CN113069750B

CN113069750B - A service robot for football training

Info

Publication number: CN113069750B
Application number: CN202110494649.3A
Authority: CN
Inventors: 孔祥龙
Original assignee: Wanjiang Institute of Technology
Current assignee: Wanjiang Institute of Technology
Priority date: 2021-05-07
Filing date: 2021-05-07
Publication date: 2022-06-07
Anticipated expiration: 2041-05-07
Also published as: CN113069750A

Abstract

The invention discloses a service robot for football training, which comprises a rack, a steering device, a football launching device and a football guiding device, wherein the steering device is arranged on the rack and used for adjusting the launching direction of football bodies, the football launching device is arranged on the steering device and used for continuously launching a plurality of football bodies, the football guiding device is used for guiding the football bodies to be launched to the football launching device and adjusting the launching inclination angle of the football bodies, and the football launching device comprises a launching head, a driving mechanism and a launching executing mechanism, the launching head is used for being in contact with the football bodies, the driving mechanism is used for controlling the launching head to do reciprocating linear motion, and the launching executing mechanism is used for applying thrust to the launching head. The service robot for football training can continuously serve a plurality of football bodies, realizes automation of serving and conveying, improves the serving efficiency, effectively improves the training efficiency of users, can launch the football bodies to different positions according to the requirements of the users, and provides great convenience for the users.

Description

A service robot for football training

Technical Field

The invention belongs to the technical field of football training equipment, and particularly relates to a service robot for football training.

Background

In football's training, need the training of a large amount of combination balls, need provide service for training the sportsman, traditional mode all provides through artificial mode, and the service robot is a device that replaces artifical service with machine service robot, but current service robot can not be in succession serve a plurality of football bodies, the automation of service robot and transport is not realized, the efficiency of service robot is relatively poor, lead to the efficiency of user's training relatively poor, and can not launch different positions with the football body according to user's demand, bring very big inconvenience for the user.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a service robot for football training, and aims to realize continuous multiple service and improve service efficiency.

In order to achieve the purpose, the invention adopts the technical scheme that: a service robot for football training, which comprises a frame, set up in the frame and be used for adjusting the device that turns to of the transmission direction of football body, set up in turning to the device and be used for the football emitter of a plurality of football bodies of continuous firing and be used for with the football body guide of waiting to launch to football emitter and be used for adjusting the football guiding device at the transmission inclination of football body, football emitter is including being used for with the head of batting of football body contact, a actuating mechanism for controlling the head of batting to carry out reciprocal linear motion and be used for applying the percussion actuating mechanism of thrust to the head of batting.

The steering device comprises a rotating support ring rotatably arranged on the rack, a worm wheel arranged on the rotating support ring, a first transmission motor arranged on the rack and a worm connected with the first transmission motor and meshed with the worm wheel, and the football launching device is arranged on the rotating support ring.

Football guiding device including be used for placing football body advance the pipe in advance, with advance union coupling in advance and be used for with football body guide extremely football emitter's stand pipe, rotate with football emitter and be connected and be used for the guide by the football body of the first percussion carries out the launching tube that removes and the adjustable pull rod of being connected with launching tube and stand pipe, the length of adjustable pull rod to make the contained angle between launching tube and the horizontal plane adjustable.

The adjustable pull rod comprises a threaded sleeve rotatably connected with the transmitting tube and a threaded screw rod connected with the guide tube, and the threaded screw rod is in threaded connection with the threaded sleeve.

The adjustable pull rods are two, and the guide pipe is located between the two adjustable pull rods.

The football launching device further comprises a machine body, the machine body is connected with the rotary supporting ring, the firing head is movably arranged in the containing cavity of the machine body, the lower end of the guide pipe is connected with the machine body, the inner cavity of the guide pipe is communicated with the containing cavity of the machine body, and the upper end of the guide pipe is connected with the pre-feeding pipe.

The percussion head includes striking platform, set up in striking bench limit slide, with the catch bar that striking platform one end is connected and be used for and be located with the flexible gasket that the football body in the holding chamber contacted with striking platform other end, set up on the fuselage body and let limit slide embedded limit chute, the catch bar with the percussion actuating mechanism is connected.

The trigger executing mechanism comprises a spring limiting rod connected with the pushing plate, a flange connected with the spring limiting rod and an elastic element sleeved on the spring limiting rod, the elastic element is clamped between the pushing plate and a limiting surface in the machine body, and the spring limiting rods are arranged in a plurality.

The driving mechanism comprises a transmission guide plate, a transmission rod connected with the pushing plate, a motor mounting plate and a second transmission motor arranged on the motor mounting plate and used for driving the transmission guide plate to rotate, and the transmission guide plate is provided with a transmission chute for embedding the transmission rod.

The second transmission motors and the transmission guide plates are arranged in two numbers, each second transmission motor is connected with one transmission guide plate, the machine body is located between the two transmission guide plates, and the machine body is provided with a guide groove for the transmission rod to penetrate through.

The service robot for football training can continuously serve a plurality of football bodies, realizes automation of serving and conveying, improves the serving efficiency, effectively improves the training efficiency of users, can launch the football bodies to different positions according to the requirements of the users, and provides great convenience for the users.

Drawings

The description includes the following figures, the contents shown are respectively:

FIG. 1 is a schematic diagram of the overall structure of a service robot for football training according to the present invention;

FIG. 2 is a schematic view of an overall sectional structure of one end of a service robot for soccer training according to the present invention;

FIG. 3 is a schematic view of an overall sectional structure of the other end of the service robot for football training of the present invention;

FIG. 4 is a schematic structural view of a steering mechanism of a soccer machine for soccer training according to the present invention;

FIG. 5 is a schematic view of a partial structure of a soccer launching mechanism of a soccer training machine according to the present invention;

FIG. 6 is a partial exploded view of a soccer launching mechanism of a soccer training robot of the present invention;

FIG. 7 is a schematic structural view of an adjustable pull rod of a pitching machine for football training in accordance with the present invention;

FIG. 8 is a partial cutaway view of a service robot football launching mechanism for football training in accordance with the present invention;

FIG. 9 is a schematic diagram of the internal structure of a football launching mechanism of a pitching machine for football training in accordance with the present invention;

FIG. 10 is a schematic structural view of a pushing plate of a soccer machine for soccer training according to the present invention;

FIG. 11 is a schematic structural view of a transmission chute of a pitching machine for football training according to the present invention;

fig. 12 is a schematic view of a partially cut-away structure of a body of a service robot for soccer training according to the present invention.

In the drawings, the components represented by the respective reference numerals are listed below: 1. fixing the bottom plate; 2. a soccer ball guide 2; 3. a steering device; 4. a launch tube; 5. an adjustable pull rod; 6. a universal wheel; 7. a handrail; 8. a football body; 9. rotating the support ring; 10. a worm gear; 11. a first drive motor; 12. a worm; 13. a limiting bracket; 14. a body; 15. a guide groove; 16. a guide tube; 17. pre-feeding a pipe; 18. a viewing port; 19. a sloping plate; 20. a first positioning rod; 21. a first connecting member; 22. a second positioning rod; 23. a threaded sleeve; 24. a threaded lead screw; 25. a second connecting member; 26. a third connecting member; 27. a push plate; 28. an impact table; 29. a flexible gasket; 30. a motor mounting plate; 31. a second drive motor; 32. a transmission guide plate; 33. a spring limit rod; 34. an elastic element; 35. a transmission rod; 36. a limiting slide block; 37. a transmission chute; 38. and a limiting sliding groove.

Detailed Description

The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.

As shown in fig. 1 to 12, the present invention provides a service robot for football training, which comprises a frame, a steering device 3 disposed on the frame and used for adjusting the launching direction of football bodies 8, a football launching device disposed on the steering device 3 and used for continuously launching a plurality of football bodies 8, and a football guiding device 2 used for guiding the football bodies 8 to be launched to the football launching device and adjusting the launching inclination angle of the football bodies 8, wherein the football launching device comprises a launching head used for contacting with the football bodies 8, a driving mechanism used for controlling the launching head to do reciprocating linear motion, and a launching executing mechanism used for applying thrust to the launching head.

Specifically, as shown in fig. 1 to 3, the frame includes PMKD 1 and sets up in the universal wheel 6 of PMKD 1 bottom, and PMKD 1 is the level setting, and four universal wheels 6 are installed to PMKD 1's bottom, and universal wheel 6 is for taking the brake universal wheel, is provided with handrail 7 on the PMKD 1, and handrail 7 stretches out towards PMKD 1's top, and handrail 7 is used for letting the user grip, is convenient for promote the whole removal of ball machine service. Turn to device 3 and install on PMKD 1, turn to and install football emitter on device 3, install football guiding device 2 on the football emitter, football emitter and football guiding device 2 are located PMKD 1's top.

As shown in fig. 3 and 4, the steering device 3 includes a rotation support ring 9 rotatably disposed on the frame, a limit bracket 13, a worm wheel 10 disposed on the rotation support ring 9, a first transmission motor 11 disposed on the frame, and a worm 12 connected to the first transmission motor 11 and engaged with the worm wheel 10, and the soccer ball launching device is disposed on the rotation support ring 9. The rotary supporting ring 9 is vertically arranged, the rotating center line of the rotary supporting ring 9 is a vertical line, the lower end of the rotary supporting ring 9 is connected with the fixed bottom plate 1, and the football launching device is installed at the upper end of the rotary supporting ring 9. Worm wheel 10 and rotation support ring 9 fixed connection, first drive motor 11 fixed mounting are on PMKD 1, worm 12 and the motor shaft fixed connection of first drive motor 11, two spacing support 13 fixed mounting are on PMKD 1, and two spacing supports 13 are located the outside of rotation support ring 9, and worm 12 is rotatable to set up on spacing support 13, can effectually carry on spacingly to worm 12 through setting up spacing support 13.

As shown in fig. 5 to 7, the football guide device 2 includes a pre-feeding pipe 17 for placing the football body 8, a guide pipe 16 connected with the pre-feeding pipe 17 and used for guiding the football body 8 to the football launching device, a launching pipe 4 rotatably connected with the football launching device and used for guiding the football body 8 to be launched by the firing head to move, and an adjustable pull rod 5 connected with the launching pipe 4 and the guide pipe 16, wherein the length of the adjustable pull rod 5 is adjustable, so that the included angle between the launching pipe 4 and the horizontal plane is adjustable. The pre-feeding pipe 17 is arranged in an inclined mode, an included angle is formed between the length direction of the pre-feeding pipe 17 and the horizontal plane and is an acute angle, the cross section of the pre-feeding pipe 17 is a U-shaped pipe body, an opening allowing the football body 8 to pass through is formed in the outer wall surface of the pre-feeding pipe 17, two inclined plates 19 are arranged on two opposite sides of the opening, the two inclined plates 19 are fixedly connected with the pre-feeding pipe 17, the inclined plates 19 are arranged on the pre-feeding pipe 17 in an inclined mode, the inclined plates 19 are used for guiding the football body 8 to enter the inner cavity of the pre-feeding pipe 17, and a guide slope is arranged inside the pre-feeding pipe 17. The guide pipe 16 is vertically arranged, the guide pipe 16 is a pipe body with a C-shaped cross section, the lower end of the pre-feeding pipe 17 is fixedly connected with the upper end of the guide pipe 16, the lower end of the guide pipe 16 is fixedly connected with the football launching device, and the front end of the guide pipe 16 is provided with an observation port 18.

As shown in fig. 5 to 7, the launching tube 4 is a tube body with a U-shaped cross section, openings are provided at both ends of the launching tube 4 in the length direction, the rotation center line of the launching tube 4 is a horizontal line, one end of the launching tube 4 in the length direction is rotatably connected with the body 14, the triggered football body 8 is ejected from the opening at the other end of the launching tube 4 in the length direction, and the launching tube 4 can rotate up and down relative to the body 14. The football body 8 that is fired jets out along the length direction of launching tube 4, through the length of adjusting adjustable pull rod 5, can adjust the inclination of launching tube 4, and the inclination of launching tube 4 is the contained angle between the length direction of launching tube 4 and the horizontal plane, and the inclination of launching tube 4 also is the transmission inclination of football body 8. The two sides of the upper end of the launching tube 4 are both fixed with first connecting pieces 21, the two sides of the guide tube 16 are both fixed with second positioning rods 22, and the first connecting pieces 21 and the second positioning rods 22 which are positioned on the same side are connected through adjustable pull rods 5; the adjustable pull rod 5 comprises a threaded sleeve 23 rotatably connected with the launching tube 4 and a threaded screw rod 24 connected with the guide tube 16, and the threaded screw rod 24 is in threaded connection with the threaded sleeve 23. The lower extreme fixed connection second connecting piece 25 of threaded sleeve 23, second connecting piece 25 and first connecting piece 21 rotate and connect, set up the internal thread in the hole of threaded sleeve 23, the excircle face of screw thread lead screw 24 sets up the external screw thread, the one end of screw thread lead screw 24 inserts in the hole of threaded sleeve 23, the one end fixedly connected with third connecting piece 26 that the screw thread lead screw 24 kept away from threaded sleeve 23, third connecting piece 26 and second locating lever 22 rotate and connect. When the threaded screw rod 24 and the threaded sleeve 23 rotate relatively, the depth of the threaded screw rod 24 inserted into the threaded sleeve 23 changes, so that the length of the adjustable pull rod 5 can be adjusted, the adjustable pull rod 5 drives the transmitting tube 4 to rotate up and down, and the inclination angle of the transmitting tube 4 can be adjusted.

As shown in fig. 5 to 7, in the present embodiment, two adjustable tension rods 5 are provided, and the guide tube 16 is located between the two adjustable tension rods 5.

As shown in fig. 5, 6, 8 to 12, the soccer ball launching device further includes a body 14, the body 14 is connected to the rotary support ring 9, the trigger is movably disposed in the accommodating cavity of the body 14, the body 14 guides the trigger, the lower end of the guide tube 16 is fixedly connected to the body 14, the inner cavity of the guide tube 16 is communicated with the accommodating cavity of the body 14, and the upper end of the guide tube 16 is connected to the pre-feeding tube 17. Fuselage body 14 is located the below of stand pipe 16 and advance pipe 17 in advance, the length direction of fuselage body 14 is the horizontal direction, the transmission direction of football body 8 parallels with the length direction of fuselage body 14, the first end of fuselage body 14 rotates with the ascending one end of length direction of launching tube 4 to be connected, the first end setting of fuselage body 14 lets the opening that football body 8 passed through, this opening is the transmission mouth, the second end of fuselage body 14 is the blind end, the first end of fuselage body 14 and the relative both ends of second end for the length direction of fuselage body 14. The accommodating cavity is an inner cavity of the machine body 14, the accommodating cavity is a circular cavity, and the machine body 14 is a circular tube. The machine body 14 is positioned above the fixed bottom plate 1, and the machine body 14 is fixedly connected with the upper end of the rotary support ring 9. After the football body 8 in the accommodating cavity is fired, the football body 8 is shot into the launching tube 4 along the length direction of the machine body 14 and finally is shot out under the guidance of the launching tube 4.

As shown in fig. 8 to 12, the firing head includes an impact table 28, a limit slider 36 disposed on the impact table 28, a pushing plate 27 connected to one end of the impact table 28, and a flexible gasket 29 connected to the other end of the impact table 28 and used for contacting with the football body 8 in the accommodating cavity, a limit chute 38 is disposed on the body 14 for embedding the limit slider 36, and the pushing plate 27 is connected to the firing execution mechanism. The impact table 28 is of a cone frustum-shaped structure, the axis of the impact table 28 is parallel to the length direction of the machine body 14, the flexible gasket 29 is fixedly connected with the end face of the first end of the impact table 28, the push plate 27 is fixedly connected with the end face of the second end of the impact table 28, the first end and the second end of the impact table 28 are two opposite ends of the impact table 28 in the axial direction, and the diameter of the first end of the impact table 28 is smaller than that of the second end. The material of flexible gasket 29 is soft material, avoids causing the damage of football body 8. Spacing spout 38 is the recess that sets up on the interior disc of fuselage body 14, spacing spout 38 is for extending along the length direction of fuselage body 14, spacing slider 36 and the outer disc fixed connection of striking platform 28, spacing slider 36 sets up a plurality ofly and all spacing sliders 36 be along circumference evenly distributed on striking platform 28, it is corresponding, spacing spout 38 also sets up a plurality ofly, the quantity of spacing spout 38 is the same with spacing slider 36's quantity, each spacing spout 38 imbeds respectively in one spacing slider 36, spacing slider 36's shape and spacing spout 38's shape phase-match.

As shown in fig. 8 to 12, the firing execution mechanism includes a spring limiting rod 33 connected to the pushing plate 27, a flange connected to the spring limiting rod 33, and an elastic element 34 sleeved on the spring limiting rod 33, wherein the elastic element 34 is sandwiched between the pushing plate 27 and a limiting surface in the body 14, the limiting surface is an inner wall surface of the second end of the body 14, and a plurality of spring limiting rods 33 are provided. The length direction of spring gag lever post 33 parallels with the length direction of fuselage body 14, the ascending one end of length direction of spring gag lever post 33 and catch plate 27 fixed connection, the ascending other end fixed connection of length direction of flange and spring gag lever post 33, the flange is located the outside of fuselage body 14, sets up the hole of dodging that lets spring gag lever post 33 pass on the second terminal surface of fuselage body 14, and the diameter of flange is greater than the diameter in this hole of dodging. The resilient member 34 is a cylindrical coil spring and is a compression spring, the resilient member 34 being adapted to apply a resilient force to the firing head.

As shown in fig. 8 to 12, the driving mechanism includes a transmission guide plate 32, a transmission rod 35 connected to the pushing plate 27, a motor mounting plate 30, and a second transmission motor 31 disposed on the motor mounting plate 30 and used for driving the transmission guide plate 32 to rotate, the transmission guide plate 32 has a transmission chute 37 into which the transmission rod 35 is inserted, and the body 14 has a guide slot 15 through which the transmission rod 35 passes. The motor mounting plate 30 is fixedly connected with the machine body 14, the transmission guide plate 32 and the second transmission motor 31 are located outside the machine body 14, the transmission guide plate 32 has a certain length, a motor shaft of the second transmission motor 31 is fixedly connected with the transmission guide plate 32 at the middle position in the length direction of the transmission guide plate 32, the transmission chute 37 is a groove extending along the length direction of the transmission guide plate 32, the length direction of the transmission rod 35 is perpendicular to the axis of the impact table 28 and perpendicular to the length direction of the transmission guide plate 32, one end of the transmission rod 35 is fixedly connected with the push plate 27, the other end of the transmission rod 35 is inserted into the transmission chute 37, and the transmission guide plate 32 and the transmission rod 35 can transmit relative sliding. The guide slot 15 is a groove which is arranged on the cylindrical side wall of the machine body 14 in a penetrating mode, the length of the guide slot 15 is larger than the diameter of the transmission rod 35, and the length direction of the guide slot 15 is parallel to the length direction of the machine body 14.

As shown in fig. 6 and 9, in the present embodiment, two transmission rods 35, two second transmission motors 31 and two transmission guide plates 32 are provided, each second transmission motor 31 is connected to one transmission guide plate 32, the two transmission rods 35 are coaxially provided, each transmission rod 35 is matched with one transmission guide plate 32, the main body 14 is located between the two transmission guide plates 32, and two guide grooves 15 are provided on the main body 14. The fixed base plate 1 is provided with a storage battery at the rear end of the steering device 3, and the storage battery is used for supplying electric energy to the first transmission motor 11 and the second transmission motor 31.

The service robot with the structure has the following use method:

when the football emitting device is used, the hand-held handrail 7 pushes the fixed base plate 1 to move, the fixed base plate 1 is moved to a proper position, the universal wheel 6 is limited by using a foot brake, then the first transmission motor 11 is started, the first transmission motor 11 can drive the worm 12 to rotate after being started, because the worm 12 is meshed with the worm wheel 10, the worm 12 can drive the rotary support ring 9 to rotate through the worm wheel 10 when rotating, and the rotary support ring 9 can drive the football emitting device to rotate together when rotating, so that the angle of the football emitting device is adjusted; then, the threaded sleeve 23 is rotated, because the threaded sleeve 23 is in threaded connection with the threaded lead screw 24, the threaded sleeve 23 can drive the threaded lead screw 24 to move along the axial direction of the threaded sleeve 23 when rotated, the length of the threaded lead screw 24 extending out of the threaded sleeve 23 is adjusted, and therefore the length of the adjustable pull rod 5 is adjusted, because the third connecting piece 26 cannot move under the limitation of the second positioning rod 22, the adjustable pull rod 5 can drive the transmitting tube 4 to rotate when the length of the adjustable pull rod 5 changes, and the inclination angle of the transmitting tube 4 is adjusted; then, a plurality of football bodies 8 are placed in the pre-feeding pipe 17, the football bodies 8 slide into the guide pipe 16 along the slope of the pre-feeding pipe 17 until the football bodies fall into the accommodating cavity of the machine body 14, then the second transmission motor 31 is started, the second transmission motor 31 drives the transmission guide plate 32 to rotate after being started, because one end of the transmission rod 35 is connected in the transmission chute 37 in a sliding manner, and the firing head can only move linearly in the machine body 14 along the direction of the limit chute 38 under the limitation of the limit slider 36, the transmission chute 37 drives the push plate 27 to move linearly in the machine body 14 through the transmission rod 35 when rotating, the position of the push plate 27 is adjusted, the push plate 27 can extrude the elastic element 34 when moving, so that the elastic element 34 deforms under force, and the transmission chute 37 can keep horizontal state again when rotating 180 degrees, do not continue to exert force to transfer line 35, thrust when pushing plate 27 receives elastic element 34 to reset can carry out rapid movement towards the direction that is close to football body 8, pushing plate 27 can drive striking platform 28 and flexible pad when moving and move together, can exert great thrust to football body 8 when flexible gasket 29 and football body 8 contact, make football body 8 from the inside roll-off of fuselage body 14, then slide to the sky along the slope of launching tube 4, fall to ground after the parabola motion, thereby can be in succession to a plurality of football bodies 8 serve a ball, launch different positions with football body 8 according to user's demand, provide great convenience for the user.

The invention is described above with reference to the accompanying drawings. It is to be understood that the specific implementations of the invention are not limited in this respect. Various insubstantial improvements are made by adopting the method conception and the technical scheme of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.

Claims

1. A service robot for football training, its characterized in that: the football launching device comprises a machine frame, a steering device, a football launching device and a football guiding device, wherein the steering device is arranged on the machine frame and used for adjusting the launching direction of football bodies, the football launching device is arranged on the steering device and used for continuously launching a plurality of football bodies, the football guiding device is used for guiding football bodies to be launched to the football launching device and adjusting the launching inclination angle of the football bodies, and the football launching device comprises a launching head, a driving mechanism and a launching executing mechanism, the launching head is used for being in contact with the football bodies, the driving mechanism is used for controlling the launching head to do reciprocating linear motion, and the launching executing mechanism is used for applying thrust to the launching head;

the football guide device comprises a pre-feeding pipe for placing a football body, a guide pipe which is connected with the pre-feeding pipe and is used for guiding the football body to the football launching device, a launching pipe which is rotatably connected with the football launching device and is used for guiding the football body which is shot by the shot head to move, and an adjustable pull rod which is connected with the launching pipe and the guide pipe, wherein the length of the adjustable pull rod is adjustable, so that the included angle between the launching pipe and the horizontal plane is adjustable;

the football game machine comprises a pre-feeding pipe, a football body, a plurality of inclined plates and a guide slope, wherein the pre-feeding pipe is obliquely arranged, an included angle is formed between the length direction of the pre-feeding pipe and a horizontal plane and is an acute angle, the cross section of the pre-feeding pipe is a U-shaped pipe body, an opening for the football body to pass through is formed in the outer wall surface of the pre-feeding pipe, the two inclined plates are arranged on the two opposite sides of the opening and fixedly connected with the pre-feeding pipe, the inclined plates are obliquely arranged on the pre-feeding pipe and are used for guiding the football body to enter the inner cavity of the pre-feeding pipe, and the guide slope is arranged inside the pre-feeding pipe;

the guide pipe is vertically arranged, the cross section of the guide pipe is a pipe body with a C shape, the lower end of the pre-feeding pipe is fixedly connected with the upper end of the guide pipe, the lower end of the guide pipe is fixedly connected with the football launching device, and the front end of the guide pipe is provided with an observation port;

the two sides of the upper end of the launching tube are both fixed with first connecting pieces, the two sides of the guide tube are both fixed with second positioning rods, and the first connecting pieces and the second positioning rods which are positioned on the same side are connected through adjustable pull rods; the adjustable pull rod comprises a threaded sleeve rotatably connected with the transmitting tube and a threaded screw rod connected with the guide tube, and the threaded screw rod is in threaded connection with the threaded sleeve; the lower end of the threaded sleeve is fixedly connected with a second connecting piece, the second connecting piece is rotatably connected with the first connecting piece, an inner thread is arranged in an inner hole of the threaded sleeve, an outer circular surface of the threaded screw rod is provided with an outer thread, one end of the threaded screw rod is inserted into the inner hole of the threaded sleeve, one end of the threaded screw rod, which is far away from the threaded sleeve, is fixedly connected with a third connecting piece, and the third connecting piece is rotatably connected with a second positioning rod;

when the threaded screw rod and the threaded sleeve rotate relatively, the depth of the threaded screw rod inserted into the threaded sleeve is changed, so that the length of the adjustable pull rod is adjusted, the adjustable pull rod drives the launching tube to rotate up and down, and the inclination angle of the launching tube is adjusted;

the football launching device also comprises a machine body, the machine body is connected with the rotary support ring, the firing head is movably arranged in the accommodating cavity of the machine body, the lower end of the guide pipe is connected with the machine body, the inner cavity of the guide pipe is communicated with the accommodating cavity of the machine body, and the upper end of the guide pipe is connected with the pre-feeding pipe;

the trigger head comprises an impact table, a limiting slide block arranged on the impact table, a pushing plate connected with one end of the impact table and a flexible gasket connected with the other end of the impact table and used for being in contact with a football body positioned in the accommodating cavity, a limiting slide groove for embedding the limiting slide block is arranged on the body of the trigger body, and the pushing plate is connected with the trigger executing mechanism;

the firing execution mechanism comprises a spring limiting rod connected with the pushing plate, a flange connected with the spring limiting rod and a plurality of elastic elements sleeved on the spring limiting rod, wherein the elastic elements are clamped between the pushing plate and a limiting surface in the machine body;

2. The serving machine for soccer training of claim 1, wherein: the steering device comprises a rotating support ring rotatably arranged on the rack, a worm wheel arranged on the rotating support ring, a first transmission motor arranged on the rack and a worm connected with the first transmission motor and meshed with the worm wheel, and the football launching device is arranged on the rotating support ring.

3. The serving machine for soccer training of claim 1 or 2, wherein: the adjustable pull rods are arranged in two, and the guide pipe is located between the two adjustable pull rods.

4. The serving machine for soccer training of claim 1 or 2, wherein: the second transmission motors and the transmission guide plates are arranged in two numbers, each second transmission motor is connected with one transmission guide plate, the machine body is located between the two transmission guide plates, and the machine body is provided with a guide groove for the transmission rod to penetrate through.

5. The serving machine for soccer training of claim 1 or 2, wherein: the launching tube is a tube body with a U-shaped cross section, openings are arranged at two ends of the launching tube in the length direction, the rotation center line of the launching tube is a horizontal line, one end of the launching tube in the length direction is rotatably connected with the machine body, and the triggered football body is ejected from the opening at the other end of the launching tube in the length direction.