CN111530054A

CN111530054A - Multifunctional field training pitching machine

Info

Publication number: CN111530054A
Application number: CN202010347308.9A
Authority: CN
Inventors: 丁庆龙
Original assignee: Anshan Normal University
Current assignee: Anshan Normal University
Priority date: 2020-04-28
Filing date: 2020-04-28
Publication date: 2020-08-14
Anticipated expiration: 2040-04-28
Also published as: CN111530054B

Abstract

The invention discloses a multifunctional field training pitching machine, which is characterized in that: the automatic ball pitching device comprises a ball pitching device, a base, a connecting plate and a lifting device, wherein the front end of the ball pitching device is hinged to the upper end of the connecting plate, the lower end of the connecting plate is fixed on the base, the two ends of the lifting device are respectively hinged to the ball pitching device and the base, the ball pitching device comprises a ball pitching module, a ball inlet module and a self-rotating adjusting module, the ball pitching module comprises a ball pitching barrel, a pitching rod, a force storage spring, a front positioning block, a rear positioning block, a locking rod, a locking ring, a locking gear, a locking motor and a pitching barrel, a launching cavity is arranged in the ball pitching module, and. The self-spinning ball serving device realizes impact ball serving through the ball serving device, and the self-spinning of the ball is realized through the self-spinning adjusting module before impact, so that the self-spinning ball can be served, the actual training requirements are met, and the timely response strategy and action of players to the spinning ball can be trained.

Description

Multifunctional field training pitching machine

Technical Field

The invention relates to the field of service training equipment, in particular to a multifunctional field training service robot.

Background

The pitching machine is a necessary entertainment and training tool for a plurality of ball houses and ball friend families. Is suitable for society, school, family and professional training stadiums. The pitching machine can be used for pitching various balls, can be used for entertainment and body building, is suitable for professional training, and has high cost performance. Publication No.: the invention patent of CN107050799A discloses a football long-distance service robot, which comprises a base, a service mechanism, a ball storage bin, an orientation rotary table and a first hydraulic cylinder; the ball serving mechanism comprises a ball serving channel, a second hydraulic cylinder, a spring, a ball blocking plate, a steering engine, a ball serving top block and a pressure sensor arranged on the ball serving top block; the front end of the azimuth turntable is also provided with an infrared distance meter; the azimuth turntable is also internally provided with a microprocessor, and the microprocessor is connected with a remote controller through a wireless communication module in a wireless signal mode. This design has the disadvantages of: the spin ball cannot be generated, the actual training is that the spin ball is very necessary, the timely coping strategy and action of the training players on the spin ball are one of the basic purposes of the training, and different spin can bring different track effects of the ball. When the ball flies forward without rotating, the air on the upper, lower, left and left surfaces of the ball flows backward at the same speed. If the ball body rotates upwards, air on the upper part of the ball is driven to flow forwards and is abutted against the air flowing backwards, so that the air flow rate on the upper part of the ball is reduced, and the pressure is increased; the upward rotation of the ball drives the air at the lower part of the ball to flow backwards, and the air flow velocity at the lower part of the ball is increased and the pressure is reduced. Thus, the ball is pressed down quickly in flight due to the large upper pressure and the small lower pressure of the ball, and a falling parabola track is formed. The faster the rotation, the faster the descent speed. Similarly, the downward rotating ball flies upward and the side rotating ball inclines. The hit ball cannot rotate, which is very different from the actual serving effect, and thus cannot adapt to the high-quality training effect.

Disclosure of Invention

The invention aims to provide a multifunctional field training pitching machine which can realize ball discharging through impact and can realize rotation.

The technical scheme adopted by the invention for solving the problems is as follows:

the utility model provides a multi-functional place training service robot which characterized in that: the power storage type automatic ball-serving device comprises a ball-serving device, a base, a connecting plate and a lifting device, wherein the front end of the ball-serving device is hinged to the upper end of the connecting plate, the lower end of the connecting plate is fixed on the base, the two ends of the lifting device are respectively hinged to the ball-serving device and the base, the ball-serving device comprises a ball-serving module, a ball-inlet module and a self-rotation adjusting module, the ball-serving module comprises a ball-serving barrel, a ball-striking rod, a power storage spring, a front positioning block, a locking ring, a locking gear, a locking motor and a ball-serving barrel, a launching cavity is arranged in the ball-striking rod, the ball-striking rod is fixedly provided with the locking block, the ball-striking rod is sleeved with the power storage spring, the two ends of the power storage spring respectively abut against the rear positioning block and the locking block, the inner wall of the launching, the ball shooting device comprises a shooting barrel, a shooting rod, a self-rotation adjusting module, a slot, a locking ring, a locking motor, a motor shaft, a locking gear, a ball inlet module, a pushing plate and a ball pushing module, wherein the slot is arranged along the circumferential direction of the outer wall of the shooting barrel, the locking rod is inserted in the slot, the outer end of the locking rod is fixed on the locking ring, the locking ring is fixedly provided with the locking gear ring, the locking ring is sleeved and rotatably arranged on the shooting barrel, the shooting barrel is fixedly provided with the locking motor, the motor shaft of the locking motor is fixedly provided with the locking gear, the locking gear is meshed with the locking gear ring, the ball inlet module comprises a ball inlet barrel, a pushing mechanism and a pushing plate, a ball inlet channel for entering a ball is arranged in the ball inlet barrel, the ball inlet channel is communicated to a launching cavity through a ball inlet arranged on the shooting barrel, the ball-spinning machine comprises an inner core rod, a pressure rod spring, an inner core pressure spring, a spinning sleeve, a spinning gear, an end face gear, a spinning outer gear ring, a spinning motor gear, a spinning driving motor, a top plate and a steering sleeve, wherein the steering sleeve is rotatably arranged at the front end of a ball-serving barrel, the axes of the steering sleeve and the ball-serving barrel are arranged in a collinear way, the steering sleeve realizes that the steering sleeve rotates relative to the ball-serving barrel through a steering driving mechanism, a spinning space for spinning balls is arranged in the steering sleeve, two rotating pressure rods are slidably arranged on the steering sleeve and can linearly move and rotate relative to the steering sleeve, the two rotating pressure rods are symmetrically arranged relative to the axis of the steering sleeve, the lower ends of the rotating pressure rods are positioned in the spinning space, a pressure block for pressing the balls is fixed at the lower end of each pressure rod, an anti-skid pad is fixed at, an inner core rod is arranged in the rotary pressure rod in a sliding mode, the lower end of the inner core rod penetrates out of the lower end of the pressing block, an outer extension rod is fixed at the upper end of the inner core rod and penetrates out of a pressure rod groove formed in the rotary pressure rod, the outer extension rod abuts against one end of an inner core pressure spring, the other end of the inner core pressure spring abuts against a steering sleeve, the inner end of the inner core rod is in an arc surface, a spin sleeve is sleeved on one rotary pressure rod and is circumferentially fixed relative to the rotary pressure rod and axially slides relative to the rotary pressure rod, a spin gear is fixed on the spin sleeve and is meshed with an end face gear, the end face gear is rotatably installed on the steering sleeve, a spin outer gear ring is fixed on the end face gear, a spin motor gear is fixed on a motor shaft of a spin driving motor and is meshed with the spin outer gear ring, and a jacking mechanism for jacking the top plate outwards is mounted on the steering sleeve.

Further, preferably, the service module comprises a force storage adjusting mechanism, the force storage adjusting mechanism adopts a screw rod mechanism, and a rear positioning block is fixed on a screw rod nut of the force storage adjusting mechanism.

Further preferably, a rear sliding block is fixed on the ball hitting rod, a sliding groove is formed in the outer wall of the ball serving barrel, the rear sliding block is slidably mounted on the sliding groove,

further, preferably, the propelling mechanism adopts a screw rod structure, a connecting plate is fixed on the propelling cylinder, penetrates out of a propelling groove formed in the ball-making cylinder and is connected to a screw rod nut of the propelling mechanism.

Further, as preferred, turn to actuating mechanism and include turning to driving motor, turn to ring gear, steering gear, turn to driving motor and fix on the service barrel, turn to the ring gear and fix on turning to the sleeve, turn to ring gear and steering gear and mesh mutually, driving motor's motor shaft fixes the steering gear.

Further, preferably, the jacking mechanism comprises a cam, a cam gear ring, a cam driving gear and a cam motor, wherein the cam driving gear is fixed on a motor shaft of the cam motor, the cam driving gear is meshed with the cam gear ring, the cam and the cam gear ring are fixed, and the cam gear ring are rotatably arranged on the steering sleeve.

Further, as preferred, a mounting cavity is formed in the steering sleeve, the inner core pressure spring is arranged in the mounting cavity, a metal ring is arranged in the mounting cavity, the metal ring is sleeved on the rotary pressure rod and is positioned above the extension rod of the inner core rod, and two ends of the inner core pressure spring respectively abut against the upper end of the mounting cavity and the metal ring.

Compared with the prior art, the invention has the following advantages and effects:

(1) realize striking service through the service device, and realize the spin of ball through spin adjusting module before the striking to can send out the spin ball, accord with actual training requirement, can train sportsman to in time coping strategy and the action of spin ball.

(2) The energy storage of the power storage spring can be realized in the ball feeding process, the operation efficiency is high, the action continuity is good, the smooth degree in the working process is high, and the ball serving efficiency is improved.

(3) After the inner core rod is adopted, the surface of the rotary pressure rod, which is separated from the ball, is instant, the jumping and floating of the ball are reduced, the jumping range of the contact point of the ball striking rod for striking the ball is smaller, and the stability of serving is greatly improved.

(4) The ball striking rod passes through the middle of the propelling barrel. Therefore, the propelling uniformity is ensured in the process of propelling the ball by the propelling cylinder, the ball striking rod impacts from the middle, the contact surface is less, and the self-spinning influence on the ball is smaller.

Drawings

Fig. 1 is a schematic structural diagram of a multifunctional court training pitching machine according to an embodiment of the invention.

Fig. 2 is a schematic structural diagram of a ball serving device according to an embodiment of the invention.

Fig. 3 is a schematic sectional structure view of a ball serving device according to an embodiment of the present invention.

FIG. 4 is a schematic structural diagram of a spin adjustment module according to an embodiment of the invention.

FIG. 5 is a schematic view of an installation structure of the rotary pressing rod according to the embodiment of the present invention.

Fig. 6 is a schematic structural view of a cam according to an embodiment of the present invention.

Fig. 7 is a schematic diagram illustrating a change in the relative positional relationship between the lock lever and the lock block according to the embodiment of the present invention.

Reference numerals: the ball serving device 1, the base 21, the connecting plate 22, the lifting device 23, the ball serving module 3, the ball inlet module 4, the spin adjusting module 5, the ball serving barrel 31, the launching cavity 311, the sliding groove 312, the open groove 313, the pushing groove 314, the ball striking rod 32, the power storage spring 321, the front positioning block 331, the rear positioning block 332, the locking block 341, the locking rod 342, the locking ring 343, the locking ring 344, the locking gear 345, the locking motor 346, the rear sliding block 35, the power storage adjusting mechanism 36, the ball inlet 41, the ball inlet 411, the pushing barrel 42, the through hole 421, the pushing mechanism 43, the push plate 431, the connecting plate 432, the steering sleeve 51, the spin space 511, the mounting cavity 512, the rotary press rod 52, the press block 521, the anti-skid pad 522, the top plate 523, the press rod spring 524, the inner core rod 53, the outer extension rod 531, the inner core pressure spring 532, the metal ring 533, the spin sleeve 54, the spin gear 551, the, a spin motor gear 554, a steering drive mechanism 56, a drive motor 561, a steering ring gear 562, a steering gear 563, a jack-up mechanism 57, a cam 571, a cam ring gear 572, a cam drive gear 573, a cam motor 574, and balls 6

Detailed Description

The present invention will be described in further detail below by way of examples with reference to the accompanying drawings, which are illustrative of the present invention and are not to be construed as limiting the present invention.

The multifunctional court training pitching machine has the following functions to achieve the perfect actual training effect.

(1) The ball 6 sent out by the pitching machine should rotate, and as a preferred design, the spinning direction can be adjusted; the spin direction should be capable of selecting the conventional spin mode such as spin up, spin down, spin left, spin right, etc., and as a preferred design, the spin speed can be adjusted, and there is no direct correlation between the selected speed and the ejection speed of the ejected ball 6, so that the ejected ball 6 can be in the state of low speed (ejection speed) high rotation (spin speed), high speed high rotation, low speed low rotation, low speed high rotation, etc.,

(2) the service robot can realize continuous service, and as a preferred design, the service action process of the service robot can prepare for the ball feeding 6 (the ball 6 enters the launching cavity 311), thereby improving the service efficiency.

(3) The serving speed of the serving machine should be adjustable, and the adjustment is preferably made by electronic control.

Preferably, the shooting angle of the service ball of the service robot can be adjusted, and as a preferred design, the shooting angle can be automatically controlled and adjusted through electric control,

in order to achieve the above design objective, the working process of the present invention comprises the following steps:

(1) step S1, the pushing cylinder 42 of the goal module 4 moves backwards, falls into the front of the pushing cylinder 42 by the self gravity of the ball 6, the pushing cylinder 42 moves forwards to the spinning station of the spinning adjusting module 5, the ball striking rod 32 of the service module 3 is pushed backwards in the backward movement process of the pushing cylinder 42, the ball striking rod 32 compresses the force storage spring 321 to realize energy storage, the ball striking rod 32 is blocked to be incapable of moving forwards in the forward movement process of the pushing cylinder 42,

(2) in step S2, the two ends of the ball 6 located at the spin station are pressed by the rotating pressing rod 52 of the spin adjusting module 5, and then the pushing cylinder 42 moves backwards slightly to avoid contacting the outer wall of the ball 6, the rotating pressing rod 52 drives the ball 6 to spin,

(3) in step S3, the blocking of the ball striking rod 32 is released, the ball striking rod 32 moves forward rapidly by the power storage spring 321, the rotary pressing rod 52 moves outward in the radial direction with respect to the ball 6, the lower end of the rotary pressing rod 52 is separated from the surface of the ball 6, and the ball 6 with spin is rapidly hit by the ball striking rod 32.

In step S2, the direction of spin is adjusted by adjusting the rotation of the rotary presser bar 52 relative to the axis of the pusher cylinder 42.

Preferably, in step S2, after the lower end of the rotary press rod 52 is separated from the surface of the ball 6, at least two core rods 53 are pushed against the surface of the ball 6, and the end surface of the core rod 53 is made to be a hemispherical surface 6, so as to reduce the contact surface between the core rod 53 and the ball 6, so that the position deviation of the ball 6 is not too large at the moment of separation of the rotary press rod 52, and the applicant tests that if the core rod 53 is absent, the bounce range of the contact point of the ball striking rod 32 striking the ball 6 is large, which greatly affects the stability of the serve, and after the core rod 53 is used, the bounce and floating of the ball 6 are reduced at the moment of separation, the bounce range of the contact point of the ball striking rod 32 striking the ball 6 is small, which,

preferably, in the step S2, the ball striking shaft 32 passes through the middle of the propelling cylinder 42. Thereby ensuring the uniformity of the propulsion during the propulsion of the ball 6 by the propulsion cylinder 42, the impact of the ball striking rod 32 from the middle, and less contact surface, less influence on the spin of the ball 6.

Based on the working method, the embodiment provides a multifunctional field training pitching machine,

referring to fig. 1 to 3, the multifunctional court training service robot includes a service robot 1, a base 21, a connecting plate 22 and a lifting device 23. The lifting device 23 adopts an electric cylinder, the front end of the ball serving device 1 is hinged to the upper end of the connecting plate 22, the lower end of the connecting plate 22 is fixed on the base 21, the two ends of the lifting device 23 are respectively hinged to the ball serving device 1 and the base 21, and by adopting the structure, the change of the whole angle of the ball serving device 1 is realized through the telescopic motion of the lifting device 23, and the shooting angle of the ball serving device 1 is realized.

The ball serving device 1 comprises a ball serving module 3, a ball inlet module 4 and a spin adjusting module 5, wherein the ball serving module 3 comprises a ball serving barrel 31, a ball striking rod 32, a power storage spring 321, a front positioning block 331, a rear positioning block 332, a locking block 341, a locking rod 342, a locking ring 343, a locking gear 344, a locking gear 345, a locking motor 346 and a launching cavity 311 arranged in the ball serving barrel 31, the ball striking rod 32 is arranged in the launching cavity 311, the locking block 341 is fixed on the ball striking rod 32, the power storage spring 321 is sleeved on the ball striking rod 32, two ends of the power storage spring 321 respectively abut against the rear positioning block 332 and the locking block 341, the front positioning block 331 is fixed on the inner wall of the launching cavity 311, the front positioning block 331 is positioned in front of the locking block 341, a slot 313 communicated with the launching cavity 311 is arranged on the ball serving barrel 31, the slot 313 is arranged along the circumferential direction of the outer wall of the ball serving barrel 31, the locking,

the outer end of the locking rod 342 is fixed on a locking ring 343, the locking ring 343 is fixed with a locking gear ring 344, the locking ring 343 is sleeved on and rotatably mounted on the service barrel 31, the service barrel 31 is fixed with a locking motor 346, a motor shaft of the locking motor 346 is fixed with a locking gear 345, the locking gear 345 is meshed with the locking gear ring 344, the locking gear 345 is driven to rotate by the locking motor 346, the locking gear ring 344 is driven to rotate, and the locking rod 342 rotates in a groove 313 of the locking rod 342, so that the locking rod 342 can be switched between a state of blocking the locking block 341 (shown in (a) in fig. 7) and a state of not blocking the locking block 341 (shown in (b) in fig. 7).

The goal module 4 comprises a goal barrel 41, a propelling barrel 42, a propelling mechanism 43 and a push plate 431, wherein a goal channel for a goal 6 is arranged in the goal barrel 41, the goal channel is communicated to a launching cavity 311 through a goal opening 411 arranged on a service barrel 31, the propelling barrel 42 is slidably arranged in the launching cavity 311, a through hole 421 for penetrating through the batting rod 32 is formed in the middle of the propelling barrel 42, the push plate 431 is fixed on the batting rod 32, the propelling mechanism 43 drives the propelling barrel 42 to move back and forth, and when the propelling barrel 42 moves backwards, the push plate 431 can be pushed, so that the batting rod 32 is driven to move backwards by overcoming the resistance of the power storage spring 321, and when the locking block 341 moves to the locking rod 342, the locking block 341 is blocked by rotating the locking rod 342; originally, the inlet 6 of the ball blocked by the pushing cylinder 42 is not blocked in the process that the pushing cylinder 42 moves backwards, the ball 6 falls into the launching cavity 311 from the ball inlet channel through the inlet 6, then the pushing cylinder 42 moves forwards, the pushing cylinder 42 pushes the ball 6 forwards, and the pushing cylinder 42 blocks the inlet 6 of the ball again.

Referring to fig. 4, the spin adjustment module 5 includes a steering sleeve 51, a rotary pressure lever 52, a core lever 53, a pressure lever spring 524, a core pressure spring 532, a spin sleeve 54, a spin gear 551, a face gear 552, a spin external gear 553, a spin motor gear 554, a spin drive motor 561, a top plate 523, the steering sleeve 51 rotatably mounted at the front end of the barrel 31, the steering sleeve 51 and the barrel 31 having collinear axes, the steering sleeve 51 being rotated relative to the barrel 31 by a steering drive mechanism 56, a spin space 511 for the ball 6 to spin being provided in the steering sleeve 51,

the two rotary pressure rods 52 are slidably mounted on the steering sleeve 51, the rotary pressure rods 52 can linearly move and rotate relative to the steering sleeve 51, the two rotary pressure rods 52 are symmetrically arranged relative to the axis of the steering sleeve 51, the lower ends of the rotary pressure rods 52 are positioned in the spinning space 511, the lower ends of the rotary pressure rods 52 are fixed with press blocks 521 for pressing on the balls 6, the lower ends of the press blocks 521 are fixed with anti-skid pads 522, pressure rod springs 524 for inwards propping against the rotary pressure rods 52 are sleeved on the rotary pressure rods 52,

referring to fig. 5, an inner core rod 53 is slidably mounted in the rotary compression rod 52, the lower end of the inner core rod 53 penetrates through the lower end of the pressing block 521, an outer extension rod 531 is fixed at the upper end of the inner core rod 53, the outer extension rod 531 penetrates out of the rotary compression rod 52 from a compression rod slot 313 formed in the rotary compression rod 52, the outer extension rod 531 abuts against one end of an inner core pressure spring 532, the other end of the inner core pressure spring 532 abuts against the steering sleeve 51, the inner end of the inner core rod 53 is an arc surface, the inner core rod 53 mainly aims to separate the pressing block 521 from the surface of the ball 6 at the moment when the rotary compression rod 52 slides outwards, the two inner core rods 53 can also abut against the two ends of the ball 6, and then the striking rod 32 ejected by the power storage spring 321 impacts on the surface of the ball 6 to quickly.

One of the rotating compression rods 52 is sleeved with a spinning sleeve 54, the spinning sleeve 54 is fixed relative to the rotating compression rod 52 in the circumferential direction and slides in the axial direction, a spinning gear 551 is fixed on the spinning sleeve 54, the spinning gear 551 is meshed with a face gear 552, the face gear 552 is rotatably arranged on the steering sleeve 51,

the spin outer gear 553 is fixed on the end face gear 552, the spin motor gear 554 is fixed on a motor shaft of the spin driving motor 561, the spin motor gear 554 is meshed with the spin outer gear 553, the spin motor gear 554 is driven to rotate by the spin driving motor 561, the spin outer gear 553 is driven to rotate, the end face gear 552 is driven to rotate, the spin gear 551 is driven by the end face gear 552, the spin sleeve 54 is driven to rotate, the rotary pressure rod 52 is driven to rotate, the press block 521 is arranged on the outer wall of the ball 6 under the elastic force of the pressure rod spring 524 by the rotary pressure rod 52, the ball 6 is driven to rotate by the rotation of the rotary pressure rod 52, the spin of the ball 6 is realized, when the two rotary pressure rods 52 are positioned in the vertical direction, the rotary pressure rod 52 rotates in the forward direction, the left-handed rotation of the ball 6 can be realized, the reverse-handed rotation of the ball 6 can be realized, the two rotary pressure rods 52 are positioned in the horizontal direction, the backward rotation of the ball 6 can be realized by the forward rotation of the rotary pressure rods 52, the forward rotation can be realized by the reverse rotation of the rotary pressure rods 52,

the top plates 523 are fixed at the upper ends of the two rotary pressure rods 52, the jacking mechanism 57 for jacking the top plates 523 outwards is installed on the steering sleeve 51, and after the top plates 523 are jacked up, the pressing blocks 521 at the lower ends of the rotary pressure rods 52 are quickly separated from the surface of the ball 6, so that the next quick ball hitting 6 is carried out.

In this embodiment, the service module 3 includes a power storage adjusting mechanism 36, the power storage adjusting mechanism 36 adopts a screw mechanism, and a rear positioning block 332 is fixed on a screw nut of the power storage adjusting mechanism 36, so that the front and rear positions of the rear positioning block 332 are changed by the power storage adjusting mechanism 36, thereby adjusting the degree of compression of the power storage spring 321, and thus adjusting the speed of hitting 6 by the power storage spring 321.

In this embodiment, the rear sliding block 35 is fixed on the ball hitting rod 32, the outer wall of the ball barrel 31 is provided with a sliding groove 312, the rear sliding block 35 is slidably mounted on the sliding groove 312,

in this embodiment, the propelling mechanism 43 adopts a screw rod structure, the connecting plate 22 is fixed on the propelling cylinder 42, the connecting plate 22 penetrates out of the propelling groove 314 formed in the ball-serving cylinder 31, and the connecting plate 22 is connected to a screw rod nut of the propelling mechanism 43, so that the propelling cylinder 42 is driven by the propelling mechanism 43 to move back and forth.

In this embodiment, the steering driving mechanism 56 includes a steering driving motor 561, a steering ring gear 562, and a steering gear 563, the steering driving motor 561 is fixed on the ball-making barrel 31, the steering ring gear 562 is fixed on the steering sleeve 51, the steering ring gear 562 is engaged with the steering gear 563, and a motor shaft of the driving motor 561 fixes the steering gear 563.

In this embodiment, the jacking mechanism 57 includes a cam 571, a cam ring gear 572, a cam driving gear 573, and a cam motor 574, the cam driving gear 573 is fixed to a motor shaft of the cam motor 574, the cam driving gear 573 engages with the cam ring gear 572, the cam 571 and the cam ring gear 572 are fixed, and the cam 571 and the cam ring gear 572 are rotatably mounted on the steering sleeve 51. The cam motor 574 drives the cam driving gear 573 to rotate, and further drives the cam ring gear 572 to rotate, so that the cam 571 is driven to rotate, and the top plate 523 is jacked up by the cam 571.

In this embodiment, the steering sleeve 51 is provided with an installation cavity 512, the inner core pressure spring 532 is disposed in the installation cavity 512, a metal ring 533 is disposed in the installation cavity 512, the metal ring 533 is sleeved on the rotating pressure rod 52, the metal ring 533 is located above the extension rod 531 of the inner core rod 53, and two ends of the inner core pressure spring 532 respectively abut against the upper end of the installation cavity 512 and the metal ring 533.

The above description of the present invention is intended to be illustrative. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.

Claims

1. The utility model provides a multi-functional place training service robot which characterized in that: the automatic ball pitching device comprises a ball pitching device (1), a base (21), a connecting plate (22) and a lifting device (23), wherein the front end of the ball pitching device (1) is hinged to the upper end of the connecting plate (22), the lower end of the connecting plate (22) is fixed on the base (21), the two ends of the lifting device (23) are respectively hinged to the ball pitching device (1) and the base (21), the ball pitching device (1) comprises a ball pitching module (3), a ball feeding module (4) and a self-rotating adjusting module (5), the ball pitching module (3) comprises a ball pitching barrel (31), a ball striking rod (32), a force accumulation spring (321), a front positioning block (331), a rear positioning block (332), a locking block (341), a locking rod (342), a locking ring (343), a locking gear ring (344), a locking gear (345), a locking motor (346) and a launching cavity (311) arranged in the ball pitching barrel (31), and the ball striking rod (32) is arranged in the, a locking block (341) is fixed on the ball striking rod (32), a force storage spring (321) is sleeved on the ball striking rod (32), two ends of the force storage spring (321) respectively abut against a rear positioning block (332) and the locking block (341), a front positioning block (331) is fixed on the inner wall of a launching cavity (311), the front positioning block (331) is positioned in front of the locking block (341), a slot (313) communicated with the launching cavity (311) is formed in the ball serving barrel (31), the slot (313) is arranged along the circumferential direction of the outer wall of the ball serving barrel (31), a locking rod (342) is inserted in the slot (313), the outer end of the locking rod (342) is fixed on the locking ring (343), a locking gear ring (344) is fixed on the locking ring (343), the locking ring (343) is sleeved and rotatably mounted on the ball serving barrel (31), a locking motor (346) is fixed on the ball serving barrel (31), and a locking gear (345) is fixed on a motor shaft of the locking motor (346), the locking gear (345) is meshed with the locking gear ring (344), the goal module (4) comprises a goal barrel (41), a pushing barrel (42), a pushing mechanism (43) and a push plate (431), a goal channel for a goal (6) is arranged in the goal barrel (41), the goal channel is communicated to a launching cavity (311) through a goal (6) opening formed in a ball serving barrel (31), the pushing barrel (42) is slidably mounted in the launching cavity (311), a through hole (421) for the goal rod (32) to penetrate through is formed in the middle of the pushing barrel (42), the push plate (431) is fixed on the goal rod (32), the pushing mechanism (43) drives the pushing barrel (42) to move back and forth, the spin adjusting module (5) comprises a steering sleeve (51), a rotating press rod (52), an inner core rod (53), a press rod spring (524), an inner core press spring (532), The self-rotating sleeve (54), the self-rotating gear (551), the face gear (552), the self-rotating outer gear ring (553), the self-rotating motor gear (554), the self-rotating drive motor (561), the top plate (523) and the steering sleeve (51) are rotatably arranged at the front end of the ball sending barrel (31), the axes of the steering sleeve (51) and the ball sending barrel (31) are arranged in a collinear way, the steering sleeve (51) realizes that the steering sleeve (51) rotates relative to the ball sending barrel (31) through a steering drive mechanism (56), a self-rotating space (511) for the self-rotation of balls (6) is arranged in the steering sleeve (51), the two rotating compression rods (52) are slidably arranged on the steering sleeve (51), the rotating compression rods (52) can linearly move and rotate relative to the steering sleeve (51), the two rotating compression rods (52) are symmetrically arranged relative to the axis of the steering sleeve (51), the lower ends of the rotating compression rods (52) are positioned in the, a pressing block (521) used for pressing the ball (6) is fixed at the lower end of the rotary pressing rod (52), an anti-skid pad (522) is fixed at the lower end of the pressing block (521), a pressing rod spring (524) used for inwards propping against the rotary pressing rod (52) is sleeved on the rotary pressing rod (52), an inner core rod (53) is arranged in the rotary pressing rod (52) in a sliding mode, the lower end of the inner core rod (53) penetrates out of the lower end of the pressing block (521), an outer extension rod (531) is fixed at the upper end of the inner core rod (53), the outer extension rod (531) penetrates out of the rotary pressing rod (52) from a pressing rod groove (313) formed in the rotary pressing rod (52), the outer extension rod (531) props against one end of an inner core pressure spring (532), the other end of the inner core pressure spring (532) props against a steering sleeve (51), the inner end of the inner core rod (53) is in an arc surface, the spinning sleeve (54) is fixed in the circumferential direction and slides in the axial direction relative to the rotating compression rods (52), a spinning gear (551) is fixed on the spinning sleeve (54), the spinning gear (551) is meshed with a face gear (552), the face gear (552) is rotatably installed on a steering sleeve (51), a spinning outer gear ring (553) is fixed on the face gear (552), a spinning motor gear (554) is fixed on a motor shaft of a spinning driving motor (561), the spinning motor gear (554) is meshed with the spinning outer gear ring (553), top plates (523) are fixed at the upper ends of the two rotating compression rods (52), and a jacking mechanism (57) used for jacking the top plates (523) outwards is installed on the steering sleeve (51).

2. The multi-purpose court training pitching machine of claim 1, wherein: the service module (3) comprises a power accumulation adjusting mechanism (36), the power accumulation adjusting mechanism (36) adopts a screw rod mechanism, and a rear positioning block (332) is fixed on a screw rod nut of the power accumulation adjusting mechanism (36).

3. The multi-purpose court training pitching machine of claim 1, wherein: a rear sliding block (35) is fixed on the ball hitting rod (32), a sliding groove (312) is formed in the outer wall of the ball serving barrel (31), the rear sliding block (35) is slidably mounted on the sliding groove (312),

4. the multi-purpose court training pitching machine of claim 1, wherein: the propelling mechanism (43) adopts a screw rod structure, a connecting plate (22) is fixed on the propelling cylinder (42), the connecting plate (22) penetrates out of a propelling groove (314) formed in the ball-serving cylinder (31), and the connecting plate (22) is connected onto a screw rod nut of the propelling mechanism (43).

5. The multi-purpose court training pitching machine of claim 1, wherein: the steering driving mechanism (56) comprises a steering driving motor (561), a steering gear ring (562) and a steering gear (563), the steering driving motor (561) is fixed on the ball-sending cylinder (31), the steering gear ring (562) is fixed on the steering sleeve (51), the steering gear ring (562) is meshed with the steering gear (563), and the steering gear (563) is fixed on a motor shaft of the driving motor (561).

6. The multi-purpose court training pitching machine of claim 1, wherein: the jacking mechanism (57) comprises a cam (571), a cam ring gear (572), a cam driving gear (573) and a cam motor (574), wherein the cam driving gear (573) is fixed on a motor shaft of the cam motor (574), the cam driving gear (573) is meshed with the cam ring gear (572), the cam (571) and the cam ring gear (572) are fixed, and the cam (571) and the cam ring gear (572) are rotatably mounted on the steering sleeve (51).

7. The multi-purpose court training pitching machine of claim 1, wherein: the steering sleeve (51) is provided with an installation cavity (512), the inner core pressure spring (532) is internally provided with a metal ring (533) in the installation cavity (512), the metal ring (533) is sleeved on the rotary pressure rod (52), the metal ring (533) is positioned above an extension rod (531) of the inner core rod (53), and two ends of the inner core pressure spring (532) are respectively abutted against the upper end of the installation cavity (512) and the metal ring (533).