 4216. When the ball-serving mechanism 43 needs to rotate in the opposite direction, the output shaft of the rotation drive 4221 can be controlled to rotate in the opposite direction, which will drive the second transmission arm 4224 and the first transmission arm 4223 to rotate in the opposite direction, thereby pushing the rotating frame 421 and the ball-serving mechanism 43 located on it to rotate in the opposite direction. The first transmission arm 4223 and the second transmission arm 4224 can limit the rotation of the rotating frame 421. In practical applications, the dimensions of the first transmission arm 4223 and the second transmission arm 4224 can be designed according to the horizontal angle range that the ball-serving mechanism 43 needs to adjust, so as to meet the requirements of horizontal angle adjustment.

[0036] Of course, the above are only preferred examples of the rotary drive 4221 and the rotary transmission 4222. In practical applications, the connection positions of the rotary drive 4221 and the rotary transmission 4222 can be interchanged according to the needs of use. For example, the rotary drive 4221 can be connected to the base 41 and set on the side away from the launching port 431 of the ball launching mechanism 43. The output shaft of the rotary drive 4221 is set vertically. Correspondingly, the rotary transmission 4222 includes a third transmission arm and a fourth transmission member. One end of the third transmission arm is fixedly connected to the output shaft of the rotary drive 4221, and the other end of the third transmission arm is rotatably connected to the fourth transmission arm. The end of the fourth transmission arm away from the third transmission arm is rotatably connected to the rotating frame 421 to form a two-link transmission mechanism. When the rotation drive 4221 is working, the output shaft drives the third transmission arm to rotate, and the fourth transmission arm rotates accordingly. Simultaneously, power is transmitted to the rotating frame 421 through the third and fourth transmission arms, thereby driving the rotating frame 421 and the ball-serving mechanism 43 located on it to rotate horizontally around the rotation axis 4216. When the ball-serving mechanism 43 needs to rotate in the opposite direction, the rotation drive 4221 can be controlled to rotate in the opposite direction, driving the third and fourth transmission arms to rotate in the opposite direction, thus causing the rotating frame 421 and the ball-serving mechanism 43 to rotate in the opposite direction. Similarly, the rotation amplitude of the rotating frame 421 can be limited by the third and fourth transmission arms.

[0037] In the above embodiments, the power is transmitted by using a two-link rotating transmission component 4222. Compared with transmission components of three-link, four-link and other types, the structure is simpler, easier to assemble and connect, and the transmission efficiency is relatively higher.

[0038] In further embodiments of this application, such as Figures 5 to 8 As shown, the rotating frame 421 includes a rotating base 4211 and a mounting base 4213 arranged vertically in sequence. The rotating base 4211 is rotatably connected to the base 41, allowing it to rotate horizontally relative to the base 41. The rotating base 4211 has a support portion 4212 extending vertically upward, and the mounting base 4213 is connected to the support portion 4212, so that a certain gap is formed between the mounting base 4213 and the bottom wall of the rotating base 4211 to facilitate the arrangement of the connection structure between the rotating base 4211 and the base 41, as well as the rotating shaft 4216. The mounting base 4213 specifically includes a mounting base plate 4214 and a mounting side plate 4215 connected to each other. The mounting base plate 4214 is connected to the support portion 4212, and the mounting side plate 4215 extends vertically upward to form a three-dimensional frame structure. Wherein, as... Figure 6 , Figure 7 and Figure 9As shown, the ball-serving mechanism 43 is mounted on the mounting base 4213 and connected to the mounting side plate 4215; the rotation drive mechanism 422 is connected to the mounting base plate 4214 to maintain an appropriate distance from the ball-serving mechanism 43 and prevent mutual interference.

[0039] Preferably, the rotating base 4211 is provided with two opposing support parts 4212, and the support parts 4212 can be adopted as follows: Figure 6 The bending plate shown is similar to the mounting base 4213, which also has two opposing mounting side plates 4215 for connection with the ball-serving mechanism 43. Furthermore, both the mounting base 4214 and the mounting side plates 4215 can have corresponding openings or perforations to facilitate clearance and weight reduction.

[0040] Furthermore, such as Figure 6 , Figure 7 and Figure 10 As shown, the rotating base 4211 of the rotating frame 421 is connected to the base 41 by a vertically arranged rotating shaft 4216. Specifically, shaft holes are provided at corresponding positions on the rotating base 4211 and the base 41, and the rotating shaft 4216 passes through the two shaft holes. A rotating bearing 4219 is provided on the side of the rotating base 4211 facing the base 41. The rotating bearing 4219 is a disc-shaped needle roller bearing with a relatively large diameter. The rotating bearing 4219 is coaxially arranged with the rotating shaft 4216, and the rotating base 4211 is rotatably connected to the base 41 through the rotating bearing 4219 and the rotating shaft 4216. The rotating bearing 4219 is adapted to the horizontal rotation of the rotating frame 421, and provides support for the rotating frame 421 between the base 41 and the rotating base 4211. A large annular contact surface is formed between the rotating bearing 4219 and the rotating base 4211, resulting in a more uniform force distribution on the base 41. This allows the ball-serving mechanism 43 on the rotating frame 421 to adjust its horizontal angle more smoothly, while also improving the connection strength and effectively preventing the rotating frame 421 from tilting relative to the rotating shaft 4216. The rotating shaft 4216 can be in the form of a pin or bolt, and is axially fixed using a cotter pin or nut.

[0041] Furthermore, such as Figure 3 as well as Figures 5 to 7As shown, the base 41 includes a base body 411 and a base cover 412. The top of the base body 411 has a downwardly recessed base groove 4111. The rotating assembly 42 and the ball-serving mechanism 43 are at least partially disposed within the base groove 4111, and the rotating frame 421 of the rotating assembly 42 is rotatably connected to the bottom wall of the base groove 4111, thereby further lowering the overall height and center of gravity of the ball-serving device 4, which is beneficial for further improving motion stability. The base cover 412 is disposed circumferentially around the base body 411 and can cover the circumferential sidewalls and part of the top wall of the base body 411 to provide protection for the base body 411. The base groove 4111 is exposed relative to the base cover 412 to facilitate the installation of the rotating assembly 42 and the ball-serving mechanism 43.

[0042] In further embodiments of this application, such as Figures 5 to 7 As shown, the serving device 4 also includes a swing assembly 45. The swing assembly 45 is drive-connected to the serving mechanism 43. Correspondingly, the serving mechanism 43 is rotatably connected to the rotating frame 421. For example, the serving mechanism 43 is connected to the rotating frame 421 via a swing shaft 4217 arranged in the horizontal direction. Driven by the swing assembly 45, the serving mechanism 43 can swing relative to the rotating frame 421 to adjust the pitch and launch angle of the serving mechanism 43. Through the cooperation of the swing assembly 45 and the rotating assembly 421, the horizontal rotation and pitch swing of the serving mechanism 43 can be realized to further expand the coverage range of the serving angle.

[0043] Among them, such as Figure 6 and Figure 7 In the example, the swing assembly 45 includes a swing drive 451 and a swing transmission 452. The swing transmission 452 includes a first swing arm 4521 and a second swing arm 4522 that are connected in a transmission manner. The swing drive 451 is a drive motor and is connected to the rotating frame 421 (e.g., Figure 6 As shown on the mounting side plate 4215, 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 to form a two-link transmission mechanism. When the swing drive 451 is working, it drives the first swing arm 4521 and the second swing arm 4522 to swing through the output shaft, thereby causing the serving mechanism 43 to pitch relative to the rotating frame 421. The specific shape and size of the first swing arm 4521 and the second swing arm 4522 can be set according to the pitch swing amplitude required by the serving mechanism 43.

[0044] Furthermore, such as Figure 6 and Figure 10As shown, a swing bearing 4218 is provided at the connection between the serving mechanism 43 and the swing shaft 4217. Specifically, the swing bearing 4218 is a needle roller bearing; shaft holes are provided on the side wall of the serving mechanism 43 and the mounting side plate 4215 of the rotating frame 421. One swing bearing 4218 is provided on each side of the side wall of the serving mechanism 43, and the two swing bearings 4218 are coaxially arranged with the shaft holes on the side wall of the serving mechanism 43 and the shaft holes on the mounting side plate 4215; the swing shaft 4217 passes through the two swing bearings 4218 and the two shaft holes to form a rotatable connection between the serving mechanism 43 and the rotating frame 421. The swing shaft 4217 can be in the form of a pin or bolt, and is axially fixed using a cotter pin or nut. By providing swing bearings 4218 on both sides of the sidewall of the serving mechanism 43, the serving mechanism 43 can tilt and swing relative to the mounting side plate 4215 of the rotating frame 421 via the swing bearings 4218 and the swing shaft 4217. The resistance during swinging is low, making the tilt angle adjustment of the serving mechanism 43 smoother. Furthermore, the swing bearings 4218 have a compact structure and occupy little space, making them suitable for use in the narrow space between the sidewall of the serving mechanism 43 and the mounting side plate 4215 of the rotating frame 421. Preferably, swing bearings 4218 are provided at the connection points between the two opposite sidewalls of the serving mechanism 43 and the corresponding swing shafts 4217, so that both sidewalls of the serving mechanism 43 are rotatably connected to the two mounting side plates 4215 of the rotating frame 421, resulting in a more uniform force distribution on the serving mechanism 43.

[0045] In further embodiments of this application, such as Figure 1 , Figure 11 In the example shown, the serving device 4 also includes a cover 44 disposed on top of the base 41. The cover 44 is circumferentially arranged around the rotating assembly 42 and the serving mechanism 43. The bottom of the cover 44 is connected to the base 41 and together with the base 41 forms a receiving cavity 441, such that the rotating assembly 42 and the serving mechanism 43 are both located within the receiving cavity 441, so as to achieve shielding and protection through the cover 44. A first opening 442 is provided on the side wall of the cover 44 corresponding to the launching port 431 of the serving mechanism 43. The launching port 431 of the serving mechanism 43 is located inside the first opening 442, and the tennis ball launched from 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 launching angle range of the launching port 431 of the serving mechanism 43, so that the launching port 431 can be covered by the first opening 442 at any achievable angle, so as to avoid obstructing the launched tennis ball.

[0046] Correspondingly, such as Figure 1 and Figure 11In the example shown, the top of the casing 44 is provided with a storage groove 443, and the bottom wall of the storage groove 443 has a second opening 444, which connects to the conveying channel 432. The end of the conveying channel 432 away from the second opening 444 is connected to the serving mechanism 43. During use, the collected tennis balls can be placed into the storage groove 443, and the tennis balls pass through the second opening 444 into the conveying channel 432, and then enter the serving mechanism 43 along the conveying channel 432. Under the drive of the serving mechanism 43, they are launched outward from the launching port 431.

[0047] Furthermore, such as Figure 2 , Figure 3 , Figures 10 to 12 As shown, the serving device 4 also includes a ball guide tube 433 and a guide groove 434 disposed within the housing 44. The ball guide tube 433 is a cylindrical structure made of flexible material. The top of the ball guide tube 433 is connected to the second opening 444 of the housing 44, and a third opening 4331 is provided on the side of the ball guide tube 43 facing the serving mechanism 43. Correspondingly, the guide groove 434 is disposed on the side of the ball guide tube 433 facing the serving mechanism 43 and is connected to the serving mechanism 43. One end of the guide groove 434 is connected to the launch port 431, and the other end of the guide groove 434 extends into the ball guide tube 433 through the third opening 4331. The guide groove 434 and the ball guide tube 433 form a conveying channel 432, which is connected to the serving mechanism 43. The tennis ball entering the ball guide tube 433 through the second opening 444 can fall into the guide groove 434 and move along the guide groove 434 to the serving mechanism 43. The launching port 431 and the portion of the guide groove 434 extending into the ball guide tube 433 expand outwards to both sides, forming a flared structure 4341. The width of the flared structure 4341 is greater than the width of other areas on the guide groove 434. Simultaneously, the outer edge of the flared structure 4341 abuts against the inner wall of the ball guide tube 433, increasing the coverage area of ​​the guide groove 434 relative to the internal space of the ball guide tube 433. This ensures that the tennis ball, after entering the ball guide tube 433 through the second opening 444, accurately falls into the flared structure 4341 of the guide groove 434, preventing the tennis ball from falling out. The ball guide tube 433 can be connected and fixed to the casing 44 or to the base 41.

[0048] The guide groove 434 is connected to the serving mechanism 43. When the serving mechanism 43 rotates horizontally under the drive of the rotating component 42, the guide groove 434 can rotate horizontally with the serving mechanism 43, and the flared structure 4341 rotates horizontally inside the ball guide tube 433. Since the ball guide tube 433 is a flexible structure, the inner wall of the ball guide tube 433 can be flexibly deformed under the pressure of the flared structure 4341 to adapt to the horizontal rotation of the flared structure 4341 inside the ball guide tube 433. Thus, when the serving mechanism 43 and the guide groove 434 rotate to any angle, the conveying channel 432 formed by the guide groove 434 and the ball guide tube 433 remains unobstructed, so that the tennis ball can move smoothly through the conveying channel 432 to the launching port 431 of the serving mechanism 43.

[0049] Furthermore, in a specific example, such as Figure 9 , Figure 10 , Figure 12 and Figure 13 As shown, the ball guide tube 433 is a flexible structure made of soft rubber material, which has good elasticity. The inner wall of the ball guide tube 433 can undergo adaptive elastic deformation with the rotation of the flared structure 4341, and can also deform accordingly with the pressure change of the flared structure 4341, thus having a strong reset function.

[0050] More preferably, such as Figure 13 In the example, the outer edge of the flared structure 4341 is rounded to fit the inner wall of the ball guide tube 433, increasing the contact area between the ball guide tube 433 and the flared structure 4341. The size of the flared structure 4341 can be slightly larger than the inner diameter of the ball guide tube 433, so that the flared structure 4341 can adhere to the inner wall of the ball guide tube 433 in any state and generate a certain squeezing effect, causing a slight outward convex deformation of the inner wall of the ball guide tube 433, further increasing the coverage area of ​​the flared structure 4341. Furthermore, the internal area of ​​the flared structure 4341 can be set as a smooth curved surface to further enhance its guiding effect on the tennis ball.

[0051] Furthermore, in a specific example, such as Figure 9 and Figure 10 In the example shown, the height of the flared structure 4341 of the guide groove 434 is greater than the height of the guide groove 434 at one end of the launch port 431, making the guide groove 434 tilted as a whole. When the tennis ball falls into the flared structure 4341, it can roll in the guide groove 434 under its own gravity and then move to the launch port 431 of the serving mechanism 43. Through the arrangement of the guide groove 434 in this embodiment, the tennis ball can be self-moving and transported without the need for additional driving force, and the accumulation of tennis balls in the ball guide tube 433, causing blockage, can be effectively avoided.

[0052] In addition, it should be noted that when the ball-serving device 4 also includes a swing assembly 45, the guide groove 434 can also swing up and down together with the ball-serving mechanism 43. The flared structure 4341 of the guide groove 434 can also swing up and down inside the ball-guide tube 433. The inner wall of the ball-guide tube 433 can undergo corresponding flexible deformation under the pressure of the flared structure 4341, thereby avoiding obstruction or interference.

[0053] An embodiment of the second aspect of this application provides a tennis robot 400, such as... Figures 1 to 4 and Figure 11 , Figure 14 As shown, the tennis robot 400 includes a serving device 4, a walking system 1, and a controller 3 as described in any of the embodiments of the first aspect. The walking system 1 is disposed at the bottom of the base 41 of the serving device 4 to drive the serving device 4 to move, thereby realizing a mobile serving operation. The walking system 1 can adopt the following... Figure 1 , Figure 11 The walking wheel 111 shown is driven to rotate by a corresponding walking wheel drive component to achieve movement. Of course, depending on the actual use requirements, the walking system 1 can also adopt other implementation methods such as tracks, which will not be elaborated here. The controller 3 is communicatively connected to the walking system 1 and the ball-serving device 4 to send corresponding control commands to the walking system 1 and the ball-serving device 4, thereby controlling the walking system 1 to move and controlling the ball-serving device 4 to launch the tennis ball in the target direction (including the adjustment of the launch angle and the launch operation of the tennis ball).

[0054] The tennis robot 400 in this embodiment can achieve automatic driving, mobile tennis launching, and launch angle adjustment, thereby meeting different needs in tennis training and providing a better user experience. The launching angle of the serving mechanism 43 can be adjusted horizontally as required. The rotation drive mechanism 422 pushes the rotating frame 421 to rotate horizontally around its own rotation axis 4216, thereby driving the serving mechanism 43 to rotate and adjust the horizontal launching angle. This allows for launching tennis balls from the same position in different horizontal directions, and also for launching skill balls with both longitudinal and lateral movement trends, enhancing the user experience. The projection of the rotation drive mechanism 422 on the horizontal plane is at least partially located outside the projection of the rotating frame 421 on the horizontal plane, making full use of the space on the base 41 and rationally arranging the rotating frame 421 and rotation drive mechanism 422 to reduce the space occupied in the height direction, thereby lowering the overall center of gravity and improving the stability of the serving device 4. In addition, when the ball-serving device 4 is also equipped with a swing component 45, it can also drive the ball-serving mechanism 43 to swing in pitch relative to the rotating frame 421 to adjust the pitch launch angle of the ball-serving mechanism 43, thereby further expanding the coverage range of the ball-serving angle.

[0055] Furthermore, the controller 3 can 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 tennis robot 400, and can also perform operations such as storing relevant data information.

[0056] In use, the controller 3 can control the tennis robot 400 to move along a preset motion trajectory according to the preset control program, and launch tennis balls at a target angle from a preset serving point; wherein, the serving device 4 can load multiple tennis balls at one time to perform continuous or intermittent serving, thereby reducing the number of loading times and improving training efficiency.

[0057] Furthermore, the tennis robot 400 can also be equipped with a corresponding power supply component, which is located in the cavity 441 formed by the housing 44 and the base 41, and is electrically connected to the ball serving mechanism 43, the rotating component 42, the walking system 1 and the controller 3 to supply power to the above components.

[0058] Furthermore, the tennis robot 400 in this embodiment also has all the beneficial effects of the serving device 4 in any of the embodiments of the first aspect described above, which will not be repeated here.

[0059] 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 serving device, characterized in that, include: Base; A rotating assembly includes a rotating frame and a rotating drive mechanism. The rotating frame is rotatably connected to the base, and the rotating drive mechanism is drively connected to the rotating frame. The rotating drive mechanism is used to drive the rotating frame to rotate horizontally relative to the base. The system also includes a serving mechanism for launching a tennis ball, which is connected to the rotating frame and can rotate with the rotating frame to adjust the horizontal launching angle.

2. The serving device according to claim 1, characterized in that, The projection of the rotation drive mechanism on the horizontal plane is at least partially located outside the projection of the rotating frame on the horizontal plane.

3. The serving device according to claim 1, characterized in that, A portion of the rotation drive mechanism is connected to the base, and another portion of the rotation drive mechanism is connected to the rotating frame. The connection point between the rotation drive mechanism and the rotating frame is eccentrically positioned relative to the rotation axis of the rotating frame. The rotation drive mechanism is capable of driving the rotating frame to rotate around the rotation axis.

4. The serving device according to claim 3, characterized in that, The rotation drive mechanism includes a rotation drive component and a rotation transmission component that are connected by a transmission. Of the rotation drive component and the rotation transmission component, one is connected to the rotation frame and the other is connected to the base.

5. The serving device according to claim 4, characterized in that, The rotation drive is connected to the rotation frame, and the output shaft of the rotation drive is arranged vertically. The rotational transmission component is located on the side away from the launching port of the ball-serving mechanism. The rotational transmission component includes a first transmission arm and a second transmission arm. One end of the first transmission arm is rotatably connected to the base, and the other end of the first transmission arm is rotatably connected to the second transmission arm. The end of the second transmission arm away from the first transmission arm is fixedly connected to the output shaft of the rotational drive component.

6. The serving device according to claim 4, characterized in that, The rotation drive is connected to the side of the base away from the launching port of the ball-serving mechanism, and the output shaft of the rotation drive is arranged vertically. The rotational transmission component includes a third transmission arm and a fourth transmission arm. One end of the third transmission arm is fixedly connected to the output shaft of the rotational drive component, and the other end of the third transmission arm is rotatably connected to the fourth transmission arm. The end of the fourth transmission arm away from the third transmission arm is rotatably connected to the rotating frame.

7. The serving device according to any one of claims 1 to 6, characterized in that, The base includes a base body and a base cover. The base cover can cover the circumferential sidewalls and part of the top wall of the base body. The top of the base body is provided with a downwardly recessed base bottom groove. The rotating component is at least partially disposed in the base bottom groove. The rotating frame is rotatably connected to the bottom wall of the base bottom groove, and / or the ball-serving mechanism is at least partially disposed in the base bottom groove.

8. The serving device according to any one of claims 1 to 6, characterized in that, The rotating frame includes: A rotating base, which is rotatably connected to the base, and the rotating base has a support portion extending vertically upward; Mounting base, the mounting base is connected to the support, the mounting base includes a mounting base plate and a mounting side plate that are connected to each other, the mounting side plate extending vertically upward; The ball-serving mechanism is connected to the mounting side plate, and the rotation drive mechanism is connected to the mounting base plate.

9. The serving device according to any one of claims 1 to 6, characterized in that, Also includes: A housing is connected to the top of the base and forms a receiving cavity with the base, wherein the rotating assembly and the ball-serving mechanism are both located in the receiving cavity; The cover has a first opening on one side wall corresponding to the launching port of the ball-launching mechanism, and the launching port is located in the first opening. The top of the cover has a storage groove, and a second opening is provided on the bottom wall of the storage groove. The second opening is connected to a conveying channel, and the end of the conveying channel away from the second opening is connected to the serving mechanism to convey a tennis ball to the serving mechanism.

10. The serving device according to claim 9, characterized in that, The ball-serving device includes a ball-guide tube and a guide groove disposed within the housing; The ball guide tube is a flexible structure, the top of the ball guide tube is connected to the second opening, and the ball guide tube has a third opening on the side facing the ball serving mechanism; The guide groove is connected to the ball-serving mechanism. One end of the guide groove is connected to the launching port, and the other end of the guide groove extends into the ball-guiding tube through the third opening. The guide groove and the ball-guiding tube form the conveying channel to convey a tennis ball to the launching port. The portion of the guide groove extending into the ball-guiding tube expands outward on both sides to form a flared structure. The outer edge of the flared structure abuts against the inner wall of the ball-guiding tube. The guide groove can rotate horizontally with the ball-serving mechanism, and the ball-guide tube can undergo flexible deformation under the compression of the flared structure.

11. The serving device according to claim 10, characterized in that, The ball guide tube is made of soft rubber; and / or, The height of the flared structure is greater than the height of the guide groove at one end of the emission port.

12. The serving device according to any one of claims 1 to 6, characterized in that, The ball-serving mechanism is rotatably connected to the rotating frame; The serving device also includes a swing assembly, which is connected to the serving mechanism for driving the serving mechanism to swing relative to the rotating frame to adjust the pitch and launch angle of the serving mechanism.

13. A tennis robot, characterized in that, include: The ball-serving device as described in any one of claims 1 to 12; A walking system, wherein the walking system is disposed at the bottom of the base; The controller is communicatively connected to the walking system and the serving device. The controller is used to control the walking system to move the serving device and to control the serving device to launch the tennis ball in the target direction.

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