CN112473111B

CN112473111B - Working method of multifunctional ball kicking machine

Info

Publication number: CN112473111B
Application number: CN202011511862.2A
Authority: CN
Inventors: 邓达强; 何智聪; 李大全; 易佳豪
Original assignee: Guangzhou College of South China University of Technology
Current assignee: Guangzhou College of South China University of Technology
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2022-04-01
Anticipated expiration: 2040-12-18
Also published as: WO2022127366A1; CN112473111A

Abstract

The invention provides a working method of a multifunctional kicking ball machine; the multifunctional kicking machine comprises a frame, a kicking mechanism and a ball receiving mechanism; the kicking mechanism is arranged at one end of the frame; the ball catching mechanism is arranged at the other end of the rack; under the action of the ball blocking piece, the ball body can be blocked in the ball storage accommodating space; when the ball needs to be released, the ball blocking driving device drives the ball blocking piece to be far away from the ball outlet; the opening of the ball outlet is realized; the ball body can be released from the ball storage accommodating space; arranging an inclined ball outlet inclined plate; the release direction of the ball body has directivity; the first driving device for kicking the ball, the second driving device for kicking the ball and the kicking device are arranged to act; thus, the ball kicking action can be realized only by matching the two driving devices; the control effect is good; the safety is high; meanwhile, when the ball kicking piece kicks the ball; the kicking second driving device is not contacted with the kicking device; thus, the ball kicking driving mechanism cannot be abraded when the ball is kicked; the service life is long.

Description

Working method of multifunctional ball kicking machine

Technical Field

The invention relates to a ball training device, in particular to a working method of a multifunctional ball kicking machine.

Background

The robot has been widely applied to a plurality of fields of competitive sports and national quality education, strives to improve the technical level of various domestic robots, especially designs an intelligent robot mechanism suitable for various sports training purposes and improves the control level thereof, exerts and popularizes the application and popularization advantages thereof, and further promotes the efficient development and the steady promotion of national health level and competitive sports career. In the prior art, a friction wheel is adopted for serving balls; but the cost is high, the friction wheel is easy to wear, the rotating speed of the motor is enough, and the ball body is damaged due to excessive friction. Because the prior art adopts the friction pulley transmission more, the cost is higher, and the spheroid of fragile, only have single transmission function, it is inconvenient to remove.

To solve the above problems, the chinese application No. 202010858385.0; patent document publication No. 2020.10.30 discloses a wheeled soccer robot; the robot includes: a chassis; the lower end surface is of a polygonal frame structure; the omnidirectional wheel mechanisms are connected to the lower end face of the chassis in an annular array and are used for driving the chassis to move; the translation positioning mechanism is fixedly arranged in the middle of the upper end face of the chassis and is used for recording a coordinate record of the chassis moving driven by the omnidirectional wheel mechanism; the kicking mechanism is arranged on one side of the upper end face of the chassis and is used for driving the football to move; the football retracting mechanism is arranged on the other side of the upper end face of the chassis and is used for receiving and releasing a football.

When the robot kicks the ball; the step motor drives the ratchet wheel to rotate, so as to drive the swinging rod to swing towards the middle of the chassis; then, after the stepping motor is stopped being driven, the swinging rod is reset under the action of the elasticity of the spring, and the football is kicked out; but one end of the spring is connected with the rhombic bearing seat, and the other end of the spring is connected with the lower part of the first connecting frame; a device for limiting the moving direction of the spring is not arranged between the rhombic bearing block and the lower part of the first connecting frame; thus, when the spring is contracted, the two ends of the spring are closed and bent; the elastic force causing the spring to return is weakened; thereby causing poor kicking effect; meanwhile, the swinging rod and the auxiliary rod are both connected with the rotating rod through a flange plate; when the swinging rod is reset; the rotating rod can also rotate; the ratchet wheel can rotate reversely under the driving of the rotating rod; the chain wheel can also rotate under the action of the chain; but the stepping motor is in a stop state at the moment; when the motor stops, the chain wheel rotates reversely to accelerate the abrasion of the stepping motor; so that the matching effect of the chain wheel and the ratchet wheel is poor; thereby affecting the ball kicking effect of the robot; the robot has no protection effect on a driving motor for driving kicking when kicking the ball;

the robot is in the process of catching the ball; carrying out the receiving table filled with the football by a cylinder; then the bottom cover is opened, so that the football rolls into the designated area; but the bottom cover of the robot is attached to the lower end surface of the bearing table in a horizontally sliding manner; thus, the bottom cover is arranged in parallel with the lower end surface of the bearing platform; the ball body falls into the bearing table through the buffering of the bearing part; the position of the ball on the bearing table is changed; when the bottom cover is opened; the ball body leaves the receiving platform under the action of gravity; the falling direction of the sphere does not have directivity at this time; so that the moving direction of the ball body can be deviated; meanwhile, the balls can fall from the lower part of the bearing table; also from the description of the solution of the drawings; a certain distance is reserved between the bearing platform and the chassis; namely, the bearing platform has a certain height from the ground; so that when the ball is in contact with the ground; under the action of self elasticity; the situation that the moving direction of the device is shifted again occurs; therefore, the movement direction of the ball body after leaving the receiving platform has no directivity; thereby causing the sphere not to accurately reach the designated position.

Disclosure of Invention

The invention provides a working method of a multifunctional kicking ball machine, which can realize automatic kicking and catching of balls and is simple and convenient to operate.

In order to achieve the purpose, the technical scheme of the invention is as follows: a working method of a multifunctional kicking machine comprises a frame, a kicking mechanism and a ball receiving mechanism; the kicking mechanism is arranged at one end of the frame; the ball catching mechanism is arranged at the other end of the rack; the frame is provided with a moving device;

the ball catching mechanism comprises a ball catching bracket, a ball blocking device, a ball discharging inclined plate and a ball pushing device; the ball receiving bracket is provided with a ball inlet, a ball outlet and a ball storage accommodating space; the ball inlet and the ball outlet are respectively communicated with the ball storage accommodating space; the ball outlet sloping plate is arranged in the ball storage accommodating space and is positioned below the ball inlet, and one end of the ball outlet sloping plate is connected with the ball outlet; the ball outlet inclined plate is obliquely arranged; the inclined direction of the ball outlet inclined plate inclines from high to low from one end far away from the ball outlet to one end close to the ball outlet;

the ball blocking device comprises a ball blocking driving device, a ball blocking bracket and a ball blocking piece; the ball blocking sliding device is connected with the ball blocking bracket and the ball receiving bracket, the ball blocking bracket is arranged on the ball receiving bracket in a sliding manner, and the ball pushing device is positioned in the ball storage accommodating space and is connected with the ball blocking bracket; the ball blocking driving device is arranged on the ball receiving support, and the movable end of the ball blocking driving device is connected with the ball blocking support; the ball blocking piece is close to one side of the ball receiving support provided with the ball outlet and is connected with the ball blocking support; the ball pushing support is connected with the ball blocking support; the ball pushing piece is connected with the ball pushing support; the ball blocking bracket drives the ball blocking piece and the ball pushing piece to move synchronously; the ball blocking bracket drives the ball blocking piece to open and close the ball outlet;

the kicking mechanism comprises a kicking device, a kicking support and a kicking driving mechanism; the kicking support is connected with the frame and the kicking device; the kicking driving mechanism comprises a kicking first driving device, a kicking second driving device and a kicking moving support; the kicking first driving device is connected with the kicking moving support; the kicking moving support is connected with a kicking second driving device;

the second kicking driving device comprises a first moving piece, a second moving piece, a kicking driving motor and a kicking driven gear; the moving part I and the moving part II are provided with two parts; the kicking driving motor is connected with a kicking driving gear; the kickball driving gear and the kickball driven gear are arranged between the two moving parts II; the kickball driving gear is meshed with the kickball driven gear; the kickball driving gear and the kickball driven gear are movably connected with the moving piece II, and the moving piece II is movably connected with the moving piece I; the first moving piece is movably connected with the kickball moving support;

the kicking device comprises a kicking piece, a kicking moving mechanism, a kicking connecting shaft and a connecting shaft support; two kicking moving mechanisms are arranged; the two ball kicking movable mechanisms are symmetrically arranged around the ball kicking piece; the kickball connecting shaft is arranged on the kickball piece in a penetrating way; the end part of the kicking connecting shaft is connected with the connecting shaft support; the kickball connecting shaft is connected with the kickball supporting support through the connecting shaft support; the kicking moving mechanism is arranged on the connecting shaft support; the kicking moving mechanism comprises a kicking fixing device, a kicking rotating device, a kicking elastic piece and a kicking moving piece; the kicking fixing device is connected with the kicking support; the kickball rotating device is connected with the kickball piece; the kicking moving piece is arranged between the kicking fixing device and the kicking rotating device and comprises a kicking first moving piece and a kicking second moving piece; the first ball kicking movable piece is connected with the ball kicking rotating device; the kicking second moving piece is connected with the kicking fixing device; the kicking second moving part and the kicking first moving part are movably arranged relatively; the kicking fixing device comprises a kicking movable limiting part I; the kicking rotating device comprises a kicking movable limiting part II; the kickball elastic piece is arranged on the connecting shaft support in a penetrating way and is positioned in the kickball second moving piece; one end of the kicking elastic piece acts with the kicking movable limiting piece; the other end of the kicking elastic piece and the kicking movable limiting piece act; the kickball rotating device comprises a kickball transmission device; the kicking transmission device is connected with the kicking piece; the kickball transmission device comprises a kickball transmission piece; the kicking transmission piece acts with the kicking driven gear;

the working method of the multifunctional kicking ball machine comprises a kicking ball method and a ball receiving method, wherein the kicking ball method comprises the following steps:

(1) presetting a second sensor on the moving piece II; presetting a sensor mounting point in a kicking transmission piece; mounting a first sensor on a sensor mounting point; the first sensor and the second sensor are arranged correspondingly, the first sensor receives a signal sent by the second sensor, and when the kicking piece is in the maximum power storage state of kicking, the first sensor corresponds to the second sensor;

(2) the multifunctional kicking ball machine moves to a designated area;

(3) the first kicking ball driving device extends out and drives the kicking ball moving support to move upwards; the kickball moving support drives the kickball driven gear to be close to the kickball driving part;

(4) the kicking driven gear is meshed with the kicking driving part; the first driving device stops playing the ball; the kicking driving motor is started, and the kicking driving gear and the kicking driven gear act; the kicking driven gear acts with the kicking transmission member;

(5) the kicking transmission part drives the kicking part to swing towards the ball receiving mechanism; the kickball driving piece drives the kickball elastic piece to contract;

(6) when the first sensor detects a signal sent by the second sensor, the kicking drive motor stops;

(7) retracting the first kicking driving device, and driving the kicking moving support to move downwards by the first kicking driving device; the kickball moving support drives the kickball driven gear to be far away from the kickball driving part;

(8) separating the kicking driven gear from the kicking transmission member; the kicking elastic piece returns to the initial state; the kicking transmission piece moves reversely, and the kicking piece swings in the direction far away from the ball receiving mechanism; the kicking piece performs kicking actions;

the ball catching method comprises the following steps:

(9) the multifunctional kicking ball machine moves to a designated area; at the moment, the ball outlet is in a closed state;

(10) the multifunctional kicking ball machine receives the ball body, and the ball body passes through the ball inlet and falls into the ball storage accommodating space;

(11) the multifunctional kicking ball machine moves to another designated area;

(12) the ball blocking driving device extends out, the ball blocking support drives the ball blocking piece to be far away from the ball outlet, and the ball outlet is opened; the ball body is released from the ball storage accommodating space.

In the kicking method, the kicking driving first device drives the kicking driven gear to be close to the kicking transmission member; when the kicking driven gear is meshed with the kicking driving part; because the kicking fixing device is connected with the kicking support seat; the kicking fixing device can not move; the second ball kicking movable piece and the first ball kicking movable piece are movably arranged; the kickball rotating device can move; when the kicking second driving device drives the kicking driven gear to rotate, the kicking transmission piece rotates towards the ball receiving mechanism; the kickball driving piece drives the kickball elastic piece to contract; meanwhile, the kicking transmission piece is connected with the kicking piece; the kicking transmission piece can synchronously drive the kicking piece to approach the ball receiving mechanism; thus, the kicking piece realizes the force storage action before kicking the ball; the first device is driven by kicking balls to drive the kicking ball driven gear to be far away from the kicking ball driving part; the kicking driven gear is separated from the kicking transmission piece; the second driving device for kicking the ball does not act on the transmission part for kicking the ball; under the action of the self elasticity of the ball kicking elastic piece; the kicking elastic piece returns to the initial device; meanwhile, the kicking elastic piece can drive the kicking rotating device to move towards the direction far away from the ball receiving mechanism, so as to drive the kicking piece to be far away from the ball receiving mechanism; kicking the ball piece like this and realizing playing the ball action, kicking the ball in-process and correspond the setting through first sensor and second sensor, realize holding power action and kicking the switching of ball action, realize automatic kicking the ball, kick ball method easy operation simultaneously.

In the ball catching method, when the ball needs to be released, the ball blocking driving device drives the ball blocking piece to be far away from the ball outlet; the opening of the ball outlet is realized; so that the ball can be released from the ball storage accommodating space; meanwhile, under the action of the ball outlet inclined plate and the ball pushing piece, the ball body positioned in the ball storage accommodating space can approach the ball outlet, so that the release direction of the ball body has directivity; and then can accurately move the spheroid to the assigned position, the reliable ball that connects just only needs open ball blocking spare action to realize the ball that connects and put, easy operation.

Furthermore, the ball blocking device also comprises a ball blocking sliding device; the ball blocking sliding device comprises a ball blocking sliding guide rail and a ball blocking sliding moving piece; the ball blocking sliding guide rail is arranged on the ball receiving bracket; the blocking ball sliding moving piece is connected with the blocking ball support; the blocking ball sliding moving piece is arranged on the blocking ball sliding guide rail in a sliding mode.

Further, in the step (12), specifically: the ball blocking driving device extends out, the ball blocking support drives the ball blocking piece to be far away from the ball outlet, and the ball blocking support drives the ball pushing piece to be close to the ball outlet; opening a ball outlet; the ball body is released from the ball storage containing space under the action of the ball pushing piece.

Furthermore, the kickball driving mechanism also comprises a kickball guide device; the kickball guide device comprises a kickball moving guide rail and a kickball moving sliding piece; (ii) a The kickball moving guide rail is arranged on the frame; the kickball moving sliding piece is arranged on the kickball moving guide rail in a sliding manner; the first kicking driving device is connected with the first kicking moving sliding part and the first moving part.

Further, in the kicking method, the step (3) is specifically as follows: the first kicking driving device extends out and drives the kicking moving support to move upwards along the guiding direction of the kicking guiding device; the kickball moving support drives the kickball driven gear to be close to the kickball driving member.

Further, in the kicking method, the step (7) is specifically as follows: the kicking first driving device retracts, and the kicking first driving device drives the kicking moving support to move downwards along the guiding direction of the kicking guiding device; the kickball moving support drives the kickball driven gear to be far away from the kickball driving part.

Drawings

Fig. 1 is a schematic perspective view of a multifunctional kicking ball machine using the scheme.

Fig. 2 is a side view of the multifunctional kicking ball machine using the scheme.

Fig. 3 is a side view of the multifunctional kicking ball machine with the kicking ball support removed according to the scheme.

Fig. 4 is a schematic perspective view of the ball kicking device of the multifunctional ball kicking machine according to the present scheme.

Fig. 5 is an exploded view of the ball kicking device of the multifunctional ball kicking machine using the scheme.

Fig. 6 is a side view of the ball receiving structure and the frame of the multifunctional kicking ball machine using the scheme.

FIG. 7 is a schematic perspective view of a ball receiving mechanism of the multifunctional kicking ball machine according to the present invention

Fig. 8 is an exploded view of the ball receiving mechanism of the multifunctional kicking ball machine using the scheme.

Fig. 9 is an enlarged view of b in fig. 3.

Fig. 10 is an enlarged view of a in fig. 1.

Fig. 11 is a schematic perspective view of a moving device of the multifunctional kicking ball machine using the present embodiment.

Fig. 12 is an exploded view of a moving device of the multifunctional kicking ball machine using the present scheme.

Fig. 13 is a schematic perspective view of a first ball kicking movable limiting part of the multifunctional ball kicking machine according to the present scheme.

Fig. 14 is a schematic perspective view of a second ball kicking movable limiting member of the multifunctional ball kicking machine according to the present invention.

Fig. 15 is a flow chart of a kicking method in the present method.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-14; a multifunctional kicking machine comprises a frame 3, a kicking mechanism 1 and a ball receiving mechanism 2; the kicking mechanism 1 is arranged at one end of the frame 3; the ball catching mechanism 2 is arranged at the other end of the frame 3. Through setting up kickball mechanism 1 and ball receiving mechanism 2 in frame 3, realize this scheme and receive the ball, receive the setting of ball integral type.

As shown in fig. 1, 10-11. The frame 3 is provided with a moving device 4; more than one mobile device 4 is arranged; in the present embodiment, the moving devices 4 are provided in four. The moving device 4 comprises a moving driving motor 41, a moving transmission member 42 and a moving component; the moving assembly comprises a moving first base 43, a moving second base 44 and a moving wheel 45; the movable first base is connected with the frame 3; the moving transmission member 42 is located above the moving first base 43; the moving wheel 45 is mounted on the moving second base 44; the movable second base 44 is movably arranged on the frame 3; the movable second base 44 is positioned in the movable first base 43 and the movable transmission member 42; the moving transmission member 42 is connected with the moving second base 44; a rotating bearing 46 is connected between the movable second base 44 and the movable first base 43; the moving driving motor 41 is connected with a moving driving member 411; the movable driving member 411 is engaged with the movable transmission member 42. In the present embodiment; the moving drive 411 and the moving transmission 42 are gears.

The movement of the frame 3 is realized by arranging a moving device; by providing a bearing between the moving first mount 43 and the moving second mount 44; thus, the movable first base and the movable second base can move relatively; connected to the mobile second base 44 by means of the mobile transmission 42; and the movable transmission member 42 is engaged with the movable driving member 411; and because the moving wheel 45 is mounted on the moving second base 44; the movable wheel can rotate by driving the movable transmission member 42 to drive the second base 44 to rotate; thus, the rotation effect is good; the steering speed is high.

As shown in fig. 1, 2, 6-8. The ball catching mechanism 2 comprises a ball catching bracket 21, a ball blocking device 22 and a ball discharging inclined plate 23; the ball receiving bracket 21 is provided with a ball inlet 213, a ball outlet 214 and a ball storage accommodating space 215; the ball inlet 213 and the ball outlet 214 are respectively communicated with the ball storage accommodating space 215; the ball outlet sloping plate 23 is arranged in the ball storage accommodating space 215, the ball outlet sloping plate 23 is positioned below the ball inlet 213, and one end of the ball outlet sloping plate 23 is connected with the ball outlet 214; the ball outlet sloping plate 23 is obliquely arranged; the inclination direction of the ball outlet sloping plate 23 is inclined from the end far away from the ball outlet 214 to the end near the ball outlet 214 from high to low.

As shown in fig. 7-8. The ball catching support 21 comprises a ball catching transverse support 211 and a ball catching longitudinal support 212; the ball catching transverse support 211 is perpendicular to the ball catching longitudinal support 212, and one end of the ball catching transverse support 211 is connected with one end of the ball catching longitudinal support 212; the other end of the ball-catching transverse support 211 and the other end of the ball-catching longitudinal support 212 are connected with the frame 3; the ball inlet 213 is arranged on the ball-catching transverse support 211; the ball outlet 214 is provided on the ball-catching longitudinal support 212. A ball inlet 213 is arranged on the ball-catching transverse support 211, and a ball outlet 214 is arranged on the ball-catching longitudinal support 212; meanwhile, the ball-catching transverse support 211 is vertically arranged with the ball-catching longitudinal support 212; thus, the ball inlet direction of the ball inlet 213 and the ball outlet direction of the ball outlet 214 are not on the same straight line; this prevents the ball outlet 214 aligned with the ball inlet 213 from discharging a ball while ensuring a vertical ball inlet; when the ball body is contacted with the ground, the moving direction of the released ball body is deviated under the elastic action of the ball body; and the ball cannot reach the designated position.

The ball blocking device 22 comprises a ball blocking driving device 221, a ball blocking sliding device 222, a ball blocking bracket 223 and a ball blocking piece 224; the ball blocking sliding device is connected with the ball blocking bracket 223 and the ball receiving bracket 21, the ball blocking bracket 223 is arranged on the ball receiving bracket 21 in a sliding manner, the ball blocking driving device 221 is arranged on the ball receiving longitudinal supporting piece 212, and the movable end of the ball blocking driving device 221 is connected with the ball blocking bracket 223; the ball blocking piece 224 is close to one side of the ball receiving bracket 21 provided with the ball outlet 214 and is connected with the ball blocking bracket 223; the ball blocking bracket 223 drives the ball blocking piece 224 to open and close the ball outlet 214. In this embodiment, the ball retainer driving device 221 is an air cylinder.

The ball blocking support 223 includes a ball blocking first support 2231 and a ball blocking second support 2232; two blocking ball first supports 2231 are provided; the two ball-catching first supports 2231 are symmetrically arranged with respect to the ball-catching lateral support 211; the first ball-blocking support 2231 is arranged in parallel with the lateral ball-catching support 211, and the second ball-blocking support 2232 is connected between the two first ball-blocking supports 2231; the ball retainer 224 is attached to a second ball retainer support 2232.

The ball-stopping sliding device 222 includes a ball-stopping sliding guide 2221 and a ball-stopping sliding moving member 2222; the ball catching sliding guide 2221 is provided on the ball catching lateral support 211; the blocking ball sliding moving part 2222 is connected with the blocking ball first support 2231; the ball stopping sliding moving part 2222 is slidably arranged on the ball stopping sliding guide rail 2221; the movable end of the blocking ball driving unit 221 is connected to the blocking ball second support 2232. A ball-blocking first support 2231 disposed in parallel with the ball-catching lateral support 211; meanwhile, the ball blocking first support 2231 is slidably connected with the ball receiving transverse support 211 through the ball blocking sliding device 222; thus, the ball blocking driving device 221 drives the ball blocking first support 2231 and the second support 2232 to extend along the guiding direction of the ball blocking sliding device, and the second support 2232 drives the ball blocking piece 224 fixed thereon to move away from the ball outlet 214, that is, the ball blocking piece 224 is away from the ball outlet 214, so that the ball outlet 214 is opened; so that the ball can be released; meanwhile, the first ball blocking support 2231 arranged in parallel with the ball receiving transverse support 211 is arranged, so that the space can be saved.

The ball catching mechanism 2 further comprises a ball pushing device 24; the ball pushing device 24 is located at one end of the ball storage accommodating space far away from the ball blocking piece 224; the ball pushing device 24 comprises a ball pushing support 241 and a ball pushing piece 242; the ball pushing support 241 is located below the ball receiving lateral support 211, and the ball pushing support 241 is connected to one end of the ball blocking first support 2231 away from the ball blocking member 224; the ball pushing support 241 is arranged perpendicular to the first ball blocking support 2231; the ball pushing piece 242 is connected with the ball pushing support 241; the ball pushing member 242 is disposed in parallel with the ball blocking member 224. By arranging the ball pushing device 24, the ball pushing piece 242 is connected with the ball pushing support 241; the ball pushing support 241 is connected to the ball blocking first support 2231; when the ball blocking driving device 221 drives the ball blocking piece 224 to open the ball outlet 214; the ball pushing member 242 is driven by the first support 2231 to approach the ball outlet 214; the ball pushing member 242 pushes the ball out of the ball storage space 215; this accelerates the release of the spheres.

The ball receiving mechanism 2 is provided with a ball receiving bracket 21; the ball receiving bracket 21 is provided with a ball inlet 213, a ball outlet 214 and a ball storage accommodating space 215; thus, the ball can enter the ball storage accommodating space 215 through the ball inlet 213; the ball can be released from the ball storage space 215 through the ball outlet 214; meanwhile, when the ball is caught, the ball body can collide with the frame 3; the support strength of the frame 3 is improved by arranging the ball receiving support 21; by providing the ball stopping device 22; thus, under the action of the ball blocking member 224, the ball is blocked in the ball storage accommodating space 215; when the ball needs to be released, the ball blocking member 224 is driven by the ball blocking driving device 221 to be away from the ball outlet 214; the ball outlet 214 is opened; so that the ball can be released from the ball storage accommodating space 215; meanwhile, by arranging the ball outlet sloping plate 23, one end of the ball outlet sloping plate 23 far away from the ball outlet 214 inclines to one end close to the ball outlet 214; and the inclination direction is from high to low; thus, when the ball outlet 214 is opened; by arranging the ball outlet sloping plate 23; under the action of gravity and the supporting force of the ball outlet inclined plate 23 on the ball body; the ball in the ball storage space 215 approaches the ball outlet 214, and is released from the ball outlet 214; thus the release direction of the ball is directional; and then the ball body can be accurately moved to the designated position.

As shown in fig. 1-5, 9, 13-14. The kicking mechanism 1 comprises a kicking device 11, a kicking support 12 and a kicking driving mechanism; two kickball supporting supports 12 are arranged; the two kicking support seats 12 are symmetrically arranged around the kicking device 11; one end of each of the two kicking support bases 12 is fixed on the bottom of the frame 3, and the other end of each of the two kicking support bases 12 is connected with the kicking device 11; the kicking driving mechanism comprises a kicking first driving device 13, a kicking second driving device 14, a kicking guide device 15 and a kicking moving support 16; in this embodiment, the first driving means 13 for kicking the ball is an air cylinder. The kicking second driving device 14 is arranged on the kicking moving bracket 16; the movable end of the first kicking driving device 13 is connected with the kicking moving bracket 16; the kickball moving support 16 and the frame 3 are connected with a kickball guide device 15; the first driving device 13 drives the second driving device 14 to move close to or away from the kicking device 11 along the direction of the kicking guide 15.

As shown in fig. 4-5. The kicking device 11 comprises a kicking piece 111, a kicking moving mechanism and a kicking connecting shaft; two kicking moving mechanisms are arranged; the two ball kicking movable mechanisms are symmetrically arranged around the ball kicking piece 111; the kickball connecting shaft is arranged on the kickball piece 111 in a penetrating way; the two kicking moving mechanisms are connected with two ends of the kicking connecting shaft; each kicking moving mechanism comprises a kicking fixing device 112, a kicking rotating device 113, a kicking elastic piece 115 and a kicking moving piece 114; in this embodiment, the kick elastic member 115 is a torsion spring. Kicking movable member 114 is disposed between kicking fixture 112 and kicking rotation device 113, and kicking movable member 114 includes a first kicking movable member 1141 and a second kicking movable member 1142; the second ball kicking moving part 1142 is arranged on the inner wall of the first ball kicking moving part 1141; the second ball kicking movable member 1142 and the first ball kicking movable member 1141 are movably arranged relatively; the kick rotating device 113 is provided with a kick driving device 116, and the kick second driving device 14 is in interaction with the kick driving device 116.

One side of the second kicking member 1142 is connected to the kicking fixing device 112; one side of the first moving member 1141 away from the kicking fixing device 112 is connected to one side of the kicking rotating device 113; the kicking elastic element 115 is arranged in the kicking second movable element 1142, and one end of the kicking elastic element 115 is connected with the kicking fixing device 112; the other end of the kicking elastic piece 115 is connected with the kicking rotating device 113; the kicking rotating device 113 drives the kicking member 111 to approach toward the ball receiving mechanism 2.

The kickball support seat 12 is provided with a connecting shaft through hole (not shown in the figure); the kicking device 11 further comprises a connecting shaft support 117 and a connecting shaft fixing piece 118; one end of the kicking connecting shaft is connected with the connecting shaft support 117; the connecting shaft support 117 passes through the connecting shaft through hole to be connected with the connecting shaft fixing member 118; the kick fixing unit 112 and the kick rotating unit 113 are both provided on the connecting shaft support 117; kickball fixture 112 is positioned between kickball hinge 114 and kickball support pedestal 12; the kickball rotating device 113 is located between the kickball moving piece 114 and the kickball piece 111; the kick elastic member 115 is wound around the coupling shaft support 117. The connection of the connecting shaft support 117 and the connecting shaft fixing member 118 is realized by providing a connecting shaft through hole; the elastic member 115 is wound on the connecting shaft support 117 by kicking; the kickball fixing device 112 and the kickball rotating device 113 are both arranged on the connecting shaft support 117; thus, the kick elastic member 115 can be engaged with the kick fixing unit 112 and the kick rotating unit 113.

The kicking fixing device 112 includes a first kicking motion limiting member 1121 and a kicking fixing rotary disk 1122; the first kicking motion limiting piece 1121 is arranged in the kicking fixed rotating disc 1122; the first kicking motion limiting piece 1121 and one side of the first kicking fixed rotating disc 1122 are connected with the kicking support base 12; the other side of the kicking fixed turntable 1122 is connected with a second kicking moving member 1142; the kickball rotating device 113 comprises a second kickball movable limiting piece 1131 and a kickball rotating turntable 1132; the second kick motion limiting member 1131 is disposed in the kick rotation dial 1132; the second kick ball movable limiting piece 1131 and one side of the kick ball rotating dial 1132 are connected with the kick ball piece 111; the other side of the kicking rotary dial 1132 is connected with the first kicking movable piece 1141; the kicking elastic piece is arranged on the connecting shaft support 117 in a penetrating way, and one end of the kicking elastic piece 115 acts on a kicking movable limiting piece 1121; the other end of the kicking elastic member 115 acts on the second kicking motion limiting member 1131.

The first kickball motion limiting part 1121 comprises a first limiting part 1123, a second limiting part 1124 and a first limiting fixing part 1125; the first limiting part 1123 and the second limiting part 1124 are both connected with a first limiting fixing part 1125; a clamping through groove 1126 is formed between the first limiting part 1123 and the second limiting part 1124; one end of the kicking elastic piece 115 is arranged on the first clamping through groove 1126 and acts with the first limiting part 1123. In this embodiment, the first position-limiting portion 1123 and the second position-limiting portion 1124 are disposed in an arc shape, so that the cooperation effect with the kicking elastic member 115 is good.

The second kickball movable limiting part 1131 comprises a third limiting part 1133, a fourth limiting part 1134 and a second limiting fixing part 1135; the third limiting part 1133 and the fourth limiting part 1134 are connected with the second limiting fixing part 1135; a second clamping through groove 1136 is formed between the third limiting part 1133 and the fourth limiting part 1134; one end of the kicking elastic member 115 is disposed on the second locking groove 1136 and is engaged with the third limiting portion 1133. In this embodiment, the third limiting portion 1133 and the fourth limiting portion 1134 are disposed in an arc shape, so that the cooperation effect with the kicking elastic member 115 is good. The first kicking motion limiting piece 1121 is arranged to act on one end of the kicking elastic piece 115; the second kick movable limiting piece 1131 acts on the other end of the kick elastic piece 115; the first kickball movable limiting piece 1121 is protected by arranging the first kickball fixing rotary disc 1122; the kicking rotating dial 1132 plays a role in protecting the second kicking motion limiting piece 1131; meanwhile, the position of the kicking elastic piece 115 can be limited by the kicking fixed rotary disk 1122 and the kicking rotary disk 1132; therefore, the first kicking motion limiting piece 1121, the second kicking motion limiting piece 1131 and the kicking elastic piece 115 have good effect.

The kick drive device 116 includes a kick drive member 1161 and a kick drive support 1162; the kicking transmission piece 1161 is connected with the kicking transmission support 1162; the kicking transmission piece 1161 and the kicking second driving device 14; one end of the kicking transmission support 1162 is connected with the outer wall of the kicking rotary dial 1132; one end of the kicking transmission member 1161 is connected to the outer wall of the first kicking member 1141; kick drive support 1162 is located between kick drive member 1161 and kick member 111; one side of the kickball transmission support 1162 away from the kickball transmission piece 1161 is connected with the kickball piece 111; the end of the kick driving member 1161 remote from the kick moving member 114 is engaged with the second drive device 14. In this embodiment, the kicking transmission piece 1161 is a gear plate.

The kicking member 111 comprises a kicking first supporting plate 1111, a kicking shaft 1112 and a clamping device 1113; two clamping devices 1113 and two kicking first supporting plates 1111 are arranged; the two holding devices 1113 and the first kicking plate 1111 are symmetrical with respect to the kicking axis 1112. A clamp 1113 comprising a first clamp 1114 and a second clamp 1115; a first clamping member 1114 is arranged on one side of the first kicking board 1111, and a second clamping member 1115; the kicking first supporting plate 1111 is arranged at the other side of the kicking first supporting plate 1111; the kickball shaft 1112 is arranged between the two kickball first supporting plates 1111; and is located at one end of the first kicking board 1111; first clamp 1114 and second clamp 1115 secure kick shaft 1112 to kick first plate 1111; the other end of the two kicking first supporting plates 1111 is connected with the kicking connecting shaft through a bearing. The kickball shaft 1112 is driven to contact with the ball body through the kickball first supporting plate 1111; thereby realizing the kicking of the kicking piece.

As shown in fig. 9. The kick second driving device 14 includes a first moving member 141, a second moving member 142, a kick driving motor (not shown) and a kick driven gear 143; two moving members 141 and two moving members 142 are provided; the kicking driving motor is arranged on the frame 3; the kicking driving motor is connected with a kicking driving gear 144; the kickball driving gear 144 and the kickball driven gear 143 are arranged between the two moving pieces 142; the kick driving gear 144 is engaged with the kick driven gear 143; the kickball driving gear 144 and the kickball driven gear 143 are movably connected with the second moving member 142; the two moving parts II 142 are arranged between the two moving parts I141; the kickball driven gear 143, the moving member two 142 and the moving member one 141 are movably connected. In this embodiment, the kicking driven gear 143 is movably connected to the second moving member 142 and the first moving member 141 through a connecting shaft (not shown); the kicking driving gear 144 is movably connected with the second movable piece 142 through a rotating shaft (not shown) of a kicking driving motor; bearings are arranged between the connecting shaft and the kickball driven gear 143, between the connecting shaft and the first moving member 141, and between the rotating shaft of the kickball driving motor and the second moving member 142.

A second sensor is arranged on the moving part II; a sensor mounting point (not shown) is arranged at the end part of the kicking transmission piece 1161 close to the second moving piece; a first sensor is arranged on the sensor mounting point; the sensor mounting point is the action position of the first sensor and the second sensor when the swing amplitude of the kicking piece is maximum; when the second sensor senses the first sensor; the kicking drive motor stops operating. Therefore, the ball kicking piece swings to the maximum amplitude limit to the ball receiving mechanism.

One end of the kicking transmission support 1162 and the outer wall of the kicking rotary dial 1132; one end of the kicking transmission member 1161 is connected to the outer wall of the first kicking member 1141; meanwhile, the kicking transmission piece 1161 is connected with the kicking transmission support 1162; such that when the kicking drive member 1161 is engaged with the second kicking drive 14; the kickball driving device 116 drives the kickball piece 111 to move.

A kickball driving motor is arranged on the frame 3; thus, the stability is good; by engaging the kick drive gear 144 with the kick driven gear 143, the second kick drive device 14 can act on the kick drive member 1161 when the kick driven gear 143 is engaged with the kick drive member 1161; the two moving parts II 142 are arranged between; the two moving members II 142 can protect the kicking driving gear 144 and the kicking driven gear 143; thereby preventing the transmission between the kicking driving gear 144 and the kicking driven gear 143 from being affected by the outside; meanwhile, the kicking driving gear 144, the kicking driven gear 143, the moving member II 142 and the moving member I141 are movably connected; thus, a connecting rod action is generated between the first moving part 141 and the second moving part 142; the kickball driven gear 143 approaches to and departs from the kickball transmission piece 1161 by changing the position of the first moving piece 141; the first moving part 141 drives the kickball driven gear 143 to approach the kickball driving member 1161, so that the kickball driven gear and the kickball driving member 1161 act, and the kickball 111 realizes force accumulation; the first moving member 141 drives the kicking driven gear 143 to move away from the kicking driving member 1161, and when the kicking driven gear does not act on the kicking driving member 1161, the kicking member 111 realizes kicking.

The kickball guide 15 includes a kickball moving guide 151 and a kickball moving slider 152; the kickball moving guide rail 151 is arranged on the frame 3; the kickball moving sliding member 152 is slidably disposed on the kickball moving guide rail 151; the kicking moving sliding part 152 is connected with the first moving part 141 and is located at one end of the first moving part 141 far away from the second moving part 142; the kicking moving sliding piece and the moving piece I141 are movably connected in the embodiment, and a connecting shaft (not shown in the figure) is arranged in the kicking moving sliding piece; a bearing is connected between the first moving piece 141 and the connecting shaft positioned in the kickball moving sliding piece; two kickball moving supports 16 are arranged; the two kicking moving brackets 16 are fixedly connected with the kicking moving sliding piece; the two moving parts one is positioned between the two kickball moving brackets 16; one end of the moving member close to the kicking moving sliding member 152 is movably connected with the kicking moving support 16; one end of the two kicking moving sliding pieces 152 far away from the moving piece I141 is connected with the first kicking driving device 13; the first kicking driving device 13 drives the kicking driven gear 143 to act on the kicking transmission piece 1161. The first kicking driving device 13 drives the first moving part 141 to move along the guiding direction of the kicking guiding device 15 by arranging the kicking guiding device 15; thereby effecting the kicking follower gear 143 to approach and move away from the kicking drive member 1161.

The kicking mechanism 1 is provided with a kicking support 12; the kicking device 11 is connected with the frame 3 and the kicking device 11 is positioned at one end of the kicking support 12; the other end of the kicking support 12 is connected with the bottom of the frame 3; thus, the kicking device 11 has a certain distance from the bottom of the frame 3; the kicking device 11 has a moving space for realizing kicking; the first kicking driving device 13 is arranged to drive the second kicking driving device 14 to act with the kicking device 11 so as to realize kicking; therefore, the first driving device 13 for kicking the ball is matched with the second driving device to enable the kicking device 11 to act; thus, the control effect is good; the safety is higher;

the kicking fixing device 112 is connected with the kicking second movable element 1142, the kicking rotating device 113 is connected with the kicking first movable element 1141, and the kicking second movable element 1142 and the kicking first movable element 1141 are movably arranged relatively; meanwhile, the kicking fixing device 112 and the kicking rotating device 113 are connected with the end part of the kicking elastic piece 115; when the second driving device 14 for kicking the ball is close to the kicking device 11 and acts with the kicking rotating device 113; because kickball fixture 112 is attached to kickball support pedestal 12; kicking fixture 112 is not movable; the second ball kicking movable piece 1142 and the first ball kicking movable piece 1141 are movably arranged; the kick rotating means 113 can be activated; when the second kicking driving device 14 drives the kicking rotating device 113 to rotate towards the ball receiving mechanism 2; the kickball rotating device 113 drives the kickball elastic member 115 to contract; meanwhile, the kickball rotating device 113 is connected with the kickball piece 111; the kickball rotating device 113 can synchronously drive the kickball piece 111 to approach the ball receiving mechanism 2; thus, the kicking piece 111 realizes the force storage action before kicking the ball; when the kicking second driving device 14 is far away from the kicking device 11; the second kicking driving device 14 does not act on the kicking rotating device 113; under the action of the self elasticity of the kicking elastic piece 115; the kick elastic member 115 returns to the original device; meanwhile, the kicking elastic member 115 drives the kicking rotating device 113 to move in a direction away from the ball catching mechanism 2, so as to drive the kicking member 111 to move away from the ball catching mechanism 2; thus, the ball kicking piece 111 realizes the ball kicking action; meanwhile, when the ball kicking piece 111 kicks the ball; the kicking second driving means 14 is not in contact with the kicking means 11; the force generated when the kicking piece 111 kicks the ball does not act on the kicking driving mechanism; thus, the ball kicking driving mechanism cannot be abraded when the ball is kicked; meanwhile, the second driving device 14 for kicking the ball does not influence the kicking member 111 to kick the ball; and then the ball of this scheme is effectual, long service life.

The working method of the multifunctional kicking ball machine comprises a kicking ball method and a ball receiving method.

As shown in fig. 15; the kicking method comprises the following steps:

(2) the multifunctional kicking ball machine moves to a designated area;

(3) the first kicking driving device extends out and drives the kicking moving support to move upwards along the guiding direction of the kicking guiding device; the kickball moving support drives the kickball driven gear to be close to the kickball driving part;

(7) retracting the first kicking driving device, and driving the kicking moving support to move downwards by the first kicking driving device along the guiding direction of the kicking guiding device; the kickball moving support drives the kickball driven gear to be far away from the kickball driving part;

(8) separating the kicking driven gear from the kicking transmission member; the kicking elastic piece returns to the initial state; the kicking transmission piece moves reversely, and the kicking piece swings in the direction far away from the ball receiving mechanism; the kicking piece plays the ball.

The ball catching method comprises the following steps:

(11) the multifunctional kicking ball machine moves to another designated area;

(12) the ball blocking driving device extends out, the ball blocking support drives the ball blocking piece to be far away from the ball outlet, and the ball blocking support drives the ball pushing piece to be close to the ball outlet; opening a ball outlet; the ball body is released from the ball storage containing space under the action of the ball pushing piece.

In the kicking method, the kicking driving first device drives the kicking driven gear to be close to the kicking transmission member; when the kicking driven gear is meshed with the kicking driving part; because the kicking fixing device is connected with the kicking support seat; the kicking fixing device can not move; the second ball kicking movable piece and the first ball kicking movable piece are movably arranged; the kickball rotating device can move; when the kicking second driving device drives the kicking driven gear to rotate, the kicking transmission piece rotates towards the ball receiving mechanism; the kickball driving piece drives the kickball elastic piece to contract; meanwhile, the kicking transmission piece is connected with the kicking piece; the kicking transmission piece can synchronously drive the kicking piece to approach the ball receiving mechanism; thus, the kicking piece realizes the force storage action before kicking the ball; the first device is driven by kicking balls to drive the kicking ball driven gear to be far away from the kicking ball driving part; the kicking driven gear is separated from the kicking transmission piece; the second driving device for kicking the ball does not act on the transmission part for kicking the ball; under the action of the self elasticity of the ball kicking elastic piece; the kicking elastic piece returns to the initial device; meanwhile, the kicking elastic piece can drive the kicking rotating device to move towards the direction far away from the ball receiving mechanism, so as to drive the kicking piece to be far away from the ball receiving mechanism; thus, the kicking piece realizes the kicking action.

In the ball catching method, when the ball needs to be released, the ball blocking driving device drives the ball blocking piece to be far away from the ball outlet; the opening of the ball outlet is realized; so that the ball can be released from the ball storage accommodating space; meanwhile, under the action of the ball outlet inclined plate and the ball pushing piece, the ball body positioned in the ball storage accommodating space can approach the ball outlet, so that the release direction of the ball body has directivity; and then the ball body can be accurately moved to the designated position.

Claims

1. A working method of a multifunctional ball kicking machine is characterized in that: the multifunctional kicking machine comprises a frame, a kicking mechanism and a ball receiving mechanism; the kicking mechanism is arranged at one end of the frame; the ball catching mechanism is arranged at the other end of the rack; the frame is provided with a moving device;

the ball blocking device comprises a ball blocking driving device, a ball blocking bracket and a ball blocking piece; the ball blocking sliding device is connected with the ball blocking bracket and the ball receiving bracket, the ball blocking bracket is arranged on the ball receiving bracket in a sliding manner, and the ball pushing device is positioned in the ball storage accommodating space and is connected with the ball blocking bracket; the ball blocking driving device is arranged on the ball receiving support, and the movable end of the ball blocking driving device is connected with the ball blocking support; the ball blocking piece is close to one side of the ball receiving support provided with the ball outlet and is connected with the ball blocking support; the ball pushing device comprises a ball pushing support and a ball pushing piece; the ball pushing support is connected with the ball blocking support; the ball pushing piece is connected with the ball pushing support; the ball blocking bracket drives the ball blocking piece and the ball pushing piece to move synchronously; the ball blocking bracket drives the ball blocking piece to open and close the ball outlet;

(2) the multifunctional kicking ball machine moves to a designated area;

the ball catching method comprises the following steps:

(11) the multifunctional kicking ball machine moves to another designated area;

2. The working method of the multifunctional kicking machine according to claim 1, characterized in that: the ball blocking device also comprises a ball blocking sliding device; the ball blocking sliding device comprises a ball blocking sliding guide rail and a ball blocking sliding moving piece; the ball blocking sliding guide rail is arranged on the ball receiving bracket; the blocking ball sliding moving piece is connected with the blocking ball support; the blocking ball sliding moving piece is arranged on the blocking ball sliding guide rail in a sliding mode.

3. The working method of the multifunctional kicking machine according to claim 2, characterized in that: in the step (12), the method specifically comprises the following steps: the ball blocking driving device extends out, the ball blocking support drives the ball blocking piece to be far away from the ball outlet, and the ball blocking support drives the ball pushing piece to be close to the ball outlet; opening a ball outlet; the ball body is released from the ball storage containing space under the action of the ball pushing piece.

4. The working method of the multifunctional kicking machine according to claim 1, characterized in that: the kickball driving mechanism also comprises a kickball guide device; the kickball guide device comprises a kickball moving guide rail and a kickball moving sliding piece; the kickball moving guide rail is arranged on the frame; the kickball moving sliding piece is arranged on the kickball moving guide rail in a sliding manner; the first kicking driving device is connected with the first kicking moving sliding part and the first moving part.

5. The working method of the multifunctional kicking machine according to claim 4, characterized in that: in the kicking method, the step (3) is specifically as follows: the first kicking driving device extends out and drives the kicking moving support to move upwards along the guiding direction of the kicking guiding device; the kickball moving support drives the kickball driven gear to be close to the kickball driving member.

6. The working method of the multifunctional kicking machine according to claim 4, characterized in that: in the kicking method, the step (7) is specifically as follows: the kicking first driving device retracts, and the kicking first driving device drives the kicking moving support to move downwards along the guiding direction of the kicking guiding device; the kickball moving support drives the kickball driven gear to be far away from the kickball driving part.