CN112642131B - Remove ball device of picking up - Google Patents
Remove ball device of picking up Download PDFInfo
- Publication number
- CN112642131B CN112642131B CN202011511870.7A CN202011511870A CN112642131B CN 112642131 B CN112642131 B CN 112642131B CN 202011511870 A CN202011511870 A CN 202011511870A CN 112642131 B CN112642131 B CN 112642131B
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- Prior art keywords
- clamping
- plate
- guide rail
- hand
- ball
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- 230000001360 synchronised effect Effects 0.000 claims description 28
- 239000006096 absorbing agent Substances 0.000 claims description 5
- 230000035939 shock Effects 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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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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- 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
Abstract
The invention provides a mobile ball picking device which comprises a mobile device, wherein the mobile device comprises a chassis and a cradle head, the cradle head is arranged above the chassis, a transmitting machine body is arranged on the cradle head, a driving mechanism is arranged on the transmitting machine body, a clamping device is arranged on the driving mechanism, 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, the clamping hand assembly comprises a first clamping hand, a second clamping hand and a clamping hand driving cylinder, the mobile ball picking device with the structure is provided with the mobile chassis, so that the mobile ball picking device can freely move on the field, the clamping device is also arranged, the football on the field can be picked up and sent back to other devices for training, and manual operation is not needed at all, and the mobile ball picking device is simple and convenient.
Description
Technical Field
The invention relates to the technical field of football training devices, in particular to a mobile ball picking device.
Background
The football game is a ball game with two teams mutually opposing, intense and enjoyable, and the goal of attacking is achieved by the mutual cooperation of personal technologies during the football game, which is characterized in that the maximum number of players participating in the game is incomparable with all ball games, in the game, not only is the player required to have strong physique, high stature, fast running ability and brave spirit, but also the player is required to complete complex physical contact technical actions and tactical cooperation under the condition of opponent blocking, the player is required to have the technical flexibility and bouncing ability of basketball players, the player is required to have the convoy of the football player's skillful kicking method, and the player is required to have the fast and quick speed of track and sprint players.
Most of the football catching training devices at present need manual continuous ball feeding, and the degree of automation is low, so that training is not coherent, and the training effect is poor.
The invention discloses a football receiving training device in the patent literature with the publication number of 201910937957.1 and the publication date of 2019.12.20, which comprises a base, wherein an installation seat is fixedly installed on the upper end face of the base, a transmitting cylinder is arranged on the installation seat, a transmitting device is arranged on the transmitting cylinder, a ball storage box is arranged at the upper left position of the transmitting cylinder, a plurality of evenly distributed supporting rods are fixedly installed on the lower end face of the ball storage box, and ball adding ports are fixedly installed on the upper end face of the ball storage box.
However, the invention adopts the football storage box to store more football, but only slows down the operation amount of training personnel, and can not thoroughly solve the problems of automatic ball picking, ball feeding and ball serving, if the football is required to be launched at a plurality of places, the personnel is required to go to the ball dispenser at any time to check and supplement the football, the launched football is required to be picked back, and the training is inconvenient.
Disclosure of Invention
The invention aims to provide a mobile ball picking device which can freely move and automatically pick balls, so that the operation amount of training personnel is fully reduced.
In order to achieve the above-mentioned purpose, a remove ball picking device, including mobile device, mobile device includes chassis and cloud platform, the cloud platform sets up the top on the chassis, is equipped with the transmission fuselage on the cloud platform, be equipped with actuating mechanism on the transmission fuselage, actuating mechanism includes drive spindle, centre gripping driving action wheel, centre gripping drive chain and centre gripping drive follow driving wheel, and the transmission fuselage sets up on the drive spindle, is equipped with centre gripping driving motor on one side of transmission fuselage, be equipped with centre gripping drive action wheel on the centre gripping driving motor, be equipped with centre gripping drive follow driving wheel on the both ends of drive spindle, centre gripping drive action wheel passes through centre gripping drive chain and centre gripping drive follow driving wheel and is connected, centre gripping drive follows driving wheel and connects clamping device, clamping device includes centre gripping connecting plate, centre gripping fixed plate, rotatory steering wheel, steering wheel fixed plate, tong subassembly are connected to the one end of centre gripping connecting plate, and the centre gripping fixed plate passes the centre gripping fixed plate and connect steering wheel fixed plate, are equipped with tong subassembly at the both ends of centre gripping fixed cylinder at the centre gripping fixed cylinder of first hand, second hand cylinder and the hand cylinder is equipped with at the both ends of the centre gripping cylinder.
The movable football picking device with the structure is provided with the movable chassis, so that the movable chassis can move freely on the ground, the clamping device is further arranged, the football on the ground can be picked up and sent back to other devices for training, manual operation is not needed at all, the movable football picking device is simple and convenient to use, personnel can patrol and move on the training ground when in training, when the football is required to be picked up, the clamping device clamps the underground football, the first clamping hand and the second clamping hand are opened and closed through driving, the football can be transported back to the device needing to be used for training the football after being clamped, the first clamping hand plate and the second clamping hand plate are arranged in an arc shape, the clamping hands are attached to the football more firmly when the football is clamped, the clamping device is used for picking up the football, the driving mechanism drives the clamping device to move towards the ground, when the football is moved to the position of the football, the clamping device is rotated to the angle corresponding to the football, the clamping hand drives the first clamping hand and the second clamping hand to open and clamp the football between the first clamping hand and the second clamping hand, and the first clamping hand drives the clamping device to be clamped to the second clamping device to be driven to be placed on the football machine.
Further, the tong driving cylinder comprises a tong cylinder seat, a tong cylinder, a swinging shaft and a tong mounting groove, the tong cylinder is arranged in the tong cylinder seat, one end of the tong cylinder seat is provided with the tong mounting groove, the front end of the tong cylinder is positioned in the tong mounting groove, the swinging shafts are arranged on two sides of the tong mounting groove, the swinging shafts are movably connected with the first tong and the second tong and are connected with the tong cylinder, and therefore, when a football is clamped, the tong driving cylinder pushes forwards, the first tong and the second tong can be driven by the tong cylinder to swing outwards along the swinging shaft, so that the opening of the tong is realized, and the tong can be driven to be closed when the tong cylinder resets, so that the football is clamped.
Further, the front end of the clamping hand cylinder is provided with a clamping hand limiting plate and a limiting rod, the clamping hand limiting plate is arranged at two ends of the clamping hand cylinder, and the first clamping hand and the second clamping hand are connected between the clamping hand limiting plates through the limiting rod; when the piston rod of the hand clamping cylinder moves, the piston rod of the hand clamping cylinder drives the first hand clamping and the second hand clamping to swing around the swinging shaft.
Further, first tong includes first tong board, first connecting plate and first swinging plate, and the oscillating axle of first swinging plate swing joint tong cylinder seat one side is located and is equipped with first connecting plate on the first swinging plate one end, first connecting plate is connected between the tong limiting plate of tong cylinder, and first tong board is connected to the other end of first swinging plate, first tong is equipped with two and sets up on the tong drive cylinder at centre gripping fixed plate both ends, two first tong pass through first tong connecting plate interconnect, sets up from this, and first tong connecting plate connects two first tong to make the structure of first tong more firm.
Further, the second tong includes second tong board, second connecting plate and second swinging plate, and the oscillating axle of second swinging plate swing joint tong cylinder block opposite side is equipped with the second connecting plate on being located second oscillating axle one end, the second connecting plate is connected between the tong limiting plate of tong cylinder, and the second tong board is connected to the other end of second swinging plate, the second tong is equipped with two and sets up on the tong drive cylinder at centre gripping fixed plate both ends, two second tong pass through second tong connecting plate interconnect, sets up from this, and the second tong connecting plate connects two second tong to make the structure of second tong more firm.
Further, the first tong board includes first connecting portion, first support ball portion, first clamp ball portion and first card ball portion, first swinging plate is connected to the one end of first connecting portion, is equipped with first support ball portion at the other end of first connecting portion, first support ball portion extends the form from first connecting portion inwards outwards to the arc forward and sets up, is located the end of first support ball portion and is equipped with first clamp ball portion, first clamp ball portion extends the setting from first support ball portion outwards inwards to the arc forward, is equipped with first card ball portion at the end of first clamp ball portion, first card ball portion extends the setting from first clamp ball portion inwards to the slope forward, sets up through the arc of first tong board for the tong is laminated the football more, and is more firm when the centre gripping football from this.
Further, the second tong board includes second connecting portion, second holds in the palm ball portion, second clamp ball portion and second card ball portion, the second swinging plate is connected to the one end of second connecting portion, is equipped with second in the other end of second connecting portion and holds in the palm ball portion, second holds in the palm ball portion and extends the form setting from the second connecting portion inwards to the outside arc forward, and the end that is located second and holds in the palm ball portion is equipped with second clamp ball portion, second clamp ball portion is equipped with second card ball portion from the end of second clamp ball portion outwards inwards to the arc extension setting forward, the second card ball portion is provided with the arc setting of second clamp ball portion inwards to incline forward from the second clamp ball portion for the tong is laminated the football more, from this more firm when centre gripping football.
Further, the cradle head comprises a first guide rail, a second guide rail group and a movable cradle head, wherein the first guide rail is fixed on the chassis, the second guide rail group is arranged on the first guide rail in a sliding manner, the second guide rail group comprises a second guide rail, a second guide rail base plate, a guide rail propelling cylinder, a guide rail propelling shaft, a propelling shaft connecting plate, a cylinder connecting plate and a second guide rail sliding block, the second guide rail base plate is connected on the first guide rail in a sliding manner through the second guide rail sliding block, 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, the guide rail propelling cylinder is connected on the guide rail propelling shaft, two ends of the guide rail propelling shaft are fixed on the first guide rail through the propelling shaft connecting plate, the second guide rail is provided with two, and the movable cradle head is arranged between the second guide rails; the cylinder connecting plate, the second guide rail base plate and the second guide rail sliding block are driven to slide on the first guide rail through the guide rail pushing cylinder, and the movable cradle head is controlled to move in one direction.
Further, the movable cradle head comprises a cradle head base, a cradle head sliding block, a cradle head rotating disc, an emission base mounting plate, a belt wheel motor, a synchronous belt shaft, a driving belt wheel, a synchronous belt pad, a synchronous belt connecting block and a belt wheel mounting plate, wherein the cradle head base is arranged on a second guide rail in a sliding manner through the cradle head sliding block, the cradle head rotating disc is arranged above the cradle head base, the emission base mounting plate is arranged on the cradle head rotating disc, an emission machine body is arranged on the emission base mounting plate, the belt wheel mounting plate is further arranged on a second guide rail substrate, the belt wheel motor is arranged on the belt wheel mounting plate, the belt wheel motor is connected with the driving belt wheel through the synchronous belt shaft, the synchronous belt is arranged on the driving belt wheel, and the synchronous belt pad is arranged below the cradle head base and is connected with the synchronous belt pad through the synchronous belt connecting block; an inner gear ring is arranged on the holder base, a rotary motor is arranged on the transmitting base mounting plate, a rotary driving gear is arranged on an output shaft of the rotary motor, and the rotary driving gear is meshed with the inner gear ring; the belt pulley motor drives the synchronous belt to move through the driving belt pulley, and the synchronous belt drives the cradle head base to slide through the synchronous belt pad and the synchronous belt connecting block to control the cradle head base to move in the other direction; when the rotating motor works, the rotating motor drives the transmitting base mounting plate to rotate through the rotary driving gear and the annular gear.
Further, the chassis includes omnidirectional wheel, chassis frame and bumper shock absorber, the omnidirectional wheel is equipped with more than two and sets up in the periphery of chassis frame, and the chassis frame is connected through the bumper shock absorber to the removal cloud platform, and the bumper shock absorber can fine alleviate mobile device's vibration to the protection architecture is difficult to suffer damage.
Drawings
Fig. 1 is a schematic perspective view of a mobile ball picking device according to the present invention.
Fig. 2 is a right side view of the transmitter body of the present invention.
Fig. 3 is a schematic perspective view of the clamping device of the present invention.
Fig. 4 is a schematic perspective view of a mobile device according to the present invention.
Fig. 5 is an exploded view of the cradle head of the present invention.
Fig. 6 is an exploded view of the mobile cradle head of the present invention.
Fig. 7 is an enlarged view at E in fig. 4.
Fig. 8 is an enlarged view at F in fig. 5.
Fig. 9 is an exploded view of the clamping device of the present invention.
Fig. 10 is an enlarged view at G in fig. 9.
Fig. 11 is an exploded view of the hand grip assembly of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1 to 11, a mobile ball pickup device includes a mobile device 1.
The mobile device 1 comprises a chassis 11 and a cradle head 12, wherein the cradle head 12 is arranged above the chassis 11, and a transmitting body 24 is arranged on the cradle head 12.
As shown in fig. 2 and 3, the driving mechanism 23 includes a driving spindle 236, a clamping driving motor 237, a clamping driving wheel 238, a clamping driving chain 239 and a clamping driving driven wheel 234, the launching body 24 is disposed on the driving spindle 236, the clamping driving motor 237 is disposed on one side of the launching body 24, the clamping driving motor 237 is disposed with a clamping driving wheel 238, the clamping driving driven wheels 234 are disposed on two ends of the driving spindle 236, the clamping driving wheel 238 is connected with the clamping driving driven wheels 234 through the clamping driving chain 239, the clamping driving driven wheels 234 are connected with the clamping device 3, and the driving mechanism is used as a main power source, and adopts the meshing transmission of the driving wheel and the driven wheels, which is simple and reliable.
As shown in fig. 3, the clamping device 3 includes a clamping connection plate 31, a clamping fixing plate 32, a rotary steering engine 33, a steering engine fixing plate 34 and a clamping assembly 35, one end of the clamping connection plate 31 is connected with the driving mechanism 23, the other end of the clamping connection plate 31 is connected with the steering engine fixing plate 34, the clamping fixing plate 32 is connected with the rotary steering engine 33, the rotary steering engine 33 passes through the clamping fixing plate 32 and is connected with the steering engine fixing plate 34, and the clamping assembly 35 is arranged at two ends of the clamping fixing plate 32.
As shown in fig. 9 to 11, the grip assembly 35 includes a first grip 351, a second grip 352 and a grip driving cylinder 353, the grip driving cylinder 353 is fixed at two ends of the grip fixing plate 32, the grip driving cylinder 353 at the two ends is provided with the first grip 351 and the second grip 352 swinging along the grip driving cylinder 353, so that the grip device 3 grips the football under the ground, the driving mechanism 23 drives the grip device 3 to move the gripped football upward to be placed on the ball supporting mechanism 4, the angles of the football in different directions can be adjusted by rotating the steering engine 33, and the first grip 351 and the second grip 352 can be opened and closed by driving the grip driving cylinder 353, so that the football can be gripped easily.
As shown in fig. 9 and 10, the hand clamping driving cylinder 353 includes a hand clamping cylinder seat 3531, a hand clamping cylinder 3532, a swinging shaft 3533 and a hand clamping mounting groove 3534, the hand clamping cylinder 3532 is disposed in the hand clamping cylinder seat 3531, a hand clamping mounting groove 3534 is disposed at one end of the hand clamping cylinder seat 3531, the front end of the hand clamping cylinder 3532 is disposed in the hand clamping mounting groove 3534, the swinging shaft 3533 is disposed at two sides of the hand clamping mounting groove 3534, and the first hand clamping 351 and the second hand clamping 352 are movably connected with the swinging shaft 3533 and are connected with the hand clamping cylinder 3532; when the piston rod of the tong cylinder moves, the piston rod of the tong cylinder drives the first tong and the second tong to swing around the swinging shaft, and therefore, the first tong and the second tong are driven to push forward when a football is required to be clamped, the first tong and the second tong can be driven by the tong cylinder to swing outwards along the swinging shaft, so that opening of the tongs is achieved, and the tongs can be driven to be closed when the tong cylinder resets, so that the football is clamped.
As shown in fig. 10, the front end of the hand clamping cylinder 3532 is provided with a hand clamping limiting plate 3535 and a limiting rod 3536, the hand clamping limiting plate 3535 is arranged at two ends of the hand clamping cylinder 3532, and the first hand clamping 351 and the second hand clamping 352 are connected between the hand clamping limiting plates 3535 through the limiting rod 3536, so that the two hand clamping can be connected through the limiting rod, and the arrangement is simple and effective.
As shown in fig. 9 to 11, the first hand 351 includes a first hand plate 3511, a first connecting plate 3512 and a first swinging plate 3513, the first swinging plate 3513 is movably connected to a swinging shaft 3533 on one side of the hand cylinder block 3531, a first connecting plate 3512 is disposed at one end of the first swinging plate 3513, the first connecting plate 3512 is connected between the hand limiting plates 3535 of the hand cylinder 3532, the other end of the first swinging plate 3513 is connected to the first hand plate 3511, the first hand 351 is provided with two hand driving cylinders 353 disposed at two ends of the hand fixing plate 32, and the two first hand 351 are connected to each other through a first hand connecting plate 3510, so that the first hand connecting plate connects the two first hand, thereby making the structure of the first hand more firm.
As shown in fig. 9 to 11, the second clamping arm 352 includes a second clamping arm plate 3521, a second connecting plate 3522 and a second swinging plate 3523, the second swinging plate 3523 is movably connected with a swinging shaft 3533 on the other side of the clamping arm cylinder seat 3531, a second connecting plate 3522 is disposed at one end of the second swinging shaft 3523, the second connecting plate 3522 is connected between the clamping arm limiting plates 3535 of the clamping arm cylinder 3532, the other end of the second swinging plate 3523 is connected with the second clamping arm plate 3521, the second clamping arm 352 is provided with two clamping arm driving cylinders 353 disposed at two ends of the clamping fixing plate 32, and the two second clamping arms 352 are connected with each other through a second clamping arm connecting plate 3510, so that the second clamping arm connecting plate connects the two second clamping arms, thereby making the structure of the second clamping arm more firm.
As shown in fig. 11, the first hand grip plate 3511 includes a first connection portion 35111, a first ball supporting portion 35112, a first ball clamping portion 35113 and a first ball clamping portion 35114, one end of the first connection portion 35111 is connected to the first swinging plate 3513, the other end of the first connection portion 35111 is provided with the first ball supporting portion 35112, the first ball supporting portion 35112 is disposed in a manner of arc extending from the first connection portion 35111 to the front, the end of the first ball supporting portion 35112 is provided with the first ball clamping portion 35113, the first ball clamping portion 35113 is disposed in a manner of arc extending from the first ball supporting portion 35112 to the front, the end of the first ball clamping portion 35113 is provided with the first ball clamping portion 35114, and the first ball clamping portion 35114 is disposed in a manner of arc extending from the first ball clamping portion 35113 to the front, so that the hand grip is more firmly attached to the football during clamping.
As shown in fig. 11, the second hand clamping plate 3521 includes a second connecting portion 35211, a second ball supporting portion 35212, a second ball clamping portion 35213 and a second ball clamping portion 35214, one end of the second connecting portion 35211 is connected to the second swinging plate 3523, a second ball supporting portion 35212 is disposed at the other end of the second connecting portion 35211, the second ball supporting portion 35212 is disposed in an arc shape extending from the second connecting portion 35211 forward inwards outwards, 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 forward inwards, a second ball clamping 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 arc shape extending from the second ball clamping portion 35213 forward inwards, so that the hand can be more firmly clamped by the arc shape of the second hand clamping plate, thereby being more firmly clamped during football.
As shown in fig. 4 to 8, the pan-tilt 12 includes a first guide rail 121, a second guide rail group 7 and a mobile pan-tilt 8, the first guide rail 121 is fixed on the chassis 11, the second guide rail group 7 is slidably disposed on the first guide rail 121, the second guide rail group 7 includes a second guide rail 71, a second guide rail base plate 72, a guide rail pushing cylinder 73, a guide rail pushing shaft 74, a pushing 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 on 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 with guide rail pushing cylinders 73, the guide rail pushing cylinders 73 are connected on the guide rail pushing shaft 74, two ends of the guide rail pushing shaft 74 are fixed on the first guide rail 121 through the pushing shaft connecting plate 75, the second guide rail 71 is provided with two, and the mobile pan-tilt 8 is disposed between the second guide rails 71; the cylinder connecting plate, the second guide rail base plate and the second guide rail sliding block are driven to slide on the first guide rail through the guide rail pushing cylinder, and the movable cradle head is controlled to move in one direction.
As shown in fig. 6 and 8, the mobile tripod head 8 includes a tripod head base 81, a tripod head slider 82, a tripod head turntable 83, a launch 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 tripod head base 81 is slidably disposed on the second guide rail 71 through the tripod head slider 82, the tripod head turntable 83 is disposed above the tripod head base 81, the launch base mounting plate 84 is disposed on the tripod head turntable 83, the launch body 24 is mounted on the launch base mounting plate 84, the pulley mounting plate 80 is further disposed on the second guide rail substrate 72, the pulley motor 85 is disposed on the pulley mounting plate 80, the pulley motor 85 is connected with 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 88 is further connected with the synchronous belt pad 89 through the synchronous belt connecting block 891, thereby being disposed under the tripod head base 81, and the clamp device can rotate at a certain angle.
As shown in fig. 5, an annular gear 811 is provided on the pan-tilt base 81, a rotary motor 841 is mounted on the launch base mounting plate 84, and a rotary drive gear (not shown) is mounted on an output shaft of the rotary motor 841, the rotary drive gear being meshed with the annular gear 811; the belt pulley motor 85 drives the synchronous belt 88 to move through the driving belt pulley 87, and the synchronous belt 88 drives the cradle head base 81 to slide through the synchronous belt pad 89 and the synchronous belt connecting block 894 to control the cradle head base 81 to move in the other direction; when the rotary motor 841 operates, the rotary motor 841 rotates the emission base mounting plate 81 through the rotation driving gear and the ring gear 811.
As shown in fig. 1, the chassis 11 includes an omni-wheel 111, a chassis frame 112, and a damper 114, where the omni-wheel 111 is provided with two or more wheels and is disposed at the periphery of the chassis frame 112, and the mobile cradle head 8 is connected to the chassis frame 112 through the damper 114, and the damper 114 can well reduce vibration of the mobile device, so that the protection structure is not easily damaged.
The movable football picking device with the structure is provided with the movable chassis, so that the movable chassis can move freely on the ground, the clamping device is further arranged, the football on the ground can be picked up and sent back to other devices for training, manual operation is not needed at all, the movable football picking device is simple and convenient to use, personnel can patrol and move on the training ground when in training, when the football is required to be picked up, the clamping device clamps the underground football, the first clamping hand and the second clamping hand are opened and closed through driving, the football can be transported back to the device needing to be used for training the football after being clamped, the first clamping hand plate and the second clamping hand plate are arranged in an arc shape, the clamping hands are attached to the football more firmly when the football is clamped, the clamping device is used for picking up the football, the driving mechanism drives the clamping device to move towards the ground, when the football is moved to the position of the football, the clamping device is rotated to the angle corresponding to the football, the clamping hand drives the first clamping hand and the second clamping hand to open and clamp the football between the first clamping hand and the second clamping hand, and the first clamping hand drives the clamping device to be clamped to the second clamping device to be driven to be placed on the football machine.
Claims (4)
1. The utility model provides a remove ball device of picking up, includes mobile device, its characterized in that: the mobile device comprises a chassis and a cradle head, wherein the cradle head is arranged above the chassis, a transmitting machine body is arranged on the cradle head, a driving mechanism is arranged on the transmitting machine body, the driving mechanism comprises a driving main shaft, a clamping driving motor, a clamping driving wheel, a clamping driving chain and a clamping driving driven wheel, the transmitting machine body is arranged on the driving main shaft, the clamping driving motor is arranged on one side of the transmitting machine body, the clamping driving motor is provided with the clamping driving wheel, clamping driving driven wheels are arranged on two ends of the driving main shaft, the clamping driving wheel is connected with the clamping driving driven wheels through the clamping driving chain, the clamping driving driven wheels are connected with a clamping device, the clamping device comprises a clamping connecting plate, a clamping fixing plate, a rotary steering engine, a steering engine fixing plate and a clamping assembly, one end of the clamping connecting plate is connected with the rotary steering engine, the rotary steering engine passes through the clamping fixing plate and is connected with the steering engine fixing plate, clamping assemblies are arranged at two ends of the clamping fixing plate, each clamping assembly comprises a first clamping hand, a second clamping hand and a clamping driving cylinder, and a clamping hand driving cylinder is fixed at two ends of the clamping cylinder and a driving cylinder is arranged at two ends of the clamping cylinder; 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, and the clamping driven wheel drives the clamping device to swing to the position of the football; the rotary steering engine rotates 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 so as to clamp the football between the first clamping hand and the second clamping hand; the clamping hand driving cylinder drives the first clamping hand and the second clamping hand to be closed so as to clamp the football, and the driving mechanism drives the clamping device to swing upwards with the football;
the clamping driving cylinder comprises a clamping cylinder seat, a clamping cylinder, a swinging shaft and a clamping mounting groove, wherein the clamping cylinder is arranged in the clamping cylinder seat, the clamping mounting groove is formed in one end of the clamping cylinder seat, the front end of the clamping cylinder is positioned in the clamping mounting groove, the swinging shafts are arranged on two sides of the clamping mounting groove, and the first clamping and the second clamping are movably connected with the swinging shaft and are connected with the clamping cylinder;
the front end of the clamping hand cylinder is provided with a clamping hand limiting plate and a limiting rod, the clamping hand limiting plate is arranged at two ends of the clamping hand cylinder, and the first clamping hand and the second clamping hand are connected between the clamping hand limiting plates through the limiting rod;
the first clamping hand comprises a first clamping hand plate, a first connecting plate and a first swinging plate, wherein the first swinging plate is movably connected with a swinging shaft on one side of a clamping hand cylinder seat, the first connecting plate is arranged at one end of the first swinging plate and connected between clamping hand limiting plates of the clamping hand cylinder, the other end of the first swinging plate is connected with the first clamping hand plate, two first clamping hands are arranged on clamping hand driving cylinders at two ends of a clamping fixing plate and are connected with each other through the first clamping hand connecting plate;
the second clamping hand comprises a second clamping hand plate, a second connecting plate and a second swinging plate, the second swinging plate is movably connected with a swinging shaft on the other side of the clamping hand cylinder seat, the second connecting plate is arranged at one end of the second swinging shaft and is connected between clamping hand limiting plates of the clamping hand cylinder, the other end of the second swinging plate is connected with the second clamping hand plate, two second clamping hands are arranged on clamping hand driving cylinders at two ends of the clamping fixing plate and are connected with each other through the second clamping hand connecting plate;
the cradle head comprises a first guide rail, a second guide rail group and a movable cradle head, wherein the first guide rail is fixed on a chassis, the second guide rail group is arranged on the first guide rail in a sliding way, the second guide rail group comprises a second guide rail, a second guide rail base plate, guide rail propelling cylinders, guide rail propelling shafts, a propelling shaft connecting plate, cylinder connecting plates and second guide rail sliding blocks, the second guide rail base plate is connected on the first guide rail in a sliding way through the second guide rail sliding blocks, 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 are connected with the guide rail propelling cylinders, the guide rail propelling cylinders are connected on the guide rail propelling shafts, two ends of the guide rail propelling shafts are fixed on the first guide rail through the propelling shaft connecting plates, the second guide rail is provided with two, and the movable cradle head is arranged between the second guide rails;
the movable cradle head comprises a cradle head base, a cradle head sliding block, a cradle head rotating disc, a transmitting base mounting plate, a belt wheel motor, a synchronous belt shaft, a driving belt wheel, a synchronous belt pad, a synchronous belt connecting block and a belt wheel mounting plate, wherein the cradle head base is arranged on a second guide rail in a sliding manner through the cradle head sliding block; an inner gear ring is arranged on the holder base, a rotating motor is arranged on the transmitting base mounting plate, a rotary driving gear is arranged on an output shaft of the rotating motor, and the rotary driving gear is meshed with the inner gear ring.
2. The mobile ball pick-up device of claim 1, wherein: the first hand clamping plate comprises a first connecting portion, a first supporting ball portion, a first ball clamping portion and a first ball clamping portion, wherein one end of the first connecting portion is connected with the first swinging plate, the other end of the first connecting portion is provided with the first ball supporting portion, the first ball supporting portion is arranged in an outwards arc extending mode from the first connecting portion in a forward direction, the tail end of the first ball supporting portion is provided with the first ball clamping portion, the first ball clamping portion is arranged in an inwards arc extending mode from the first ball supporting portion in a forward direction, the tail end of the first ball clamping portion is provided with the first ball clamping portion, and the first ball clamping portion is arranged in an inwards inclined extending mode from the first ball clamping portion in a forward direction.
3. The mobile ball pick-up device of claim 1, wherein: the second tong board includes second connecting portion, second holds in palm ball portion, second clamp ball portion and second card ball portion, the second swinging plate is connected to the one end of second connecting portion, is equipped with the second at the other end of second connecting portion and holds in the palm ball portion, the second holds in the palm ball portion and extends the form setting from the second connecting portion inwards to the outside arc forward, and the end that is located the second and holds in the palm ball portion is equipped with second clamp ball portion, the second clamp ball portion holds in the palm ball portion outwards inwards to the arc forward from the second and extends the setting, is equipped with second card ball portion at the end of second clamp ball portion, second card ball portion extends the setting from the second clamp ball portion inwards to the slope forward.
4. The mobile ball pick-up device of claim 1, wherein: the chassis comprises omnidirectional wheels, a chassis frame and a shock absorber, wherein the omnidirectional wheels are provided with more than two and are arranged on the periphery of the chassis frame, and the movable cradle head is connected with the chassis frame through the shock absorber.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011511870.7A CN112642131B (en) | 2020-12-18 | 2020-12-18 | Remove ball device of picking up |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011511870.7A CN112642131B (en) | 2020-12-18 | 2020-12-18 | Remove ball device of picking up |
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| CN112642131A CN112642131A (en) | 2021-04-13 |
| CN112642131B true CN112642131B (en) | 2024-01-09 |
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| CN202011511870.7A Active CN112642131B (en) | 2020-12-18 | 2020-12-18 | Remove ball device of picking up |
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|---|---|
| CN112642131A (en) | 2021-04-13 |
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