CN112426700A

CN112426700A - Mechanical basketball projection robot's ball mechanism of supplying certainly

Info

Publication number: CN112426700A
Application number: CN202011210711.3A
Authority: CN
Inventors: 王亮; 祁鸿雁; 钟华; 吴佐
Original assignee: Jilin Normal University
Current assignee: Jilin Normal University
Priority date: 2020-11-03
Filing date: 2020-11-03
Publication date: 2021-03-02

Abstract

The invention discloses a self-supply ball mechanism of a mechanical basketball projection robot, belonging to the technical field of robots, which can realize that a special and mutually matched ball serving mechanism and an intermittent ball feeding mechanism are arranged, a ball feeding motor is controlled to intermittently rotate a quarter circle, namely, a basketball intermittently falls into a ball serving track, the ball serving motor is controlled to intermittently rotate a circle, namely, the basketball falling onto the ball serving track can be intermittently transmitted to the robot, manual transmission of the basketball to the robot is not needed, the intelligent degree is improved, the labor cost is saved, the angle of automatic ball serving can be adjusted through the arrangement of an angle adjusting mechanism, the practicability is improved, a bounce buffering component is also arranged, the bounce of the basketball falling onto the ball serving track can be buffered, the basketball is further quickly stabilized, and the ball can be conveniently sent out by the ball serving mechanism, the practicability is improved.

Description

Mechanical basketball projection robot's ball mechanism of supplying certainly

Technical Field

The invention relates to the technical field of robots, in particular to a self-ball-supplying mechanism of a mechanical basketball projection robot.

Background

With the progress and development of Chinese socioeconomic, the sports competition industry in China has gone through 30 years of history, leap and great variability, and has been deeply changed in the aspects of industrial scale, enterprise level, social status influence, economic pulling action and the like. However, in recent years, the development of the sports industry has met with more difficulties, wherein the outstanding problems include reduced profitability, raw material cost, labor cost, house site cost and the like, and the cost pressure born by enterprises is prominent. According to calculation, when the labor cost rises by 10%, the gross profit can be reduced by about 3%.

One of the solutions to the problem of increasing labor cost in the current market is to use a robot to replace the labor, so as to save the labor cost. At present, a robot capable of mechanical basketball projection has appeared in the basketball sports industry, but the robot does not have a self-ball-supplying function, needs to manually deliver a basketball to the robot, is low in intelligent degree, and still needs a large labor cost, so that a self-ball-supplying mechanism of the mechanical basketball projection robot is provided.

Disclosure of Invention

1. Technical problem to be solved

Aiming at the problems in the prior art, the invention aims to provide a self-service mechanism of a mechanical basketball projection robot, which can realize the purpose-made and mutually matched ball serving mechanism and intermittent ball feeding mechanism, control the ball feeding motor to intermittently rotate a quarter circle, namely intermittently drop a basketball into a ball serving track, simultaneously control the ball feeding motor to intermittently rotate a circle, namely intermittently transmit the basketball falling onto the ball serving track to the robot, do not need manual transmission of the basketball to the robot, improve the intelligent degree and save the labor cost, and through the arrangement of an angle adjusting mechanism, the angle of automatic ball serving can be adjusted, the practicability is improved, and meanwhile, a bounce component is also arranged, the bounce of the basketball falling onto the ball serving track can be buffered, so that the basketball is quickly stabilized, thereby being convenient for the service mechanism to send out the basketball, improving the practicability.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

The automatic ball supply mechanism of the mechanical basketball projection robot comprises a ball serving mechanism, an angle adjusting mechanism and an intermittent ball supply mechanism, wherein the ball serving mechanism comprises a ball serving barrel, a ball serving track is fixedly connected to the inner wall of the bottom of the ball serving barrel, a force supply spring is fixedly connected to the inner wall of the right side of the ball serving barrel, one end of the force supply spring is fixedly connected with a force supply plate, one side, away from the force supply spring, of the force supply plate is fixedly connected with a linkage rack, one end, away from the force supply plate, of the linkage rack extends to the upper portion of the ball serving track, a ball pushing plate matched with the ball serving track is fixedly connected with the force supply plate, a ball serving motor is fixedly connected to the inner wall of the back side of the ball serving barrel, a linkage gear is fixedly connected to the output end of the ball serving motor, a buffer washer matched with the inner wall of the ball serving track is fixedly connected to the inner wall of the ball serving track, the angle adjusting, the inner walls of the two sides of the supporting and adjusting frame are both rotatably connected with adjusting rotating shafts, the outer wall of one of the adjusting rotating shafts is fixedly sleeved with a linkage worm wheel, the inner wall of the top of the supporting and adjusting frame is fixedly connected with an adjusting motor, the output end of the adjusting motor is connected with a linkage worm matched with a linkage worm wheel in a specified way, the intermittent ball feeding mechanism comprises an intermittent ball feeding barrel, the inner walls of two sides of the intermittent ball feeding barrel are fixedly connected with fixed rods, a ball guide tube is fixedly connected between the fixed rods, one end of the ball guide tube is fixedly connected with a ball supplementing hopper, the outer wall of one side of the back of the intermittent ball feeding cylinder is fixedly provided with a ball feeding motor, the output end of the ball feeding motor penetrates through the outer wall of the intermittent ball feeding cylinder and extends to the inside of the intermittent ball feeding cylinder, and the ball distributing disc is fixedly connected with a plurality of ball clamping grooves, and a slow-jump component is arranged in the intermittent ball feeding barrel.

Further, the slow jump subassembly includes two ball slow jump boards that fall and two stoppers, two the ball slow jump board that fall articulates respectively on the inner wall of intermittent type for a ball section of thick bamboo both sides, two the stopper is fixed connection respectively on the outer wall of intermittent type for a ball section of thick bamboo both sides, the top fixedly connected with gangbar of the ball slow jump board that falls, the top of the ball slow jump board that falls is equipped with fixed connection and gives the down tube diagonal on the inner wall of a ball section of thick bamboo in the intermittent type, the cover is equipped with reset spring on the outer wall of gangbar.

Furthermore, the linkage rod is set to be arc-shaped with the hinge center of the ball dropping slow springboard and the intermittent ball feeding barrel as the circle center, one end of the linkage rod penetrates through the outer wall of the intermittent ball feeding barrel and the inclined rod in a sliding manner and extends to abut against the limiting block, two ends of the reset spring are respectively fixedly connected with the ball dropping slow springboard and the inclined rod, the bottom end of the ball dropping slow springboard is fixedly connected with a buffer backing board, when a basketball falling in the ball clamping groove falls onto the ball dropping slow springboard through the arrangement of the slow springboard assembly, the ball dropping slow springboard can be driven to swing downwards and stretch the reset spring under the impact of the gravity of the basketball, so that the basketball cannot fall into the ball serving barrel, after the basketball passes through, the reset spring retracts to drive the ball dropping slow springboard to reset, when the basketball falls onto the ball serving barrel, the basketball easily jumps up and down due to collision, and under the limitation of the limiting block, the ball dropping slow springboard cannot swing upwards, and then make the board of slowly jumping of falling ball can restrict the float that the basketball was beated, prevent that the basketball jumps back the intermittent type and give a section of thick bamboo, cushion backing plate and cushion the packing ring and can provide a cushioning effect respectively simultaneously, cushion the beating of basketball, and then make the basketball rapid stabilization get off to the mechanism of serve of being convenient for sends the basketball, has improved the practicality.

Furthermore, the side section of the serving track is in a semicircular arc shape matched with the basketball, so that the basketball can be conveniently sent out along the serving track, and the basketball can be prevented from being separated from the serving track.

Furthermore, the linkage gear and the linkage rack are matched and positioned on the same vertical plane, and the linkage gear is an incomplete gear, through the arrangement of the force supply spring, the force supply plate, the linkage rack, the ball serving motor and the linkage gear, the ball serving motor is started to rotate for a circle, in the process, the linkage gear rotates to be meshed with the linkage rack and drives the linkage rack to slide rightwards for a certain distance, so as to drive the force supply plate to extrude the force supply spring to contract the force supply spring, then the linkage gear is separated from the linkage rack, so that the force supply spring is restored and rebounded, thereby driving the basketball pushing plate to be installed to the basketball falling into the serving track, then the basketball is sent out, so that the basketball only needs to control the ball-sending motor to make the basketball intermittently rotate for one circle, can intermittent type nature the automation with the basketball biography send the robot, need not artifical manual biography and send the basketball for the robot, improved intelligent degree and saved the human cost.

Furthermore, the both sides of confession power spring all are equipped with the guide bar on fixed mounting and the service section of thick bamboo inner wall, the guide bar run through the confession power board and with confession power board sliding connection, and the one end fixedly connected with anticreep dog of guide bar, the setting of guide bar can prevent that the confession power board from taking place the incline at round trip movement's in-process, and then prevents that linkage rack, ball pushing plate from taking place the incline, and the setting of anticreep dog can prevent that the confession power board from breaking away from the guide bar.

Further, support the outside that adjusts the frame and be located a service section of thick bamboo, two adjust the pivot respectively with the outer wall fixed connection of service section of thick bamboo both sides, the linkage worm meshes with the linkage worm wheel mutually, through angle adjustment mechanism's setting, starts the accommodate motor, and accessible linkage worm, the transmission between the linkage worm wheel drive the adjust pivot and rotate, and then drive a service section of thick bamboo and use the adjust pivot to swing as the center pin to the service angle of adjustable service mechanism, and have self-locking function between linkage worm, the linkage worm wheel, close the accommodate motor after finishing adjusting, can make the angle fixed, improved practicality and stability.

Furthermore, the number of the ball clamping grooves is four, the four ball clamping grooves are uniformly distributed in an annular shape, the ball clamping grooves are matched with the basketballs, a plurality of basketballs are thrown into the ball guide pipe through the ball supplementing hopper through the arrangement of the intermittent ball feeding mechanism, the basketballs can fall into the ball clamping grooves with the openings vertically upward along the ball guide pipe, the ball feeding motor is started to drive the ball distributing disc to rotate for a quarter circle, so that the second basketball can fall into the next ball clamping groove, the ball distributing disc rotates for a quarter circle again, the first basketball can fall downwards onto the ball serving track, and the rest is done by controlling the ball feeding motor, so that the basketballs can fall into the ball serving track intermittently by a quarter circle, the balls are further delivered to the robot in an intermittent manner by matching with the ball serving cylinder, the intelligent degree is further improved, the intermittent ball serving cylinder is made of transparent plastic materials, the basketball residual quantity can be conveniently observed, and then the basketball can be timely supplemented.

Furthermore, the intermittent ball feeding barrel fixedly penetrates through the outer wall of the top of the ball serving barrel and extends into the ball serving barrel, and the intermittent ball feeding barrel is positioned right above the ball serving track, so that a basketball can just fall into the ball serving track.

Further, the top fixed mounting who supports the regulation frame has the PLC controller, service motor, accommodate motor, give the ball motor all with the PLC controller electricity be connected, accessible PLC controller control service motor, accommodate motor, give the ball motor, and then control service, angle modulation, give the ball, can also set up the service motor through the PLC controller simultaneously, make their intermittent type nature rotate certain number of turns for the ball motor, and then make the service motor, give and link between the ball motor to realize giving the ball automatically, service.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

(1) the scheme is provided with a specially-made and mutually-matched ball serving mechanism, an intermittent ball serving mechanism and a control ball serving motor 305, intermittent rotation quarter circles among the basketball serving mechanism are enabled, a basketball can intermittently drop into a ball serving track 102, the ball serving motor 107 is controlled simultaneously, intermittent rotation circles among the basketball serving mechanism are enabled, the basketball which can intermittently drop onto the ball serving track 102 is automatically delivered to a robot, manual transmission of the basketball to the robot is not needed, the intelligent degree is improved, the labor cost is saved, the angle of automatic ball serving can be adjusted through the arrangement of an angle adjusting mechanism, the practicability is improved, meanwhile, a slow jumping component is further arranged, jumping of the basketball when the basketball falls onto the ball serving track 102 can be buffered, the basketball is rapidly stabilized, the ball serving mechanism is convenient to send the basketball, and the practicability is improved.

(2) Through the setting of power supply spring, the power supply board, the linkage rack, the service motor, the setting of linkage gear, start the service motor and make it rotate the round, at this in-process, the linkage gear rotates earlier to meshing with the linkage rack, and drive the linkage rack and slide a distance to the right, thereby drive the power supply board and extrude the power supply spring and make the power supply spring shrink, then the linkage gear breaks away from with the linkage rack, make the power supply spring recover the resilience, thereby drive and push away the ball board dress to the basketball that falls into the service track, and then send the basketball, thereby only need control the service motor, make its intermittent rotation round, can intermittent type's automation pass the basketball to the robot, need not artifical manual transmission basketball to give the robot, improved intelligent degree and saved the human cost.

(3) The setting of guide bar can prevent that the power supply board from taking place the incline at the in-process of round trip movement, and then prevents that linkage rack, kickboard from taking place the incline, and the setting of anticreep dog can prevent that the power supply board from breaking away from the guide bar.

(4) Through angle adjustment mechanism's setting, start the accommodate motor, the transmission between accessible linkage worm, linkage worm wheel drives the regulation pivot and rotates, and then drives a ball serving section of thick bamboo and uses the regulation pivot to swing as the center pin to the angle of serve of adjustable ball serving mechanism, and have self-locking function between linkage worm, linkage worm wheel, close the accommodate motor after the regulation finishes, can make the angle fixed, improved practicality and stability.

(5) Through the setting of intermittent type ball mechanism of giving, put a plurality of basketballs in the ball pipe through the benefit ball fill, the basketball can follow the ball pipe and fall to the vertical card ball groove up of opening, start and give the ball motor and make it drive the ball-separating disc and rotate the quarter round, can make the second basketball fall to next card ball groove, the ball-separating disc rotates the quarter round again, alright make first basketball drop to the orbit of serving, so on and so on, only need control to give the ball motor, make the intermittent type rotation quarter round during it, can intermittent type drop a basketball to the orbit of serving, and then cooperate the intermittent type of serving barrel to deliver the robot with the ball, further improved intelligent degree, intermittent type is given the ball barrel and is adopted transparent plastic material to make, can be convenient for observe the surplus of basketball, and then in time supply the basketball.

(6) Accessible PLC controller control service motor, accommodate motor, give the ball motor, and then control service, angle modulation, give the ball, can also set up the service motor simultaneously through the PLC controller, make their intermittent type nature rotate certain number of turns for the ball motor, and then make the service motor, give and carry out the linkage between the ball motor to realize giving ball, service automatically.

(7) Through the setting of slowly jumping subassembly, when the basketball that the card ball inslot dropped falls to the slow springboard of falling the ball, under the impact of basketball gravity, can drive the slow springboard of falling the ball and swing downwards and tensile reset spring, and then do not hinder the basketball to fall into a service section of thick bamboo, the basketball passes the back, reset spring returns and contracts and can drive the slow springboard of falling the ball and reset, when the basketball falls to a service section of thick bamboo, go on because of the collision easily, jump down, under the restriction of stopper, make the slow springboard of falling the ball unable up swing, and then make the slow springboard of falling the ball can restrict the unsteady of basketball beating, prevent that the basketball from jumping back in the intermittent type service section of thick bamboo, simultaneously cushion pad and cushion the packing ring can provide a cushioning effect respectively, cushion the beating of basketball, and then make the basketball stabilize fast, thereby the service mechanism of being convenient for sends the basketball, and the practicality has been improved.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a cross-sectional view of the interior of the barrel of the present invention;

FIG. 3 is a side view of the present invention at the tee track;

FIG. 4 is a side view of the present invention at the point of supporting the adjustment frame;

FIG. 5 is a cross-sectional view of the present invention within the intermittent ball feed barrel;

FIG. 6 is an enlarged view taken at A of FIG. 5 in accordance with the present invention;

fig. 7 is a side view of the intermittent ball feeding barrel of the present invention.

The reference numbers in the figures illustrate:

101. a ball dispensing cylinder; 102. a serving track; 103. a power supply spring; 104. a force supply plate; 105. a linkage rack; 106. a ball pushing plate; 107. a service motor; 108. a linkage gear; 109. a guide bar; 110. a cushion washer; 201. supporting the adjusting frame; 202. adjusting the rotating shaft; 203. a linkage worm gear; 204. adjusting the motor; 205. a linkage worm; 301. an intermittent ball feeding cylinder; 302. fixing the rod; 303. a ball guide tube; 304. a ball supplementing hopper; 305. a ball feeding motor; 306. a ball separating disc; 307. a ball clamping groove; 401. a ball falling ramp; 402. a limiting block; 403. a linkage rod; 404. a diagonal bar; 405. a return spring; 406. a cushion plate; 005. a PLC controller.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-3, a self-feeding mechanism of a mechanical basketball projection robot comprises a serving mechanism, an angle adjusting mechanism and an intermittent ball feeding mechanism, wherein the serving mechanism comprises a serving barrel 101, a serving rail 102 is fixedly connected to the inner wall of the bottom of the serving barrel 101, a force supplying spring 103 is fixedly connected to the inner wall of the right side of the serving barrel 101, a force supplying plate 104 is fixedly connected to one end of the force supplying spring 103, a linkage rack 105 is fixedly connected to the side of the force supplying plate 104 away from the force supplying spring 103, one end of the linkage rack 105 away from the force supplying plate 104 extends to the upper side of the serving rail 102 and is fixedly connected with a ball pushing plate 106 matched with the serving rail 102, a serving motor 107 is fixedly connected to the inner wall of the back side of the serving barrel 101, a linkage gear 108 is fixedly connected to the output end of the serving motor 107, a buffer washer 110 matched with the serving rail is fixedly connected to the inner wall of the serving rail 102, the lateral section of the serving track 102 is arranged in a semicircular arc shape matched with a basketball, the basketball can be conveniently sent out along the serving track 102, the basketball can be prevented from being separated from the serving track 102, the linkage gear 108 is matched with the linkage rack 105 and is positioned on the same vertical plane, the linkage gear 108 is an incomplete gear, the serving motor 107 is started to rotate for a circle by the arrangement of the force supply spring 103, the force supply plate 104, the linkage rack 105, the serving motor 107 and the linkage gear 108, in the process, the linkage gear 108 rotates to be meshed with the linkage rack 105 firstly, and drives the linkage rack 105 to slide for a certain distance rightwards, so that the force supply plate 104 is driven to extrude the force supply spring 103 to enable the force supply spring 103 to contract, then the linkage gear 108 is separated from the linkage rack 105 to enable the force supply spring 103 to rebound, so that the ball pushing plate 106 is driven to be installed to the basketball falling into the serving track 102 to send out the basketball, therefore, only the ball serving motor 107 needs to be controlled, the basketball can be intermittently and automatically delivered to the robot by rotating for one circle, manual transmission of the basketball to the robot is not needed, the intelligent degree is improved, the labor cost is saved, the guide rods 109 fixedly installed on the inner wall of the ball serving barrel 101 are arranged on the two sides of the force supply spring 103, the guide rods 109 penetrate through the force supply plate 104 and are in sliding connection with the force supply plate 104, the anti-falling stop block is fixedly connected to one end of each guide rod 109, the guide rods 109 can be prevented from deflecting in the process of moving back and forth of the force supply plate 104, the linkage rack 105 and the ball pushing plate 106 are prevented from deflecting, and the anti-falling stop block can be prevented from separating from the guide rods 109.

Referring to fig. 1 and 4, the angle adjusting mechanism includes a U-shaped supporting adjusting frame 201, adjusting shafts 202 are rotatably connected to inner walls of two sides of the supporting adjusting frame 201, a linking worm wheel 203 is fixedly sleeved on an outer wall of one of the adjusting shafts 202, an adjusting motor 204 is fixedly connected to an inner wall of a top of the supporting adjusting frame 201, an output end of the adjusting motor 204 is connected with a linking worm 205 matched with the linking worm wheel 203, the supporting adjusting frame 201 is located at an outer side of the launching tube 101, the two adjusting shafts 202 are respectively fixedly connected to outer walls of two sides of the launching tube 101, the linking worm 205 is engaged with the linking worm wheel 203, the adjusting motor 204 is started through the setting of the angle adjusting mechanism, the adjusting shafts 202 are driven to rotate through transmission between the linking worm 205 and the linking worm wheel 203, and the launching tube 101 is driven to swing with the adjusting shafts 202 as a central axis, thereby adjustable service mechanism's service angle, and have self-locking function between linkage worm 205, linkage worm wheel 203, close accommodate motor 204 after finishing adjusting, can make the angle fixed, improved practicality and stability.

Referring to fig. 5 and 7, the intermittent ball feeding mechanism includes an intermittent ball feeding barrel 301, fixing rods 302 are fixedly connected to inner walls of two sides of the intermittent ball feeding barrel 301, ball guide pipes 303 are fixedly connected between the fixing rods 302, a ball supplementing hopper 304 is fixedly connected to one end of the ball guide pipe 303, a ball feeding motor 305 is fixedly mounted on an outer wall of one side of the back of the intermittent ball feeding barrel 301, an output end of the ball feeding motor 305 penetrates through an outer wall of the intermittent ball feeding barrel 301 and extends into the intermittent ball feeding barrel 301, a ball distributing disc 306 is fixedly connected to the ball distributing disc 306, a plurality of ball clamping grooves 307 are formed in the ball distributing disc 306, the intermittent ball feeding barrel 301 fixedly penetrates through an outer wall of the top of the ball distributing barrel 101 and extends into the ball distributing barrel 101, the intermittent ball feeding barrel 301 is located right above the ball distributing rail 102, so that a basketball can just fall into the ball distributing rail 102, the number of the ball clamping grooves 307 is four, the four ball clamping grooves 307 are uniformly distributed in a ring shape, and, through the arrangement of the intermittent ball feeding mechanism, a plurality of basketballs are thrown into the ball guide pipe 303 through the ball supplementing hopper 304, the basketballs can fall into the ball clamping groove 307 with the opening vertically upward along the ball guide pipe 303, the ball feeding motor 305 is started to drive the ball distributing disc 306 to rotate for a quarter circle, so that a second basketball can fall into the next ball clamping groove 307, the ball distributing disc 306 rotates for a quarter circle again, so that the first basketball can fall downwards onto the ball serving track 102, and so on, only the ball feeding motor 305 needs to be controlled to intermittently rotate for a quarter circle, a basketball can intermittently fall into the ball serving track 102, the ball is intermittently delivered to the robot by matching with the ball serving barrel 101, the intelligentization degree is further improved, the intermittent ball feeding barrel 301 is made of transparent plastic materials, the remaining amount of the basketballs can be conveniently observed, the basketballs can be timely supplemented, the top of the support adjusting frame 201 is fixedly provided with the PLC controller 005, the service motor 107, the adjusting motor 204 and the ball feeding motor 305 are electrically connected with the PLC controller 005, the service motor 107, the adjusting motor 204 and the ball feeding motor 305 can be controlled by the PLC controller 005, and then the service, angle adjustment and ball feeding are controlled, and meanwhile, the service motor 107 and the ball feeding motor 305 can be set by the PLC controller 005 to intermittently rotate for a certain number of turns, so that the service motor 107 and the ball feeding motor 305 are linked, thereby realizing automatic ball feeding and service, and how to control the service motor 107, the adjusting motor 204 and the ball feeding motor 305 by the PLC controller 005, which is a well-known technology of technicians in the field and is not described herein.

Referring to fig. 5-6, a slow-jump assembly is arranged in the intermittent ball feeding barrel 301, the slow-jump assembly includes two ball-falling slow-jump plates 401 and two limit blocks 402, the two ball-falling slow-jump plates 401 are respectively hinged on the inner walls of the two sides of the intermittent ball feeding barrel 301, the two limit blocks 402 are respectively fixedly connected on the outer walls of the two sides of the intermittent ball feeding barrel 301, the top end of the ball-falling slow-jump plate 401 is fixedly connected with a linkage rod 403, an inclined rod 404 fixedly connected on the inner wall of the intermittent ball feeding barrel 301 is arranged above the ball-falling slow-jump plate 401, a return spring 405 is sleeved on the outer wall of the linkage rod 403, the linkage rod 403 is set to be arc-shaped with the hinged center of the ball-falling slow-jump plate 401 and the hinged center of the intermittent ball feeding barrel 301 as the circle center, one end of the linkage rod 403 slides through the outer wall of the intermittent ball feeding barrel 301 and the inclined rod 404 and extends to abut against the limit, the bottom end of the falling ball slow jump board 401 is fixedly connected with a buffer backing board 406, through the arrangement of the slow jump component, when a basketball falling in the ball clamping groove 307 falls on the falling ball slow jump board 401, under the impact of the gravity of the basketball, the falling ball slow jump board 401 can be driven to swing downwards and a reset spring 405 is stretched, so as not to prevent the basketball from falling into the ball serving barrel 101, after the basketball passes through, the reset spring 405 retracts to drive the falling ball slow jump board 401 to reset, when the basketball falls on the ball serving barrel 101, the basketball is easy to jump upwards and downwards due to collision, under the limitation of a limiting block 402, the falling ball slow jump board 401 can not swing upwards, so that the falling ball slow jump board 401 can limit the floating of the jumping of the basketball, the jumping of the basketball is prevented from jumping back to the ball serving barrel 301, meanwhile, the buffer backing board 406 and the buffer gasket 110 can respectively provide a buffer effect to buffer the jumping of the basketball, so as to make the basketball quickly stabilize, thereby being convenient for the ball serving mechanism to, the practicability is improved.

The invention is provided with a special and mutually matched ball serving mechanism and an intermittent ball feeding mechanism, controls the ball feeding motor 305 to intermittently rotate for a quarter circle, namely intermittently drops a basketball into the ball serving track 102, controls the ball serving motor 107 to intermittently rotate for a circle, namely intermittently and automatically delivers the basketball falling on the ball serving track 102 to the robot, does not need manual transmission of the basketball to the robot, improves the intelligent degree and saves the labor cost, and through the arrangement of the angle adjusting mechanism, the angle of automatic ball serving can be adjusted, the practicability is improved, and meanwhile, the invention is also provided with a slow jumping component which can buffer the jumping of the basketball falling on the ball serving track 102, so that the basketball is rapidly stabilized, thereby being convenient for the ball serving mechanism to deliver the basketball and improving the practicability.

The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.

Claims

1. The utility model provides a mechanical type basketball throws from ball mechanism that supplies of robot, gives ball mechanism including service mechanism, angle adjusting mechanism, intermittent type, its characterized in that: the ball serving mechanism comprises a ball serving barrel (101), a ball serving track (102) is fixedly connected to the inner wall of the bottom of the ball serving barrel (101), a force supply spring (103) is fixedly connected to the inner wall of the right side of the ball serving barrel (101), a force supply plate (104) is fixedly connected to one end of the force supply spring (103), a linkage rack (105) is fixedly connected to one side, away from the force supply spring (103), of the force supply plate (104), one end, away from the force supply plate (104), of the linkage rack (105) extends to the upper side of the ball serving track (102), a ball pushing plate (106) matched with the ball serving track (102) is fixedly connected to the one end of the linkage rack (105), a ball serving motor (107) is fixedly connected to the inner wall of one side of the back of the ball serving barrel (101), a linkage gear (108) is fixedly connected to the output end of the ball serving motor (107), and a buffer washer (110) matched with the ball serving track (102) is, the angle adjusting mechanism comprises a supporting adjusting frame (201) which is arranged in a U shape, adjusting rotating shafts (202) are connected to the inner walls of two sides of the supporting adjusting frame (201) in a rotating mode, one of the adjusting rotating shafts (202) is fixedly sleeved with a linkage worm wheel (203), an adjusting motor (204) is fixedly connected to the inner wall of the top of the supporting adjusting frame (201), an output end of the adjusting motor (204) is connected with a linkage worm (205) matched with the linkage worm wheel (203) in a specified mode, the intermittent ball feeding mechanism comprises an intermittent ball feeding barrel (301), fixing rods (302) are fixedly connected to the inner walls of two sides of the intermittent ball feeding barrel (301), ball guide pipes (303) are fixedly connected between the fixing rods (302), ball supplementing buckets (304) are fixedly connected to one end of the ball guide pipes (303), and ball feeding motors (305) are fixedly installed on the outer wall of one back side of the ball feeding barrel (301) in the intermittent, the output end of the ball feeding motor (305) penetrates through the outer wall of the intermittent ball feeding barrel (301) and extends to the inside of the intermittent ball feeding barrel (301), a ball distributing disc (306) is fixedly connected with the output end of the ball feeding motor, a plurality of ball clamping grooves (307) are formed in the ball distributing disc (306), and a slow-jump component is arranged in the intermittent ball feeding barrel (301).

2. The self-serve mechanism of a mechanical basketball projection robot as recited in claim 1, further comprising: the slow jump assembly comprises two ball falling slow jump plates (401) and two limiting blocks (402), wherein the ball falling slow jump plates (401) are hinged to the inner walls of two sides of the ball barrel (301) intermittently, the limiting blocks (402) are fixedly connected to the outer walls of two sides of the ball barrel (301) intermittently, the top end of each ball falling slow jump plate (401) is fixedly connected with a linkage rod (403), the upper portion of each ball falling slow jump plate (401) is provided with an inclined rod (404) fixedly connected to the inner wall of the ball barrel (301) intermittently, and the outer wall of each linkage rod (403) is sleeved with a reset spring (405).

3. The self-serve mechanism of a mechanical basketball projection robot as recited in claim 2, further comprising: the utility model discloses a ball, including linkage rod (403), ball section of thick bamboo (301) articulated center, one end slip through the interval of linkage rod (403) is given outer wall and down tube (404) of ball section of thick bamboo (301) and extends to and offsets with stopper (402), the both ends of reset spring (405) respectively with ball section of thick bamboo (401), down tube (404) fixed connection, the bottom fixedly connected with cushion pad (406) of ball section of thick bamboo (401) that falls.

4. The self-serve mechanism of a mechanical basketball projection robot as recited in claim 1, further comprising: the side section of the serving track (102) is in a semicircular arc shape matched with a basketball, and a buffer gasket (110) matched with the serving track is fixedly connected to the inner wall of the serving track (102).

5. The self-serve mechanism of a mechanical basketball projection robot as recited in claim 1, further comprising: the linkage gear (108) is matched with the linkage rack (105) and is positioned on the same vertical plane, and the linkage gear (108) is an incomplete gear.

6. The self-serve mechanism of a mechanical basketball projection robot as recited in claim 1, further comprising: the both sides of confession power spring (103) all are equipped with guide bar (109) on fixed mounting and a service section of thick bamboo (101) inner wall, guide bar (109) run through confession power board (104) and with confession power board (104) sliding connection, and the one end fixedly connected with anticreep dog of guide bar (109).

7. The self-serve mechanism of a mechanical basketball projection robot as recited in claim 1, further comprising: the support adjusting frame (201) is located on the outer side of the ball serving barrel (101), the two adjusting rotating shafts (202) are fixedly connected with the outer walls of the two sides of the ball serving barrel (101) respectively, and the linkage worm (205) is meshed with the linkage worm wheel (203).

8. The self-serve mechanism of a mechanical basketball projection robot as recited in claim 1, further comprising: the number of the ball clamping grooves (307) is four, the four ball clamping grooves (307) are uniformly distributed in an annular shape, and the ball clamping grooves (307) are matched with a basketball.

9. The self-serve mechanism of a mechanical basketball projection robot as recited in claim 1, further comprising: the intermittent ball feeding barrel (301) fixedly penetrates through the outer wall of the top of the ball serving barrel (101) and extends into the ball serving barrel (101), and the intermittent ball feeding barrel (301) is located right above the ball serving track (102).

10. The self-serve mechanism of a mechanical basketball projection robot as recited in claim 1, further comprising: the top fixed mounting who supports adjusting frame (201) has PLC controller (005), service motor (107), accommodate motor (204), give ball motor (305) all with PLC controller (005) electricity be connected.