CN117839190A - Ball storage and release device, ball dispenser and ball delivery method - Google Patents

Abstract

The invention relates to a ball storage and release device, a ball dispenser and a ball delivery method, wherein the ball storage and release device comprises a ball bucket mechanism, the ball bucket mechanism comprises a ball bucket, a stirrer and a rotary driving assembly, a ball arranging inner cavity and a ball storage inner cavity are arranged in the ball bucket, the ball arranging inner cavity is cylindrical, a ball bucket bottom plate is arranged at the bottom of the ball arranging inner cavity, the ball storage inner cavity is gradually reduced from top to bottom, and a lower port of the ball storage inner cavity is connected with an upper port of the ball arranging inner cavity in an equal diameter manner; the stirrer comprises a cylindrical part, a guide part and a plurality of partition plates, wherein the guide part is positioned at the upper end of the cylindrical part, the partition plates are uniformly distributed on the outer peripheral surface of the cylindrical part along the circumferential direction, the cylindrical part is coaxially arranged in the ball arranging cavity, a first accommodating space which can only accommodate one ball tool is formed among the side wall of the ball arranging cavity, the peripheral surface of the cylindrical part and two adjacent partition plates, the side surface of the lower end of the guide part is smoothly connected with the peripheral surface of the cylindrical part, and the guide part is gradually reduced from bottom to top; the ball hopper bottom plate is provided with a ball outlet, and the ball outlet is positioned between the side wall of the ball arranging cavity and the circumferential surface of the cylindrical part.

Description

Ball storage and release device, ball dispenser and ball delivery method

Technical Field

The invention relates to the technical field of sports apparatuses, in particular to a ball storage and release device, a ball dispenser and a ball delivery method.

Background

In ball games such as baseball, table tennis, etc., a service robot is an auxiliary machine for launching a ball game (baseball, table tennis, hockey, etc.) at a certain speed and angle. In the launching process, the ball tools need to be sent to the launching mechanism one by one, in the existing ball dispenser, a plurality of ball tools are generally placed into the ball hopper, then an outlet is arranged at the bottom of the ball hopper to enable the ball hopper to drop one ball tool at a time into the launching mechanism to be launched, however, in the existing ball hopper, because the ball tools are placed into the ball hopper and are randomly stacked, the ball clamping phenomenon is easy to occur, the ball tools cannot fall out of the ball hopper smoothly, and particularly, the ball clamping problem is more easy to occur for the ball tools in the shape of round cakes such as ice balls, and the continuous ball dispensing of the ball dispenser is difficult to ensure.

In addition, in the sport of ice hockey, the handling of the incoming hockey is a very important basic technology, and other technologies extending from the handling of the incoming hockey, such as receiving a goal, taking an air ball by hand, putting a door, etc., are often found in the game of ice hockey. However, in the current puck training, an athlete needs another person to match with the ball to train the ball handling operation, and the speed, direction and elevation change of the ball are different, so that effective control is difficult, and therefore, in respect of puck motion, not only smooth continuous launching is required, but also the control of ball serving speed, direction and elevation is also a urgent problem to be solved.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present invention is to provide a ball storage and delivery device, a ball dispenser, and a ball delivery method, in which the ball storage and delivery device stores a plurality of ball tools and can smoothly and continuously deliver one ball tool at a time without ball jamming.

In order to achieve the above purpose, the invention provides a ball storage and release device for storing and releasing ball tools in sequence, which comprises a ball bucket mechanism, wherein the ball bucket mechanism comprises a ball bucket, a stirrer and a rotary driving assembly, a ball arranging cavity and a ball storage cavity are arranged in the ball bucket, the ball arranging cavity is cylindrical, the bottom of the ball arranging cavity is provided with a ball bucket bottom plate, the ball storage cavity is gradually reduced from top to bottom, and the lower port of the ball storage cavity is equal in diameter and connected with the upper port of the ball arranging cavity; the stirrer comprises a cylindrical part, a guide part and a plurality of partition plates, wherein the guide part is positioned at the upper end of the cylindrical part, the partition plates are uniformly distributed on the outer circumferential surface of the cylindrical part along the circumferential direction, the cylindrical part is coaxially arranged in the ball arranging cavity, a first accommodating space which can only accommodate one ball tool is formed among the side wall of the ball arranging cavity, the circumferential surface of the cylindrical part and two adjacent partition plates, the side surface of the lower end of the guide part is smoothly connected with the circumferential surface of the cylindrical part, and the guide part is gradually reduced from bottom to top; the ball hopper bottom plate is provided with a ball outlet, and the ball outlet is positioned between the side wall of the ball arranging cavity and the circumferential surface of the cylindrical part.

Further, the rotary driving assembly comprises a first motor fixedly arranged on the lower side of the bottom plate of the ball hopper, and an output shaft of the first motor is fixedly connected with the center of the cylindrical part of the stirrer.

Further, the upper end of the partition plate extends to the guide part, and the height of the part of the partition plate located at the guide part from the side surface of the guide part gradually decreases from bottom to top.

Further, the ball tool is in a round cake shape, and the first accommodating space can only accommodate one ball tool to enter sideways.

Further, the ball placing posture adjusting mechanism comprises a fixed outer disc, a rotary inner disc and an inner disc driving assembly, the fixed outer disc comprises an outer disc circular bottom plate and an outer disc side plate surrounding the edge of the outer disc circular bottom plate in a circle, the outer disc is obliquely arranged below a ball outlet of the ball bucket, the ball outlet is positioned on the inner side of the outer disc side plate, a bottom outlet is arranged at the bottom of the outer disc side plate, and the inclined angle between the bottom outlet and the horizontal direction is-30 degrees; the inner disk comprises an inner disk bottom plate and an inner disk side edge part surrounding the edge of the inner disk bottom plate, the inner disk is arranged in a fixed outer disk, the inner disk bottom plate is coaxial with the outer disk bottom plate, a plurality of accommodating grooves which are sunken towards the inner side of the inner disk are formed in the inner disk side edge part, a second accommodating space which can only accommodate one ball tool to laterally enter is formed between the accommodating grooves and the outer disk side edge plate, the inner disk driving assembly drives the inner disk to rotate and wind the axis of the inner disk to rotate, and the second accommodating space can be located below a ball outlet of the ball bucket and well butted when the inner disk rotates.

Further, an included angle between the outer disc side plate of the fixed outer disc and the outer disc circular bottom plate is 135 degrees, and an inclined angle of the outer disc circular bottom plate is 45 degrees.

Further, the plurality of accommodating grooves of the rotary inner disc are uniformly arranged on the side edge part of the inner disc along the circumferential direction.

The invention also provides a ball dispenser, which comprises the ball storage and release device, and further comprises a ball dispenser mechanism and a ball pushing mechanism, wherein the ball dispenser mechanism comprises a ball delivering plate, an elevation angle adjusting assembly and a ball delivering assembly, the ball delivering plate is arranged below the ball storage and release device, a ball tool released by the ball storage and release device can fall onto the ball delivering plate, the ball delivering plate is fixedly connected with the ball delivering plate, the elevation angle adjusting assembly can drive the ball delivering plate to move so that the ball delivering plate is at different inclination angles, and the ball delivering assembly is arranged at the ball delivering plate and can eject the ball tool from the ball delivering plate; the ball pushing mechanism is capable of delivering a ball set that falls on the ball delivery plate to the ball delivery plate and into the ball delivery assembly.

Further, the intelligent ball dispenser comprises a running mechanism and an intelligent control system, wherein the running mechanism is used for driving the ball dispenser to run and turn, the intelligent control system comprises a control module and an environment sensor, the environment sensor is used for sensing the posture and the position of a sportsman and the positions of the ball dispenser and a field facility, the environment sensor is connected with the control module and can transmit information to the control module, the control module can store and calculate data, and the control module is connected with the running mechanism, the ball dispenser, the ball pushing mechanism and the ball storage and placing device in a control mode.

The invention also provides a service method, which is carried out by adopting the service robot and comprises the following steps:

s1, loading a plurality of ball tools into a ball bucket of a ball dispenser;

s2, the ball feeding plate moves until the elevation angle of the ball feeding plate is at a required ball feeding elevation angle; the ball storage and placing device works, the stirrer rotates, and the ball continuously falls down one ball from the ball outlet each time; the ball tools placed out of the ball storage and placing device finally fall onto the ball feeding plate;

s3, the ball pushing mechanism sends the ball tool to the ball service plate and enters the ball service assembly, and the ball service assembly launches the ball tool from the ball service plate.

As described above, the ball storage and release device, the ball dispenser, and the ball delivery method according to the present invention have the following advantages:

the ball storage and placing device is characterized in that a ball bucket mechanism is arranged, a plurality of ball tools are placed in the ball bucket when in use, the ball tools are disordered when placed in the ball storage inner cavity, the stirrer is driven to rotate through the rotary driving assembly, the ball tools can be stirred in the ball storage inner cavity, under the guiding action of the guiding part and the side wall of the ball storage inner cavity, the ball tools can enter the first accommodating space, one ball tool can enter each first accommodating space, and the ball tools are orderly arranged in the ball arranging inner cavity by the stirrer. In the rotating process of the stirrer, the ball in the first accommodating space can pass through the ball outlet and can be discharged through the ball outlet, one ball can fall out of the ball outlet every time, the ball can be timely fed into the first accommodating space in the same time, and the problem that the balls are mutually clamped is avoided. The ball storage and release device can be used in a ball dispenser, and can release one ball tool into a ball dispenser mechanism to be launched each time, so that continuous and smooth launching work is realized.

Drawings

Fig. 1 is a schematic structural view of a ball storage and release device according to the present invention.

Fig. 2 is a schematic structural view of another view angle of the ball storage and release device in the present invention.

Fig. 3 is a right side view of fig. 1.

Fig. 4 is a front view of fig. 1.

Fig. 5 is a schematic structural view of the ball bucket mechanism in the present invention.

Fig. 6 is a top view of fig. 5.

Fig. 7 is a schematic structural view of the ball bucket according to the present invention.

Fig. 8 is a schematic structural view of a stirrer in the present invention.

Fig. 9 is a schematic structural view of the fixed outer disc in the present invention.

Fig. 10 is a schematic view of the structure of the rotary inner disc in the present invention.

Fig. 11 is a schematic structural view of the service robot according to the present invention.

Fig. 12 is a front view of fig. 11.

Fig. 13 is a right side view of fig. 11.

Fig. 14 is a schematic diagram showing a service robot in the present invention.

Fig. 15 is a schematic diagram showing a service robot in a second state of the invention.

Fig. 16 is a three-schematic diagram showing a service robot in service according to the present invention.

Fig. 17 is a diagram showing four states of the service robot according to the present invention when the service robot is serving a ball.

Fig. 18 is a diagram showing a service robot in the present invention.

Fig. 19 is a six-schematic diagram showing a service robot in service according to the present invention.

Description of the reference numerals

1. Ball bucket mechanism

11. Ball bucket

111. Ball arranging cavity

112. Ball storage cavity

113. Ball bucket bottom plate

114. Ball outlet

12. Stirrer

121. Cylindrical portion

122. Guide part

123. Partition plate

13. A first accommodation space

14. First motor

2. Ball placing posture adjusting mechanism

21. Fixed outer disc

211. Outer disc round bottom plate

212. Outer disc side board

213. Bottom outlet

22. Rotary inner disc

221. Inner disc round bottom plate

222. Side edge of inner disk

223. Accommodating groove

23. A second accommodation space

24. Second motor

3. Ball serving mechanism

31. Ball feeding plate

32. Service plate

33. Service assembly

331. Service wheel

332. Service motor

333. Connecting rod

34. Third motor

35. Connecting swing arm

4. Ball pushing mechanism

41. Ball pushing piece

42. Fourth motor

5. Walking mechanism

51. Driving roller

52. Walking support

53. Steering wheel

54. Walking motor

6. Intelligent control system

61. Control module

62. Environment sensor

63. Laser device

7. Ice hockey

Detailed Description

Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.

It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or adjustments of the sizes, which are otherwise, used in the practice of the invention, are included in the spirit and scope of the invention which is otherwise, without departing from the spirit or scope thereof. Also, the terms such as "upper", "lower", "left", "right", "middle", etc. are used herein for convenience of description, but are not to be construed as limiting the scope of the invention, and the relative changes or modifications are not to be construed as essential to the scope of the invention.

Referring to fig. 1 to 19, the present invention provides a ball storage and release device for storing and sequentially releasing ball tools, which may be round cake-shaped ball tools such as ice hockey 7, or round ball tools such as baseball and tennis.

The ball storage and placing device comprises a ball bucket mechanism 1, wherein the ball bucket mechanism 1 comprises a ball bucket 11, a stirrer 12 and a rotary driving assembly, a ball arranging inner cavity 111 and a ball storage inner cavity 112 are arranged in the ball bucket 11, the ball arranging inner cavity 111 is cylindrical, a ball bucket bottom plate 113 is arranged at the bottom of the ball arranging inner cavity 111, the ball storage inner cavity 112 is gradually reduced from top to bottom, and the lower port of the ball storage inner cavity 112 is connected with the upper port of the ball arranging inner cavity 111 in an equal diameter manner; the agitator 12 includes a cylindrical portion 121, a guide portion 122 at an upper end of the cylindrical portion 121, and a plurality of partition plates 123 circumferentially uniformly distributed on an outer circumferential surface of the cylindrical portion 121, the cylindrical portion 121 is coaxially disposed in the ball cavity 111, and a first accommodation space 13 into which only one ball can be accommodated is formed between a side wall of the ball cavity 111, a circumferential surface of the cylindrical portion 121, and adjacent two of the partition plates 123, specifically, a height of the ball cavity 111, a distance between the side wall of the ball cavity 111 and the circumferential surface of the cylindrical portion 121, and a distance between the two partition plates 123 are set according to a shape and a size of the ball, so that a plurality of first accommodation spaces 13 are formed in the ball cavity 111, each of the first accommodation spaces 13 being capable of accommodating one ball. The side surface of the lower end of the guide part 122 is smoothly engaged with the circumferential surface of the cylindrical part 121, and the guide part 122 becomes gradually smaller from bottom to top, specifically, the lower end of the guide part 122 is circular and has the same radius as the cylindrical part 121; the ball hopper bottom plate 113 is provided with a ball outlet 114, and the ball outlet 114 is positioned between the side wall of the ball arranging cavity 111 and the circumferential surface of the cylindrical part 121.

The basic working principle of the ball storage and placing device related by the invention is as follows: in use, referring to fig. 14, a plurality of balls are placed in the hopper 11, wherein the ball storage cavity 112 mainly plays a role of storing balls and guiding the balls into the ball arrangement cavity 111, the balls are in a disordered state when placed in the ball storage cavity 112, then the rotation driving assembly drives the stirrer 12 to rotate, the balls are stirred in the ball storage cavity 112, under the guiding action of the guiding part 122 and the side wall of the ball storage cavity 112, the balls enter the first accommodating space 13, and each first accommodating space 13 can enter one ball, namely, the balls are arranged in sequence in the ball arrangement cavity 111 by the stirrer 12, referring to fig. 14. In the rotating process of the stirrer 12, the ball tools in the first accommodating space 13 can pass through the ball outlet 114 and can be discharged through the ball outlet 114, one ball tool can fall out of the ball outlet 114 every time, meanwhile, the space-time first accommodating space 13 can be timely supplemented by entering the ball tools, the problem that the ball tools are blocked mutually is avoided, and the ball tools can be continuously and sequentially discharged one by one in the working process of the ball storage and discharge device.

The ball storage and release device can be used in a ball dispenser, and can release one ball tool at a time to the ball dispenser 3 to be launched, and can be applied to other occasions with similar requirements.

Referring to fig. 1 to 10, the ball storage and delivery device of the present invention will be further described in the following by way of one embodiment:

in this embodiment, referring to fig. 2 and 4, as a preferred design, the rotary driving assembly includes a first motor 14 fixedly installed at the lower side of a bottom plate 113 of the hopper, and a conveying shaft of the first motor 14 extends into the ball-arranging cavity 111 and is fixedly connected with the center of the cylindrical part 121 of the agitator 12, thereby stably driving the agitator 12 to rotate, and having a simple structure and convenient control.

In this embodiment, referring to fig. 5 and 8, as a preferred design, the guiding portion 122 of the agitator 12 is substantially conical, its side is arc-shaped, the ball storage cavity 112 of the ball bucket 11 is conical, its lower end opening radius is the same as the ball arranging cavity 111 radius, and the two are smoothly connected, so as to ensure that the ball tool can smoothly slide down into the first accommodating space 13 between the guiding portion 122 and the ball storage cavity 112. In the present embodiment, preferably, the upper end of the partition plate 123 extends onto the side surface of the guide part 122, and the height of the partition plate 123 located at a portion of the guide part 122 from the side surface of the guide part 122 gradually decreases from bottom to top, that is, the partition plate 123 is gradually inclined from bottom to top to inside toward the side surface of the ball hopper 11, the distance from the side surface of the guide part 122 gradually decreases from bottom to top, and finally the distance from the top of the partition plate 123 to the side surface of the guide part 122 becomes zero, where the distance is smoothly excessive, so that the ball can be better guided to enter between the two partition plates 123.

In this embodiment, referring to fig. 5 and 8, as a preferred design, the ball storage and release device is used for storing round cake-shaped puck 7, the first accommodating space 13 can only accommodate one puck 7 to enter sideways, specifically, the distance between the side wall of the puck cavity 111 and the circumferential surface of the cylindrical portion 121 is set according to the thickness of the puck 7, preferably slightly greater than the thickness of the puck 7, and the distance between the two separation plates 123 is set according to the diameter size of the puck 7, preferably slightly greater than the diameter of the puck 7, so that the puck 7 can only enter sideways into the first accommodating space 13, wherein the puck 7 enters sideways, that is, the circumferential surface of the puck 7 enters downwards, or is vertical sideways, or is slightly inclined by a certain angle, and at the moment, the end surface of the puck 7 and the clamp in the horizontal direction are 60 ° to 90 °. Therefore, the ice ball 7 cannot enter the first accommodating space 13 due to the horizontal posture, the problem that the ice ball 7 is clamped at the position due to the horizontal posture is avoided, meanwhile, the first accommodating space 13 is inconvenient to design when the ice ball 7 is horizontally placed due to the fact that the thickness of the ice ball 7 is relatively small in diameter, and the problem that a plurality of ice balls 7 laterally enter easily occurs. In other embodiments, the ball storage and release device is also used for storing balls such as baseball and tennis balls, and the size of each accommodating space is correspondingly determined according to the ball diameter.

In this embodiment, since the puck 7 coming out of the bucket mechanism 1 is in a sideways state, and in a service machine and the like, the puck 7 needs to enter the service mechanism 3 in a flat-lying posture, in this application, the flat-lying posture of the puck 7 means that the end face of the puck 7 faces downward, may be horizontal or slightly inclined, and the angle between the end face of the puck 7 and the horizontal direction is 0 to 30 °. As a preferred design, in the present embodiment, referring to fig. 1, 2 and 3, the ball storage and putting device further includes a putting posture adjustment mechanism 2 for adjusting the puck 7 in a sideways posture coming out of the bucket mechanism 1 to a flat posture and putting the puck 7 out. Referring to fig. 3, 9 and 10, the ball placement posture adjustment mechanism 2 includes a fixed outer disc 21, a rotating inner disc 22 and an inner disc driving assembly, the fixed outer disc 21 includes an outer disc circular bottom plate 211, and an outer disc side plate 212 surrounding the periphery of the outer disc circular bottom plate 211, the outer disc side plate 212 is inclined outwards, the fixed outer disc 21 is obliquely arranged below the ball outlet 114 of the ball bucket 11 and is fixed with the ball bucket 11, the ball outlet 114 is positioned inside the outer disc side plate 212, a bottom outlet 213 is arranged at the bottom of the outer disc side plate 212, the size of the bottom outlet 213 is set according to the size of the ball, only one ball can pass through, the bottom outlet 213 is horizontal or slightly inclined, an appropriate included angle is adopted between the outer disc side plate 212 and the outer disc circular bottom plate 211, the top of the outer disc side plate 212 is positioned outside the ball outlet 114 while the angle position of the bottom outlet 213 meets the requirement, and is in a vertical or slightly outwards inclined state, so that the ice ball 7 coming out of the ball outlet 114 can fall into the inner side plate 212 of the outer disc side plate 212; the rotary inner disc 22 comprises an inner disc bottom plate 221 and an inner disc side edge part 222 surrounding the edge of the inner disc bottom plate 221 for a circle, the rotary inner disc 22 is arranged in the fixed outer disc 21, the inner disc bottom plate 221 and the outer disc bottom plate 211 are coaxial, a plurality of containing grooves 223 recessed towards the inner side of the rotary inner disc 22 are arranged on the inner disc side edge part 222, a second containing space 23 which can only contain one cake-shaped puck 7 to enter sideways is formed between the containing grooves 223 and the outer disc side edge plate 212, namely the thickness, the width and the height of the second containing space 23 are set according to the thickness and the diameter of the cake-shaped puck 7. The inner disc driving assembly drives the rotating inner disc 22 to rotate around the axis of the inner disc driving assembly, the position of the second accommodating space 23 changes during rotation, and the second accommodating space 23 can reach the position below the ball outlet 114 of the ball hopper 11 and is in butt joint. The working principle of the ball placing posture adjusting mechanism 2 is as follows: referring to fig. 15, when the rotating inner disc 22 rotates to the empty second accommodating space 23 below the ball outlet 114 of the ball bucket 11 and is docked, the ice ball 7 in the ball bucket 11 enters the second accommodating space 23 through the ball outlet 114, then the rotating inner disc 22 continues to rotate, the ice ball 7 is driven by the accommodating groove 223 to move on the outer disc side plate 212, and the ice ball 7 is in a flat-lying posture when reaching the bottom outlet 213 and falls from the bottom outlet 213.

In this embodiment, it is further preferable that, referring to fig. 3, the outer disc side plate 212 of the fixed outer disc 21 forms an angle of 135 ° with the outer disc circular bottom plate 211, and the outer disc circular bottom plate 211 has an inclination angle of 45 °, so that the bottom outlet 213 of the bottommost portion of the outer disc side plate 212 is horizontal and the topmost portion of the outer disc circular bottom plate 211 is vertical.

In this embodiment, referring to fig. 3 and 10, the number of the accommodating grooves 223 of the rotating inner disc 22 is plural, the number of the accommodating grooves is N, which can be set according to practical needs, and the accommodating grooves are circumferentially and uniformly arranged on the side edge portion 222 of the inner disc to form a plurality of second accommodating spaces 23, each second accommodating space 23 can be used for entering one puck 7, and when the puck storage and release device continuously releases a puck, only the rotating inner disc 22 needs to be controlled to rotate for 360 °/N degrees each time to release one puck 7.

In this embodiment, referring to fig. 3 and 4, the inner disc driving assembly includes a second motor 24 fixed on the bottom surface of the outer disc base plate 211, and an output shaft of the second motor 24 extends into the fixed outer disc 21 and is fixedly connected to the center of the inner disc base plate 221, and the inner disc 22 is driven to rotate continuously and stably by the second motor 24, and the structure is simple.

Referring to fig. 11 to 19, the present invention further provides a ball dispenser, including the ball storage and release device, and further including a ball dispenser 3 and a ball pushing mechanism 4, where the ball dispenser 3 includes a ball delivering plate 31, a ball delivering plate 32, an elevation angle adjusting component and a ball delivering component 33, the ball delivering plate 31 is disposed below the ball storage and release device, a ball set released by the ball storage and release device can fall onto the ball delivering plate 31, the ball delivering plate 32 is fixedly connected with the ball delivering plate 31, the elevation angle adjusting component can drive the ball delivering plate 31 to move so that the ball delivering plate 32 is at different inclination angles, and the ball delivering component 33 is disposed at the ball delivering plate 32 and can eject the ball set from the ball delivering plate 32; the ball pushing mechanism 4 is capable of delivering a ball set that falls on the ball striking plate 31 to the ball striking plate 32 and into the ball striking assembly 33.

When the service robot works, the ball storage and release device continuously releases a ball tool onto the ball delivery plate 31 every time, for the ice hockey 7, the ball tool is discharged from the ball bucket 11 and falls onto the ball delivery plate 31 through the ball release posture adjusting mechanism 2, for ball tools such as baseball, tennis and the like, the ball tool can fall into the ball delivery plate 31 directly after being discharged from the ball bucket 11, the ball release posture adjusting mechanism 2 can also be arranged, and the ball tool enters into the second accommodating space 23, so that the ball release posture adjusting mechanism 2 plays a role in storing balls. In the present embodiment, taking the puck 7 as an example, the puck 7 falls on the ball feeding plate 31 in a flat posture, see fig. 17. The elevation angle adjusting component acts to drive the ball feeding plate 31 to rotate, so that the ball feeding plate 32 reaches a required inclination angle, and the inclination angle of the ball feeding plate 32 and the horizontal direction can be called the elevation angle of the ball feeding plate 32; the ball pushing mechanism 4 then delivers the puck 7 to the service plate 32 and into the service assembly 33; the ball serving assembly 33 provides kinetic energy to the puck 7, the puck 7 moves forward on the ball serving plate 32, and is launched along the elevation of the ball serving plate 32, see fig. 19, at which time the launched elevation of the puck 7 is the tilt elevation of the ball serving plate 32, and the ball serving speed is controlled by the ball serving assembly 33. And then the ball pushing mechanism 4 resets, the launching of one ice ball 7 is completed, and after the ball storage and placing device places the next ice ball 7, the actions are repeated, and the ball serving is continuously carried out. The launch angle can be flexibly adjusted by adjusting the movement of the launch plate 32 and the launch speed is controlled by the launch assembly 33.

In this embodiment, referring to fig. 13, as a preferred design, the ball feeding plate 31 of the ball feeding mechanism 3 is an arc plate with its intrados facing upwards, for convenience of explanation, the ball feeding plate 31 is located on the front side of the ball feeding plate 31 along the left-right direction by taking the direction of ball feeding as the front of the ball feeding machine, the ball feeding plate 32 is located on the left-right direction, the elevation adjusting assembly drives the ball feeding plate 31 to rotate back and forth around its own axis, the distance between its intrados and the final ball discharging place (i.e. the bottom outlet 213) of the ball storage and discharging device is unchanged during the rotation of the ball feeding plate 31, and when the inclination angle of the ball feeding plate 32 is adjusted, the ball feeding plate 31 is always located below the bottom outlet 213, and the falling height of the puck 7 is unchanged.

In this embodiment, as a preferred design, referring to fig. 11 and 13, the elevation angle adjusting assembly includes a third motor 34 and a connecting swing arm 35, the upper end of the connecting swing arm 35 is fixedly connected with the output shaft of the third motor 34, the lower end is fixedly connected with the ball feeding plate 31, the output shaft of the third motor 34 is located on the axis of the circular arc-shaped ball feeding plate 31, the third motor 34 rotates, and the ball feeding plate 31 is driven to rotate back and forth through the connecting swing arm 35.

In the present embodiment, as a preferred design, referring to fig. 11 and 13, the service module 33 in the service mechanism 3 includes two service wheels 331, and two service motors 332 respectively driving the two service wheels 331 to rotate, and the service motors 332 are fixed to the connecting swing arm 35 by connecting rods 333, so that the service module 33 rotates in synchronization with the service plate 31 and the service plate 32. The serving wheel 331 preferably adopts the elastic wheel that certain elasticity material was made, two serving wheels 331 are located on the serving plate 32, and control relative setting, the interval between two serving wheels 331 is less than the puck 7 diameter, specifically set up according to puck 7 diameter, and the elastic deformation condition of puck 7 and serving wheel 331, make puck 7 can enter into between two serving wheels 331, and puck 7 is produced certain deformation by the extrusion of serving wheel 331, be frictional contact between serving wheel 331 and puck 7, serving wheel 331 counter-turn, drive puck 7 forward motion through frictional force, finally launch puck 7, can control puck 7's launching speed through controlling the speed of serving wheel 331, wherein serving motor 332 also can replace with other drive structures, can drive serving wheel 331 rotation can. Of course, in other embodiments, the ball serving assembly 33 can employ other suitable ball serving mechanisms 3, and can provide kinetic energy to the puck 7 for being launched.

In this embodiment, as a preferred design, referring to fig. 12 and 13, the ball pushing mechanism 4 includes a ball pushing member 41 and a fourth motor 42, the fourth motor 42 is fixedly installed at the bottom of the ball hopper 11, the ball pushing member 41 is connected to the output shaft of the fourth motor 42 and extends into the intrados of the service plate 32 with a proper distance from the service plate 31, and the portion of the ball pushing member 41 located at the intrados of the service plate 32 is also arc-shaped. The output shaft of the fourth motor 42 and the output shaft of the third motor 34 are coaxial, so that the distance between the ball pushing piece 41 and the ball feeding plate 31 is unchanged when the ball pushing piece rotates, and no interference problem occurs.

In this embodiment, referring to fig. 1 and 3, as a preferred design, the ball dispenser further includes a traveling mechanism 5, the traveling mechanism 5 is used for driving the ball dispenser to travel and steer, specifically, the traveling mechanism 5 includes two driving rollers 51 located at the front side and one steering wheel 53 located at the rear side, the driving rollers 51 are mounted on a traveling bracket 52 fixed on the ball bucket 11, the two driving rollers 51 are respectively driven by two traveling motors 54 as power wheels, the traveling motor 54 is fixed on the traveling bracket 52, the steering wheel 53 is also mounted on the traveling bracket 52 fixed on the ball bucket 11, and the traveling is performed by controlling the rolling of the two driving rollers 51 at the front side. Steering can be achieved by controlling the rotational speeds of the front two driving rollers 51 to be different. Of course, the running gear 5 is not limited to the wheel driving method, and in other embodiments, the running gear 5 may have any other suitable structure.

In this embodiment, referring to fig. 1 and 3, as a preferred design, the service robot further includes an intelligent control system 6, where the intelligent control system 6 includes a control module 61 and an environment sensor 62, and the control module 61 is an integrated module, and includes a processor, a controller, a battery, a network component, and the like, and is capable of performing functions such as communication, data storage and calculation, and control instruction issuing. The environment sensor 62 is used for sensing the gesture and position of the player and the positions of the ball dispenser and field facilities (including goals, side walls and the like), the environment sensor 62 is connected with the control module 61, information can be transmitted to the control module 61, the control module 61 can store and calculate data, the control module 61 is connected with the running mechanism 5 in a control manner, and running and steering of the running mechanism 5 can be controlled. In the present embodiment, the control module 61 is installed at the front side of the hopper 11, and the environment sensor 62 is installed on the control module 61. The position and the orientation of the service robot on the site are sensed by the environment sensor 62, information is sent to the control module 61 for calculation processing, and then the service robot is located at a required position by controlling the travelling mechanism 5 to travel and turn, particularly, for the condition of fixed-point launching on the site, the service robot is easy to change in position during the service process due to the smooth ice surface of the site, so that the service robot can be timely adjusted to move and turn, return to the specified position and orientation and do not need to be fixed on the site, and the ice surface is protected. Wherein, the method of acquiring the position of the service robot on the field through the environment sensor 62 can adopt the existing positioning method, and the corresponding algorithm program can be arranged in the control module 61.

In this embodiment, the control module 61 is further connected to the first motor 14, the second motor 24, the third motor 34, the fourth motor 42, and the ball serving motor 332 respectively for controlling the motors to work, so as to control the ball serving machine to automatically perform operations such as ball placement, elevation angle adjustment, ball pushing, action and speed adjustment, and realize full automation of the whole ball serving operation.

In this embodiment, referring to fig. 1 and 3, the intelligent control system 6 further includes a laser 63, which is installed on the control module 61 and is in control connection with the control module 61, where the laser 63 can project a laser line on the ice surface to indicate a projection line of the ball passing path on the ice surface, and can also reflect an orientation angle during ball serving, and can be used for assisting in adjusting the orientation angle of the ball serving machine.

The invention also provides a service method, which is carried out by adopting the service robot and comprises the following steps:

s1, loading a plurality of ball tools into a ball bucket 11 of a ball dispenser; the ball tools do not need to be arranged when being placed in the ball hopper 11, and the ball hopper 11 can be in a disordered state.

S2, driving the ball feeding plate 31 to move to a ball feeding elevation angle of the ball feeding plate 32 through a third motor 34; the ball storage and placing device works, the stirrer 12 rotates, and the balls continuously drop one ball from the ball outlet 114 at a time; the ball tools placed out by the ball storage and placing device finally fall onto the ball feeding plate 31.

Specifically, in the present embodiment, taking the example of the launching of the ice hockey puck 7, a plurality of ice hockey pucks 7 are added to the puck hopper 11, the agitator 12 rotates, and the ice hockey puck 7 enters the first accommodation space 13, see fig. 14. Meanwhile, the rotating inner disc 22 of the ball-placing posture adjusting mechanism 2 rotates at a certain speed according to the ball-serving frequency, the ice balls 7 enter the second accommodating spaces 23, see fig. 15, then all the second accommodating spaces 23 can enter the ice balls 7 successively during the rotation of the rotating inner disc 22, see fig. 16, meanwhile, the ice balls 7 in the second accommodating spaces 23 are sequentially placed out through the bottom outlets 213, and the ice balls 7 are placed out in a flat posture and fall onto the ball-delivering plate 31, see fig. 17.

S3, the ball pushing mechanism 4 sends the ball tool to the ball sending plate 32 and enters the ball sending assembly 33, specifically, referring to fig. 18, the fourth motor 42 drives the ball pushing member 41 to move forward, the ball pushing member 41 pushes the puck 7 to move onto the ball sending plate 32 on the ball sending plate 31 and enter the two ball sending wheels 331, and the puck is driven by the two ball sending wheels 331 to move forward and be launched from the ball sending plate 32, referring to fig. 19. The reciprocating frequency of the ball pushing member 41 is controlled to match the rotating speed of the rotating inner disc 22, so that the next puck 7 falls onto the ball feeding plate 31 after each ball pushing member 41 completes one ball pushing and resetting.

From the above, the ball storage and release device, the ball dispenser and the ball delivery method have the following technical effects:

1. the ball storage and release device can store a plurality of ball tools, can smoothly and continuously release one ball tool each time, can not have the problem of ball clamping, ensures continuous and stable ball serving, can continuously and massively serve balls, does not need frequent replenishment, can permanently work, and can fully automatically carry out the whole ball serving work.

2. The ball storage and placing device can discharge round cake-shaped ball tools such as the ice hockey ball 7 in a flat-lying posture by arranging the ball placing posture adjusting mechanism 2, ensure the stability of the ball discharging posture and meet the special requirements of the ice hockey ball 7 for dispensing balls.

3. The ball can be launched according to the required launching elevation angle and launching speed, the launching elevation angle and launching speed can be flexibly adjusted, and the ball launching device is flexible and convenient to use.

4. The position and the orientation of the ball dispenser can be timely adjusted to enable the ball dispenser to return to the specified position, and the orientation of the ball dispenser can be adjusted.

In summary, the present invention effectively overcomes the disadvantages of the prior art and has high industrial utility value.

The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims (10)

1. The utility model provides a store up ball and put ball device for store up ball utensil and with ball utensil play in proper order, its characterized in that: the ball hopper mechanism (1) comprises a ball hopper (11), a stirrer (12) and a rotary driving assembly, wherein a ball arranging inner cavity (111) and a ball storage inner cavity (112) are formed in the ball hopper (11), the ball arranging inner cavity (111) is cylindrical, a ball hopper bottom plate (113) is arranged at the bottom of the ball arranging inner cavity, the ball storage inner cavity (112) is gradually reduced from top to bottom, and a lower port of the ball storage inner cavity is in constant diameter connection with an upper port of the ball arranging inner cavity (111); the stirrer (12) comprises a cylindrical part (121), a guide part (122) positioned at the upper end of the cylindrical part (121) and a plurality of partition plates (123) circumferentially and uniformly distributed on the outer circumferential surface of the cylindrical part (121), the cylindrical part (121) is coaxially arranged in the ball arranging cavity (111), a first accommodating space (13) which can only accommodate one ball tool is formed among the side wall of the ball arranging cavity (111), the circumferential surface of the cylindrical part (121) and two adjacent partition plates (123), the side surface of the lower end of the guide part (122) is smoothly connected with the circumferential surface of the cylindrical part (121), and the guide part (122) gradually becomes smaller from bottom to top; the ball hopper bottom plate (113) is provided with a ball outlet (114), and the ball outlet (114) is positioned between the side wall of the ball arranging cavity (111) and the circumferential surface of the cylindrical part (121).

2. The ball storage and release device according to claim 1, wherein: the rotary driving assembly comprises a first motor (14) fixedly arranged on the lower side of the ball bucket base plate (113), and an output shaft of the first motor (14) is fixedly connected with the center of a cylindrical part (121) of the stirrer (12).

3. The ball storage and release device according to claim 1, wherein: the upper end of the partition plate (123) extends to the guide part (122), and the height of a part of the partition plate (123) located at the guide part (122) from the side surface of the guide part (122) gradually decreases from bottom to top.

4. The ball storage and release device according to claim 1, wherein: the ball tool is in a round cake shape, and the first accommodating space (13) can only accommodate one ball tool to enter sideways.

5. The ball storage and release device according to claim 4, wherein: the ball placing type ball placing device comprises a ball placing device, and is characterized by further comprising a ball placing posture adjusting mechanism (2), wherein the ball placing posture adjusting mechanism (2) comprises a fixed outer disc (21), a rotary inner disc (22) and an inner disc driving assembly, the fixed outer disc (21) comprises an outer disc round bottom plate (211) and an outer disc side plate (212) surrounding the periphery of the outer disc round bottom plate (211), the outer disc is obliquely arranged below a ball outlet (114) of a ball hopper (11), the ball outlet (114) is positioned on the inner side of the outer disc side plate (212), a bottom outlet (213) is arranged at the bottom of the outer disc side plate (212), and the inclined angle between the bottom outlet (213) and the horizontal direction is-30 degrees; the inner disc (22) comprises an inner disc round bottom plate (221) and an inner disc side edge part (222) surrounding the edge of the inner disc round bottom plate (221), the inner disc (22) is arranged in the fixed outer disc (21), the inner disc round bottom plate (221) is coaxial with the outer disc round bottom plate (211), a plurality of accommodating grooves (223) recessed towards the inner side of the inner disc (22) are formed in the inner disc side edge part (222), a second accommodating space (23) which can only accommodate one ball tool to enter sideways is formed between the accommodating grooves (223) and the outer disc side edge plate (212), the inner disc driving assembly drives the inner disc (22) to rotate around the axis of the inner disc driving assembly, and the second accommodating space (23) can be located below the ball outlet (114) of the ball bucket (11) and well-abutted when the inner disc (22) rotates.

6. The ball storage and release device according to claim 5, wherein: the included angle between the outer disc side plate (212) of the fixed outer disc (21) and the outer disc circular bottom plate (211) is 135 degrees, and the inclination angle of the outer disc circular bottom plate (211) is 45 degrees.

7. The ball storage and release device according to claim 5, wherein: the plurality of the accommodating grooves (223) of the rotary inner disc (22) are uniformly arranged on the side edge part (222) of the inner disc along the circumferential direction.

8. A service robot, characterized in that: the ball storage and release device comprises a ball delivery mechanism (3) and a ball pushing mechanism (4), wherein the ball delivery mechanism (3) comprises a ball delivery plate (31), a ball delivery plate (32), an elevation angle adjusting component and a ball delivery component, the ball delivery plate (31) is arranged below the ball storage and release device, a ball released by the ball storage and release device can fall onto the ball delivery plate (31), the ball delivery plate (32) is fixedly connected with the ball delivery plate (31), the elevation angle adjusting component can drive the ball delivery plate (31) to move so that the ball delivery plate (32) is at different inclination angles, and the ball delivery component is arranged at the ball delivery plate (32) and can eject the ball from the ball delivery plate (32); the ball pushing mechanism (4) can send ball tools falling on the ball sending plate (31) to the ball sending plate (32) and enter the ball sending assembly.

9. The ball dispenser according to claim 8, wherein: still include running gear (5) and intelligent control system (6), running gear (5) are used for driving the service robot and walk and turn to, intelligent control system (6) are including control module (61) and environment sensor (62), environment sensor (62) are used for responding to sportsman's gesture and position to and service robot and place facility's position, environment sensor (62) link to each other with control module (61), can give control module (61) with information transmission, control module (61) can carry out data storage and calculation, control module (61) all control with running gear (5), service robot (3), ball pushing mechanism (4) and ball storage and putting ball device and link to each other.

10. A method of serving a ball, characterized by: use of a service robot according to claim 8 or 9, comprising the steps of:

s1, loading a plurality of ball tools into a ball hopper (11) of a ball dispenser;

s2, the ball feeding plate (31) moves until the elevation angle of the ball feeding plate (32) is at a required ball feeding elevation angle; the ball storage and placing device works, the stirrer (12) rotates, and the ball continuously falls down one ball from the ball outlet (114) each time; the ball tools placed out of the ball storage and placement device finally fall onto the ball feeding plate (31);

s3, the ball pushing mechanism (4) sends the ball tool to the ball serving plate (32) and enters the ball serving assembly, and the ball serving assembly launches the ball tool from the ball serving plate (32).