CN106215401B - A service robot for football training - Google Patents

Abstract

The application discloses a service robot for football training, this service robot includes service robot and conveyor. The conveying device is connected with the ball serving device, the football can be conveyed into the ball serving device, and the ball serving device applies acting force to the football to enable the football to have initial speed and fly to a certain drop point. This service robot provides one set of mechanical structure, and this mechanical structure can realize the football and carry and the automation of service under control circuit's cooperation, improves service robot's work efficiency, helps promoting sportsman's training effect greatly.

Description

A service robot for football training

Technical Field

The application relates to a service robot for football training.

Background

In the training of the football, a large amount of training combined with the ball is needed, the service is needed to be provided for the training players, and the traditional mode is provided through a manual mode. The service robot is a device for replacing manual service with service robot, and generally has a service device, which realizes service by two rotating wheels driven by a motor, specifically, the rotation of the two rotating wheels gives an initial speed to the football, so that the football flies out from the service device. The rotation speed difference of the two rotating wheels can enable the football to form different rotation speeds, and corresponding flight routes are generated.

The design of the existing pitching machine is that balls are collected and placed manually, the work efficiency of the pitching machine is not high, and the training result of a player is not obvious.

Disclosure of Invention

The application provides a novel service robot for football training.

The application provides a service robot includes:

a service device for applying an acting force to the soccer ball so that the soccer ball has an initial velocity and flies out;

and the conveying device is connected with the ball serving device and is used for conveying the football into the ball serving device.

As a further alternative of the service robot, the service robot comprises a mounting seat, a service table mechanism and a service mechanism for serving, the service mechanism is mounted on the service table mechanism, the service table mechanism comprises a table body and a pitching driving component, the table body is movably mounted on the mounting seat, and the pitching driving component is connected with the table body and can drive the table body to rotate in the vertical direction relative to the mounting seat, so that the service mechanism forms different service angles in the vertical direction.

As a further alternative of the pitching machine, the pitching driving assembly comprises a gear transmission set and a motor, the gear transmission set is connected between the motor and the table body, and the motor drives the table body to rotate relative to the mounting base through the gear transmission set.

As a further alternative of the service robot, the service robot further comprises a horizontal rotating mechanism, wherein the horizontal rotating mechanism comprises a base, a rotating seat capable of rotating horizontally relative to the base, and a rotating driving assembly, the mounting seat is mounted on the rotating seat, and the rotating driving assembly can drive the rotating seat and the service robot to rotate in the horizontal direction, so that the service robot forms different service angles in the horizontal direction.

As a further alternative of the pitching machine, the swivel base is connected with the base through a gear slewing bearing, the gear slewing bearing comprises an inner ring and an outer ring with a gear, one of the swivel base and the base is fixed on the inner ring, the other one of the swivel base and the base is fixed on the outer ring, the rotary driving assembly comprises a motor, an output end of the motor is connected with a transmission gear, and the transmission gear is meshed with the outer ring of the gear slewing bearing so as to drive the swivel base to rotate in the horizontal direction relative to the base.

As a further alternative of service robot, service robot still includes ball sending mechanism, service robot includes two runner pivoted under the drive of service drive assembly, and the space between two runners is for being used for placing the service position of football, ball sending mechanism is including the ball platform that sends that is used for keeping in the football, the ball piece and the ball sending drive assembly that send that are used for sending the service position with the football, send the ball platform and link up with the service position, send the drive assembly drive to send the ball piece motion to send the football from sending the ball platform to the service position.

As a further alternative of the service robot, the ball sending driving component drives the ball sending component to do rotary motion, and when the ball sending component does rotary motion, at least one stroke is that one end of the ball sending component moves towards the service robot to push the football to move to the service robot.

As a further alternative of the service robot, the ball feeding member is rotatably disposed and fixedly connected to the ball pushing connecting rod, one end of the ball pushing connecting rod is movably connected to the ball feeding driving assembly, the ball feeding driving assembly can output reciprocating linear motion, and the ball feeding member is driven by the ball pushing connecting rod to rotate.

As a further alternative of the pitching machine, the ball feeding driving assembly comprises a ball feeding driving motor, a connecting rod, a sliding block and a linear guide rail, wherein the output end of the ball feeding driving motor is connected with the connecting rod, the connecting rod is driven to rotate, the connecting rod is connected with the sliding block, the sliding block is driven to reciprocate linearly on the linear guide rail, and the sliding block is connected with the ball pushing connecting rod.

As a further alternative of the pitching machine, the conveying device comprises a lifting conveying mechanism, and the lifting conveying mechanism comprises a transmission frame, a ball conveying assembly for conveying the football and a lifting driving assembly; the dribbling subassembly has the football and places the position, the dribbling subassembly is installed on the driving frame, the lift drive assembly can drive dribbling subassembly and be the elevating movement in vertical direction together with the football that it carried.

As a further alternative of the pitching machine, the conveying device further comprises a limiting piece, and the limiting piece is arranged at the set height of the lifting conveying mechanism; the ball-transporting assembly is a supporting plate, and the supporting plate is kept at a ball-supporting position under the support of the elastic piece; the limiting part is provided with a limiting part which can be kept on the rising track of the supporting plate at least within a specified time and limit a part of the supporting plate, so that the supporting plate is inclined to one side, and the football is detached from the supporting plate.

As a further alternative of the service robot, the conveying device further comprises a ball discharging mechanism, the ball discharging mechanism is provided with a ball passage, one end of the ball passage is connected with the ball discharging position of the lifting conveying mechanism, and the other end of the ball passage is connected with the service robot, so that the football discharged from the lifting conveying mechanism can roll to the service robot.

As a further alternative of the service robot, at least one ball outlet limiting part is arranged at an outlet of the ball passage, the ball outlet limiting part has a telescopic rod body, and the rod body extends into the ball passage in an extending state to control a football falling from the outlet at each time to be below one.

As a further alternative of the service robot, the service robot further comprises an automatic door for protecting the service robot, wherein the automatic door is arranged in the ball outlet direction of the service robot; the automatic door includes a door frame, a movable door installed on the door frame in an openable manner, and a door driving assembly driving the movable door to perform opening and closing motions.

As a further alternative of the service robot, the service robot includes at least two groups of service robots arranged up and down, and the conveying device is provided with a ball unloading position for each service robot.

As a further alternative of the pitching machine, the pitching machine further comprises a frame, the pitching device and the conveying device are arranged on the frame, and the frame is sealed at least on the side facing the trainer so as to protect each device in the frame.

The beneficial effect of this application is:

the application provides a service robot includes service robot and conveyor. The conveying device is connected with the ball serving device, the football can be conveyed into the ball serving device, and the ball serving device applies acting force to the football to enable the football to have initial speed and fly to a certain drop point. This service robot provides one set of mechanical structure, and this mechanical structure can realize the football and carry and the automation of service under control circuit's cooperation, improves service robot's work efficiency, helps promoting sportsman's training effect greatly.

Drawings

FIG. 1 is a schematic diagram of an embodiment of a soccer training system of the present application;

FIG. 2 is a schematic view of a portion of the embodiment shown in FIG. 1;

FIG. 3 is a schematic structural view of the platform of the embodiment shown in FIG. 1;

FIG. 4 is a schematic structural diagram of an embodiment of a pitching machine according to the present application;

FIG. 5 is a schematic view of the internal structure of the embodiment of FIG. 4 with the frame removed;

FIG. 6 is a schematic structural view of the ball serving device of the embodiment shown in FIG. 1;

FIG. 7 is a schematic view of the ball serving device of the embodiment of FIG. 1 at another angle;

FIG. 8 is an exploded view of the ball serving device of FIG. 7;

FIG. 9 is a schematic structural view of a horizontal rotation mechanism in the ball serving device of FIG. 7;

FIG. 10 is a schematic structural view of a ball feeding mechanism in the ball dispenser of FIG. 7;

FIG. 11 is an exploded view of the ball feed mechanism shown in FIG. 10;

FIG. 12 is a schematic structural view of the elevating and transferring mechanism in the embodiment shown in FIG. 4;

FIG. 13 is a schematic structural view of the ball dropping mechanism in the embodiment shown in FIG. 4;

FIG. 14 is a schematic structural diagram of an upper ball mechanism in the embodiment shown in FIG. 4;

FIG. 15 is a schematic structural view of the automatic door of the embodiment shown in FIG. 4;

fig. 16 is an enlarged view of the automatic door shown in fig. 15.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. The present application may be embodied in many different forms and is not limited to the embodiments described in the present embodiment. The following detailed description is provided to facilitate a more thorough understanding of the present disclosure, and the words used to indicate orientation, top, bottom, left, right, etc. are used solely to describe the illustrated structure in connection with the accompanying figures.

One skilled in the relevant art will recognize, however, that one or more of the specific details can be omitted, or other methods, mechanisms, or materials can be used. In some instances, some embodiments are not described or not described in detail.

Furthermore, the technical features, aspects or characteristics described herein may be combined in any suitable manner in one or more embodiments. It will be readily appreciated by those of skill in the art that the order of the steps or operations of the methods associated with the embodiments provided herein may be varied. Thus, any sequence in the figures and examples is for illustrative purposes only and does not imply a requirement in a certain order unless explicitly stated to require a certain order.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).

The first embodiment is as follows:

this embodiment one provides a football training system.

Referring to fig. 1, the soccer training system includes a pitching machine 100, a goal simulation structure 200, and a soccer retrieving device. The service robot 100 comprises a service device 110 for serving a soccer ball to a person to be trained and a conveying device 120 for conveying the soccer ball into the service device 110, the goal simulation structure 200 has at least one hole 210 for simulating a goal and a target indicating device (not shown) for indicating the current target hole 210, and the soccer ball recovering device recovers the ball shot by the person to be trained and sends the ball into the conveying device 120 of the service robot 100.

After the shot of being trained person with service robot 100 and being sent towards target entrance to a cave 210 in this system, football recovery unit can retrieve the football to send to service robot 100's conveyor 120, carry out next service again, can improve service robot 100's work efficiency, help promoting sportsman's training effect.

In this system, any type of pitching machine for soccer balls can be used as the pitching machine 100. Goal simulation structure 200 may have several or one simulated goal openings 210. When there are several holes 210, the target hole 210 towards which the ball is kicked by the person to be trained is indicated by the target indicating means.

The target indicating device is used for indicating the target frame 100, and may be an indicator using sound, light, or indication marks, such as LED strips.

The soccer ball retrieving device is used to retrieve the ball kicked by the trainee and send the ball to the pitching machine 100 again. Referring to fig. 2, it is not easy to recover the football to avoid bouncing too far. The soccer ball retrieving apparatus may include a hanging net 310 disposed behind the hole 210, so that the soccer ball drops under the hanging net 310 after being discharged by the hanging net 310.

In this embodiment, referring to fig. 1 and 2, the goal simulating structure 200 encloses a training field having a substantially square shape. The closed configuration is usually provided, but it is also possible to provide an open configuration. This football recovery unit adopts comparatively simple structure, still includes the football recovery passageway 320 that sets up in the string net 310 below and from entrance to a cave 210 to the guide inclined plane 330 of football recovery passageway 320 slope particularly, and guide inclined plane 330 is lower one side connection football recovery passageway 320, and the diapire of football recovery passageway 320 is by high to low slope setting, and lower one end is connected in the conveyor 120 of service robot 100.

The ball kicked by the trainer falls on the ball guide slope 330, is guided into the football retrieval path 320, rolls to the conveying device 120 of the pitching machine 100 along the football retrieval path 320 under the action of gravity, and is finally conveyed into the pitching device 110 by the conveying device 120.

In addition, the football retrieving device may be a device capable of capturing and transporting the football, for example, a capturing device for capturing the football, such as a robot, etc. In addition, a moving mechanism capable of walking or a transmission mechanism capable of realizing football transmission can be further provided, so that the football is recovered.

Referring to fig. 1 and 3, a platform 400 may be laid in the middle of the training field, the platform 400 includes a steel frame 420 for supporting and a plate 410 laid on the steel frame, the plate 410 is made into a plane, and an artificial lawn is laid on the plane, so as to simulate a real court environment.

The training ground can be sealed by plates on four sides, so that the load bearing is increased. The whole training ground needs to keep the levelness and needs to be provided with the load bearing of 500KG per square meter. The goal simulating structure 200 is installed on four sides of the platform 400, and its frame is higher than the training field to form a cubic space in combination with the training field.

Further, this embodiment also provides a neotype service robot 100 simultaneously, and this service robot 100 can realize the automation of service and transport ball to improve service robot 100's work efficiency, help promoting sportsman's training effect greatly.

Referring to fig. 4, the pitching machine 100 includes a pitching device 110 and a conveying device 120. The delivery device 120 is engaged with the serving device 110 to deliver the soccer ball into the serving device 110, and the serving device 110 applies a force to the soccer ball to cause the soccer ball to have an initial velocity and fly to a landing point.

Referring to fig. 4 to 8, the serving device 110 and the delivery device 120 are integrally mounted on a frame 140. The service device 110 includes a mounting seat 111, a service table mechanism 112, and a service mechanism 113 for serving balls, and the service mechanism 113 is mounted on the service table mechanism 112.

The service table mechanism 112 includes a table body 1121 and a pitching driving component, the table body 1121 is movably mounted on the mounting base 111, and the pitching driving component is connected to the table body 1121 and can drive the table body 1121 to rotate in the vertical direction relative to the mounting base 111, so that the service mechanism 113 forms different service angles in the vertical direction.

The service mechanism 113 includes a rotating wheel (rubber wheel) 1131 and a service driving assembly, and the rotating wheel 1131 is mounted on the table body 1121 through a rotating shaft and a bearing 1133. The two rotating wheels 1131 are provided, and the service driving assembly includes a motor 1132, which is driven by the motor 1132 to rotate. The space between the two wheels 1131 is a serving location for placing a soccer ball, and the soccer ball is placed in the serving location, and an initial velocity is given to the soccer ball by the rotation of the wheels 1131, so that the soccer ball flies out of the serving device 110. The difference in the rotational speeds of the two wheels 1131 allows the soccer ball to have different speeds, resulting in corresponding flight paths.

The pitching driving assembly comprises a gear transmission set and a motor 1122, wherein the gear transmission set is connected between the motor 1122 and the table body 1121, and the motor 1122 rotates relative to the mounting base 111 through the gear transmission set transmission table body 1121.

Specifically, referring to fig. 7 and 8, the serving device 110 has at least two symmetrically disposed mounting seats 111, and the table body 1121 is fixedly connected with a rotating shaft and rotatably mounted on the two mounting seats 111 through the rotating shaft. The gear transmission set comprises a first gear 1123 and a second gear 1124, the first gear 1123 is mounted on the output end of the pitch drive motor 1122, the second gear 1124 is mounted on the rotating shaft of the table body 1121, and the first gear 1123 is meshed with the second gear 1124.

The pitch drive motor 1122, which may be a stepper motor with a brake, is mounted on the motor mount 1125. When the pitch driving motor 1122 rotates forward and backward, the mount 111 and the ball serving mechanism 113 thereon can be controlled to deflect clockwise and counterclockwise respectively.

In order to control the maximum pitch angle of the ball serving mechanism 113, limit sensors may be provided on both sides of the second gear 1124, and when the second gear 1124 is deflected to a position that can be sensed by the limit sensors, the control circuit stops the second gear from continuing to deflect or performing other operations.

Of course, the platform 1121 is rotatably mounted on the mounting base 111, and the pitch driving assembly can also drive the platform 1121 to rotate in the vertical direction relative to the mounting base 111 through other various manners, such as changing a gear transmission set to another transmission mechanism. Even some driving members outputting linear motion, such as air cylinders, hydraulic cylinders, etc., can form rotary motion after being driven by the transmission mechanism.

In addition, in order to realize different pitching angles of the pitching mechanism 113 in the vertical direction, the height of the pitching direction may be changed by, for example, moving the entire pitching mechanism 113 and the platform body 1121 up and down, in addition to changing the positions of the platform body 1121 and the pitching mechanism 113 in the vertical direction in a rotating manner.

Referring to fig. 8 and 9, the ball serving device 110 further includes a horizontal rotating mechanism 114, the horizontal rotating mechanism 114 includes a base 1141, a rotating base 1142 capable of rotating horizontally relative to the base 1141, and a rotating driving assembly, the mounting base 111 is mounted on the rotating base 1142, and the rotating driving assembly can drive the rotating base 1142 and the ball serving mechanism 113 to rotate in the horizontal direction, so that the ball serving mechanism 113 forms different ball serving angles in the horizontal direction.

This roating seat 1142 is connected through gear slew bearing 1143 with base 1141, gear slew bearing 1143 includes inner circle 1143a and outer lane 1143b that has the gear, one of roating seat 1142 and base 1141 is fixed on inner circle 1143a, another is fixed on outer lane 1143b, the rotation driving subassembly includes rotary driving motor 1144, the output of rotary driving motor 1144 is connected with drive gear 1145, drive gear 1145 meshes with gear slew bearing 1143's outer lane 1143b to drive roating seat 1142 relative base 1141 is rotatory in the horizontal direction.

As shown in fig. 8 and 9, in the present embodiment, the rotating base 1142 is fixed to the inner ring 1143a of the gear rotating bearing 1143, and the outer ring 1143b of the gear rotating bearing 1143 is fixed to the base 1141. A rotary driving motor 1144 is fixedly installed on the rotary base 1142, and an output end thereof is extended downward, so that a transmission gear 1145 installed on the output end is engaged with an outer ring 1143b of the gear slew bearing 1143. The rotary driving motor 1144 is a stepping motor, and when the rotary driving motor is rotating forward and backward, the rotary driving motor 1142 can be driven to rotate horizontally relative to the base 1141, so that more serving angles can be provided for serving balls in the horizontal direction.

In addition, with continued reference to fig. 8 and 9, a bull's eye roller 1146 is further mounted on the rotary seat 1142 to assist the smooth rotation of the rotary seat 1142 and the base 1141, and finally achieve a silent rotation mechanism.

The base 1141 may be provided with a limiting shaft 1148, the rotating base 1142 is correspondingly provided with a limiting groove 1147, and the limiting shaft 1148 is assembled in the limiting groove 1147 to limit the rotation angle of the rotating base 1142.

Alternatively, the rotary base 1142 may be fixed to the outer ring 1143b, the base 1141 may be fixed to the inner ring 1143a, the rotary driving motor 1144 may be mounted on the base 1141, and the transmission gear 1145 thereon may be engaged with the outer ring 1143b of the gear rotating bearing 1143 to drive the rotary base 1142 to rotate in the horizontal direction with respect to the base 1141.

In addition to the above-described manner of using the gear wheel pivot bearing 1143, other solutions for achieving relative rotation are also possible.

In the horizontal rotation mechanism 114, a detection sensor may be provided on the rotation base 1142 or the base 1141 to limit the rotation angle and control the angle within a desired range.

In other embodiments, a pitch adjustment design and a horizontal rotation design may alternatively be used, which may be selected for specific training purposes.

Referring to fig. 8, 10 and 11, the service device 110 further includes a ball delivery mechanism 115. The ball feed mechanism 115 includes a ball feed table 1151 for temporarily storing the soccer ball, a ball feed member 1152 for feeding the soccer ball to a ball delivery location, and a ball feed drive assembly. The delivery table 1151 is engaged with a delivery station, and a ball delivery drive assembly drives the ball delivery member 1152 to move so as to deliver the soccer ball from the delivery table 1151 to the delivery station.

The motion of ball delivery member 1152 may be rotational, linear, arcuate, polygonal, etc., and the effect on the ball may be a pushing or pulling force.

For example, the ball delivery drive assembly drives the ball delivery member 1152 in a rotational motion, and the ball delivery member 1152 has at least one stroke during the rotational motion in which an end of the ball delivery member 1152 moves toward the ball serving location to propel the ball into the ball serving location.

With continued reference to fig. 8, 10 and 11, the ball delivery element 1152 is rotatably mounted and fixedly connected to the ball pick-up link 1153, and one end of the ball pick-up link 1153 is movably connected to a ball delivery actuator assembly that is capable of outputting a reciprocating linear motion and imparting a rotational motion to the ball delivery element 1152 via the drive of the ball pick-up link 1153.

In this embodiment, the ball feeding driving assembly includes a ball feeding driving motor 1154, a connecting rod 1155, a slider 1156 and a linear guide 1157, an output end of the motor is connected to the connecting rod 1155, the driving connecting rod 1155 rotates, the connecting rod 1155 is connected to the slider 1156, the driving slider 1156 reciprocates linearly on the linear guide 1157, and the slider 1156 is connected to the ball poking connecting rod 1153.

Referring to fig. 10 and 11, one or more links 1155 may be provided, and when there are more than two links 1155, the links 1155 are hinged to each other. The ball feeding driving motor 1154 is a stepping motor, and is fixedly connected with one connecting rod 1155 through a coupler 1158, one end of the second connecting rod 1155 is movably connected to a sliding block 1156, and the sliding block 1156 is sleeved on a linear guide rail 1157. The ball sending members 1152 are two, which are disposed opposite to each other, and each has a projection. The ball delivery members 1152 are each fixedly connected to a ball-picking link 1153, and the ball-picking link 1153 is movably connected to the slider 1156. The ball sending part 1152 is rotatably arranged on the ball sending table 1151, and when the slide block 1156 slides on the linear guide 1157 in a reciprocating manner, one end of the ball sending part 1152 is driven to rotate to form opening and closing movement, so that the football is pushed to move from the ball sending table 1151 to a ball serving position.

The pitching machine 100 further includes a conveying device 120, referring to fig. 5 and 12, the conveying device 120 includes a lifting and conveying mechanism 121, and the lifting and conveying mechanism 121 includes a driving frame 1211, a ball transporting assembly 1212 for transporting the soccer ball, and a lifting and driving assembly. The dribbling assembly 1212 is provided with a football placing position, the dribbling assembly 1212 is arranged on the driving frame 1211, and the lifting driving assembly can drive the dribbling assembly 1212 to do lifting movement along with the football carried by the dribbling assembly 1212 in the vertical direction.

The conveyor 120 may also be used to transport the soccerballs other than by vertical elevation, such as a spiral-type upward transport, but vertical elevation is simpler and takes less space than a spiral-type upward transport.

Referring to fig. 12, the lift driving assembly includes a lift driving motor 1213 and a timing belt transmission mechanism 1214. The synchronous belt in the synchronous belt transmission mechanism 1214 is vertically arranged, the dribbling assembly 1212 is fixed on the synchronous belt, and the lifting driving motor 1213 drives the supporting plate to lift along with the synchronous belt.

In addition, referring to fig. 5, the delivering device 120 further includes limiting members 1218, 1219, and the limiting members 1218, 1219 are disposed at a set height of the elevating and transferring mechanism 121, i.e., at a set ball discharging position, so that the discharged ball can enter the ball serving device 110. The dribbling assembly 1212 is a blade, and the blade 1212 is held in a ball-holding position by the support of the elastic member. The stoppers 1218, 1219 have stoppers that can be held on the rising trajectory of the blade 1212 for at least a predetermined time and that limit a portion of the blade 1212, thereby tilting the blade 1212 to one side against the force of the elastic member and detaching the soccer ball from the blade 1212.

In the configuration shown in fig. 12, the resilient member is a spring 1215, and the two springs 1215 are supported side by side below the blade 1212. Under normal conditions, the blade 1212 is horizontally oriented and has a cavity in the middle for receiving a soccer ball. The spring 1215 can also be designed to pull the blade 1212 from above.

Referring to fig. 5 and 13, the conveying device 120 may further include a ball dropping mechanism 122, the ball dropping mechanism 122 has a ball passage 1222, one end of the ball passage 1222 is connected to the ball dropping position of the elevating conveyor 121, and the other end is connected to the ball serving device 110, so that the soccer balls dropped from the elevating conveyor 121 can roll to the ball serving device 110. The ball passage 1222 is formed by a net structure, which is fixed to the lower ball support 1221.

At least one ball-out limiting member is disposed at an outlet of the ball passage 1222, and the ball-out limiting member has a rod body capable of extending and contracting. The shaft extends into the ball passage 1222 in the extended position to control the amount of ball falling from the exit location to be less than one at a time.

In the present embodiment, as shown in fig. 13, at least two ball-out stoppers 1223 are arranged at the outlet position of the ball passage 1222 and arranged along the depth of the ball passage 1222, and the distance between the two ball-out stoppers 1223 can accommodate a soccer ball.

Further, a detecting sensor 1224 may be provided at the exit position of the ball passage 1222 to detect whether a ball is present at the exit position.

A detection sensor 1225 may also be provided below the exit position of the ball passage 1222 to detect whether a soccer ball has fallen from the exit position.

Referring to fig. 5, the pitching machine 100 includes at least two groups of pitching devices 110 arranged in a vertical direction, the conveying device 120 is provided with a ball unloading position for each pitching device 110, and each ball unloading position is provided with a ball unloading mechanism 122.

For the topmost ball-discharging position, the limiting portion of the limiting member 1219 may be fixedly disposed on the rising trajectory of the blade 1212. For other ball unloading positions, the limiting member may be designed as a telescopic structure of the limiting portion, for example, the solenoid valve 1218 shown in fig. 5, only when the ball is required to be unloaded at the position, the cross bar for limiting extends, and in other times, the cross bar retracts, so that the continuous up-and-down conveying of the soccer ball is not affected.

Of course, the ball discharge is not limited to the above configuration, and it is also possible to move the soccer ball from the dribbling assembly 1212 to the ball discharge mechanism 122, or even directly into the serving assembly 110, for example, by a robotic arm.

The pitching device 110 is provided in a plurality of positions, and the pitching device is arranged up and down and/or horizontally, so that the pitching angle can be provided in a plurality of angles in the vertical and horizontal directions, and the pitching adjustment design and the horizontal rotation design can be optionally omitted.

Referring to fig. 5 and 14, the conveying device 120 may further include two upper ball mechanisms 123, and the two upper ball mechanisms 123 are symmetrically disposed on two sides of the lifting and conveying mechanism 121. The ball feeding mechanism 123 has an inclined ball feeding passage 1232, and the lower end of the ball feeding passage 1232 is connected to the elevating and transferring mechanism 121. When the blade 1212 is at the lowest position in the elevator transport 121, the soccer ball in the upper pathway 1232 may roll down to the blade 1212 under the force of gravity. The upper ball passage 1232 is implemented by a net structure, which is fixedly installed on the upper ball support 1231.

The upper ball mechanism 123 may be provided with at least one ball output stopper 1233 at an outlet position of the ball passage 1222, and the ball output stopper 1233 may have a rod body that can be extended and contracted. The stick body extends into the upper ball passage 1232 in the extended state to control the number of the soccer balls falling from the exit position to be one or less at a time.

As shown in fig. 14, in the present embodiment, at least two ball-out stoppers 1233 are arranged at the outlet position of the upper ball passage 1232 of the ball-out mechanism 123 along the depth of the upper ball passage 1232, and the distance between the two ball-out stoppers 1233 can accommodate a soccer ball.

Further, a detection sensor 1234 may be provided at the outlet position of the ball passage 1222 of the pitching mechanism 123 to detect whether a soccer ball is present at the outlet position.

Referring to fig. 15 and 16, the service robot 100 further includes an automatic door 130 for protecting the service apparatus 110, the automatic door 130 being disposed in a ball discharge direction of the service apparatus 110. The automatic door 130 includes a gantry 131, a moving door 132, and a door driving assembly, the moving door 132 being openably mounted on the gantry 131, the door driving assembly driving the moving door 132 to perform opening and closing motions.

The door driving assembly includes a stepping motor 133 and a synchronous belt driving mechanism 134, and the stepping motor 133 is fixed to a driving pulley of the synchronous belt driving mechanism 134. The synchronous belt of the synchronous belt transmission mechanism 134 is horizontally arranged, the movable doors 132 are two sides, and are respectively fixed on the upper and lower synchronous belts through the engaging pieces 135, so that the two movable doors 132 move in opposite directions or back to back under the driving of the stepping motor 133 to realize opening and closing.

As shown in fig. 15, the automatic door 130 is integrally mounted on a frame 140, and a door moving pulley 136 may be mounted on the moving door 132 for smoother movement.

A detection sensor 137 may be further provided at least one side of the moving door 132 to control a moving distance of the moving door 132, and when the position of the moving door 132 triggers the detection sensor 137, the operation of the stepping motor 133 may be stopped or the stepping motor 133 may be reversed.

The serving device, the conveying device and the automatic door are all arranged in a frame, and the frame is sealed at least on the side facing the trainer so as to protect all devices in the frame. Preferably all four sides are sealed to resist damage in other directions. Referring to fig. 15, the bottom of the frame is also provided with control circuits and drivers for controlling the operation of various devices.

The foregoing is a more detailed description of the present invention that is presented in conjunction with specific embodiments, and the practice of the invention is not to be considered limited to those descriptions. It will be apparent to those skilled in the art that a number of simple derivations or substitutions can be made without departing from the inventive concept.

Claims (11)

1. A service robot for soccer training, comprising:

the ball delivery mechanism comprises a ball delivery table for temporarily storing the football, a ball delivery piece for delivering the football to the ball delivery position and a ball delivery driving component, the ball delivery table is connected with the ball delivery position, the ball delivery driving component drives the ball delivery piece to do rotary motion, and when the ball delivery piece does the rotary motion, at least one stroke is provided, so that one end of the ball delivery piece moves to the ball delivery position to push the football to move from the ball delivery table to the ball delivery position;

and the conveying device is connected with the ball serving device and is used for conveying the football into the ball serving device.

2. The ball serving machine of claim 1 wherein the ball serving device includes a mounting base and a serving table mechanism, the serving mechanism is mounted on the serving table mechanism, the serving table mechanism includes a table body rotatably mounted on the mounting base and a pitch drive assembly coupled to the table body for driving the table body to rotate in a vertical direction relative to the mounting base to cause the serving mechanism to form different serving angles in the vertical direction; the pitching machine further comprises a horizontal rotating mechanism, the horizontal rotating mechanism comprises a base, a rotary seat and a rotary driving assembly, the rotary seat and the rotary driving assembly can rotate relative to the base in the horizontal direction, the mounting seat is mounted on the rotary seat, the rotary driving assembly can drive the rotary seat and the pitching mechanism to rotate in the horizontal direction, so that the pitching mechanism forms different pitching angles in the horizontal direction, and a detection sensor is arranged on the rotary seat or the base to limit the horizontal rotating angle.

3. The pitching machine of claim 2, wherein said pitch drive assembly comprises a gear train and a motor, said gear train being connected between the motor and the table, said motor driving the table to rotate relative to the mount via the gear train.

4. The service robot of claim 2, wherein the rotary base is connected to the base by a gear slew bearing, the gear slew bearing comprising an inner race and an outer race with a gear, one of the rotary base and the base being secured to the inner race and the other being secured to the outer race, the rotary drive assembly comprising a motor, an output of the motor being connected to a drive gear, the drive gear being engaged with the outer race of the gear slew bearing to drive the rotary base to rotate in a horizontal direction relative to the base.

5. The ball serving machine of claim 1 wherein said ball delivering member is rotatably mounted and fixedly connected to a ball pushing link, one end of said ball pushing link being movably connected to a ball delivering driving assembly, said ball delivering driving assembly being capable of outputting a reciprocating linear motion and imparting a rotational motion to the ball delivering member by the drive of the ball pushing link.

6. The service robot of claim 5, wherein the ball feeding driving assembly comprises a ball feeding driving motor, a connecting rod, a sliding block and a linear guide rail, the output end of the ball feeding driving motor is connected with the connecting rod, the connecting rod is driven to rotate, the connecting rod is connected with the sliding block, the driving sliding block reciprocates linearly on the linear guide rail, and the sliding block is connected with the ball pushing connecting rod.

7. The service robot of any one of claims 1-6, wherein the conveyor comprises a lift conveyor comprising a drive frame, a dribbling assembly for transporting soccer balls, and a lift drive assembly; the dribbling subassembly has the football and places the position, the dribbling subassembly is installed on the driving frame, the lift drive assembly can drive dribbling subassembly and be the elevating movement in vertical direction together with the football that it carried.

8. The pitching machine of claim 7, wherein said conveyor further comprises a stop disposed at a set height of said elevating conveyor; the ball-transporting assembly is a supporting plate, and the supporting plate is kept at a ball-supporting position under the support of the elastic piece; the limiting part is provided with a limiting part which can be kept on the rising track of the supporting plate at least within a specified time and limit a part of the supporting plate, so that the supporting plate is inclined to one side, and the football is detached from the supporting plate.

9. The service robot of claim 7 wherein the conveyor further includes a ball drop mechanism having a ball passageway connected at one end to the drop position of the lift conveyor and at the other end to the service robot to allow the balls removed from the lift conveyor to roll to the service robot.

10. The pitching machine of claim 9, wherein at least one ball stop is provided at the exit point of said ball passage, said ball stop having a telescoping rod which extends into the ball passage in the extended position to control the amount of ball falling from the exit point to less than one at a time.

11. The ball serving machine of claim 1, further comprising an automatic door for protecting the ball serving device, the automatic door being disposed in a ball discharge direction of the ball serving device; the automatic door includes a door frame, a movable door installed on the door frame in an openable manner, and a door driving assembly driving the movable door to perform opening and closing motions.

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