CN112642129B

CN112642129B - Ball serving equipment and working method of ball receiving equipment

Info

Publication number: CN112642129B
Application number: CN202011511865.6A
Authority: CN
Inventors: 容爱琼; 何智聪; 夏奕乐; 李炬佳
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: 2022-07-26
Anticipated expiration: 2040-12-18
Also published as: CN112642129A

Abstract

The invention provides a service device and a working method of a ball receiving device; the ball serving device is used for launching the football; the ball catching device is used for receiving the football; according to the scheme, the ball receiving equipment is moved to a designated area; when the football is shot, the clamping device clamps the underground football, the ball serving driving mechanism drives the clamping device to move the clamped football upwards and place the clamped football on the ball supporting mechanism, the ball shooting mechanism is quickly shot along the launching guide rail through the elasticity of the elastic rubber band, and the football is shot out under the action of inertia; the ball catching equipment receives the football; then the ball catching equipment moves to another appointed area; the ball blocking driving device drives the ball blocking piece to be far away from the ball outlet; the opening of the ball outlet is realized; thereby the football can be released from the ball storage space; this enables the transmission and reception of a football.

Description

Ball serving equipment and working method of ball receiving equipment

Technical Field

The invention relates to the technical field of football projection, in particular to a ball serving device and a working method of a ball receiving 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 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.

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 ejection ball serving device are connected with the linkage mechanism to realize synchronous operation. The football hooking positioning service robot can continuously strengthen hooking technical exercises, has the functions of accurately dropping points, continuously playing balls and following moving places, and accordingly achieves the advantages of improving the exercise efficiency of hooking players, strengthening the hooking action matching capability and mastering the ball control competition capability level in effective time.

However, the invention adopts the ball bin to store and launch the football, and the problem caused by the arrangement is that the football needs to be replenished at any time and the football needs to be replenished manually, for example, as the football ball receiving training device disclosed in the patent document of Chinese patent application No. 201910937957.1, a ball storage box is adopted to store more footballs, but the operation amount of the training personnel is only reduced, the problems of 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 footballs which are launched need to be picked up by the personnel, and the football is inconvenient for training.

Disclosure of Invention

The invention provides a ball serving device capable of automatically picking up, launching, receiving and transporting a football and a working method of a ball receiving device.

In order to achieve the purpose, the technical scheme of the invention is as follows: a method for operating a service apparatus for launching a football and a ball-catching apparatus; the ball catching device is used for receiving the football; the service equipment comprises a service moving device, a launching device and a clamping device are arranged on the service moving device, the launching device is arranged above the clamping device, the service moving device comprises a service chassis and a cradle head, the cradle head is arranged above the service chassis, the cradle head is provided with a transmitting device which comprises a transmitting base, a transmitting platform, a transmitting driving mechanism, a transmitting machine body, a service spacing mechanism, a ball supporting mechanism and a buffer mechanism, wherein the transmitting base is arranged on the cradle head, the transmitting machine body is arranged on the transmitting base, the front end of the launcher body is provided with a launching platform, a buffer mechanism is arranged on the launching platform, a service ball limiting mechanism is arranged at one end of the launching platform, the launching platform is provided with a ball supporting mechanism, the launching driving mechanism is arranged on the launching base and connected with the launching machine body, and the clamping device is connected with the launching device through the launching driving mechanism.

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

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

The working method of the ball serving equipment and the ball receiving equipment comprises the following steps:

(1) the ball catching device moves to a designated area; at the moment, the ball outlet is in a closed state;

(2) the ball catching device is in a state of waiting for catching a ball;

(3) the serve device moves to the position of the football on the training ground;

(4) the football 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;

(5) after a clamping hand driving cylinder of the serving equipment drives a first clamping hand and a second clamping hand to close so as to clamp the football, a serving driving mechanism drives a clamping device to drive the football to swing upwards and place the football on a ball supporting mechanism connected with a serving limiting mechanism;

(6) the service equipment loosens the service limiting mechanism to act on the ball supporting mechanism, 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 football is launched out from the ball supporting mechanism under the inertia effect to realize one-time serving;

(7) receiving the football by a ball receiving bracket of the ball receiving equipment, wherein the football passes through the ball inlet and falls into the ball storage accommodating space;

(8) the ball catching device moves to another designated area;

(9) the ball blocking driving device of the ball receiving equipment extends out, the ball blocking support drives the ball blocking piece to be far away from the ball outlet, and the ball blocking support drives the ball pushing piece to be close to the ball outlet; opening a ball outlet; the football is released from the ball storage space under the action of the ball pushing piece; the ball blocking driving device retracts after the football is released;

(10) repeating the steps (1) to (9) to pick up, serve and receive the ball for the next time.

The above method; firstly, moving the ball catching equipment to a designated area; when the football is shot, the clamping device clamps the underground football, the ball serving driving mechanism drives the clamping device to move the clamped football upwards and place the clamped football on the ball supporting mechanism, the ball shooting mechanism is quickly shot along the launching guide rail through the elasticity of the elastic rubber band, and the football is shot out under the action of inertia; the ball catching equipment receives the football; then the ball catching equipment moves to another designated area; when the football is released, the ball blocking driving device drives the ball blocking piece to be far away from the ball outlet; the opening of the ball outlet is realized; thereby the football can be released from the ball storage space; meanwhile, under the action of the ball outlet sloping plate and the ball pushing piece, the football in the ball storage containing space approaches to the ball outlet, so that the release direction of the football has directivity; thereby accurately moving the football to the designated position. This enables the transmission and reception of a football.

Drawings

Fig. 1 is a perspective view of a service apparatus using the present solution.

Fig. 2 is a perspective view of a launching device of the ball serving device using the scheme.

Fig. 3 is an exploded view of a launching device of a service apparatus using the present scheme.

Fig. 4 is an enlarged view of a point 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 serving apparatus using the present scheme.

Fig. 7 is a perspective view of a launching drive mechanism of a ball launching device using the present solution.

Fig. 8 is a right side view of the launching drive mechanism of the ball serving device using the present solution.

Fig. 9 is an enlarged view at C in fig. 6.

Fig. 10 is an enlarged view of fig. 6 at D.

Fig. 11 is a perspective view of a holding device of a service apparatus using the present solution.

Fig. 12 is a perspective view of a service moving device of the service apparatus using the present solution.

Fig. 13 is an exploded view of a cradle head of a service apparatus using the present solution.

Fig. 14 is an exploded view of a moving pan-tilt of a service apparatus using the present solution.

Fig. 15 is an enlarged view of fig. 12 at E.

Fig. 16 is an enlarged view at F in fig. 13.

Fig. 17 is an exploded view of a holding device of a ball serving apparatus using the present embodiment.

Fig. 18 is an enlarged view at G in fig. 17.

Fig. 19 is an exploded view of a gripper assembly of a service apparatus using the present solution.

Fig. 20 is a side view of the ball catching apparatus using the present scheme.

Fig. 21 is a perspective view of a ball catching mechanism of the ball catching apparatus using the present embodiment.

Fig. 22 is an exploded view of a ball catching mechanism of a ball catching device using the present scheme.

Fig. 23 is a perspective view of a ball-catching moving device of the ball-catching apparatus using the present embodiment.

Fig. 24 is an exploded view of a ball catching moving device of the ball catching apparatus using the present scheme.

Fig. 25 is a bottom view of the ball discharge swash plate of the ball catching device according to the present embodiment.

Fig. 26 is a perspective view of a ball catching connecting support member of the ball catching apparatus using the present embodiment.

Fig. 27 is a schematic diagram of a ball serving device and a ball receiving device using the scheme.

Fig. 28 is a flowchart of this embodiment.

Detailed Description

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

As shown in fig. 1-28; a method for operating a service apparatus and a receiving apparatus; the ball serving device is used for launching the football; the ball catching device is used for receiving the football.

As shown in fig. 1-19; the service equipment comprises a service moving device 1S, and a launching device 2S and a clamping device 3S are arranged on the service moving device 1S.

The launching device 2S is arranged above the clamping device 3S, the ball serving moving device 1S comprises a ball serving chassis 11S and a cloud platform 12S, the cloud platform 12S is arranged above the ball serving chassis 11S, and the launching device 2S is arranged on the cloud platform 12S.

As shown in fig. 2, the launching device 2S includes a launching base 21S, a launching platform 22S, a launching driving mechanism 23S, a launching body 24S, a service ball limiting mechanism 25S, a service ball mechanism 4S and a buffering mechanism 5S, the launching base 21S is mounted on the cradle head 12S, the launching body 24S is arranged on the launching base 21S, the launching platform 22S is arranged at the front end of the launching body 24S, the buffering mechanism 5S is arranged on the launching platform, the service ball limiting mechanism 25S is arranged at one end of the launching platform 22S, the service ball mechanism 4S is arranged on the launching platform 22S, the launching driving mechanism 23S is arranged on the launching base 21S and connected with the launching body 24S, and the clamping device 3S is connected with the launching device 2S through the launching driving mechanism 23S.

As shown in fig. 2 and 3, the launching station 22S includes a launching upper main pipe 221S, a launching lower main pipe 222S (shown in fig. 2), and a launching guide rail 223S, the launching upper main pipe 221S is disposed at the front end of the launching body 24S, the launching guide rail 223S is disposed on the launching upper main pipe 221S, the ball holding mechanism 4S is slidably disposed on the launching guide rail 223S, the launching lower main pipe 222S is disposed below the launching upper main pipe 221S and connected to the launching body 24S, and a buffer mechanism 5S is disposed between the ends of the launching upper main pipe 221S and the launching lower main pipe 222S, whereby the ball holding mechanism 4S is configured to perform a launching action through the launching guide rail.

As shown in fig. 3 and 4, the ball supporting mechanism 4S includes a ball supporting side plate 41S, a ball supporting shaft plate 42S, a ball supporting connecting plate 43S, a ball supporting shaft 44S, a ball supporting buffer block 45S, a limiting iron block plate 46S, a limiting iron block 47S, an iron block connecting post 48S, an iron block fixing flange 49S, and a ball supporting slider 40S, the ball supporting mechanism 4S is connected to the launch guide rail 223S through the ball supporting slider 40S, the ball supporting connecting plate 43S is disposed above the ball supporting slider 40S, the limiting iron block plate 46S is disposed on the front and rear sides of the ball supporting connecting plate 43S, the limiting iron block 47S is connected to the limiting iron block plate 46S through the iron block connecting post 48S and fixed through the iron block fixing flange 49S, the ball supporting shaft plate 42S is disposed on the ball supporting connecting plate 43S on both sides of the limiting iron block plate 47S, the ball supporting side plate 41S is disposed on the end of both ends of the ball supporting connecting plate 43S, the ball supporting side plate 44S is disposed between the launch upper main pipe 221S and the launch lower main pipe 222S and connected to the ball supporting shaft plate 42S, and the ball supporting side plate 42S is disposed on the end of the ball supporting side plate 44S The ball side plate 41S, the ball supporting buffer block 45S are also contacted with the buffer mechanism 5S, and the ball supporting buffer block 45S is arranged on the ball supporting shaft 44S between the ball supporting shaft plates 42S.

The limiting iron block 47S is connected with the service limiting mechanism 25S; the service limiting mechanism 25S comprises a limiting electromagnet 251S and a magnet fixing plate 252S, the limiting electromagnet 251S is fixed on the launcher body 24S through the magnet fixing plate 252S, the limiting electromagnet 251S is connected with a limiting iron block 47S, when the ball supporting mechanism moves to the service limiting mechanism, the ball supporting mechanism is adsorbed and limited through the limiting electromagnet of the service limiting mechanism and the limiting iron block, 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; when the limiting electromagnet is electrified and the ball supporting mechanism is close to the ball serving 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.

As shown in fig. 2 and 5, the buffer mechanism 5S includes a transmission front end fixing plate 51S, a buffer bearing 52S, a buffer shaft 53S, a buffer spring plate 54S, a buffer spring (not shown), a buffer shaft fixing block 55S, a buffer guide rail 56S, and a buffer spring 57S, the transmission front end fixing plate 51S is installed at both sides of the transmission upper main pipe 221S and the transmission lower main pipe 222S, the buffer bearing 52S is provided between the transmission front end fixing plates 51S, the buffer shaft 53S is provided on the buffer bearing 52S, the buffer spring plate 51S is provided on the buffer shaft 53S and connected to the transmission front end fixing plate 51S, the buffer guide rail 56S is provided at the bottom end of the transmission upper main pipe 221S, the buffer slide block 57S is provided on the buffer guide rail 56S, one end of the buffer shaft 53S is connected to the buffer slide block 57S through the buffer shaft fixing block 55S, the buffer spring is provided on the buffer spring plate, the buffer spring comprises a buffer shaft and is connected with a buffer fixed block, and the buffer fixed 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.

As shown in fig. 6 to 9, the launch driving mechanism 23 includes a launch driving motor 231S, a launch driving wheel 232S, a launch driving driven wheel 233S, a launch driving concentric wheel 235S, a driving main shaft 236S, a grip driving motor 237S, a grip driving wheel 238S, a grip driving chain 239S, and a grip driving driven wheel 234S, the two ends of the driving main shaft 236S are arranged on the emission base 21S, the emission machine body 24S is arranged on the driving main shaft 236S, the emission driving driven wheel 233S is arranged on the driving main shaft between the connection part of the driving main shaft 236S and the emission machine body 24S, the emission driving concentric wheel 235S is connected with the emission driving driven wheel 233S, a launching drive motor 231S is arranged on one side of the launching body 24S, a launching drive capstan 232S is arranged on the launching drive motor 231S, the emission driving wheel 232S is meshed with the emission driving driven wheel 233S; a clamping driving motor 237S is arranged on the other side of the launcher body 24S, a clamping driving wheel 238S is arranged on the clamping driving motor 237S, clamping driving driven wheels 234S are arranged at two ends of the driving main shaft 236S, the clamping driving wheel 238S is connected with the clamping driving driven wheels 234S through a clamping driving chain 239S, the clamping driving driven wheels 234S are connected with a clamping device 3S (shown in fig. 11), the launching driving mechanism serves as a main power source, and meshing transmission of the driving wheel and the driven wheels is adopted, so that the launching device is simple and reliable.

As shown in fig. 6, 9 and 10, the launcher body 24S is further provided with a loading mechanism 6S, the loading mechanism 6S includes a loading chain 61S, an elastic rubber string 62S, a rubber string guide wheel 621S, an adjusting wheel 63S, a loading gear 64S (shown in fig. 10), a proximity switch 65S and a chain catch plate 66S (shown in fig. 10), the loading gear 64S is provided on the buffer mechanism 5S, the loading gear 64S is connected with the launch driving concentric wheel 235S through the loading chain 61S, the loading chain 61S is provided with the chain catch plate 66S, the chain catch plate 66S is provided on the loading chain 61S, one surface of the launch pad 22 at one end of the launcher body 24S is provided with the proximity switch 65S (shown in fig. 9), the launch lower main pipe 222S is provided with the adjusting wheel 63S at both sides at one end of the launcher body 24S, the adjusting wheel 63S is provided with the elastic rubber string 62S, the elastic rubber band 62S bypasses a rubber band guide wheel 621S on the buffer mechanism 5S and is connected with the ball supporting mechanism 4S, and the chain clamping plate 66S is in contact with the ball supporting mechanism 4S; when the launching drive motor works, the launching drive motor drives the launching drive driving wheel to rotate, the launching drive driving wheel drives the launching driven wheel to rotate, the launching driven wheel drives the launching drive concentric wheel to rotate, the launching drive 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 motion of the elastic rubber band; when serving, the elastic rubber band drives the ball supporting mechanism to move to serve the limiting mechanism.

As shown in fig. 11 and 17, the clamping device 3S includes a clamping connection plate 31S, a clamping fixing plate 32S, a rotary steering engine 33S, a steering engine fixing plate 34S, and a clamping assembly 35S, one end of the clamping connection plate 31S is connected to the emission driving mechanism 23S, the other end of the clamping connection plate 31S is connected to the steering engine fixing plate 34S, the clamping fixing plate 32S is connected to the rotary steering engine 33S, the rotary steering engine 33S passes through the clamping fixing plate 32S and is connected to the steering engine fixing plate 34S, and the clamping assembly 35S is disposed at two ends of the clamping fixing plate 32S.

As shown in fig. 11, 17 to 19, the gripper assembly 35S includes a first gripper 351S, a second gripper 352S, and a gripper driving cylinder 353S, the gripper driving cylinder 353S is fixed to both ends of the grip fixing plate 32S, the first gripper 351S and the second gripper 352S are provided on the gripper driving cylinder 353S at both ends to swing along the gripper driving cylinder 353S, so that the grip device 3S grips the football under the ground, the launch driving mechanism 23S drives the grip device 3S to move the gripped football upward and place the football on the ball support mechanism 4S, the angles of the football in different directions can be adjusted by the rotary steering machine 33S, and the first gripper 351S and the second gripper 352S are driven by the gripper driving cylinder 353S to perform an opening and closing operation, so that the football can be gripped easily.

As shown in fig. 17 and 18, the gripper driving cylinder 353S includes a gripper cylinder block 3531S, a gripper cylinder 3532S, a swing shaft 3533S, and a gripper installation groove 3534S, the gripper cylinder 3532S is disposed in the gripper cylinder block 3531S, one end of the gripper cylinder block 3531S is provided with the gripper installation groove 3534S, the front end of the gripper cylinder 3532S is disposed in the gripper installation groove 3534S, and the swing shaft 3533S is disposed at both sides of the gripper installation groove 3534S, the first gripper 351S and the second gripper 352S are movably connected to the swing shaft 3533S and the gripper cylinder 3532S, so that when a football is required to be gripped, the gripper cylinder is driven to move forward, the first gripper and the second gripper can be driven by the gripper cylinder to swing outward along the swing shaft, so as to open the gripper, and the gripper cylinder can be driven to close when the gripper cylinder is reset, so as to grip the football.

As shown in fig. 17, a gripper limiting plate 3535S and a limiting rod 3536S are provided at the front end of the gripper cylinder 3532S, the gripper limiting plates 3535S are provided at both ends of the gripper cylinder 3532S, and the first gripper 351S and the second gripper 352S are connected between the gripper limiting plates 3535S through the limiting rod 3536S, 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 351S includes a first gripper plate 3511S, a first connecting plate 3512S and a first swing plate 3513S, the first swing plate 3513S movably connects the swing shaft 3533S at one side of the gripper cylinder block 3531S, a first connecting plate 3512S is provided at one end of the first swing plate 3513S, the first connecting plate 3512S is connected between the gripper limiting plates 3535S of the gripper cylinder 3532S, the other end of the first swing plate 3513S is connected to the first gripper plate 3511S, the first gripper 351S is provided with two gripper driving cylinders 353S provided at both ends of the gripper fixing plate 32S, and the two first gripper connecting plates 351S are connected to each other by the first gripper connecting plate 3510S, whereby the first gripper connects the two first grippers, thereby making the structure of the first gripper firmer.

As shown in fig. 16 to 19, the second gripper 352S includes a second gripper plate 3521S, a second connecting plate 3522S and a second swing plate 3523S, the second swing plate 3523S is movably connected to the swing shaft 3533S at the other side of the gripper cylinder block 3531S, a second connecting plate 3522S is provided at one end of the second swing shaft 3523S, the second connecting plate 3522S is connected between the gripper limiting plates 3535S of the gripper cylinder 3532S, the other end of the second swing plate 3523S is connected to the second gripper plate 3521S, the second gripper 352S is provided with two gripper driving cylinders 353S provided at both ends of the gripper fixing plate 32S, and the two second gripper connecting plates 352S are connected to each other by the second gripper connecting plate 3510S, whereby the second gripper connects the two second grippers, thereby making the structure of the second gripper firmer.

As shown in fig. 19, the first gripper plate 3511S includes a first connecting portion 35111S, a first ball receiving portion 35112S, a first ball clamping portion 35113S, and a first ball catching portion 35114S, one end of the first connecting portion 35111S is connected to the first swing plate 3513S, a first ball supporting part 35112S is provided at the other end of the first connecting part 35111S, the first ball supporting part 35112S is provided in a forward, inward and outward arc shape extending shape from the first connecting part 35111S, a first ball clamping part 35113S is provided at the end of the first ball supporting part 35112S, the first ball clamping part 35113S is arranged to extend forward from the first ball supporting part 35112S to the outside and inward in an arc shape, a first ball catching portion 35114S is provided at a distal end of the first ball-catching portion 35113S, the first ball-catching portion 35114S is obliquely extended forward and inward from the first ball-catching portion 35113S, arc setting through first tong board for the tong more laminates the football, and is more firm when centre gripping football from this.

As shown in fig. 19, the second gripper plate 3521S includes a second connecting portion 35211S, a second ball receiving portion 35212S, a second ball clamping portion 35213S, and a second ball catching portion 35214S, one end of the second connecting portion 35211S is connected to the second swing plate 3523S, a second ball-supporting part 35212S is provided at the other end of the second connecting part 35211S, the second ball-supporting part 35212S is provided in a shape of extending forward, inward and outward in an arc from the second connecting part 35211S, a second ball-clamping part 35213S is provided at the end of the second ball-supporting part 35212S, the second ball-clamping portion 35213S extends arcuately forwardly outwardly and inwardly from the second ball-supporting portion 35212S, a second ball catching portion 35214S is provided at a distal end of the second ball catching portion 35213S, the second ball catching portion 35214S is obliquely extended forward and inward from the second ball catching portion 35213S, arc setting through second tong board for the tong more laminates the football, and is more firm when centre gripping football from this.

As shown in fig. 12 to 16, the pan/tilt head 12S includes a first rail 121S, a second rail set 7S, and a moving pan/tilt head 8S, the first rail 121S is fixed to the service chassis 11S, the second rail set 7S is slidably disposed on the first rail 121S, the second rail set 7S includes a second rail 71S, a second rail base plate 72S, a rail propulsion cylinder 73S, a rail propulsion shaft 74S, a propulsion shaft connecting plate 75S, a cylinder connecting plate 76S, and a second rail slider 77S, the second rail base plate 72S is slidably connected to the first rail 121S via the second rail slider 77S, the second rail 71S is disposed on the second rail base plate 72S, the cylinder connecting plates 76S are disposed at both ends of the second rail base plate 72S, the cylinder connecting plate 76S is connected to the rail propulsion cylinder 73S, the rail propulsion cylinder 73S is connected to the rail propulsion shaft 74S, two ends of the guide rail propulsion shaft 74S are fixed on the first guide rail 121S through a propulsion shaft connecting plate 75S, two second guide rails 71S are provided, and the mobile tripod head 8S is arranged between the second guide rails 71S.

As shown in fig. 13 and 14, the moving pan-tilt 8S includes a pan-tilt base 81S, a pan-tilt slider 82S, a pan-tilt turntable 83S, a transmission base mounting plate 84S, a pulley motor 85S, a synchronous belt shaft 86S, a driving pulley 87S, a synchronous belt 88S, a synchronous belt pad 89S, a synchronous belt connecting block 891S and a pulley mounting plate 80S, the pan-tilt base 81S is slidably disposed on the second guide rail 71S through the pan-tilt slider 82S, the pan-tilt turntable 83S is disposed above the pan-tilt base 81S, the transmission base mounting plate 84S is disposed on the pan-tilt turntable 83S, the transmission base 21S is mounted on the transmission base mounting plate 84S, the pulley mounting plate 80S is further disposed on the second guide rail base plate 72S, the pulley motor 85S is disposed on the pulley mounting plate 80S, the pulley motor 85S is connected to the driving pulley 87S through the synchronous belt shaft 86S, the synchronous belt 88S is disposed on the driving pulley 87S, a synchronous belt pad 89S is arranged below the holder base 81S, and the synchronous belt 88S is further connected with the synchronous belt pad 89S through a synchronous belt connecting block 891S.

As shown in fig. 13, an inner gear ring 811S is provided on the pan/tilt base 81S, a rotation motor 841S is mounted on the transmitting base mounting plate 84S, and a rotation drive gear (not shown) is mounted on an output shaft of the rotation motor 841S, the rotation drive gear being engaged with the inner gear ring 811S; the belt wheel motor 85S drives the synchronous belt 88S to move through the driving belt wheel 87S, the synchronous belt 88S drives the holder base 81S to slide through the synchronous belt pad 89S and the synchronous belt connecting block 894S, and the holder base 81S is controlled to move in the other direction; when the rotating motor 841S operates, the rotating motor 841S rotates the transmitting base mounting plate 81S by rotating the driving gear and the inner gear ring 811S.

As shown in fig. 1, the service chassis 11S includes two or more omnidirectional wheels 111S, a service chassis frame 112S, and a shock absorber 114S, the omnidirectional wheels 111S are disposed at the periphery of the service chassis frame 112S, the movable platform 8S is connected to the service chassis frame 112S through the shock absorber 114S, and the shock absorber 114S can well reduce the vibration of the launching device, so that the protection structure is not easily damaged.

The football projection device with the structure is provided with the service chassis, so that the football projection device can freely move on the field, and is also provided with the clamping device, the football on the ground can be picked up and projected, manual operation is not needed at all, the football projection device is simple and convenient, when people train, the projection device can patrol and move on the training field, when the football needs to be projected, the clamping device clamps the football under the ground, the launching 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 ejected along the launching guide rail through the elasticity of the elastic rubber band, the football is ejected out under the action of inertia, 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, so that the action of adjusting the pre-tightening force of the elastic rubber band can be achieved, 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 can not 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 rotates forwards 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 through the chain clamping plate, the chain clamping plate moves to the launching machine body, so that the ball-supporting mechanism contacts the ball-launching 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 backwards 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, the ball launching can be automatically realized, thereby reducing the workload of personnel.

As shown in fig. 20-26; the ball catching device comprises a machine frame 1 and a ball catching mechanism 2. The ball receiving mechanism is arranged on the frame. As shown in fig. 1, 4, 5. The frame 1 is provided with a ball-catching moving device 4; more than one ball-catching moving device 4 is arranged; in the present embodiment, four ball-catching moving devices 4 are provided. The ball-catching moving device 4 comprises a moving driving motor 41, a moving transmission member 42 and a moving component; the moving assembly comprises a moving first base 43, a moving second base 44 and a moving wheel 45; the movable first base is connected with the frame 1; the moving transmission member 42 is located above the moving first base 43; the moving wheel 45 is mounted on the moving second base 44; the movable second base 44 is movably arranged on the machine frame 1; the movable second base 44 is positioned in the movable first base 43 and the movable transmission member 42; the moving transmission member 42 is connected with the moving second base 44; a rotating bearing 46 is connected between the movable second base 44 and the movable first base 43; the movement driving motor 41 is connected with a movement driving member 411; the movable driving member 411 is engaged with the movable transmission member 42. In the present embodiment; the moving drive 411 and the moving transmission 42 are gears.

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

As shown in figures 1, 2, 3, 6, 7. The ball receiving mechanism 2 comprises a ball receiving bracket 21, a ball blocking device 22 and a ball outlet inclined plate 23; the ball receiving bracket 21 is provided with a ball inlet 213, a ball outlet 214 and a ball storage space 215; the ball inlet 213 and the ball outlet 214 are respectively communicated with the ball storage accommodating space 215; the ball outlet sloping plate 23 is arranged in the ball storage accommodating space 215, the ball outlet sloping plate 23 is positioned below the ball inlet 213, and one end of the ball outlet sloping plate 23 is connected with the ball outlet 214; the ball outlet sloping plate 23 is obliquely arranged; the inclination direction of the ball outlet sloping plate 23 is inclined from the end far away from the ball outlet 214 to the end near the ball outlet 214 from high to low. The ball outlet sloping plate 23 is provided with a sloping plate supporting device; the inclined plate supporting device is arranged at one end of the ball outlet inclined plate, which is far away from the ball outlet; the swash plate supporting device includes a swash plate fixing member 231 and a swash plate supporting shaft 232; more than one inclined plate fixing piece 231 is arranged; in the present embodiment, two swash plate fixing members 231 are provided. The adjacent swash plate fixing members 231 fix the swash plate support shaft 231 to the bottom end of the ball discharge swash plate 23.

The ball catching support 21 comprises a ball catching transverse support 211, a ball catching longitudinal support 212 and a ball catching connecting support 216; the ball-catching transverse support 211 is arranged perpendicular to the ball-catching longitudinal support 212, and one end of the ball-catching transverse support 211 is connected with one end of the ball-catching longitudinal support 212; the other end of the ball-catching transverse support 211 and the other end of the ball-catching longitudinal support 212 are connected with the frame 1; in the present embodiment, two ball-catching connecting supports 216 are provided; two ball-catching connecting supports 216 are provided on both sides of the ball-catching support 21; the ball catching connecting support 216 is connected with the ball catching longitudinal support 212; this prevents the football from falling. The ball-catching connection support 216 includes a ball-blocking strip 2161, a first retainer 2162 and a second retainer 2163; a first retainer 2162 is provided at one end of the ball stop strip 2161; a second support member 2163 is provided at the other end of the ball stop plate 2161; the first supporting piece 2162 and the second supporting piece 2163 are obliquely arranged; the inclination angle of the first supporting piece 2162 is larger than that of the second supporting piece 2163; the first supporting piece 2162 and the second supporting piece 2163 are both arranged on the frame; a ball stop support 2161 includes a support hole 2164 at an end adjacent to the first support 2162.

One end of the ball outlet sloping plate 23 close to the ball outlet 213 is connected with the second supporting piece 2163; the swash plate support shaft 232 is provided on the first receiver 2162, and an end of the swash plate support shaft 232 is inserted through the support hole 2164. Because the inclination angle of the first supporting member 2162 is larger than that of the second supporting member 2163; one end of the ball outlet sloping plate 23 close to the ball outlet 213 is arranged on the second supporting piece 2163; thus, the ball outlet sloping plate 23 inclines from one end far away from the ball outlet 213 to one end close to the ball outlet 213; meanwhile, the inclined plate support shaft 232 penetrates through the support hole 2164; thus, the ball-out sloping plate 23 is stably connected with the ball-catching connecting support 216.

The ball inlet 213 is arranged on the ball-catching transverse support 211; the ball outlet 214 is provided on the ball-catching longitudinal support 212. A ball inlet 213 is arranged on the ball-catching transverse support 211, and a ball outlet 214 is arranged on the ball-catching longitudinal support 212; meanwhile, the ball-catching transverse support 211 and the ball-catching longitudinal support 212 are arranged vertically; so that the goal direction of the goal 213 and the goal direction of the goal 214 are not on the same straight line; this prevents the ball outlet 214 aligned with the ball inlet 213 from discharging a football while ensuring a vertical ball inlet; when the football contacts the ground, the moving direction of the released football is deviated under the elastic action of the football; thereby causing the football to fail to reach the designated position.

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

The ball blocking support 223 includes a ball blocking first support 2231 and a ball blocking second support 2232; two blocking ball first supports 2231 are provided; the two-catch-ball first supports 2231 are symmetrically disposed about the ball-catching lateral support 211; the first ball-blocking support 2231 and the lateral ball-catching support 211 are arranged in parallel, and the second ball-blocking support 2232 is connected between the two first ball-blocking supports 2231; the ball blocking member 224 is connected to a second ball blocking bracket 2232.

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

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

The ball catching mechanism 2 is provided with a ball catching bracket 21; the ball receiving bracket 21 is provided with a ball inlet 213, a ball outlet 214 and a ball storage accommodating space 215; so that the football can enter the ball storage space 215 through the ball inlet 213; the football can be discharged out of the ball storage space 215 through the ball outlet 214; meanwhile, when the football is caught, the football collides with the frame 1; the support strength of the frame 1 is improved by arranging the ball receiving support 21; by arranging the ball blocking device 22; thus, under the action of the ball blocking member 224, the football is blocked in the ball storage accommodating space 215; when the football needs to be released, the ball blocking piece 224 is driven to be far away from the ball outlet 214 by the ball blocking driving device 221; the ball outlet 214 is opened; so that the football can be released from the ball storage space 215; meanwhile, by arranging the ball outlet sloping plate 23, one end of the ball outlet sloping plate 23 far away from the ball outlet 214 inclines to one end close to the ball outlet 214; and the inclination direction is from high to low; thus, when the ball outlet 214 is opened; by arranging the ball outlet sloping plate 23; under the action of gravity and the supporting force of the ball outlet sloping plate 23 on the football; the football in the storage space 215 will approach the ball outlet 214, and then the football will be released from the ball outlet 214; thus the release direction of the football is directional; thereby accurately moving the football to the designated position.

As shown in fig. 28; the scheme comprises the following steps:

(2) the ball catching device is in a state of waiting for catching a ball;

(3) the serve device moves to the location of the football on the training ground;

(5) after a clamping hand driving cylinder of the serving equipment drives a first clamping hand and a second clamping hand to close so as to clamp the football, a serving driving mechanism drives a clamping device to drive the football to swing upwards to be placed on a ball supporting mechanism connected with a serving limiting mechanism;

(6) the ball serving device loosens the action of the ball serving limiting mechanism on the ball supporting mechanism, 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 football is launched out from the ball supporting mechanism under the inertia effect to realize one-time serving;

(8) the ball catching device moves to another designated area;

The above method; firstly, moving the ball catching equipment to a designated area; when the football is shot, the clamping device clamps the underground football, the ball serving driving mechanism drives the clamping device to move the clamped football upwards and place the clamped football on the ball supporting mechanism, the ball shooting mechanism is quickly shot along the launching guide rail through the elasticity of the elastic rubber band, and the football is shot out under the action of inertia; the ball catching equipment receives the football; then the ball catching equipment moves to another designated area; when the football is released, the ball blocking driving device drives the ball blocking piece to be far away from the ball outlet; the opening of the ball outlet is realized; thereby the football can be released from the storage space; meanwhile, under the action of the ball outlet sloping plate and the ball pushing piece, the football in the ball storage containing space approaches to the ball outlet, so that the release direction of the football has directivity; thereby accurately moving the football to the designated position. This enables the transmission and reception of a football.

The above method; the step (4) specifically comprises the following 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.

The step (5) specifically comprises the following steps: the ball supporting mechanism which is connected to the launching platform in a sliding mode is pulled by the ball serving driving mechanism to move from the tail end of the launching platform to the direction of the ball serving limiting mechanism installed on the launching machine body, when the ball supporting mechanism moves to the position where the ball serving limiting mechanism can act, the ball serving limiting mechanism is started, and the ball supporting mechanism is connected through the ball serving limiting mechanism.

Claims

1. A service apparatus and a method of operating a ball catching apparatus, characterized in that: the ball serving device is used for launching the football; the ball catching device is used for receiving the football; the service equipment comprises a service moving device, a launching device and a clamping device are arranged on the service moving device, the launching device is arranged above the clamping device, the service moving device comprises a service chassis and a cradle head, the cradle head is arranged above the service chassis, the cradle head is provided with a transmitting device which comprises a transmitting base, a transmitting table, a transmitting driving mechanism, a transmitting machine body, a service spacing mechanism, a ball supporting mechanism and a buffer mechanism, wherein the transmitting base is arranged on the cradle head, the transmitting machine body is arranged on the transmitting base, the front end of the launcher body is provided with a launching platform, a buffer mechanism is arranged on the launching platform, a service ball limiting mechanism is arranged at one end of the launching platform, the launching table is provided with a ball supporting mechanism, the launching driving mechanism is arranged on the launching base and connected with the launching machine body, and the clamping device is connected with the launching device through the launching driving mechanism;

the holder comprises a mobile holder; the movable cloud platform comprises a cloud platform base, a cloud platform sliding block, a cloud platform turntable and an emission base mounting plate; a cradle head turntable is arranged above the cradle head base, an emission base mounting plate is arranged on the cradle head turntable, and the emission base is mounted on the emission base mounting plate; 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 rotating motor drives the transmitting base mounting plate to rotate through the rotating driving gear and the inner gear ring; the launching 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 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 positioned at one end of the launcher body, the adjusting wheel is arranged on two sides of one end of the launcher body, the elastic rubber band is wound around the rubber band guide wheel on the buffer mechanism and 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;

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 slide block, 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 a transmission upper main pipe, the buffer slide block is arranged on the buffer guide rail, one end of the buffer shaft is connected onto the buffer slide block through the buffer shaft fixing block, the buffer spring is arranged on the buffer spring plate, 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, so that the buffering shaft moves on the buffering shaft sleeve to buffer and stop the ball supporting mechanism;

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

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

(2) the ball catching device is in a state of waiting for catching a ball;

(6) the ball serving device loosens the action of the ball serving limiting mechanism on the ball supporting mechanism, 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 football is launched out of the ball supporting mechanism under the inertia effect to realize one-time serving; when the ball supporting mechanism needs to be reset, the launching driving motor rotates forwards to start the driving loading mechanism, so that the loading chain rotates towards the launching machine body and drives 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 launching machine body, so that when the ball supporting mechanism contacts the ball serving limiting mechanism, the electromagnet is started to adsorb and fix the ball supporting mechanism, and when the chain clamping plate contacts the proximity switch, the proximity switch controls the launching driving motor to rotate backwards to reset the chain clamping plate to the tail end of the launching table, so that one launching action is completed;

(8) the ball catching device moves to another designated area;

2. An operating method of a service apparatus and a ball catching apparatus as claimed in claim 1, characterized in that: the ball blocking device also comprises a ball blocking sliding device; the ball blocking sliding device comprises a ball blocking sliding guide rail and a ball blocking sliding moving piece; the ball blocking sliding guide rail is arranged on the ball receiving bracket; the blocking ball sliding moving piece is connected with the blocking ball bracket; the blocking ball sliding moving piece is arranged on the blocking ball sliding guide rail in a sliding mode.

3. A method of operating a service apparatus and a ball catching apparatus as claimed in claim 2, characterized in that: in the step (9), the method specifically comprises the following steps: the ball blocking driving device extends out, the ball blocking support drives the ball blocking piece to be far away from the ball outlet, and the ball blocking support drives the ball pushing piece to be close to the ball outlet; opening a ball outlet; the ball body is released from the ball storage containing space under the action of the ball pushing piece.

4. An operating method of a service apparatus and a ball catching apparatus as claimed in claim 1, characterized in that: 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 service limiting mechanism;

the service ball 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 ball supporting mechanism moves to the ball serving limiting mechanism, the ball supporting mechanism is adsorbed and limited through a limiting electromagnet of the ball serving limiting mechanism and a limiting iron block, 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; when the limiting electromagnet is electrified and the ball supporting mechanism is close to the ball serving limiting mechanism, the limiting electromagnet carries out 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.

5. A method of operating a service apparatus and a ball catching apparatus as claimed in claim 4, characterized in that: the transmitting front end fixing plates are arranged on two sides of the transmitting upper main pipe and the transmitting lower main pipe.

6. An operating method of a ball serving device and a ball receiving device according to claim 5, characterized in that: clamping device includes centre gripping connecting plate, centre gripping fixed plate, rotatory steering wheel, steering wheel fixed plate, tong subassembly, transmission actuating mechanism is connected to the one end of centre gripping connecting plate, and the steering wheel fixed plate is connected to the other end of centre gripping connecting plate, and rotatory steering wheel is connected to the centre gripping fixed plate, rotatory steering wheel passes the centre gripping fixed plate and connects the steering wheel fixed plate, is equipped with the tong subassembly at the both ends of centre gripping fixed plate, the tong subassembly includes first tong, second tong and tong driving cylinder, tong driving cylinder fixes the both ends at centre gripping fixed plate, is equipped with on the tong driving cylinder at both ends along the first tong of tong driving cylinder wobbling and second tong.

7. An operating method of a ball serving apparatus and a ball receiving apparatus according to claim 6, wherein: the step (4) specifically comprises the following 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.

8. An operating method of a service apparatus and a ball catching apparatus as claimed in claim 6, characterized in that: the step (5) specifically comprises the following steps: the ball supporting mechanism which is connected to the launching platform in a sliding mode is pulled by the ball serving driving mechanism to move from the tail end of the launching platform to the direction of the ball serving limiting mechanism installed on the launching machine body, when the ball supporting mechanism moves to the position where the ball serving limiting mechanism can act, the ball serving limiting mechanism is started, and the ball supporting mechanism is connected through the ball serving limiting mechanism.