CN111888745B

CN111888745B - Football shooting device

Info

Publication number: CN111888745B
Application number: CN202010719925.7A
Authority: CN
Inventors: 吴晨刚; 曾川; 单镕; 张誉; 钟煌淦; 刘齐; 邹锋卫; 黄涛; 肖云; 罗振宇
Original assignee: NANCHANG CAMPUS OF JIANGXI UNIVERSITY OF SCIENCE AND TECHNOLOGY
Current assignee: NANCHANG CAMPUS OF JIANGXI UNIVERSITY OF SCIENCE AND TECHNOLOGY
Priority date: 2020-07-23
Filing date: 2020-07-23
Publication date: 2021-07-02
Anticipated expiration: 2040-07-23
Also published as: CN111888745A

Abstract

The invention relates to a football shooting device, which comprises a base, wherein the base is square and horizontally arranged along the length direction, a programmable logic controller is arranged on the base, a plurality of moving wheels are arranged at the bottom of the base, a shell is arranged on the base, a shooting mechanism, a shooting point adjusting mechanism and a spring stretching mechanism are arranged in the shell, a fixed column is fixedly arranged at the left end of the upper surface of the base and is positioned outside the left side of the shell, a positioning groove is arranged at the top end of the fixed column, a football is placed in the positioning groove at the top end of the fixed column, the shooting mechanism is used for beating the football through the spring stretching mechanism under the control of the programmable logic controller so as to realize the shooting action of the football, meanwhile, the hitting mechanism hits the football at different hitting point positions through the hitting point adjusting mechanism, so that the football can shoot at different tracks. The football shooting door device has the advantages of simple structure, convenience and labor saving in operation and high shooting precision.

Description

Football shooting device

Technical Field

The invention relates to a football shooting device.

Background

Soccer may be one of the most popular sports worldwide. Along with the continuous progress of the robot technology, the robot can not be used for dressing football at night. Along with the rapid development of world economy, the scientific and technical level is continuously improved, a high-tech robot football confrontation activity is rapidly developed internationally, and the robot football confrontation activity relates to advanced research and technical fusion in multiple fields of artificial intelligence, intelligent control, robots, communication, sensing and the like, and is an intermediary and a bridge for connecting basic research and practical application.

In recent years, scientific and technological development is rapid, science and technology is applied more and more in football matches, related aspects are wider and wider, and athletes can obtain better scores with the support of technological strength. At present, it is not uncommon that domestic football robots are specially used for accurate shooting to train athletes, and some match-type football robots are common. However, most of these soccer robots are complicated in structure and cumbersome in operation, and the accuracy of shooting is not very high. In order to better improve the training effect of football players, a device capable of realizing accurate shooting is designed to be a problem which needs to be solved urgently at present.

Disclosure of Invention

In view of the above problems in the prior art, a primary object of the present invention is to provide a soccer shooting apparatus with a simple structure, easy and labor-saving operation, and high shooting accuracy.

The technical scheme of the invention is as follows:

a football shooting device comprises a base, wherein the base is square and horizontally arranged along the length direction, a programmable logic controller is arranged on the base, a plurality of movable wheels are arranged at the bottom of the base, a shell is arranged on the base, a shooting mechanism, a shooting point adjusting mechanism and a spring stretching mechanism are arranged in the shell, a fixed column is fixedly arranged at the left end of the upper surface of the base and is positioned outside the left side of the shell, a positioning groove is arranged at the top end of the fixed column, a football is placed in the positioning groove at the top end of the fixed column, the shooting mechanism is controlled by the programmable logic controller to shoot the football through the spring stretching mechanism so as to realize the shooting action of the football, and meanwhile, the shooting mechanism is used for beating the football at different shooting point positions, so that the soccer ball realizes shots of different trajectories, wherein: the batting point adjusting mechanism comprises a bottom plate, the bottom plate is square, the bottom plate is horizontally arranged along the length direction, the bottom plate is arranged above the base through a first supporting shaft and a second supporting shaft, and the bottom plate moves forwards or backwards on the first supporting shaft and the second supporting shaft.

First supporting shaft and second back shaft set up respectively along vertically the left side and the right side of base upper surface, the front end of first supporting shaft and second back shaft is all fixed and is provided with first gyro wheel, just the rear end of first supporting shaft and second back shaft is all fixed and is provided with the second gyro wheel, first supporting shaft and second back shaft pass through respectively first gyro wheel and second gyro wheel are in the upper surface of base is to left or right removal.

The left end of the upper surface of the bottom plate is provided with a rectangular limiting hole, the limiting hole penetrates through the bottom plate, the limiting hole is longitudinally distributed along the length direction, the fixing column is located in the limiting hole, and the width of the limiting hole is larger than the outer diameter of the fixing column.

The ball hitting mechanism comprises a ball hitting rod, a first upright post, a second upright post, a first ball hitting rod support and a spring, the spring is located above the ball hitting rod, the first upright post and the second upright post are respectively and fixedly arranged on the front side of the upper surface of the base plate, a first mounting groove is formed in the first upright post in the vertical direction, a first lead screw is arranged in the first mounting groove, the first lead screw is driven by a first stepping motor arranged at the top end of the first upright post to rotate, the front end of the first ball hitting rod support is rotatably connected with the first lead screw through a first threaded hole, the rear end of the first ball hitting rod support is movably connected with the ball hitting rod through a first fixing ring, the ball hitting rod freely moves in the first fixing ring, and the left end of the ball hitting rod is located on the right side of the football; the fixed setting of second stand is in the rear side of bottom plate upper surface, the second stand is provided with second mounting groove along vertical direction, be provided with the second lead screw in the second mounting groove, the second lead screw is in rotate under the drive of the second step motor that second stand top set up, the cover is equipped with rather than the first slider of matched with on the second lead screw, first slider is located hit the club top, fixedly connected with spring mounting portion on the first slider, the left end of spring is fixed to be set up on the spring mounting portion, the fixed surface that is provided with spring mount on the right-hand member of hitting the club, the right-hand member of spring is fixed to be set up on the spring mount.

The upper surface of base is provided with fixed recess, vertically be provided with first screw rod and second screw rod respectively on left side and right side in the fixed recess, wherein: one end of the first screw rod is connected with a first control motor, a first sliding block matched with the first screw rod is sleeved on the first screw rod, the first sliding block is fixedly arranged on the lower surface of the bottom plate, and the first screw rod is driven by the first control motor to rotate so as to drive the first sliding block to move forwards or backwards; one end of the second screw rod is connected with a second control motor, a second sliding block matched with the second screw rod is sleeved on the second screw rod, the second sliding block is fixedly arranged on the lower surface of the bottom plate, and the second screw rod is driven by the second control motor to rotate so as to drive the second sliding block to move forwards or backwards.

The fixing groove is formed by the inner concave surface of the upper surface of the base, the fixing groove is square, and the fixing groove is longitudinally arranged in the middle of the upper surface of the base along the length direction; the length of the fixed groove is greater than the width of the bottom plate, the lengths of the first screw rod and the second screw rod are equal, and the length of the first screw rod is greater than the width of the bottom plate.

The ball hitting mechanism further comprises a third upright and a second ball hitting rod support, the third upright is fixedly arranged on the front side of the upper surface of the base plate and located on the right side of the first upright, a third mounting groove is formed in the third upright in the vertical direction, a third lead screw is arranged in the third mounting groove and driven by a third stepping motor arranged at the top end of the third upright to rotate, the front end of the second ball hitting rod support is rotatably connected with the third lead screw through a second threaded hole, the rear end of the second ball hitting rod support is movably connected with the ball hitting rod through a second fixing ring, and the ball hitting rod freely moves in the second fixing ring.

The ball hitting mechanism further comprises a first fixing column, a second fixing column, a baffle, a first buffer and a second buffer, wherein: the first fixing column is fixedly arranged on the front side of the upper surface of the bottom plate, and is positioned between the first stand column and the third stand column, a first fixing concave part is arranged in the first fixing column along the vertical direction, a fourth screw rod is arranged in the first fixing concave part, the fourth screw rod rotates under the driving of a fourth stepping motor arranged at the top end of the first fixing column, a fourth sliding block is sleeved on the fourth screw rod, and a first fixing part is fixedly connected to the fourth sliding block; the second fixing column is fixedly arranged on the rear side of the upper surface of the bottom plate and is positioned on the rear side of the second upright column, a second fixing concave part is arranged in the second fixing column along the vertical direction, a fifth screw rod is arranged in the second fixing concave part and is driven by a fifth stepping motor arranged at the bottom end of the second fixing column to rotate, a fifth sliding block is sleeved on the fifth screw rod, and a second fixing part is fixedly connected to the fifth sliding block; the baffle is square, the baffle is longitudinally arranged above the bottom plate along the length direction, a through hole is formed in the baffle, and the ball hitting rod penetrates through the through hole; the left end of the first buffer is fixedly connected with the first fixing part, and the right end of the first buffer is fixedly connected with the front side of the left side wall of the baffle; the left end of the second buffer is fixedly connected with the second fixing part, and the right end of the second buffer is fixedly connected with the rear side of the left side wall of the baffle.

Spring tension mechanism includes first horizontal support pole, second horizontal support pole, first erection column, second erection column, carriage release lever and electro-magnet, wherein: the first mounting column is fixedly arranged on the front side of the upper surface of the bottom plate, a first limiting groove is formed in the first mounting column along the vertical direction, the first horizontal supporting rod is horizontally arranged on the front side above the bottom plate, a first angle adjusting motor is arranged on the front side wall of the first horizontal supporting rod, the first angle adjusting motor is fixedly arranged in the first limiting groove, and the first horizontal supporting rod is driven by the first angle adjusting motor to rotate; the first horizontal supporting rod is provided with a third fixing concave part along the length direction, the third fixing concave part is provided with a sixth screw rod, the sixth screw rod is driven by a sixth stepping motor arranged at the rear end of the first horizontal supporting rod to rotate, and the front end of the moving rod is sleeved on the sixth screw rod through a third threaded hole; the second mounting column is fixedly arranged on the rear side of the upper surface of the bottom plate, a second limiting groove is formed in the second mounting column along the vertical direction, the second horizontal supporting rod is horizontally arranged on the rear side above the bottom plate, a second angle adjusting motor is arranged on the rear side wall of the second horizontal supporting rod, the second angle adjusting motor is fixedly arranged in the second limiting groove, and the second horizontal supporting rod is driven by the second angle adjusting motor to rotate; a fourth fixing concave part is arranged on the second horizontal supporting rod along the length direction of the second horizontal supporting rod, a seventh lead screw is arranged on the fourth fixing concave part, the seventh lead screw is driven by a seventh stepping motor arranged at the rear end of the second horizontal supporting rod to rotate, and the rear end of the moving rod is sleeved on the seventh lead screw through a fourth threaded hole; the left side wall of the movable rod is provided with a tension sensor, the left side of the tension sensor is provided with an electromagnet, and the electromagnet is used for adsorbing the right end of the batting rod.

The left end of bottom plate upper surface is provided with football hoist mechanism, football hoist mechanism includes first fixed plate, connecting plate and second fixed plate, wherein:

the first fixing plate and the second fixing plate are both vertically arranged, the bottom end of the first fixing plate is fixedly arranged on the front side of the upper surface of the connecting plate, the bottom end of the second fixing plate is fixedly arranged on the rear side of the upper surface of the connecting plate, the connecting plate is fixedly arranged at the left end of the upper surface of the bottom plate, a positioning hole is formed in the position, located in the limiting hole, of the connecting plate, and the upper end of the fixing column penetrates through the limiting hole and the positioning hole in sequence and extends upwards;

a first fixing groove is formed in the rear side wall of the first fixing plate, an eighth lead screw is arranged in the first fixing groove, the eighth lead screw is driven by an eighth stepping motor arranged at the top of the first fixing plate to rotate, an eighth sliding block is sleeved on the eighth lead screw, a first fixing rod is fixedly arranged on the rear side face of the eighth sliding block, and a first clamping part is arranged at one end, away from the eighth sliding block, of the first fixing rod;

a second fixing groove is formed in the front side wall of the second fixing plate, a ninth lead screw is arranged in the second fixing groove, the ninth lead screw is driven by a ninth stepping motor arranged at the top of the second fixing plate to rotate, a ninth slider is sleeved on the ninth lead screw, a second fixing rod is fixedly arranged on the front side surface of the ninth slider, and a second clamping part is arranged at one end, far away from the ninth slider, of the second fixing rod;

first clamping part and second clamping part form football clamping part, can with through above-mentioned football clamping part the football presss from both sides and fixes.

The invention has the following advantages and beneficial effects: the football shooting device provided by the embodiment of the invention comprises a base, the shape of the base is square, the base is horizontally arranged along the length direction, the programmable logic controller is arranged on the base, a plurality of moving wheels are arranged at the bottom of the base, the base is provided with a shell, a ball hitting mechanism, a ball hitting point adjusting mechanism and a spring stretching mechanism are arranged in the shell, a fixed column is fixedly arranged at the left end of the upper surface of the base and is positioned outside the left side of the shell, a positioning groove is arranged at the top end of the fixed column, a football is placed in the positioning groove at the top end of the fixed column, the ball hitting mechanism hits the football through the spring stretching mechanism under the control of the programmable logic controller so as to realize the shooting action of the football, meanwhile, the hitting mechanism hits the football at different hitting point positions through the hitting point adjusting mechanism, so that the football can shoot at different tracks; through the design, the football shooting device provided by the embodiment of the invention has the characteristics of simple structure, convenience and labor saving in operation and high shooting precision.

Drawings

Fig. 1 is a schematic perspective view of a soccer shooting apparatus according to the present invention.

Fig. 2 is a schematic structural view of the base and the bottom plate provided by the present invention.

Fig. 3 is a schematic structural diagram of the bottom plate, the first screw, the second screw, the first support shaft, and the second support shaft provided by the present invention.

Fig. 4 is a schematic perspective view of a soccer lift mechanism according to the present invention.

Fig. 5 is a schematic perspective view of a control panel according to the present invention.

Fig. 6 is a schematic perspective view of a baffle according to the present invention.

Fig. 7 is a schematic view of a one-directional perspective structure of a ball striking mechanism of the present invention in cooperation with a sole.

Fig. 8 is a schematic perspective view of the spring stretching mechanism provided by the present invention and a bottom plate.

Fig. 9 is a schematic structural diagram of a spring tension mechanism provided in the present invention.

Fig. 10 is a perspective view of another embodiment of the striking mechanism of the present invention engaged with a sole.

Fig. 11 is a schematic perspective view of a ball striking bar of the present invention engaged with a first ball striking bar support and a second ball striking bar support.

Fig. 12 is a schematic structural view of the cooperation of the ball striking bar, the second upright post, the second fixed post, the spring and the second bumper according to the present invention.

Fig. 13 is a schematic structural view of the cooperation of the ball striking rod, the first upright post, the first fixed post, the third upright post and the spring provided by the invention.

Fig. 14 is a schematic cross-sectional structural view of a second pillar provided by the present invention.

Fig. 15 is a schematic cross-sectional structure view of a second fixing column according to the present invention.

Fig. 16 is a perspective view of the ball striking mechanism, the spring extension mechanism, and the sole plate of the present invention.

Detailed Description

The invention will be further described with reference to the drawings and specific examples.

As shown in fig. 1 to 16: the football shooting device provided by the embodiment of the invention comprises a base 100, wherein the base 100 is square, the base 100 is horizontally arranged along the length direction, a programmable logic controller 101 is arranged on the base 100, a plurality of moving wheels 102 are arranged at the bottom of the base 100, a shell 200 is arranged on the base 100, the left end of the shell 200 is open, a ball hitting mechanism, a ball hitting point adjusting mechanism and a spring stretching mechanism are arranged in the shell 200, a fixed column 103 is fixedly arranged at the left end of the upper surface of the base 100, the fixed column 103 is positioned outside the left side of the shell 200, a positioning groove 104 is arranged at the top end of the fixed column 103, a football 105 is placed in the positioning groove 104 at the top end of the fixed column 103, the ball hitting mechanism hits the football 105 through the spring stretching mechanism under the control of the programmable logic controller 101 so as to realize the shooting action of the football 105, and meanwhile, through the ball hitting point, causing the striking mechanism to strike the ball 105 at different striking point locations so that the ball realizes shots of different trajectories, wherein:

the striking point adjustment mechanism includes a sole plate 106, the sole plate 106 is square in shape, the sole plate 106 is horizontally disposed in a length direction, the sole plate 106 is disposed above the base 100 through a first support shaft 107 and a second support shaft 108, and the sole plate 106 moves forward or backward on the first support shaft 107 and the second support shaft 108.

The first support shaft 107 and the second support shaft 108 are respectively arranged on the left side and the right side of the upper surface of the base 100 along the longitudinal direction, the front ends of the first support shaft 107 and the second support shaft 108 are both fixedly provided with a first roller 109, the rear ends of the first support shaft 107 and the second support shaft 108 are both fixedly provided with a second roller 110, and the first support shaft 107 and the second support shaft 108 are respectively moved leftwards or rightwards on the upper surface of the base 100 through the first roller 109 and the second roller 110.

The left end of the upper surface of the bottom plate 100 is provided with a rectangular limiting hole 111, the limiting hole 111 penetrates through the bottom plate 100, the limiting hole 111 is longitudinally distributed along the length direction, the fixing column 103 is located in the limiting hole 111, and the width of the limiting hole 111 is larger than the outer diameter of the fixing column 103.

The ball hitting mechanism comprises a ball hitting rod 120, a first upright post 121, a second upright post 122, a first ball hitting rod support 127 and a spring 123, wherein the spring 123 is located above the ball hitting rod 120, the first upright post 121 and the second upright post 122 are respectively and fixedly arranged on the front side of the upper surface of the base plate 106, a first mounting groove 124 is vertically formed in the first upright post 121, a first screw rod 125 is arranged in the first mounting groove 124, the first screw rod 125 is driven to rotate by a first stepping motor 126 arranged at the top end of the first upright post 121, the front end of the first ball hitting rod support 127 is rotatably connected with the first screw rod 125 through a first threaded hole 128, the rear end of the first ball hitting rod support 127 is movably connected with the ball hitting rod 120 through a first fixing ring 129, the ball hitting rod 120 freely moves in the first fixing ring 129, and the left end of the ball hitting rod 120 is located on the right side of the ball hitting rod 105;

second upright 122 is fixedly arranged at the rear side of the upper surface of 106, second upright 122 is provided with a second mounting groove 134 along the vertical direction, a second lead screw 135 is arranged in second mounting groove 134, second lead screw 135 is driven by a second stepping motor 136 arranged at the top end of second upright 122 to rotate, a first sliding block 137 matched with second lead screw 135 is sleeved on second lead screw 135, first sliding block 137 is positioned above ball hitting rod 120, a spring mounting part 130 is fixedly connected to first sliding block 137, the left end of spring 123 is fixedly arranged on spring mounting part 130, a spring fixing frame 131 is fixedly arranged on the upper surface of the right end of ball hitting rod 120, and the right end of spring 123 is fixedly arranged on spring fixing frame 131.

The upper surface of the base 100 is provided with a fixing groove 140, and a first screw 132 and a second screw 133 are respectively and longitudinally arranged on the left side and the right side of the fixing groove 140, wherein: one end of the first screw 132 is connected with a first control motor 141, the first screw 132 is provided with a first sliding block 142 matched with the first screw 132, the first sliding block 142 is fixedly arranged on the lower surface of the base 106, and the first screw 132 is driven by the first control motor 141 to rotate so as to drive the first sliding block 142 to move forwards or backwards; one end of the second screw 133 is connected with a second control motor 143, the second screw 133 is sleeved with a second sliding block 144 matched with the second screw, the second sliding block 144 is fixedly arranged on the lower surface of the bottom plate 106, and the second screw 133 is driven by the second control motor 143 to rotate so as to drive the second sliding block 144 to move forwards or backwards.

The fixing groove 140 is formed by recessing the upper surface of the base 100, the fixing groove 140 is square, and the fixing groove 140 is longitudinally arranged at the middle position of the upper surface of the base 100 along the length direction; the length of the fixing groove 140 is greater than the width of the bottom plate 106, the lengths of the first screw 132 and the second screw 133 are equal, and the length of the first screw 132 is greater than the width of the bottom plate 106.

The ball striking mechanism further comprises a third upright 150 and a second ball striking rod support 151, the third upright 150 is fixedly arranged on the front side of the upper surface of the base plate 106 and is positioned on the right side of the first upright 121, a third mounting groove 153 is arranged in the third upright 150 along the vertical direction, a third screw rod 154 is arranged in the third mounting groove 153, the third screw rod 154 is driven to rotate by a third stepping motor 155 arranged at the top end of the third upright 150, the front end of the second ball striking rod support 151 is rotatably connected with the third screw rod 154 through a second threaded hole 156, the rear end of the second ball striking rod support 151 is movably connected with the ball striking rod 120 through a second fixing ring 157, and the ball striking rod 120 freely moves in the second fixing ring 157.

The ball striking mechanism further comprises a first anchor 161, a second anchor 162, a baffle 167, a first bumper 168, and a second bumper 169, wherein:

the first fixing column 161 is fixedly arranged on the front side of the upper surface of the bottom plate 106, the first fixing column 161 is located between the first upright column 121 and the third upright column 150, a first fixing concave portion 162 is arranged in the first fixing column 161 along the vertical direction, a fourth screw rod 163 is arranged in the first fixing concave portion 162, the fourth screw rod 163 rotates under the driving of a fourth stepping motor 164 arranged at the top end of the first fixing column 161, a fourth sliding block 165 is sleeved on the fourth screw rod 163, and a first fixing portion 166 is fixedly connected to the fourth sliding block 165;

the second fixing column 162 is fixedly arranged on the rear side of the upper surface of the bottom plate 106, the second fixing column 162 is located on the rear side of the second upright column 122, a second fixing concave portion 170 is arranged in the second fixing column 162 along the vertical direction, a fifth screw rod 171 is arranged in the second fixing concave portion 170, the fifth screw rod 171 is driven by a fifth stepping motor 172 arranged at the bottom end of the second fixing column 162 to rotate, a fifth slider 173 is sleeved on the fifth screw rod 171, and a second fixing portion 174 is fixedly connected to the fifth slider 173;

the baffle 167 is square, the baffle 167 is longitudinally arranged above the bottom plate 106 along the length direction, a through hole 175 is arranged on the baffle 167, and the ball hitting rod 120 penetrates through the through hole 175; the left end of the first buffer 168 is fixedly connected with the first fixing portion 166, and the right end of the first buffer 168 is fixedly connected with the front side of the left side wall of the baffle 167; the left end of the second buffer 169 is fixedly connected to the second fixing portion 174, and the right end of the second buffer 169 is fixedly connected to the rear side of the left side wall of the baffle 167. Through the design, namely the first buffer 168 and the second buffer 169 are arranged, the baffle 167 can be protected to a certain degree, the spring 1123 and the ball striking rod 120 are prevented from causing large impact on the baffle 167 in the rebound process after the spring 123 is stretched, and therefore the baffle 167 is protected to a certain degree, safety and reliability are improved, and the purpose of prolonging the service life of the baffle 167 is achieved.

The upper end of the first fixing ring 129 is fixedly arranged on the lower surface of the first batting club support 127, and the first fixing ring 129 and the first batting club support 127 are integrally formed; the upper end of the second fixing ring 157 is fixedly disposed on the lower surface of the second ball striking bar holder 151, and the second fixing ring 157 and the second ball striking bar holder 151 are integrally formed. Through the design, namely, the first fixing ring 129 is fixedly arranged on the lower surface of the first batting club support 127 and integrally formed with the first batting club support 127, so that the firmness of the combination of the first fixing ring 129 and the first batting club support 151 is improved, the first batting club support 127 ascends and descends under the rotation of the first screw rod 125, and then the first fixing ring 129 is driven to ascend and descend so as to drive the batting club to ascend and descend; meanwhile, the second fixing ring 157 is fixedly arranged on the lower surface of the second ball striking rod support 151 and integrally formed with the second ball striking rod support, so that the firmness of the second fixing ring 157 combined with the second ball striking rod support 151 is improved, the second ball striking rod support 151 ascends and descends under the rotation of the third screw rod 154, and then the second fixing ring 157 is driven to ascend and descend so as to drive the ball striking rod to ascend and descend.

The spring stretching mechanism comprises a first horizontal supporting rod 181, a second horizontal supporting rod 182, a first mounting column 183, a second mounting column 184, a moving rod 185 and an electromagnet 186, wherein:

the first mounting column 183 is fixedly arranged on the front side of the upper surface of the bottom plate 106, a first limiting groove 187 is vertically arranged on the first mounting column 183, the first horizontal support rod 181 is horizontally arranged on the front side above the bottom plate 106, a first angle adjusting motor 188 is arranged on the front side wall of the first horizontal support rod 181, the first angle adjusting motor 188 is fixedly arranged in the first limiting groove 187, and the first horizontal support rod 181 is driven by the first angle adjusting motor 188 to rotate;

the first horizontal supporting rod 181 is provided with a third fixing concave part 189 along the length direction thereof, a sixth screw 190 is arranged in the third fixing concave part 189, the sixth screw 190 is driven by a sixth stepping motor 191 arranged at the rear end of the first horizontal supporting rod 181 to rotate, and the front end of the moving rod 185 is sleeved on the sixth screw 190 through a third threaded hole (not shown in the figure);

the second mounting column 184 is fixedly arranged at the rear side of the upper surface of the bottom plate 106, the second mounting column 184 is provided with a second limiting groove 191 along the vertical direction, the second horizontal supporting rod 182 is horizontally arranged at the rear side above the bottom plate 106, the rear side wall of the second horizontal supporting rod 182 is provided with a second angle adjusting motor 193, the second angle adjusting motor 193 is fixedly arranged in the second limiting groove 191, and the second horizontal supporting rod 182 rotates under the driving of the second angle adjusting motor 193;

the second horizontal support bar 182 is provided with a fourth fixing concave part 194 along the length direction thereof, a seventh screw rod 195 is arranged in the fourth fixing concave part 194, the seventh screw rod 195 is driven by a seventh stepping motor 196 arranged at the rear end of the second horizontal support bar 182 to rotate, and the rear end of the moving rod 185 is sleeved on the seventh screw rod 195 through a fourth threaded hole (not shown in the figure);

the left side wall of the moving bar 185 is provided with a tension sensor 192, the left side of the tension sensor 192 is provided with an electromagnet 186, and the electromagnet 186 is used for absorbing the right end of the batting bar 120. Since the ball striking bar 120 is made of a ferrous material, when the electromagnet 186 is energized and the movable shaft 185 approaches the right end of the ball striking bar 120, the electromagnet 186 attracts the right end of the ball striking bar 120.

The right side of the top of the casing 200 is fixedly provided with a ball storage frame 300, the upper end of the ball storage frame 300 is opened, and the football 105 is stored in the ball storage area inside the ball storage frame 300 through the opening. Through the design, the ball storage frame 300 is arranged on the right side of the top of the shell 200, and the ball storage frame 300 is used for storing football and is convenient to use.

In the football shooting apparatus provided in the embodiment of the present invention, the left end of the upper surface of the base plate 106 is provided with a football lifting mechanism, the football lifting mechanism includes a first fixing plate 211, a connecting plate 210 and a second fixing plate 212, wherein:

the first fixing plate 211 and the second fixing plate 212 are both vertically arranged, the bottom end of the first fixing plate 211 is fixedly arranged on the front side of the upper surface of the connecting plate 210, the bottom end of the second fixing plate 212 is fixedly arranged on the rear side of the upper surface of the connecting plate 210, the connecting plate 210 is fixedly arranged on the left end of the upper surface of the base plate 106, a positioning hole 213 is arranged at the position of the limiting hole 111 on the connecting plate 210, and the upper end of the fixing column 103 sequentially penetrates through the limiting hole 111 and the positioning hole 213 and extends upwards;

a first fixing groove (not shown in the figure) is formed in the rear side wall of the first fixing plate 211, an eighth lead screw (not shown in the figure) is arranged in the first fixing groove, the eighth lead screw is driven by an eighth stepping motor 214 arranged at the top of the first fixing plate to rotate, an eighth sliding block (not shown in the figure) is sleeved on the eighth lead screw, a first fixing rod 215 is fixedly arranged on the rear side surface of the eighth sliding block, and a first clamping part 216 is arranged at one end, away from the eighth sliding block, of the first fixing rod 215;

a second fixing groove 217 is formed in the front side wall of the second fixing plate 212, a ninth screw rod 218 is arranged in the second fixing groove 217, the ninth screw rod 218 is driven by a ninth stepping motor 219 arranged at the top of the second fixing plate 212 to rotate, a ninth slider 220 is sleeved on the ninth screw rod 218, a second fixing rod 221 is fixedly arranged on the front side surface of the ninth slider 220, and a second clamping portion 222 is arranged at one end, far away from the ninth slider 220, of the second fixing rod 221;

first and second

gripping portions

216 and 222 form a football gripping portion by which football 105 may be gripped and secured. Meanwhile, the eighth stepping motor 214 and the ninth stepping motor 219 are electrically connected to the plc 101, and the eighth stepping motor 214 and the ninth stepping motor 219 are controlled by the plc 101 to be turned on and off, and lift the soccer by the soccer gripping portion, so that the soccer can be shot in different trajectories.

Meanwhile, in order to facilitate the operation, a control panel 201 is further provided, the control panel 201 is fixedly arranged on the left side of the front side of the casing 200, the control panel 201 is electrically connected with the programmable logic controller 101, and three control buttons are provided on the controller panel 201, which are respectively a first control button 202, a second control button 203 and a third control button 204, and the three control buttons respectively control the ball striking rod 120 to strike different track balls, that is, three different track balls, namely a straight line ball, a line throwing ball and an arc line ball, specifically:

when the first control button 202 is pressed, the football shooting device hits a straight ball, the spring stretching mechanism adsorbs the right end of the batting rod 120 through the electromagnet 186 at the moment, so that the batting rod 120 moves rightwards, and the stretching spring 123 stretches the football 105 through the batting rod 120 in the process of moving the batting rod 120 rightwards, so that the straight ball is formed.

When the second control button 203 is pressed, the soccer shooting apparatus hits a cast ball; at the moment, the football shooting device adjusts the shooting angle through the football lifting mechanism, the shooting mechanism and the spring pulling mechanism, so that the football and the ground are shot at a certain angle.

When the third control button 204 is pressed, the soccer shooting apparatus hits a curved ball; at this moment, the football shooting device not only needs to adjust the angle between the football shooting time and the ground, but also needs to adjust the whole device left and right through the ball hitting point adjusting mechanism, and the football is still.

The football shooting device provided by the embodiment of the invention further comprises a laser sensor 114, wherein the laser sensor 114 is arranged at the left end of the upper surface of the bottom plate 106 and is positioned at the edge of the left side wall of the limiting hole 111, and the laser sensor 114 is used for detecting the distance between the football shooting device provided by the embodiment of the invention and a ball frame.

The football shooting device provided by the embodiment of the invention, wherein the model of the tension sensor 192 is 'high-precision GJBLS-I', the measuring range is 0-300kg, and the working voltage is 12-24V; the models of the sixth stepping motor 191 and the seventh stepping motor 196 are LN57S276A-1024, the static torque is 160N.cm, and the stepping angle is 1.8 degrees; the maximum attraction force of the electromagnet is 300kg, and the working voltage is 24V.

The football shooting device provided by the embodiment of the invention has the working principle that:

firstly, the laser sensor 114 detects the distance between the football shooting device provided by the embodiment of the invention and a ball frame and forms detection data, and simultaneously sends the detection data to the programmable logic controller 101, and the programmable logic controller 101 calculates the force required by the football 105 to hit the ball frame according to the detection data and by a formula;

then the programmable logic controller 101 controls the electromagnet 186 in the spring stretching mechanism to be close to the right end of the ball striking rod 120, and meanwhile, the electromagnet 186 is electrified; when the electromagnet 186 is attracted to the right end of the batting rod 120, the sixth stepping motor 191 and the seventh stepping motor 196 drive the electromagnet 186 to move reversely through the movable rod 185; during this time, the tension sensor 192 always detects the tension value of the spring 168, and when the detected tension value is smaller than the force required for hitting the ball, the sixth stepping motor 191 always drives the sixth lead screw 190 to keep rotating, and the seventh stepping motor 196 always drives the seventh lead screw 195 to keep rotating, and the electromagnet 186 also keeps being energized. When the tension value is greater than the force required to hit the ball, the electromagnet 186 is de-energized, and the sixth lead screw 190 and the seventh lead screw 195 also stop rotating. At this time, the ball striking rod 120 is struck under the elastic force of the spring 168, and strikes the soccer ball 105.

When the football shooting device provided by the embodiment of the invention needs to hit a throwing ball, the football lifting mechanism firstly lifts the football 105 to a certain height through the football clamping part, then the shooting mechanism drives the first screw rod 125 through the first stepping motor 126, drives the second screw rod 135 through the second stepping motor 136, drives the third screw rod 154 through the third stepping motor 155, drives the fourth screw rod 163 through the fourth stepping motor 164, and drives the fifth screw rod 171 through the fifth stepping motor 172, so as to adjust the angle of the shooting rod 120; then the angle of the spring stretching mechanism is adjusted through the first angle adjusting motor 188 and the second angle adjusting motor 193, so that the spring stretching mechanism and the ball hitting mechanism keep the same angle; finally, the ball striking rod 120 is stretched by the spring stretching mechanism to realize the ball striking action.

When the football shooting device provided by the embodiment of the invention needs to hit arc line balls, the left and right hitting points need to be adjusted as well as the angle of hitting the ball; at this time, the programmable logic controller 101 drives the first screw 132 by controlling the first control motor 141 in the fixing groove 140 of the base 100 and drives the second screw 133 by controlling the second control motor 143, so that the bottom plate 106 is moved forward or backward as a whole, and the soccer ball is fixed.

According to the football shooting device provided by the embodiment of the invention, the track of a football in the air can be roughly divided into three tracks, and the corresponding device also has three working modes. The mode of operation, i.e. horizontal ball trajectory, is here for the sake of simplicity assumed to be a constant force against the ball during horizontal motion.

Assuming that the ball is subjected to constant resistance f equal to 0.5N in the moving process, the moving distance after the ball is hit is S, the mass of the ball is m equal to 0.5kg, and the initial speed after the ball is hit is V₀When the elastic coefficient of the spring is K9000N/m and the extension length of the spring is X, the magnitude of the elastic force F of the spring is as follows:

F＝KX (4-1)。

the elastic force acting formula is as follows:

assuming that the whole process has no energy loss, the elastic acting is completely converted into the kinetic energy of the football, and the following steps are provided:

if the kinetic energy of the football is totally consumed by the resistance in the process of the football, the football has the advantages that

In summary, the relationship between the football distance and the required spring force can be calculated as follows:

the parameters are substituted, and through preliminary calculation, 300N is needed for hitting the ball to a 10-meter long distance through a horizontal track. Since the whole calculation process is an ideal model, the energy consumption in some aspects such as air resistance and frictional resistance is neglected. The magnitude of the spring force of the actual hitting ball should be larger than this.

The horizontal ball hitting process is relatively simple, and mainly comprises the steps of collecting distance information, processing the collected distance information by the programmable logic controller, and converting distance data into the size of spring elasticity required by hitting balls through a formula (4-5). Meanwhile, the programmable logic controller also continuously collects the tension information of the tension sensor and compares the collected tension information with the expected tension information obtained through calculation of the formula (4-5). And then the programmable logic controller controls the electromagnet to be electrified and simultaneously drives the sixth stepping motor and the seventh stepping motor to rotate so as to pull the electromagnet to move and stretch the spring.

Batting mode two

The second mode is to make the football and the ground in a certain degreeAnd (5) striking at an angle. In this mode of operation, the position of the ball striking shaft is angularly adjusted relative to mode one, and the amount of force required to strike the same target (i.e., the frame) is also different from the amount of force required to move the device in mode one. In this mode of operation, we take the ideal state, again to simplify the calculation, ignoring the effect of air resistance on the system. According to the study of Haohong in the context of its flight range of projectile with air resistance, we can know that if the air resistance is not considered, the trajectory of the projectile is parabolic and its flight range d₀Is composed of

Wherein v is₀Is the initial velocity of the football, g is the acceleration of gravity, and alpha is the angle between the football and the horizontal ground when just shooting. From our analysis in working mode one, we can see that

The relationship between the force required to strike the ball and the range is obtained by substituting the formula for the range:

the distance value of the hitting target can be collected by the laser ranging sensor, and then the distance value of the target is converted into the force required by the expected hitting through the formula (4-8).

In the design process of the device, in order to simplify the model, air resistance is ignored, and an included angle between the initial speed of the football and the ground is set to be 15 degrees when the throwing ball is hit. Therefore, when the program design is carried out, the included angle between the ball striking rod and the ground is controlled to be 15 degrees only by the motor. The initial calculation required a spring force of 424N to hit the ball through the parabola ball trajectory to a distance of 10 meters.

In order to realize the ball hitting simulation in the mode, distance information is collected through a laser ranging sensor, then data are transmitted back to a programmable logic controller for processing, and then the force needed by the ball hitting is calculated by using a formula between the distance and the force in the second working mode. And finally, controlling elements such as a sixth stepping motor, a seventh stepping motor, an electromagnet and the like by the programmable logic controller to adjust the angle and realize the ball hitting action.

Batting mode three

The third batting working mode and the former two working modes have certain contact ratio in the aspect of control, and the shooting of the arc line ball can be realized on the basis of the former two working modes. Compared with the second working mode, the third working mode is to control the corresponding motor by using the programmable logic controller to enable the batting rod to move left and right, so that the batting position of the batting rod is not positioned in the center of the football. Thereby realizing the striking of the arc line ball.

Claims

1. A soccer shooting apparatus, comprising: the football shooting device comprises a base, wherein the base is square and horizontally arranged along the length direction, a programmable logic controller is arranged on the base, a plurality of moving wheels are arranged at the bottom of the base, a shell is arranged on the base, a shooting mechanism, a shooting point adjusting mechanism and a spring stretching mechanism are arranged in the shell, a fixed column is fixedly arranged at the left end of the upper surface of the base and is positioned outside the left side of the shell, a positioning groove is formed in the top end of the fixed column, a football is placed in the positioning groove at the top end of the fixed column, the shooting mechanism is used for shooting the football under the control of the programmable logic controller through the spring stretching mechanism so as to realize the shooting action of the football, and meanwhile, the shooting mechanism is used for shooting the football at different shooting point positions through the shooting point adjusting mechanism, so that the soccer ball realizes shots of different trajectories, wherein:

the ball hitting point adjusting mechanism comprises a bottom plate, the bottom plate is square and horizontally arranged along the length direction, the bottom plate is arranged above the base through a first supporting shaft and a second supporting shaft, and the bottom plate moves forwards or backwards on the first supporting shaft and the second supporting shaft;

the ball hitting mechanism comprises a ball hitting rod, a first upright post, a second upright post, a first ball hitting rod support and a spring, the spring is located above the ball hitting rod, the first upright post and the second upright post are respectively and fixedly arranged on the front side of the upper surface of the base plate, a first mounting groove is formed in the first upright post in the vertical direction, a first lead screw is arranged in the first mounting groove, the first lead screw is driven by a first stepping motor arranged at the top end of the first upright post to rotate, the front end of the first ball hitting rod support is rotatably connected with the first lead screw through a first threaded hole, the rear end of the first ball hitting rod support is movably connected with the ball hitting rod through a first fixing ring, the ball hitting rod freely moves in the first fixing ring, and the left end of the ball hitting rod is located on the right side of the football;

the fixed setting of second stand is in the rear side of bottom plate upper surface, the second stand is provided with second mounting groove along vertical direction, be provided with the second lead screw in the second mounting groove, the second lead screw is in rotate under the drive of the second step motor that second stand top set up, the cover is equipped with rather than the first slider of matched with on the second lead screw, first slider is located hit the club top, fixedly connected with spring mounting portion on the first slider, the left end of spring is fixed to be set up on the spring mounting portion, the fixed surface that is provided with spring mount on the right-hand member of hitting the club, the right-hand member of spring is fixed to be set up on the spring mount.

2. A soccer shooting device as claimed in claim 1, wherein the first and second support shafts are respectively provided at left and right sides of the upper surface of the base in a longitudinal direction, a first roller is fixedly provided at front ends of the first and second support shafts, a second roller is fixedly provided at rear ends of the first and second support shafts, and the first and second support shafts are respectively moved leftward or rightward on the upper surface of the base by the first and second rollers.

3. The device as claimed in claim 1, wherein a rectangular limiting hole is formed at a left end of the upper surface of the base plate, the limiting hole penetrates through the base plate, the limiting holes are longitudinally distributed along a length direction, the fixing posts are located in the limiting hole, and a width of the limiting hole is greater than an outer diameter of the fixing posts.

4. A soccer shooting device as claimed in any one of claims 1 to 3, wherein the upper surface of said base is provided with a fixing groove in which a first screw and a second screw are longitudinally provided at left and right sides, respectively, wherein:

one end of the first screw rod is connected with a first control motor, a first sliding block matched with the first screw rod is sleeved on the first screw rod, the first sliding block is fixedly arranged on the lower surface of the bottom plate, and the first screw rod is driven by the first control motor to rotate so as to drive the first sliding block to move forwards or backwards;

one end of the second screw rod is connected with a second control motor, a second sliding block matched with the second screw rod is sleeved on the second screw rod, the second sliding block is fixedly arranged on the lower surface of the bottom plate, and the second screw rod is driven by the second control motor to rotate so as to drive the second sliding block to move forwards or backwards.

5. The soccer ball shooting device of claim 4, wherein the fixing groove is formed by an upper surface of the base being concaved, the fixing groove having a square shape, and the fixing groove being longitudinally provided at a middle position of the upper surface of the base in a length direction;

the length of the fixed groove is greater than the width of the bottom plate, the lengths of the first screw rod and the second screw rod are equal, and the length of the first screw rod is greater than the width of the bottom plate.

6. The device of claim 1, wherein the hitting mechanism further includes a third pillar and a second ball striking rod support, the third pillar is fixedly disposed at a front side of the upper surface of the base plate and located at a right side of the first pillar, a third mounting groove is vertically disposed in the third pillar, a third screw rod is disposed in the third mounting groove, the third screw rod is driven by a third stepping motor disposed at a top end of the third pillar to rotate, a front end of the second ball striking rod support is rotatably connected to the third screw rod through a second screw hole, a rear end of the second ball striking rod support is movably connected to the ball striking rod through a second fixing ring, and the ball striking rod is freely movable in the second fixing ring.

7. The device of claim 6, wherein the striking mechanism further comprises a first anchor, a second anchor, a stop, a first bumper, and a second bumper, wherein:

the first fixing column is fixedly arranged on the front side of the upper surface of the bottom plate, and is positioned between the first stand column and the third stand column, a first fixing concave part is arranged in the first fixing column along the vertical direction, a fourth screw rod is arranged in the first fixing concave part, the fourth screw rod rotates under the driving of a fourth stepping motor arranged at the top end of the first fixing column, a fourth sliding block is sleeved on the fourth screw rod, and a first fixing part is fixedly connected to the fourth sliding block;

the second fixing column is fixedly arranged on the rear side of the upper surface of the bottom plate and is positioned on the rear side of the second upright column, a second fixing concave part is arranged in the second fixing column along the vertical direction, a fifth screw rod is arranged in the second fixing concave part and is driven by a fifth stepping motor arranged at the bottom end of the second fixing column to rotate, a fifth sliding block is sleeved on the fifth screw rod, and a second fixing part is fixedly connected to the fifth sliding block;

the baffle is square, the baffle is longitudinally arranged above the bottom plate along the length direction, a through hole is formed in the baffle, and the ball hitting rod penetrates through the through hole;

the left end of the first buffer is fixedly connected with the first fixing part, and the right end of the first buffer is fixedly connected with the front side of the left side wall of the baffle; the left end of the second buffer is fixedly connected with the second fixing part, and the right end of the second buffer is fixedly connected with the rear side of the left side wall of the baffle.

8. A football goal apparatus as claimed in claim 4, wherein the spring tension mechanism comprises a first horizontal support bar, a second horizontal support bar, a first mounting post, a second mounting post, a travel bar and an electromagnet, wherein:

the first mounting column is fixedly arranged on the front side of the upper surface of the bottom plate, a first limiting groove is formed in the first mounting column along the vertical direction, the first horizontal supporting rod is horizontally arranged on the front side above the bottom plate, a first angle adjusting motor is arranged on the front side wall of the first horizontal supporting rod, the first angle adjusting motor is fixedly arranged in the first limiting groove, and the first horizontal supporting rod is driven by the first angle adjusting motor to rotate;

the first horizontal supporting rod is provided with a third fixing concave part along the length direction, the third fixing concave part is provided with a sixth screw rod, the sixth screw rod is driven by a sixth stepping motor arranged at the rear end of the first horizontal supporting rod to rotate, and the front end of the moving rod is sleeved on the sixth screw rod through a third threaded hole;

the second mounting column is fixedly arranged on the rear side of the upper surface of the bottom plate, a second limiting groove is formed in the second mounting column along the vertical direction, the second horizontal supporting rod is horizontally arranged on the rear side above the bottom plate, a second angle adjusting motor is arranged on the rear side wall of the second horizontal supporting rod, the second angle adjusting motor is fixedly arranged in the second limiting groove, and the second horizontal supporting rod is driven by the second angle adjusting motor to rotate;

a fourth fixed concave part is arranged on the second horizontal supporting rod along the length direction of the second horizontal supporting rod, a seventh lead screw is arranged on the fourth fixed concave part, the seventh lead screw is driven by a seventh stepping motor arranged at the rear end of the second horizontal supporting rod to rotate, and the rear end of the moving rod is sleeved on the seventh lead screw through a fourth threaded hole;

the left side wall of the movable rod is provided with a tension sensor, the left side of the tension sensor is provided with an electromagnet, and the electromagnet is used for adsorbing the right end of the batting rod.

9. A football shooting device as claimed in claim 3, wherein the left end of the upper surface of the base plate is provided with a football lifting mechanism comprising a first fixing plate, a connecting plate and a second fixing plate, wherein:

first clamping part and second clamping part form football clamping part, can press from both sides the football and fix through football clamping part.