CN112642116B

CN112642116B - Rugby ball grabbing method

Info

Publication number: CN112642116B
Application number: CN202011511871.1A
Authority: CN
Inventors: 邓达强; 易佳豪; 夏奕乐; 李大全
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: 2022-11-15
Anticipated expiration: 2040-12-18
Also published as: CN112642116A

Abstract

The invention provides a football grabbing method, which comprises the following steps: (a) The moving device drives the clamping device arranged on the moving device to move to the position of the football on the training field; (b) The driving mechanism drives the clamping device to move towards the football on the ground; the method comprises the following specific steps: the clamping driving motor drives the clamping driving wheel to rotate, the clamping driving wheel drives the clamping driving driven wheel to rotate through the clamping driving chain, the clamping driven wheel drives the clamping device to swing, and the clamping device is swung to the position of the football; (c) The clamping device is rotated to an angle corresponding to the football by the rotary steering engine, and the clamping hand drives the cylinder to drive the first clamping hand and the second clamping hand to be opened so as to clamp the football between the first clamping hand and the second clamping hand; (d) The clamping hand driving cylinder drives the first clamping hand and the second clamping hand to close so as to clamp the football, and the driving mechanism drives the clamping device to drive the football to swing upwards.

Description

Rugby ball grabbing method

Technical Field

The invention relates to the technical field of football training devices, in particular to a football grabbing method.

Background

The football game is a ball game project which is confronted by two teams, is violent and rich in appreciation, achieves the goal of attacking and defending through the mutual matching of the personal technologies during the football match, and is characterized in that the number of people participating in the match is the largest, all ball projects cannot be compared, in the match, the sportsman is required to have strong physique, tall stature, rapid running ability and brave and tenacious intention, the sportsman is also required to complete complex physical contact technical actions and tactical matching under the condition of adversarial block, the sportsman is required to have the skills flexibility and the bouncing ability of the basketball sportsman, the sportsman is required to have the proficient kicking skills of the football player, and the rapid and quick running speed of the short-path field athletes are required.

Most of the prior football ball receiving training devices need to manually and continuously send balls, and have low automation degree, thereby leading to the condition that the training is not coherent and the training effect is poor.

The invention discloses a football ball training device which comprises a base, wherein an installation seat is fixedly installed on the upper end surface of the base, a launching tube is arranged on the installation seat, a launching device is arranged on the launching tube, a ball storage box is arranged at the position above the left of the launching tube, a plurality of supporting rods which are uniformly distributed are fixedly installed on the lower end surface of the ball storage box, and a ball adding port is fixedly installed on the upper end surface of the ball storage box.

However, the invention adopts the football storage box to store more footballs, but only reduces the operation amount of the training personnel, which can not completely solve the problems of automatic football picking, sending and serving, if footballs need to be launched at a plurality of places, the personnel is required to go to the footballer to check and supplement the footballs at any time, the launched footballs also need to be picked up by the personnel, and the invention is inconvenient for training.

Disclosure of Invention

The invention aims to provide a football grabbing method, which can be used for picking up a football on a training field and is convenient for a trainer to work.

In order to achieve the purpose, the football grabbing method comprises the following steps:

(a) The moving device drives the clamping device arranged on the moving device to move to the position of the football on the training ground;

(b) The driving mechanism drives the clamping device to move towards the football on the ground; the method comprises the following specific steps: the clamping driving motor drives the clamping driving wheel to rotate, the clamping driving wheel drives the clamping driving driven wheel to rotate through the clamping driving chain, the clamping driven wheel drives the clamping device to swing, and the clamping device is swung to the position of the football;

(c) The clamping device is rotated to the angle corresponding to the football by rotating the steering engine, and the clamping hand driving cylinder drives the first clamping hand and the second clamping hand to open to clamp the football between the first clamping hand and the second clamping hand;

(d) The clamping hand driving cylinder drives the first clamping hand and the second clamping hand to close so as to clamp the football, and the driving mechanism drives the clamping device to drive the football to swing upwards.

The football grabbing device with the structure is provided with the movable chassis, so that the football grabbing device can freely move on the ground, the clamping device is further arranged, the football on the ground can be picked up and sent back to other devices for training, manual operation is completely omitted, the football picking device is simple and convenient to use, when a person conducts training, the football picking device can be moved to patrol and move on a training field, when the football needs to be picked, the clamping device clamps the underground football, the football can be opened and closed by driving the first clamping hand and the second clamping hand, the football can be conveyed back to the device needing to be trained after being clamped, due to the fact that the first clamping hand plate and the second clamping hand plate are arranged in an arc shape, the clamping device can be more attached to the football, when the football is clamped, the clamping device drives the clamping device to move towards the football on the ground, when the football is picked, the driving mechanism drives the clamping device to rotate to an angle corresponding to the football, the clamping device drives the first clamping hand and the second clamping hand to clamp the football, when the football is moved to the position of the football, the driving mechanism drives the first clamping device to clamp the second clamping device to clamp the football, and the driving mechanism to drive the second clamping device to drive the football to drive the clamping device to drive the football to be placed on the body, and then the steering engine, and the second clamping device to launch the football, so that the football can be launched, and the steering engine can be launched.

Further, the moving device comprises a chassis and a holder, the holder is arranged above the chassis, a launcher body is arranged on the holder, a driving mechanism is arranged on the launcher body, the driving mechanism comprises a driving main shaft, a clamping driving motor, a clamping driving wheel, a clamping driving chain and a clamping driving driven wheel, the launcher body is arranged on the driving main shaft, the clamping driving motor is arranged on one side of the launcher body, the clamping driving wheel is arranged on the clamping driving motor, the clamping driving driven wheel is arranged at two ends of the driving main shaft, the clamping driving wheel is connected with the clamping driving driven wheel through the clamping driving chain, the clamping driving wheel is connected with a clamping device, the clamping device comprises a clamping connecting plate, a clamping fixing plate, a rotary steering engine, a steering engine fixing plate and a clamping hand assembly, one end of the clamping connecting plate is connected with the driving mechanism, the other end of the clamping connecting plate is connected with the steering engine fixing plate, the rotary steering engine is connected with the clamping fixing plate, the clamping driving assembly is arranged at two ends of the clamping fixing plate, the clamping assembly comprises a first clamping hand, a second clamping hand and a clamping driving cylinder, the clamping driving cylinder is arranged at two ends of the clamping driving cylinder, the football is arranged at two ends of the clamping driving cylinder, the second clamping cylinder is arranged at two ends of the clamping driving cylinder, and the football is used for clamping device for clamping football, and when the football is required to be used for picking up and picking up the football, and picking up the football.

Furthermore, the gripper driving cylinder comprises a gripper cylinder seat, a gripper cylinder, a swing shaft and gripper mounting grooves, the gripper cylinder is arranged in the gripper cylinder seat, the gripper mounting grooves are formed in one end of the gripper cylinder seat, the front end of the gripper cylinder is located in the gripper mounting grooves, the swing shafts are arranged on two sides of the gripper mounting grooves, the first gripper and the second gripper are movably connected with the swing shafts and connected with the gripper cylinder, the front end of the gripper cylinder is provided with a gripper limiting plate and a limiting rod, the gripper limiting plate is arranged at two ends of the gripper cylinder, and the first gripper and the second gripper are connected between the gripper limiting plates through the limiting rod; when the piston rod of the clamping cylinder moves, the piston rod of the clamping cylinder drives the first clamping hand and the second clamping hand to swing around the swinging shaft. Furthermore, the first clamping hand comprises a first clamping hand plate, a first connecting plate and a first swinging plate, the swinging shaft movably connected with one side of the clamping hand cylinder seat is positioned at one end of the first swinging plate, the first connecting plate is connected between the clamping hand limiting plates of the clamping hand cylinder, the other end of the first swinging plate is connected with the first clamping hand plate, the first clamping hand is provided with two clamping hand driving cylinders which are arranged at two ends of the clamping fixing plate, and the two first clamping hands are mutually connected through the first clamping hand connecting plate, so that the first clamping hand connecting plate connects the two first clamping hands, and the structure of the first clamping hand is firmer.

Furthermore, the second gripper comprises a second gripper plate, a second connecting plate and a second swing plate, the second swing plate is movably connected with a swing shaft on the other side of the gripper cylinder seat, the second swing shaft is arranged at one end of the second swing shaft, the second connecting plate is connected between the gripper limiting plates of the gripper cylinder, the other end of the second swing plate is connected with the second gripper plate, the second gripper is provided with two gripper driving cylinders which are arranged at two ends of the clamping fixing plate, the two second grippers are connected with each other through the second gripper connecting plate, and therefore the second gripper connecting plate connects the two second grippers, and the structure of the second gripper is firmer.

Further, first tong board includes first connecting portion, first ball support portion and first card ball portion, first swing board is connected to the one end of first connecting portion, is equipped with first ball support portion at the other end of first connecting portion, first ball support portion extends the form from first connecting portion to inside outside arc forward and sets up, and the end that is located first ball support portion is equipped with first ball support portion, first ball support portion extends the setting from first ball support portion to outside inside arc forward, is equipped with first card ball portion at first ball support portion's end, first card ball portion extends the setting from first ball support portion to inside slope forward, through the arc setting of first tong board for the tong is the football of laminating more, and is more firm when centre gripping football from this.

Further, the second tong board includes second connecting portion, second ball support portion and second card bulb, the second swing board is connected to the one end of second connecting portion, is equipped with second ball support portion at the other end of second connecting portion, the second ball support portion is from the setting of the forward inside outside arc extension form of second connecting portion, and the end that is located second ball support portion is equipped with the second and presss from both sides the bulb, the second ball support portion is from the setting of the forward outside inside arc extension of second ball support portion, is equipped with second card bulb at the end of second ball support portion, second card bulb is from the setting of the forward inside slope extension of second ball support portion, through the arc setting of second tong board for the tong more laminates the football, and is more firm when centre gripping football from this.

Furthermore, the cradle head comprises a first guide rail, a second guide rail group and a moving cradle head, the first guide rail is fixed on the chassis, the second guide rail group is arranged on the first guide rail in a sliding manner, the second guide rail group comprises a second guide rail, a second guide rail base plate, a guide rail propulsion cylinder, a guide rail propulsion shaft, a propulsion shaft connecting plate, a cylinder connecting plate and a second guide rail slider, the second guide rail base plate is connected to the first guide rail in a sliding manner through the second guide rail slider, the second guide rail is arranged on the second guide rail base plate, the cylinder connecting plate is arranged at two ends of the second guide rail base plate and connected with the guide rail propulsion cylinder, the guide rail propulsion cylinder is connected to the guide rail propulsion shaft, two ends of the guide rail propulsion shaft are fixed on the first guide rail through the propulsion shaft connecting plate, the second guide rail is provided with two guide rails, and the moving cradle head is arranged between the second guide rails; the guide rail propulsion cylinder drives the cylinder connecting plate, the second guide rail base plate and the second guide rail sliding block to slide on the first guide rail, and the moving holder is controlled to move in one direction.

Further, the moving cradle head comprises a cradle head base, a cradle head slider, a cradle head rotary table, a transmitting base mounting plate, a belt wheel motor, a synchronous belt shaft, a driving belt wheel, a synchronous belt pad, a synchronous belt connecting block and a belt wheel mounting plate, wherein the cradle head base is arranged on a second guide rail through the cradle head slider in a sliding manner, the cradle head rotary table is arranged above the cradle head base, the transmitting base mounting plate is arranged on the cradle head rotary table, a transmitting machine body is arranged on the transmitting base mounting plate, the belt wheel mounting plate is also arranged on a second guide rail base plate, the belt wheel motor is arranged on the belt wheel mounting plate, the belt wheel motor is connected with the driving belt wheel through the synchronous belt shaft, the synchronous belt is arranged on the driving belt wheel, the synchronous belt pad is arranged below the cradle head base, and the synchronous belt is also connected with the synchronous belt pad through the synchronous belt connecting block; an inner gear ring is arranged on the holder base, a rotating motor is arranged on the transmitting base mounting plate, a rotating driving gear is arranged on an output shaft of the rotating motor, and the rotating driving gear is meshed with the inner gear ring; the belt wheel motor drives the synchronous belt to move through a driving belt wheel, the synchronous belt drives the holder base to slide through the synchronous belt pad and the synchronous belt connecting block, and the holder base is controlled to move in the other direction; when the rotating motor works, the rotating motor drives the transmitting base mounting plate to rotate through the rotating driving gear and the inner gear ring.

Further, the chassis includes omniwheel, chassis frame and bumper shock absorber, the omniwheel is equipped with more than two and sets up in the periphery of chassis frame, and the removal cloud platform passes through the bumper shock absorber and connects the chassis frame, and the bumper shock absorber can finely alleviate mobile device's vibration to protection architecture is difficult to suffer the damage.

Drawings

Fig. 1 is a perspective view of a football grasping apparatus of the present invention.

Fig. 2 is a right side view of the transmitter body of the present invention.

Fig. 3 is a perspective view of the clamping device of the present invention.

Fig. 4 is a perspective view of the mobile device of the present invention.

Fig. 5 is an exploded view of the head of the present invention.

Fig. 6 is an exploded view of the mobile head of the present invention.

Fig. 7 is an enlarged view at E in fig. 4.

Fig. 8 is an enlarged view at F in fig. 5.

Fig. 9 is an exploded view of the clamping device of the present invention.

Fig. 10 is an enlarged view at G in fig. 9.

Figure 11 is an exploded view of the gripper assembly of the present invention.

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 to 11, a football-catching device includes a moving device 1 and a holding device 3.

The mobile device 1 comprises a chassis 11 and a cradle head 12, wherein the cradle head 12 is arranged above the chassis 11, and a transmitting machine body 24 is arranged on the cradle head 12.

As shown in fig. 2 and fig. 3, the driving mechanism 23 includes a driving spindle 236, a clamping driving motor 237, a clamping driving wheel 238, a clamping driving chain 239, and a clamping driving driven wheel 234, the launching body 24 is disposed on the driving spindle 236, the clamping driving motor 237 is disposed on one side of the launching body 24, the clamping driving wheel 238 is disposed on the clamping driving motor 237, the clamping driving driven wheel 234 is disposed on both ends of the driving spindle 236, the clamping driving wheel 238 is connected to the clamping driving driven wheel 234 through the clamping driving chain 239, the clamping driving driven wheel 234 is connected to the clamping device 3, the driving mechanism is used as a main power source, and meshing transmission between the driving wheel and the driven wheel is adopted, which is simple and reliable.

As shown in fig. 3, the clamping device 3 includes a clamping connection plate 31, a clamping fixing plate 32, a rotary steering engine 33, a steering engine fixing plate 34, and a gripper assembly 35, one end of the clamping connection plate 31 is connected to the driving mechanism 23, the other end of the clamping connection plate 31 is connected to the steering engine fixing plate 34, the clamping fixing plate 32 is connected to the rotary steering engine 33, the rotary steering engine 33 passes through the clamping fixing plate 32 and is connected to the steering engine fixing plate 34, and the gripper assembly 35 is disposed at two ends of the clamping fixing plate 32.

As shown in fig. 9 to 11, the gripper assembly 35 includes a first gripper 351, a second gripper 352, and a gripper driving cylinder 353, the gripper driving cylinder 353 is fixed to both ends of the holding fixing plate 32, the first gripper 351 and the second gripper 352 are provided on the gripper driving cylinder 353 at both ends to swing along the gripper driving cylinder 353, so that the holding device 3 holds the football in the ground, the driving mechanism 23 drives the holding device 3 to move the held football upward to the ball holding mechanism 4, the angles of the football in different directions can be adjusted by rotating the steering machine 33, and the gripper driving cylinder 353 drives the first gripper 351 and the second gripper 352 to open and close, so that the football can be easily held.

As shown in fig. 9 and 10, the gripper driving cylinder 353 includes a gripper cylinder block 3531, a gripper cylinder 3532, a swing shaft 3533 and a gripper installation groove 3534, the gripper cylinder 3532 is disposed in the gripper cylinder block 3531, a gripper installation groove 3534 is disposed at one end of the gripper cylinder block 3531, the front end of the gripper cylinder 3532 is disposed in the gripper installation groove 3534, the swing shaft 3533 is disposed at two sides of the gripper installation groove 3534, and the first gripper 351 and the second gripper 352 are movably connected with the swing shaft 3533 and the gripper cylinder 3532; when the piston rod of tong cylinder moved, the piston rod of tong cylinder drove first tong and second tong and swings round the oscillating axle, sets up from this, and when needs centre gripping football, drive tong cylinder pushed up forward, and first tong and second tong can be driven along the oscillating axle outwards swing by the tong cylinder to realize opening of tong, can drive the tong closed when the tong cylinder resets, thereby step up the football.

As shown in fig. 10, a gripper limiting plate 3535 and a limiting rod 3536 are arranged at the front end of the gripper cylinder 3532, the gripper limiting plates 3535 are arranged at two ends of the gripper cylinder 3532, and the first gripper 351 and the second gripper 352 are connected between the gripper limiting plates 3535 through the limiting rod 3536, so that the arrangement is simple and effective, and the two grippers can be connected through the limiting rod.

As shown in fig. 9 to 11, the first gripper 351 includes a first gripper plate 3511, a first connecting plate 3512 and a first swing plate 3513, the first swing plate 3513 is movably connected to the swing shaft 3533 at one side of the gripper cylinder block 3531, the first connecting plate 3512 is provided at one end of the first swing plate 3513, the first connecting plate 3512 is connected between the gripper limiting plates 3535 of the gripper cylinder 3532, the other end of the first swing plate 3513 is connected to the first gripper plate 3511, the first gripper 351 is provided with two gripper driving cylinders 353 provided at both ends of the grip fixing plate 32, and the two first grippers 351 are connected to each other through the first gripper connecting plate 3510, so that the first gripper connecting plate connects the two first grippers, thereby making the structure of the first gripper firmer.

As shown in fig. 9 to 11, the second gripper 352 includes a second gripper plate 3521, a second connecting plate 3522 and a second swing plate 3523, the second swing plate 3523 is movably connected to the swing shaft 3533 at the other side of the gripper cylinder block 3531, the second connecting plate 3522 is disposed at one end of the second swing shaft 3523, the second connecting plate 3522 is connected between the gripper limiting plates 3535 of the gripper cylinder 3532, the other end of the second swing plate 3523 is connected to the second gripper plate 3521, the second gripper 352 is provided with two gripper driving cylinders 353 disposed at both ends of the gripper fixing plate 32, and the two second grippers 352 are connected to each other through the second gripper connecting plate 3510, so that the second gripper connecting plate connects the two second grippers, thereby making the structure of the second gripper firmer.

As shown in fig. 11, the first gripper plate 3511 includes a first connecting portion 35111, a first ball supporting portion 35112, a first ball clamping portion 35113 and a first ball catching portion 35114, one end of the first connecting portion 35111 is connected to the first swing plate 3513, the other end of the first connecting portion 35111 is provided with the first ball supporting portion 35112, the first ball supporting portion 35112 is arcuately extended forward and inward from the first connecting portion 35111, a first ball clamping portion 35113 is provided at a distal end of the first ball supporting portion 35112, the first ball clamping portion 35113 is arcuately extended forward and outward from the first ball supporting portion 35112, a first ball catching portion 35114 is provided at a distal end of the first ball clamping portion 35113, the first ball clamping portion 35114 is obliquely extended forward and inward from the first ball clamping portion 35113, and the gripper is more firmly attached to the football when the football is gripped by the arcuately arranged of the first gripper plate.

As shown in fig. 11, the second gripper plate 3521 includes a second connecting portion 35211, a second ball supporting portion 35212, a second ball clamping portion 35213 and a second ball catching portion 35214, one end of the second connecting portion 35211 is connected to the second swing plate 3523, the other end of the second connecting portion 35211 is provided with the second ball supporting portion 35212, the second ball supporting portion 35212 is arcuately extended forward and inward from the second connecting portion 35211, the second ball clamping portion 35213 is provided at a distal end of the second ball supporting portion 35212, the second ball clamping portion 35213 is arcuately extended forward and outward and inward from the second ball clamping portion 35212, the distal end of the second ball clamping portion 35213 is provided with the second ball catching portion 35214, the second ball clamping portion 35214 is obliquely extended forward and inward from the second ball clamping portion 35213, and the gripper is more firmly attached to the football by the arcuately arranged of the second gripper plate, thereby clamping the football.

As shown in fig. 4 to 8, the pan/tilt head 12 includes a first guide rail 121, a second guide rail group 7, and a moving pan/tilt head 8, the first guide rail 121 is fixed on the chassis 11, the second guide rail group 7 is slidably disposed on the first guide rail 121, the second guide rail group 7 includes a second guide rail 71, a second guide rail base plate 72, a guide rail propulsion cylinder 73, a guide rail propulsion shaft 74, a propulsion shaft connecting plate 75, a cylinder connecting plate 76, and a second guide rail slider 77, the second guide rail base plate 72 is slidably connected to the first guide rail 121 through the second guide rail slider 77, the second guide rail 71 is disposed on the second guide rail base plate 72, two ends of the second guide rail base plate 72 are provided with the cylinder connecting plates 76, the cylinder connecting plate 76 is connected to the guide rail propulsion cylinder 73, the guide rail propulsion cylinder 73 is connected to the guide rail propulsion shaft 74, two ends of the guide rail propulsion shaft 74 are fixed on the first guide rail 121 through the propulsion shaft connecting plate 75, two second guide rails 71 are provided with two guide rails, and the moving pan/tilt head 8 is disposed between the second guide rails 71; the air cylinder is pushed through the guide rail to drive the air cylinder connecting plate, the second guide rail base plate and the second guide rail sliding block to slide on the first guide rail, and the moving holder is controlled to move in one direction.

As shown in fig. 6 and 8, the moving pan-tilt 8 includes a pan-tilt base 81, a pan-tilt slider 82, a pan-tilt turntable 83, a transmitting base mounting plate 84, a pulley motor 85, a synchronous belt shaft 86, a driving pulley 87, a synchronous belt 88, a synchronous belt pad 89, a synchronous belt connecting block 891 and a pulley mounting plate 80, wherein the pan-tilt base 81 is slidably disposed on the second guide rail 71 through the pan-tilt slider 82, the pan-tilt turntable 83 is disposed above the pan-tilt base 81, the transmitting base mounting plate 84 is disposed on the pan-tilt turntable 83, the transmitting body 24 is mounted on the transmitting base mounting plate 84, the pulley mounting plate 80 is further disposed on the second guide rail substrate 72, the pulley motor 85 is disposed on the pulley mounting plate 80, the pulley motor 85 is connected to the driving pulley 87 through the synchronous belt shaft 86, the synchronous belt 88 is disposed on the driving pulley 87, the synchronous belt pad 89 is disposed below the pan-tilt base 81, the synchronous belt 88 is further connected to the synchronous belt connecting block 891, and thus the pan-tilt can rotate the clamping device by a certain angle through the turntable.

As shown in fig. 5, an inner gear ring 811 is provided on the pan/tilt base 81, a rotating motor 841 is mounted on the transmitting base mounting plate 84, and a rotating drive gear (not shown) is mounted on an output shaft of the rotating motor 841, the rotating drive gear being engaged with the inner gear ring 811; the belt wheel motor 85 drives the synchronous belt 88 to move through a driving belt wheel 87, the synchronous belt 88 drives the holder base 81 to slide through a synchronous belt pad 89 and a synchronous belt connecting block 894, and the holder base 81 is controlled to move in the other direction; when the rotating motor 841 operates, the rotating motor 841 rotates the transmitting base mounting plate 81 by rotating the driving gear and the ring gear 811.

As shown in fig. 1, the chassis 11 includes an omni wheel 111, a chassis frame 112 and a shock absorber 114, the omni wheel 111 is provided with more than two and is disposed at the periphery of the chassis frame 112, the moving platform 8 is connected to the chassis frame 112 through the shock absorber 114, and the shock absorber 114 can well reduce the vibration of the moving device, so that the protection structure is not easily damaged.

The method comprises the following specific steps:

(a) The mobile device moves to the position of the football on the training ground;

(b) The driving mechanism drives the clamping device to move towards the football on the ground;

(c) The clamping device is rotated to an angle corresponding to the football by the rotary steering engine, and the clamping hand drives the cylinder to drive the first clamping hand and the second clamping hand to be opened so as to clamp the football between the first clamping hand and the second clamping hand;

(d) Thereby the tong actuating cylinder drives first tong second tong and closes and thus carry football back, and driving machine actuating mechanism drives clamping device rebound, places the transmitter with the football of centre gripping on one's body.

Claims

1. A football grabbing method is characterized by comprising the following steps:

(d) The driving mechanism drives the clamping device to drive the football to swing upwards after the clamping driving cylinder drives the first clamping hand and the second clamping hand to close so as to clamp the football;

the moving device comprises a chassis and a cradle head, the cradle head is arranged above the chassis, a launcher body is arranged on the cradle head, a driving mechanism is arranged on the launcher body, and the driving mechanism is positioned on one side of the launcher body opposite to the launching direction; the driving mechanism comprises a driving main shaft, a clamping driving motor, a clamping driving wheel, a clamping driving chain and a clamping driving driven wheel, the launching body is arranged on the driving main shaft, the clamping driving motor is arranged on one side of the launching body, the clamping driving wheel is arranged on the clamping driving motor, the clamping driving driven wheel is arranged at two ends of the driving main shaft, the clamping driving wheel is connected with the clamping driving driven wheel through the clamping driving chain, the clamping driving driven wheel is connected with a clamping device, the clamping device comprises a clamping connecting plate, a clamping fixing plate, a rotary steering engine, a steering engine fixing plate and a clamping hand assembly, one end of the clamping connecting plate is connected with the driving mechanism, the other end of the clamping connecting plate is connected with the steering engine fixing plate, the clamping fixing plate is connected with the rotary steering engine, the rotary steering engine penetrates through the clamping fixing plate and is connected with the steering engine fixing plate, clamping hand assemblies are arranged at two ends of the clamping fixing plate, each clamping hand assembly comprises a first clamping hand, a second clamping hand and a clamping driving cylinder, the clamping driving cylinders are fixed at two ends of the clamping fixing plate, and first clamping hand driving cylinders and second clamping hands are arranged on the clamping driving cylinders at the two ends; clamping device centre gripping football underground, actuating mechanism drive clamping device with the football of centre gripping up move place the ball support mechanism on, to the football of equidirectional, can adjust the angle through the rotary steering machine, and can open and shut the action through first tong of tong driving cylinder drive and second tong.

2. The football grasping method according to claim 1, characterized in that: the clamping hand driving cylinder comprises a clamping hand cylinder seat, a clamping hand cylinder, swing shafts and clamping hand mounting grooves, the clamping hand cylinder is arranged in the clamping hand cylinder seat, the clamping hand mounting grooves are formed in one end, located on the clamping hand cylinder seat, of the clamping hand cylinder, the front end of the clamping hand cylinder is located in the clamping hand mounting grooves, the swing shafts are arranged on two sides of each clamping hand mounting groove, the first clamping hand and the second clamping hand are movably connected with the swing shafts and connected with the clamping hand cylinder, a clamping hand limiting plate and a limiting rod are arranged at the front end of the clamping hand cylinder, the clamping hand limiting plates are arranged at two ends of the clamping hand cylinder, and the first clamping hand and the second clamping hand are connected between the clamping hand limiting plates through the limiting rods; when the piston rod of the clamping cylinder moves, the piston rod of the clamping cylinder drives the first clamping hand and the second clamping hand to swing around the swinging shaft.

3. The football grasping method according to claim 2, characterized in that: the first clamping hand comprises a first clamping hand plate, a first connecting plate and a first swinging plate, a swinging shaft at one side of a cylinder seat of the first swinging plate is movably connected with the clamping hand and is positioned at one end of the first swinging plate, the first connecting plate is connected between limiting plates of the clamping hand cylinder, the other end of the first swinging plate is connected with the first clamping hand plate, the first clamping hand is provided with two clamping hand driving cylinders which are arranged at two ends of a clamping fixing plate, and the two first clamping hands are mutually connected through the first clamping hand connecting plate.

4. A football grasping method according to claim 2, characterised in that: the second clamping hand comprises a second clamping hand plate, a second connecting plate and a second swinging plate, the second swinging plate is movably connected with a swinging shaft at the other side of the clamping hand cylinder seat, the second swinging shaft is arranged at one end of the second swinging shaft, the second connecting plate is connected between the clamping hand limiting plates of the clamping hand cylinder, the other end of the second swinging plate is connected with the second clamping hand plate, the second clamping hand is provided with two clamping hand driving cylinders which are arranged at the two ends of the clamping fixing plate, and the two second clamping hands are mutually connected through the second clamping hand connecting plates.

5. A football grasping method according to claim 3, characterized in that: first tong board includes first connecting portion, first ball support portion, first ball clamp portion and first card ball portion, first swing board is connected to the one end of first connecting portion, is equipped with first ball support portion at the other end of first connecting portion, first ball support portion extends the form from the first connecting portion to inside outside arc forward and sets up, and the end that is located first ball support portion is equipped with first ball clamp portion, first ball clamp portion extends the setting from first ball support portion to outside inside arc forward, is equipped with first card ball portion at the end of first ball clamp portion, first card ball portion extends the setting from first ball clamp portion to inside slope forward.

6. The football grasping method according to claim 4, wherein: the second tong board includes second connecting portion, second support ball portion, second clamp ball portion and second card ball portion, the second swing board is connected to the one end of second connecting portion, is equipped with second support ball portion at the other end of second connecting portion, second support ball portion extends the form from the second connecting portion to inside outside arc forward and sets up, and the end that is located second support ball portion is equipped with second clamp ball portion, second clamp ball portion extends the setting from second support ball portion to outside arc forward, is equipped with second card ball portion at the end that second presss from both sides the ball portion, second card ball portion presss from both sides ball portion to inside slope forward and extends the setting from the second.

7. The football grasping method according to claim 1, characterized in that: the cradle head comprises a first guide rail, a second guide rail group and a moving cradle head, the first guide rail is fixed on a chassis, the second guide rail group is arranged on the first guide rail in a sliding manner, the second guide rail group comprises a second guide rail, a second guide rail base plate, guide rail propulsion cylinders, guide rail propulsion shafts, a propulsion shaft connecting plate, a cylinder connecting plate and a second guide rail slider, the second guide rail base plate is connected to the first guide rail in a sliding manner through the second guide rail slider, the second guide rail is arranged on the second guide rail base plate, the cylinder connecting plate is arranged at two ends of the second guide rail base plate and connected with the guide rail propulsion cylinders, the guide rail propulsion cylinders are connected to the guide rail propulsion shafts, two ends of the guide rail propulsion shafts are fixed on the first guide rail through the propulsion shaft connecting plate, the second guide rail is provided with two guide rails, and the moving cradle head is arranged between the second guide rails; the guide rail propulsion cylinder drives the cylinder connecting plate, the second guide rail base plate and the second guide rail sliding block to slide on the first guide rail, and the moving holder is controlled to move in one direction.

8. The football grasping method according to claim 7, wherein: the mobile tripod head comprises a tripod head base, a tripod head sliding block, a tripod head turntable, a transmitting base mounting plate, a belt wheel motor, a synchronous belt shaft, a driving belt wheel, a synchronous belt pad, a synchronous belt connecting block and a belt wheel mounting plate, wherein the tripod head base is arranged on a second guide rail through the sliding of the tripod head sliding block; an inner gear ring is arranged on the holder base, a rotating motor is arranged on the emission base mounting plate, a rotating drive gear is arranged on an output shaft of the rotating motor, and the rotating drive gear is meshed with the inner gear ring; the belt wheel motor drives the synchronous belt to move through a driving belt wheel, the synchronous belt drives the holder base to slide through the synchronous belt pad and the synchronous belt connecting block, and the holder base is controlled to move in the other direction; when the rotating motor works, the rotating motor drives the transmitting base mounting plate to rotate through the rotating driving gear and the inner gear ring.

9. The football grasping method according to claim 7, wherein: the chassis comprises more than two omnidirectional wheels, a chassis frame and a shock absorber, the omnidirectional wheels are arranged on the periphery of the chassis frame, and the movable holder is connected with the chassis frame through the shock absorber.