CN112642117B - Working method of ball picking and serving device - Google Patents
Working method of ball picking and serving device Download PDFInfo
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- CN112642117B CN112642117B CN202011511873.0A CN202011511873A CN112642117B CN 112642117 B CN112642117 B CN 112642117B CN 202011511873 A CN202011511873 A CN 202011511873A CN 112642117 B CN112642117 B CN 112642117B
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- ball supporting
- launching
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
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- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
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Abstract
The invention provides a working method of a ball picking and serving device, 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 ground; (b) the driving mechanism drives the clamping device to move towards the football on the ground, and the rotary steering engine rotates the clamping device to an angle corresponding to the football; (c) after the clamping device clamps the football, the driving mechanism drives the clamping device to drive the football to swing upwards and place the football on a ball supporting mechanism connected with the limiting mechanism; (d) the action of the limiting mechanism on the ball supporting mechanism is released, and the ball supporting mechanism supports the ball to move reversely to the buffer mechanism under the action of the elastic loading mechanism; when the ball supporting mechanism touches the buffer mechanism, the buffer mechanism buffers the ball supporting mechanism and stops the ball supporting mechanism, and meanwhile, the ball is launched out from the ball supporting mechanism under the inertia effect to realize one-time service; (e) repeating the steps (a) - (d) to perform the next ball picking and serving.
Description
Technical Field
The invention relates to the technical field of football projection, in particular to a working method of a ball picking and serving device.
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 football ball joint training devices at present need the artifical manual ball that constantly sends, and degree of automation is low to lead to training not enough to link up, training effect is relatively poor.
Chinese patent application No. 201910396038.8, publication No. 2019.07.16, discloses a football hook ball positioning service robot, which is characterized in that: the front end of the frame is provided with a ball bin, and the two sides and the rear end of the ball bin are enclosed by ball bin fenders; the front end of the ball bin is provided with a bin gate turning plate, and a rotating shaft of the bin gate turning plate is connected with the frame through a hinge; the top of the ball bin is provided with a slidable ball pushing and cutting plate which is communicated with the ball conveying chute; a channel is arranged at the rear plate of the ball bin, and a launching rod of the ejection ball serving device penetrates through the channel to be inserted into the ball bin and is connected with the push-cut ball plate; wherein the bin gate flap, the push-cut ball plate and the launching rod of the launch service device are connected with the linkage mechanism to realize synchronous operation. The football hooking ball positioning service robot can continuously strengthen hooking ball technical practice, has the functions of accurate drop point, continuous ball output and following and moving places, and accordingly achieves the advantages of improving the practice efficiency of hooking ball players in effective time, strengthening the hooking ball action matching capability and mastering the level of ball control competition capability.
However, the invention adopts the ball bin to store and launch the football, and the arrangement causes the problem that the football needs to be replenished at any time and also needs to be replenished manually, for example, in the football receiving training device disclosed in the patent document of the Chinese patent application No. 201910937957.1, the football storage box is adopted to store more footballs, but the operation amount of training personnel is only reduced, the automatic ball picking, ball sending and ball serving cannot be thoroughly solved, if the footballs need to be launched at a plurality of places, the personnel are required to go to the ball launcher at any time to check and replenish the footballs, the launched footballs also need to be picked up by the personnel, and the training is inconvenient.
Disclosure of Invention
The invention aims to provide a working method of a ball picking and serving device.
In order to achieve the above purpose, a working method of a ball picking and serving device,
the 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 field;
(b) the driving mechanism drives the clamping device to move towards the football on the ground, the steering engine is rotated to rotate the clamping device to an angle corresponding to the football, 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;
(c) after the clamping hand driving cylinder drives the first clamping hand and the second clamping hand to close so as to clamp the football, the driving mechanism drives the clamping device to drive the football to swing upwards to be placed on the ball supporting mechanism connected with the limiting mechanism;
(d) the action of the limiting mechanism on the ball supporting mechanism is released, and the ball supporting mechanism supports the ball to move reversely to the buffer mechanism under the action of the elastic loading mechanism; when the ball supporting mechanism touches the buffer mechanism, the buffer mechanism buffers the ball supporting mechanism and stops the ball supporting mechanism, and meanwhile, the ball is launched out of the ball supporting mechanism under the inertia effect to realize one-time service;
(e) repeating the steps (a) to (d) to pick up the balls for serving next time.
The ball picking and serving device with the structure is provided with the moving chassis, so that the ball picking and serving device can freely move on the field, and is also provided with the clamping device, the ground football can be picked up and projected, manual operation is completely not needed, the ball picking and serving device is simple and convenient, when a person trains, the projecting device can patrol and move on the training field, when the football needs to be projected, the clamping device clamps the underground football, the driving mechanism drives the clamping device to move the clamped football upwards to be placed on the ball supporting mechanism, the ball projecting mechanism is rapidly projected along the launching guide rail through the elasticity of the elastic rubber band, the football is projected out due to the inertia effect, wherein the elastic rubber band is connected with the adjusting wheel, the original length of the elastic rubber band can be adjusted through the adjusting wheel, the pre-tightening force effect of the elastic rubber band can be adjusted, and the launching force can be controlled; when the ball supporting mechanism is ejected to the tail end of the launching platform, the ball supporting mechanism cannot directly impact the launching platform under the action of the buffer shaft and the buffer spring, so that the structure of the launching platform is protected, when the ball supporting mechanism needs to be reset, the launching driving motor is rotated forward to start the drive loading mechanism, the loading chain rotates towards the launching machine body and drives the chain clamping plate to move, the ball supporting mechanism is pushed back by the chain clamping plate, the chain clamping plate moves to the launching machine body so that the ball supporting mechanism contacts the limiting mechanism, the electromagnet is started to adsorb and fix the ball supporting mechanism, when the chain clamping plate contacts the proximity switch, the proximity switch controls the launching driving motor to rotate reversely to reset the chain clamping plate to the tail end of the launching platform, thereby completing one launching action, no personnel operation is needed in the whole process, and ball serving and picking can be realized automatically, thereby reducing the workload of the training personnel.
Furthermore, the moving device is provided with a transmitting device and a clamping device, the transmitting device is arranged above the clamping device, the moving device comprises a base plate and a holder, the holder is arranged above the base plate, the transmitting device is arranged on the holder, the transmitting device comprises a transmitting base, a transmitting table, a driving mechanism, a transmitting machine body, a limiting mechanism, a ball supporting mechanism and a buffering mechanism, the transmitting base is arranged on the holder, the transmitting machine body is arranged on the transmitting base, the transmitting table is arranged at the front end of the transmitting machine body, the buffering mechanism is arranged on the transmitting table, the limiting mechanism is arranged at one end of the transmitting table, the ball supporting mechanism is arranged on the transmitting table, the driving mechanism is arranged on the transmitting base and connected with the transmitting machine body, the clamping device is connected with the transmitting device through the driving mechanism, and when the football is required to be projected, the clamping device clamps the underground football, the drive mechanism drives the clamping device to move the clamped football upwards and place the football on the ball supporting mechanism, the ball throwing mechanism is quickly ejected along the launching guide rail through the elasticity of the elastic rubber band, and the football is ejected out due to the inertia effect.
Furthermore, the launching platform comprises an upper launching main pipe, a lower launching main pipe and a launching guide rail, the upper launching main pipe is arranged at the front end of the launching machine body, the launching guide rail is arranged on the upper launching main pipe, the ball supporting mechanism is arranged on the launching guide rail in a sliding manner, the lower launching main pipe is arranged below the upper launching main pipe and connected with the launching machine body, and a buffer mechanism is arranged between the tail ends of the upper launching main pipe and the lower launching main pipe; the ball supporting mechanism comprises ball supporting side plates, a ball supporting shaft plate, a ball supporting connecting plate, a ball supporting shaft, a ball supporting buffer block, a limiting iron plate, a limiting iron block, an iron block connecting column, an iron block fixing flange and a ball supporting slide block, the ball supporting mechanism is connected with the launching guide rail through the ball supporting slide block, the ball supporting connecting plate is arranged above the ball supporting slide block, the limiting iron plate is arranged on the front side and the rear side of the ball supporting connecting plate, the limiting iron block is connected with the limiting iron plate through the iron block connecting column and fixed through the iron block fixing flange, the ball supporting shaft plate is arranged on the ball supporting connecting plate on the two sides of the limiting iron plate, the ball supporting side plates are arranged at the tail ends of the two ends of the ball supporting connecting plate, the ball supporting shaft is arranged between the launching upper main pipe and the launching lower main pipe and is connected with the ball supporting shaft plate and the ball supporting side plate, the ball supporting buffer block is also contacted with the buffer mechanism, and is arranged on the ball supporting shaft between the ball supporting shaft plates, the limiting iron block is connected with the limiting mechanism, when the ball supporting mechanism moves to the limiting mechanism, the limiting electromagnet of the limiting mechanism and the limiting iron block are adsorbed to realize adsorption limiting on the ball supporting mechanism, and when the limiting electromagnet is powered off, the ball supporting mechanism slides on the launching table under the action of the loading mechanism to launch balls on the ball supporting mechanism; the limiting mechanism comprises a limiting electromagnet and a magnet fixing plate, the limiting electromagnet is fixed on the transmitter body through the magnet fixing plate and is connected with a limiting iron block, and when the limiting electromagnet is electrified and the ball supporting mechanism is close to the limiting mechanism, the limiting electromagnet adsorbs and limits the ball supporting mechanism; when the limiting electromagnet is powered off, the limiting electromagnet relieves the limitation on the ball supporting mechanism.
Furthermore, the buffer mechanism comprises a transmission front end fixing plate, a buffer bearing, a buffer shaft, a buffer spring plate, a buffer spring, a buffer shaft fixing block, a buffer guide rail and a buffer sliding block, the transmission front end fixing plate is arranged on two sides of an upper transmission main pipe and a lower transmission main pipe, the buffer bearing is arranged between the transmission front end fixing plates, the buffer shaft is arranged on the buffer bearing, the buffer spring plate is arranged on the buffer shaft and connected with the transmission front end fixing plate, the buffer guide rail is arranged at the bottom end of the upper transmission main pipe, the buffer sliding block is arranged on the buffer guide rail, one end of the buffer shaft is connected onto the buffer sliding block through the buffer shaft fixing block, the buffer spring plate is provided with the buffer spring, the buffer spring comprises the buffer shaft and is connected with the buffer fixing block, and the buffer fixing block is contacted with the ball supporting buffer block; when the ball supporting mechanism is contacted with the buffering shaft fixing block under the action of the loading mechanism, under the action of the ball supporting mechanism, the buffering shaft fixing block, the buffering shaft and the buffering slide block overcome the elasticity of the buffering spring to enable the buffering slide block to slide on the buffering guide rail, the buffering shaft moves on the buffering shaft sleeve, and the ball supporting mechanism is buffered and stopped.
Furthermore, the driving mechanism comprises an emission driving motor, an emission driving wheel, an emission driving driven wheel, an emission driving concentric wheel, a driving main shaft, a clamping driving motor, a clamping driving wheel, a clamping driving chain and a clamping driving driven wheel, wherein two ends of the driving main shaft are arranged on the emission base, the emission machine body is arranged on the driving main shaft, the emission driving driven wheel is arranged on the driving main shaft between the connection parts of the driving main shaft and the emission machine body, the emission driving concentric wheel is connected with the emission driving driven wheel, the emission driving motor is arranged on one side of the emission machine body, the emission driving wheel is arranged on the emission driving motor, and the emission driving wheel is meshed with the emission driving driven wheel; the transmission device is characterized in that a clamping driving motor is arranged on the other side of the transmitter body, a clamping driving wheel is arranged on the clamping driving motor, clamping driving driven wheels are arranged at two ends of a driving main shaft, the clamping driving wheel is connected with the clamping driving driven wheels through a clamping driving chain, the clamping driving driven wheels are connected with a clamping device, a driving mechanism serves as a main power source, and meshing transmission of the driving wheel and the driven wheels is adopted, so that the transmission device is simple and reliable.
Furthermore, the launcher body is also provided with a loading mechanism, the loading mechanism comprises a loading chain, an elastic rubber band, a rubber band guide wheel, an adjusting wheel, a loading gear, a proximity switch and a chain clamping plate, the loading gear is arranged on the buffer mechanism, the loading gear is connected with a transmission driving concentric wheel through the loading chain, the loading chain is provided with the chain clamping plate, the chain clamping plate is arranged on the loading chain, the proximity switch is arranged on one surface of the lower transmission main pipe at one end of the launcher body, the adjusting wheel is arranged on two sides of one end of the launcher body, the adjusting wheel is provided with the elastic rubber band, the elastic rubber band bypasses the rubber band guide wheel on the buffer mechanism and is connected with a ball supporting mechanism, and the chain clamping plate is contacted with the ball supporting mechanism; when the launching driving motor works, the launching driving motor drives the launching driving wheel to rotate, the launching driving wheel drives the launching driven wheel to rotate, the launching driven wheel drives the launching driving concentric wheel to rotate, the launching driving concentric wheel drives the loading chain to move, the loading chain drives the chain clamping plate to move, and the chain clamping plate drives the ball supporting mechanism to overcome the elastic movement of the elastic rubber band; when serving, the elastic rubber band drives the ball supporting mechanism to move.
Furthermore, 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 a 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, the clamping hand assembly is arranged at two ends of the clamping fixing plate and comprises a first clamping hand, a second clamping hand and a clamping hand driving cylinder, the clamping hand driving cylinder is fixed at two ends of the clamping fixing plate, the first clamping hand and the second clamping hand which swing along the clamping hand driving cylinder are arranged on the clamping hand driving cylinders at the two ends, the clamping device clamps the football underground, the driving mechanism drives the clamping device to move the clamped football upwards to be placed on the ball supporting mechanism, and for the football in different directions, the angle can be adjusted through rotating the rudder machine, and the first clamping hand and the second clamping hand can be opened and closed through the driving cylinder of the clamping hand, so that the football can be clamped easily.
Further, 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, guide rail propulsion cylinders, guide rail propulsion shafts, propulsion shaft connecting plates, cylinder connecting plates and second guide rail sliders, the second guide rail base plate is connected to the first guide rail in a sliding manner through the second guide rail sliders, the second guide rail is arranged on the second guide rail base plate, the cylinder connecting plates are 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 plates, the second guide rail is provided with two guide rails, the moving cradle head is arranged between the second guide rails, through the action of the holder, the launching device can launch along the first guide rail and the second guide rail in different directions; 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 single 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 step (b) specifically comprises: 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.
Further, the step (c) specifically comprises: the ball supporting mechanism which is connected to the launching platform in a sliding mode is pulled by the driving mechanism to move from the tail end of the launching platform to the direction of the limiting mechanism installed on the launching machine body, when the ball supporting mechanism moves to the position where the ball supporting mechanism can act on the limiting mechanism, the limiting mechanism is started, and the ball supporting mechanism is connected with the limiting mechanism.
Drawings
Fig. 1 is a perspective view of the ball picking and serving device of the present invention.
Fig. 2 is a perspective view of the transmitting device of the present invention.
Fig. 3 is an exploded view of the launching device of the present invention.
Fig. 4 is an enlarged view of a portion a in fig. 3.
Fig. 5 is an enlarged view of fig. 2 at B.
Fig. 6 is a left side view of the ball picking and serving device of the present invention.
Fig. 7 is a perspective view of the driving mechanism of the present invention.
Fig. 8 is a right side view of the drive mechanism of the present invention.
Fig. 9 is an enlarged view at C in fig. 6.
Fig. 10 is an enlarged view at D in fig. 6.
Fig. 11 is a perspective view of the clamping device of the present invention.
Fig. 12 is a perspective view of the mobile device of the present invention.
Fig. 13 is an exploded view of the head of the present invention.
Fig. 14 is an exploded view of the moving head of the present invention.
Fig. 15 is an enlarged view at E in fig. 12.
Fig. 16 is an enlarged view at F in fig. 13.
Fig. 17 is an exploded view of the clamping device of the present invention.
Fig. 18 is an enlarged view at G in fig. 17.
Figure 19 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 19, a ball picking and serving device comprises a moving device 1, wherein a launching device 2 and a clamping device 3 are arranged on the moving device 1.
The launching device 2 is arranged above the clamping device 3, the moving device 1 comprises a base plate 11 and a cloud platform 12, the cloud platform 12 is arranged above the base plate 11, and the launching device 2 is arranged on the cloud platform 12.
As shown in fig. 2 the launching device 2 includes a launching base 21, a launching platform 22, a driving mechanism 23, a launching body 24, a limiting mechanism 25, a ball supporting mechanism 4 and a buffering mechanism 5, the launching base 21 is installed on the pan-tilt 12, the launching body 24 is arranged on the launching base 21, the launching platform 22 is arranged at the front end of the launching body 24, the buffering mechanism 5 is arranged on the launching platform 2, the limiting mechanism 25 is arranged at one end of the launching platform 22, the ball supporting mechanism 4 is arranged on the launching platform 22, the driving mechanism 23 is arranged on the launching base 21 and connected with the launching body 24, and the clamping device 3 is connected with the launching device 2 through the driving mechanism 23.
As shown in fig. 2 and 3, the launching station 22 includes a launching upper main pipe 221, a launching lower main pipe 222 (shown in fig. 2), and a launching guide rail 223, the launching upper main pipe 221 is disposed at the front end of the launching body 24, the launching guide rail 223 is disposed on the launching upper main pipe 221, the ball holding mechanism 4 is slidably disposed on the launching guide rail 223, the launching lower main pipe 222 is disposed below the launching upper main pipe 221 and connected to the launching body 24, and a buffer mechanism 5 is disposed between the ends of the launching upper main pipe 221 and the launching lower main pipe 222, so that the ball holding mechanism 4 is set to launch through the launching guide rail.
As shown in fig. 3 and 4, the ball supporting mechanism 4 includes a ball supporting side plate 41, a ball supporting shaft plate 42, a ball supporting connecting plate 43, a ball supporting shaft 44, a ball supporting buffer block 45, a limiting iron plate 46, a limiting iron block 47, an iron block connecting column 48, an iron block fixing flange 49 and a ball supporting slider 40, the ball supporting mechanism 4 is connected with the launching guide rail 223 through the ball supporting slider 40, the ball supporting connecting plate 43 is arranged above the ball supporting slider 40, the limiting iron plates 46 are arranged on the front and rear sides of the ball supporting connecting plate 43, the limiting iron block 47 is connected with the limiting iron plate 46 through the iron block connecting column 48 and fixed through the iron block fixing flange 49, the ball supporting shaft plate 42 is arranged on the ball supporting connecting plate 43 on the two sides of the limiting iron plate 47, the ball supporting side plate 41 is arranged at the tail end of the two ends of the ball supporting connecting plate 43, the ball supporting shaft 44 is arranged between the launching upper main pipe 221 and the launching lower main pipe 222 and is connected with the ball supporting shaft plate 42 and the ball supporting side plate 41, the ball supporting buffer block 45 is also contacted with the buffer mechanism 5, the ball supporting buffer block 45 is arranged on a ball supporting shaft 44 between the ball supporting shaft plates 42, the limiting iron block 47 is connected with the limiting mechanism 25, when the ball supporting mechanism moves to the limiting mechanism, the ball supporting mechanism is adsorbed and limited by a limiting electromagnet of the limiting mechanism and the limiting iron block, and when the limiting electromagnet loses power, the ball supporting sliding block slides on the launching table under the action of the loading mechanism, and balls on the ball supporting mechanism are launched; the limiting mechanism 25 comprises a limiting electromagnet 251 and a magnet fixing plate 252, the limiting electromagnet 251 is fixed on the launcher body 24 through the magnet fixing plate 252, the limiting electromagnet 251 is connected with the limiting iron block 47, and when the limiting electromagnet is powered on and the ball support mechanism is close to the limiting mechanism, the limiting electromagnet adsorbs and limits the ball support mechanism; when the limiting electromagnet is powered off, the limiting electromagnet relieves the limitation on the ball supporting mechanism.
As shown in fig. 2 and 5, the buffer mechanism 5 includes a transmission front end fixing plate 51, a buffer bearing 52, a buffer shaft 53, a buffer spring plate 54, a buffer spring (not shown), a buffer shaft fixing block 55, a buffer guide rail 56 and a buffer sliding block 57, the transmission front end fixing plate 51 is installed at both sides of the transmission upper main pipe 221 and the transmission lower main pipe 222, the buffer bearing 52 is disposed between the transmission front end fixing plates 51, the buffer shaft 53 is disposed on the buffer bearing 52, the buffer spring plate 51 is disposed on the buffer shaft 53 and connected to the transmission front end fixing plate 51, the buffer guide rail 56 is disposed at the bottom end of the transmission upper main pipe 221, the buffer sliding block 57 is disposed on the buffer guide rail 56, one end of the buffer shaft 53 is connected to the buffer sliding block 57 through the buffer shaft fixing block 55, the buffer spring is disposed on the buffer spring plate, the buffer spring includes a buffer shaft and connected to the buffer fixing block, the buffering fixed block is in contact with the ball supporting buffering block, when the ball supporting mechanism is in contact with the buffering shaft fixed block under the action of the loading mechanism, the buffering shaft fixed block, the buffering shaft and the buffering sliding block overcome the elasticity of the buffering spring to enable the buffering sliding block to slide on the buffering guide rail under the action of the ball supporting mechanism, the buffering shaft is enabled to move on the buffering shaft sleeve, and the ball supporting mechanism is buffered and stopped.
As shown in fig. 6 to 9, the driving mechanism 23 includes a launching driving motor 231, a launching driving wheel 232, a launching driving driven wheel 233, a launching driving concentric wheel 235, a driving main shaft 236, a clamping driving motor 237, a clamping driving wheel 238, a clamping driving chain 239 and a clamping driving driven wheel 234, two ends of the driving main shaft 236 are disposed on the launching base 21, the launching body 24 is disposed on the driving main shaft 236, the launching driving driven wheel 233 is disposed on the driving main shaft between the joints of the driving main shaft 236 and the launching body 24, the launching driving concentric wheel 235 is connected to the launching driving driven wheel 233, the launching driving motor 231 is disposed on one side of the launching body 24, the launching driving wheel 232 is disposed on the launching driving motor 231, and the launching driving wheel 232 is engaged with the launching driving driven wheel 233; a clamping driving motor 237 is arranged on the other side of the launcher body 24, a clamping driving wheel 238 is arranged on the clamping driving motor 237, clamping driving driven wheels 234 are arranged on two ends of a driving main shaft 236, the clamping driving wheel 238 is connected with the clamping driving driven wheels 234 through a clamping driving chain 239, the clamping driving driven wheels 234 are connected with a clamping device 3 (shown in fig. 11), a driving mechanism is used as a main power source, and meshing transmission of the driving wheel and the driven wheels is adopted, so that the launcher is simple and reliable.
As shown in fig. 6, 9 and 10, the launcher body 24 is further provided with a loading mechanism 6, the loading mechanism 6 comprises a loading chain 61, an elastic rubber string 62, a rubber string guide pulley 621, an adjusting wheel 63, a loading gear 64 (shown in fig. 10), a proximity switch 65 and a chain catch plate 66 (shown in fig. 10), the loading gear 64 is arranged on the buffer mechanism 5, the loading gear 64 is connected with a launch driving concentric wheel 235 through the loading chain 61, the loading chain 61 is provided with the chain catch plate 66, the chain catch plate 66 is arranged on the loading chain 61, one surface of the launch pad 22 at one end of the launcher body 24 is provided with the proximity switch 65 (shown in fig. 9), the launch lower main pipe 222 is provided with the adjusting wheel 63 at both sides at one end of the launcher body 24, the adjusting wheel 63 is provided with the elastic rubber string 62, the elastic rubber string 62 bypasses the rubber string guide pulley 621 on the buffer mechanism 5 and is connected with the ball support mechanism 4, the chain clamping plate 66 is in contact with the ball supporting mechanism 4; when the launching driving motor works, the launching driving motor drives the launching driving wheel to rotate, the launching driving wheel drives the launching driven wheel to rotate, the launching driven wheel drives the launching driving concentric wheel to rotate, the launching driving concentric wheel drives the loading chain to move, the loading chain drives the chain clamping plate to move, and the chain clamping plate drives the ball supporting mechanism to overcome the elastic movement of the elastic rubber band; when serving, the elastic rubber band drives the ball supporting mechanism to move.
As shown in fig. 11 and 17, 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 clamping hand 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 clamping hand assembly 35 is disposed at two ends of the clamping fixing plate 32.
As shown in fig. 11, 17 to 19, 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 grip 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 grip device 3 grips the football in the ground, the driving mechanism 23 drives the grip device 3 to move the gripped football upward to the ball holding mechanism 4, the angles of the football in different directions can be adjusted by the rotary steering machine 33, and the gripper driving cylinder 353 drives the first gripper 351 and the second gripper 352 to open and close, thereby easily gripping the football.
As shown in fig. 17 and 18, the gripper driving cylinder 353 includes a gripper cylinder block 3531, a gripper cylinder 3532, a swing shaft 3533 and a gripper mounting groove 3534, the gripper cylinder 3532 is disposed in the gripper cylinder block 3531, a gripper mounting 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 mounting groove 3534, the swing shaft 3533 is disposed at both sides of the gripper mounting groove 3534, and the first gripper 351 and the second gripper 352 are movably connected to the swing shaft 3533 and the gripper cylinder 3532, so that when a football is required to be gripped, the first gripper and the second gripper can be driven by the gripper cylinder to swing outward along the swing shaft, thereby opening the grippers, and when the gripper cylinder is reset, the grippers can be driven to close, thereby gripping the football.
As shown in fig. 17, the front end of the gripper cylinder 3532 is provided with a gripper limiting plate 3535 and a limiting rod 3536, 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. 16 to 19, 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 on one side of the gripper cylinder block 3531, the first connecting plate 3512 is disposed 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 disposed at both ends of the gripper 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. 16 to 19, 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 provided 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 provided 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. 19, 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, and the first ball clamping portion 35114 is obliquely extended forward and inward from the first ball clamping portion 35113, and the gripper is further attached to the football ball by the arcuately arranged of the first gripper plate, thereby more firmly clamping the football.
As shown in fig. 19, 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 locking 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 a second ball supporting portion 35212, the second ball supporting portion 35212 is disposed in an arc shape extending from the second connecting portion 35211 to the inside and the outside, a second ball clamping portion 35213 is disposed at the end of the second ball supporting portion 35212, the second ball clamping portion 35213 is disposed in an arc shape extending from the second ball supporting portion 35212 to the outside and the inside, a second ball locking portion 35214 is disposed at the end of the second ball clamping portion 35213, and the second ball clamping portion 35214 is disposed in an inclined manner from the second ball clamping portion 35213 to the inside and the gripper is more firmly attached to the football, thereby clamping the football.
As shown in fig. 12 to 16, the pan/tilt head 12 includes a first guide rail 121, a second guide rail set 7 and a moving pan/tilt head 8, the first guide rail 121 is fixed on the chassis 11, the second guide rail set 7 is slidably disposed on the first guide rail 121, the second guide rail set 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, cylinder connecting plates 76 are disposed at two ends of the second guide rail base plate 72, the cylinder connecting plates 76 are 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, and the moving pan/tilt head 8 is provided between the second guide rails 71.
As shown in fig. 13 and 14, 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, 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 base 21 is mounted on the transmitting base mounting plate 84, the pulley mounting plate 80 is further disposed on the second guide rail base plate 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, and the synchronous belt pad 89 is disposed below the pan-tilt base 81, the timing belt 88 is also connected to a timing belt pad 89 through a timing belt connecting block 891.
As shown in fig. 13, 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 the driving belt wheel 87, the synchronous belt 88 drives the holder base 81 to slide through the synchronous belt pad 89 and the 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 omnidirectional wheel 111, a chassis frame 112 and a shock absorber 114, the omnidirectional wheel 111 is provided with more than two and is arranged at the periphery of the chassis frame 112, the moving pan-tilt 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 transmitting device, so that the protection structure is not easily damaged.
The method comprises the following specific 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 a football on the ground, the steering engine is rotated to rotate the clamping device to an angle corresponding to the football, 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;
(c) after the clamping hand driving cylinder drives the first clamping hand and the second clamping hand to close so as to clamp the football, the driving mechanism drives the clamping device to drive the football to swing upwards to be placed on the ball supporting mechanism connected with the limiting mechanism;
(d) the action of the limiting mechanism on the ball supporting mechanism is released, and the ball supporting mechanism supports the ball to move reversely to the buffer mechanism under the action of the elastic loading mechanism; when the ball supporting mechanism touches the buffer mechanism, the buffer mechanism buffers the ball supporting mechanism and stops the ball supporting mechanism, and meanwhile, the ball is launched out from the ball supporting mechanism under the inertia effect to realize one-time service;
(e) repeating the steps (a) to (d) to pick up the balls for serving next time.
Wherein, the step (b) specifically comprises: 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.
The step (c) specifically comprises the following steps: the driving mechanism pulls the ball supporting mechanism which is connected with the launching platform in a sliding mode to move from the tail end of the launching platform to the direction of the limiting mechanism arranged on the launching machine body, when the ball supporting mechanism moves to the position where the ball supporting mechanism can act, the limiting mechanism is started, and the ball supporting mechanism is connected with the limiting mechanism.
The ball picking and serving device with the structure is provided with the movable chassis, so that the ball picking and serving device can freely move on the ground, and is also provided with the clamping device, the ground football can be picked up and projected, manual operation is completely not needed, the ball picking and serving device is simple and convenient, when a person trains, the projecting device can patrol and move on the training field, when the football needs to be projected, the clamping device clamps the underground football, the driving mechanism drives the clamping device to move the clamped football upwards to be placed on the ball supporting mechanism, the ball projecting mechanism is quickly ejected along the launching guide rail through the elasticity of the elastic rubber band, and the football is ejected out under the action of inertia, wherein the elastic rubber band is connected with the adjusting wheel which can adjust the original length of the elastic rubber band so as to achieve the effect of adjusting the pre-tightening force of the elastic rubber band, so that the launching force can be controlled; when the ball supporting mechanism is ejected to the tail end of the launching platform, the ball supporting mechanism cannot directly impact the launching platform under the action of the buffer shaft and the buffer spring, so that the structure of the launching platform is protected, when the ball supporting mechanism needs to be reset, the launching driving motor is rotated forward to start the drive loading mechanism, the loading chain rotates towards the launching machine body and drives the chain clamping plate to move, the ball supporting mechanism is pushed back by the chain clamping plate, the chain clamping plate moves to the launching machine body so that the ball supporting mechanism contacts the limiting mechanism, the electromagnet is started to adsorb and fix the ball supporting mechanism, when the chain clamping plate contacts the proximity switch, the proximity switch controls the launching driving motor to rotate reversely to reset the chain clamping plate to the tail end of the launching platform, thereby completing one launching action, no personnel operation is needed in the whole process, and ball serving and picking can be realized automatically, thereby reducing the workload of the training personnel.
Claims (7)
1. A working method of a ball picking and serving device is characterized by comprising 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 a football on the ground, the steering engine is rotated to rotate the clamping device to an angle corresponding to the football, 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 ball supporting part of the first clamping hand and the second ball supporting part of the second clamping hand;
(c) after the clamping hand driving cylinder drives the first clamping hand and the second clamping hand to close so as to clamp the football, the driving mechanism drives the clamping device to drive the football to swing upwards to be placed on the ball supporting mechanism connected with the limiting mechanism;
(d) the action of the limiting mechanism on the ball supporting mechanism is released, and the ball supporting mechanism supports the ball to move reversely to the buffer mechanism under the action of the elastic loading mechanism; when the ball supporting mechanism touches the buffer mechanism, the buffer mechanism buffers the ball supporting mechanism and stops the ball supporting mechanism, and meanwhile, the ball is launched out from the ball supporting mechanism under the inertia effect to realize one-time service;
(e) repeating the steps (a) to (d) to pick up and serve the balls for the next time;
the first clamping hand comprises a first clamping hand plate, the first clamping hand plate comprises a first connecting part, a first ball supporting part, a first ball clamping part and a first ball clamping part, the first ball supporting part is arranged in a forward inward outward arc extending shape from the first connecting part, the first ball clamping part is arranged at the tail end of the first ball supporting part, the first ball clamping part is arranged in a forward outward inward arc extending shape from the first ball supporting part, the first ball clamping part is arranged at the tail end of the first ball clamping part, the first ball clamping part is obliquely arranged in a forward inward inclined manner from the first ball clamping part, and the clamping hand plate is enabled to be more attached to the football through the arc arrangement of the first clamping hand plate;
the second clamping hand comprises a second clamping hand plate, the second clamping hand plate comprises a second connecting part, a second ball supporting part, a second ball clamping part and a second ball clamping part, the second ball supporting part is arranged in a forward inward outward arc extending shape from the second connecting part, the second ball clamping part is arranged at the tail end of the second ball supporting part, the second ball clamping part extends in a forward outward inward arc extending shape from the second ball supporting part, the second ball clamping part is arranged at the tail end of the second ball clamping part, the second ball clamping part is inclined forwards and inwards from the second ball clamping part, and the clamping hand plate is arranged in an arc shape to be more attached to the football;
the buffer mechanism comprises a transmission front end fixing plate, buffer bearings, buffer shafts, a buffer spring plate, buffer springs, a buffer shaft fixing block, buffer guide rails and buffer sliders, the transmission front end fixing plate is arranged on two sides of a transmission upper main pipe and a transmission lower main pipe, the buffer bearings are arranged between the transmission front end fixing plates, the buffer shafts are arranged on the buffer bearings, the buffer spring plate is arranged on the buffer shafts and connected with the transmission front end fixing plate, the buffer guide rails are arranged at the bottom end of the transmission upper main pipe, the buffer sliders are arranged on the buffer guide rails, one ends of the buffer shafts are connected onto the buffer sliders through the buffer shaft fixing block, the buffer springs are arranged on the buffer spring plate and comprise the buffer shafts and connected with the buffer fixing blocks, and the buffer fixing blocks are contacted with the ball supporting buffer blocks; when the ball supporting mechanism is contacted with the buffer shaft fixing block under the action of the loading mechanism, under the action of the ball supporting mechanism, the buffer shaft fixing block, the buffer shaft and the buffer sliding block overcome the elasticity of the buffer spring to enable the buffer sliding block to slide on the buffer guide rail, so that the buffer shaft moves on the buffer shaft sleeve to buffer and stop the ball supporting mechanism;
the driving mechanism comprises a launching driving motor, a launching driving wheel, a launching driving driven wheel, a launching driving concentric wheel, a driving main shaft, a clamping driving motor, a clamping driving wheel, a clamping driving chain and a clamping driving driven wheel, wherein two ends of the driving main shaft are arranged on the launching base, the launching machine body is arranged on the driving main shaft, the launching driving driven wheel is arranged on the driving main shaft between the joints of the driving main shaft and the launching machine body, the launching driving concentric wheel is connected with the launching driving driven wheel, the launching driving motor is arranged on one side of the launching machine body, the launching driving wheel is arranged on the launching driving motor, and the launching driving wheel is meshed with the launching driving driven wheel; a clamping driving motor is arranged on the other side of the launcher body, a clamping driving wheel is arranged on the clamping driving motor, clamping driving driven wheels are arranged at two ends of a driving main shaft, the clamping driving wheel is connected with the clamping driving driven wheels through a clamping driving chain, and the clamping driving driven wheels are connected with a clamping device;
the launcher body is also provided with a loading mechanism, the loading mechanism comprises a loading chain, an elastic rubber band, a rubber band guide wheel, an adjusting wheel, a loading gear, a proximity switch and a chain clamping plate, the loading gear is arranged on the buffer mechanism, the loading gear is connected with a launch driving concentric wheel through the loading chain, the loading chain is provided with the chain clamping plate, the chain clamping plate is arranged on the loading chain, the proximity switch is arranged on one surface of the launch lower main pipe positioned at one end of the launcher body, the adjusting wheel is arranged on two sides of one end of the launcher body, the adjusting wheel is provided with the elastic rubber band, the elastic rubber band bypasses the rubber band guide wheel on the buffer mechanism and is connected with a ball supporting mechanism, and the chain clamping plate is contacted with the ball supporting mechanism; when the launching driving motor works, the launching driving motor drives the launching driving wheel to rotate, the launching driving wheel drives the launching driven wheel to rotate, the launching driven wheel drives the launching driving concentric wheel to rotate, the launching driving concentric wheel drives the loading chain to move, the loading chain drives the chain clamping plate to move, and the chain clamping plate drives the ball supporting mechanism to overcome the elastic movement of the elastic rubber band; when serving, the elastic rubber band drives the ball supporting mechanism to move;
when the ball supporting mechanism needs to reset, the transmission driving motor corotation starts the driving loading mechanism, the loading chain is made to rotate towards the transmitter body and drive the chain clamping plate to move, the ball supporting mechanism is pushed back through the chain clamping plate, the chain clamping plate moves to the transmitter body so that the ball supporting mechanism contacts the limiting mechanism, the electromagnet is started to adsorb and fix the ball supporting mechanism, when the chain clamping plate contacts the proximity switch, the proximity switch controls the transmission driving motor to reversely rotate to enable the chain clamping plate to reset to the tail end of the transmitter table, and one-time transmission action is completed.
2. The method of claim 1, wherein the ball picking and serving device comprises: the device comprises a mobile device, and is characterized in that the mobile device is provided with a transmitting device and a clamping device, the transmitting device is arranged above the clamping device, the mobile device comprises a chassis and a holder, the holder is arranged above the chassis, the transmitting device is arranged on the holder, the transmitting device comprises a transmitting base, a transmitting table, a driving mechanism, a transmitting machine body, a limiting mechanism, a ball supporting mechanism and a buffering mechanism, the transmitting base is arranged on the holder and is positioned on the transmitting base, the transmitting machine body is arranged on the transmitting base, the transmitting table is arranged at the front end of the transmitting machine body, the buffering mechanism is arranged on the transmitting table, the limiting mechanism is arranged at one end of the transmitting table, the ball supporting mechanism is arranged on the transmitting table, the driving mechanism is arranged on the transmitting base and is connected with the transmitting machine body, and the clamping device is connected with the transmitting device through the driving mechanism.
3. The method of claim 2, wherein the ball picking and serving device comprises: the launching platform comprises an upper launching main pipe, a lower launching main pipe and a launching guide rail, wherein the upper launching main pipe is arranged at the front end of the launching machine body, the launching guide rail is arranged on the upper launching main pipe, the ball supporting mechanism is arranged on the launching guide rail in a sliding manner, the lower launching main pipe is arranged below the upper launching main pipe and connected with the launching machine body, and a buffer mechanism is arranged between the tail ends of the upper launching main pipe and the lower launching main pipe; the ball supporting mechanism comprises ball supporting side plates, a ball supporting shaft plate, a ball supporting connecting plate, a ball supporting shaft, a ball supporting buffer block, a limiting iron plate, a limiting iron block, an iron block connecting column, an iron block fixing flange and a ball supporting slide block, the ball supporting mechanism is connected with the launching guide rail through the ball supporting slide block, the ball supporting connecting plate is arranged above the ball supporting slide block, the limiting iron plate is arranged on the front side and the rear side of the ball supporting connecting plate, the limiting iron block is connected with the limiting iron plate through the iron block connecting column and fixed through the iron block fixing flange, the ball supporting shaft plate is arranged on the ball supporting connecting plate on the two sides of the limiting iron plate, the ball supporting side plates are arranged at the tail ends of the two ends of the ball supporting connecting plate, the ball supporting shaft is arranged between the launching upper main pipe and the launching lower main pipe and is connected with the ball supporting shaft plate and the ball supporting side plate, the ball supporting buffer block is also contacted with the buffer mechanism, and is arranged on the ball supporting shaft between the ball supporting shaft plates, the limiting iron block is connected with the limiting mechanism, when the ball supporting mechanism moves to the limiting mechanism, the limiting electromagnet of the limiting mechanism and the limiting iron block are adsorbed to realize adsorption limiting on the ball supporting mechanism, and when the limiting electromagnet is powered off, the ball supporting mechanism slides on the launching table under the action of the loading mechanism to launch balls on the ball supporting mechanism; the limiting mechanism comprises a limiting electromagnet and a magnet fixing plate, the limiting electromagnet is fixed on the transmitter body through the magnet fixing plate, and the limiting electromagnet is connected with a limiting iron block; when the limiting electromagnet is electrified and the ball supporting mechanism is close to the limiting mechanism, the limiting electromagnet performs adsorption limiting on the ball supporting mechanism; when the limiting electromagnet is powered off, the limiting electromagnet relieves the limitation on the ball supporting mechanism.
4. The method of claim 1, wherein the ball picking and serving device comprises: the clamping device comprises a clamping connecting plate, a clamping fixing plate, a rotary steering engine, a steering engine fixing plate and clamping hand assemblies, wherein one end of the clamping connecting plate is connected with a 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, the clamping hand assemblies are arranged at two ends of the clamping fixing plate and comprise first clamping hands, second clamping hands and clamping hand driving cylinders, the clamping hand driving cylinders are fixed at two ends of the clamping fixing plate, and the first clamping hands and the second clamping hands which swing along the clamping hand driving cylinders are arranged on the clamping hand driving cylinders at the two ends.
5. The method of claim 2, wherein the ball picking and serving device comprises: 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 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; 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.
6. The method of claim 5, wherein the ball picking and serving device comprises: the step (b) specifically comprises: 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.
7. The method of claim 5, wherein the ball picking and serving device comprises: the step (c) specifically comprises the following steps: the driving mechanism pulls the ball supporting mechanism which is connected with the launching platform in a sliding mode to move from the tail end of the launching platform to the direction of the limiting mechanism arranged on the launching machine body, when the ball supporting mechanism moves to the position where the ball supporting mechanism can act, the limiting mechanism is started, and the ball supporting mechanism is connected with the limiting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011511873.0A CN112642117B (en) | 2020-12-18 | 2020-12-18 | Working method of ball picking and serving device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011511873.0A CN112642117B (en) | 2020-12-18 | 2020-12-18 | Working method of ball picking and serving device |
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| CN112642117A CN112642117A (en) | 2021-04-13 |
| CN112642117B true CN112642117B (en) | 2022-08-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011511873.0A Active CN112642117B (en) | 2020-12-18 | 2020-12-18 | Working method of ball picking and serving device |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108619683A (en) * | 2018-05-03 | 2018-10-09 | 北京工业大学 | A kind of robot of pickup various ball |
| CN110339545A (en) * | 2019-07-17 | 2019-10-18 | 盐城工学院 | A kind of tennis service training aids |
| CN111544865A (en) * | 2020-06-18 | 2020-08-18 | 杨滨旭 | Ball picking and serving robot and control method thereof |
| CN111589059A (en) * | 2020-06-12 | 2020-08-28 | 江苏省人民医院（南京医科大学第一附属医院） | Throwing and catching ball type rehabilitation training device |
| CN111701207A (en) * | 2020-06-28 | 2020-09-25 | 西安工业大学 | Sports is with football training equipment of shooing |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190176008A1 (en) * | 2017-12-13 | 2019-06-13 | Stingray Squash Machines Limited | Squash ball launching machine |
-
2020
- 2020-12-18 CN CN202011511873.0A patent/CN112642117B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108619683A (en) * | 2018-05-03 | 2018-10-09 | 北京工业大学 | A kind of robot of pickup various ball |
| CN110339545A (en) * | 2019-07-17 | 2019-10-18 | 盐城工学院 | A kind of tennis service training aids |
| CN111589059A (en) * | 2020-06-12 | 2020-08-28 | 江苏省人民医院（南京医科大学第一附属医院） | Throwing and catching ball type rehabilitation training device |
| CN111544865A (en) * | 2020-06-18 | 2020-08-18 | 杨滨旭 | Ball picking and serving robot and control method thereof |
| CN111701207A (en) * | 2020-06-28 | 2020-09-25 | 西安工业大学 | Sports is with football training equipment of shooing |
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