CN206063713U - For the service robot of football training - Google Patents

Abstract

This application discloses a kind of service robot for football training, the service robot includes ball serving device and conveyer device.The conveyer device is connected with ball serving device, and football can be delivered in ball serving device, and ball serving device applies active force to football, football is had initial velocity and is flown to a certain drop point.This service robot provides a set of frame for movement, and the frame for movement is under the cooperation of control circuit, it is possible to achieve the automatization that football is conveyed and served a ball, and improves the work efficiency of service robot, contributes to greatly promoting the training effect of sportsman.

Description

For the service robot of football training

Technical field

The application is related to a kind of service robot for football training.

Background technology

The training of substantial amounts of combination ball in the training of football, is needed, and needs service, tradition to be provided to training sportsman Mode be all to be provided by artificial mode.And service robot is the device that a kind of service of machine replaces artificial service, one As all there is a ball serving device, the ball serving device is realizing service specifically two by two by motor-driven runner The rotation of individual runner gives football one initial velocity, makes football fly out from ball serving device.The speed discrepancy of two runners can make foot Ball forms the rotating speed of friction speed, produces corresponding flight path.

The design of existing service robot, it is all that the work efficiency of service robot is not by way of craft to collect and place ball Height, it is not notable to the training result of sportsman.

The content of the invention

The application provides a kind of new service robot for football training.

The service robot that the application is provided, including：

Ball serving device, for applying active force to football, makes football have initial velocity and fly out；

And conveyer device, which is connected with ball serving device, for football is delivered in ball serving device.

Used as the further alternative of the service robot, the ball serving device includes mounting seat, service platform mechanism and use In the serving mechanism of service, the serving mechanism is arranged in service platform mechanism, and the service platform mechanism includes stage body and pitching Drive component, the stage body are arranged in mounting seat in movably mode, and the pitching drive component is connected with stage body, can Drive stage body to be mounted opposite an in the vertical direction to rotate, make serving mechanism in the vertical direction form different ball launch angles.

Used as the further alternative of the service robot, the pitching drive component includes gear drive group and motor, The gear drive group is connected between motor and stage body, and the motor is driven stage body by gear drive group and is mounted opposite seat turn It is dynamic.

As the further alternative of the service robot, also including horizontal rotary mechanism, the horizontal rotary mechanism bag Include base, can respect thereto horizontal rotation rotating seat and rotary drive assembly, the mounting seat be arranged on rotating seat on, it is described Rotary drive assembly can drive rotating seat and serving mechanism to rotate in the horizontal direction, make serving mechanism shape in the horizontal direction Into different ball launch angles.

Used as the further alternative of the service robot, the rotating seat is connected by gear floating bearing with base, The gear floating bearing includes inner ring and with cogged outer ring, and in the rotating seat and base is fixed on inner ring On, another is fixed on outer ring, and the rotary drive assembly includes motor, and the outfan of the motor is connected with driving cog Wheel, the travelling gear is engaged with the outer ring of gear floating bearing, to drive rotating seat respect thereto to rotate in the horizontal direction.

Used as the further alternative of the service robot, the ball serving device also includes release mechanism, the service robot Structure includes two runners being rotated by service drive component, and the space between two runners is for placing sending out for football Ball position, the release mechanism are included for keeping in the release platform of football, the release part for football to be sent to service position and release Drive component, the release platform are connected with service position, and the release drive component drives the motion of release part, by football from release Platform is sent to service position.

Used as the further alternative of the service robot, the release drive component drives release part to rotate, And the release part is in rotary motion, at least it is that one end of release part is moved to service displacement with LAP, to promote foot Ball moves to service position.

Used as the further alternative of the service robot, the release part is pivotally arranged, and with dial ball Connecting rod is fixedly connected, and one end of described group of ball link is flexibly connected with release drive component, and the release drive component can be defeated Go out linear reciprocating motion, and make release part rotate by dialling the transmission of ball link.

As the further alternative of the service robot, the release drive component include release motor, connecting rod, Slide block and line slideway, the outfan of the release motor are connected with connecting rod, and drive link is rotated, the connecting rod and slide block Connection, drives slide block linear reciprocating motion on line slideway, the slide block to be connected with ball link is dialled.

Used as the further alternative of the service robot, the conveyer device includes lifting transmission mechanism, the lifting Connecting gear includes gear frame, the dribble component for transporting football and lifting drive component；The dribble component has football Position is placed, the dribble component is arranged on gear frame, the lifting drive component can drive dribble component to be taken together with which The football in the vertical direction of band is moved up and down.

Used as the further alternative of the service robot, the conveyer device also includes locating part, and the locating part sets Put the setting height in lifting transmission mechanism；For supporting plate, the supporting plate is maintained under the support of elastic component the component of dribbling Support ball position；The locating part has limiting section, and the limiting section at least can within a specified time be maintained at the rising of supporting plate On track, and the part to supporting plate forms spacing, so that supporting plate is inclined to side, football is unloaded from supporting plate.

Used as the further alternative of the service robot, the conveyer device also includes lower ball machine structure, the lower ball machine Structure has sphere channel, and described sphere channel one end connects the ball position that unloads of lifting transmission mechanism, and the other end is connected with ball serving device Connect, the football for unloading is rolled at ball serving device.

As the further alternative of the service robot, the exit position of the sphere channel is provided with least one Go out ball locating part, it is described go out ball locating part there is the body of rod that can be stretched, the body of rod stretches into sphere channel under the state of stretching out, It it is less than one to the football for controlling to fall from exit position every time.

As the further alternative of the service robot, also include the automatically-controlled door for being protected to ball serving device, The automatically-controlled door is arranged on the output direction of ball of ball serving device；The automatically-controlled door includes door frame, mobile door and door drive assembly, institute State mobile door and be arranged on door frame in openable mode, the door drive assembly drives mobile door to be opened and closed dynamic Make.

Used as the further alternative of the service robot, the service robot includes at least two groups service dresses setting up and down Put, the conveyer device is provided with for each ball serving device and unloads ball position.

As the further alternative of the service robot, also including framework, the ball serving device, conveyer device according to On framework, the framework is at least enclosed in the one side towards trainer, with each device in protect-ing frame structure.

The beneficial effect of the application is：

The service robot that the application is provided includes ball serving device and conveyer device.The conveyer device is connected with ball serving device, can Football is delivered in ball serving device, ball serving device applies active force to football, football is had initial velocity and is flown to a certain Drop point.This service robot provides a set of frame for movement, and the frame for movement is under the cooperation of control circuit, it is possible to achieve football is conveyed With the automatization of service, the work efficiency of service robot is improved, contributes to greatly promoting the training effect of sportsman.

Description of the drawings

Fig. 1 is a kind of structural representation of embodiment of the application football training system；

Fig. 2 is partial structural diagram in embodiment illustrated in fig. 1；

Fig. 3 is the structural representation of platform in embodiment illustrated in fig. 1；

Fig. 4 is a kind of structural representation of embodiment of the application service robot；

Fig. 5 is to remove the internal structure schematic diagram after framework in embodiment illustrated in fig. 4；

Fig. 6 is the structural representation of ball serving device in embodiment illustrated in fig. 1；

Fig. 7 is the structural representation of another angle of ball serving device in embodiment illustrated in fig. 1；

Exploded views of the Fig. 8 for ball serving device shown in Fig. 7；

Fig. 9 is the structural representation of horizontal rotary mechanism in ball serving device shown in Fig. 7；

Figure 10 is the structural representation of release mechanism in ball serving device shown in Fig. 7；

Exploded views of the Figure 11 for release mechanism shown in Figure 10；

Figure 12 is the structural representation of lifting transmission mechanism in embodiment illustrated in fig. 4；

Figure 13 is the structural representation of lower ball machine structure in embodiment illustrated in fig. 4；

Figure 14 is the structural representation of Apparatus for feeding balls as disintegrating members structure in embodiment illustrated in fig. 4；

Figure 15 is the structural representation of automatically-controlled door in embodiment illustrated in fig. 4；

Enlarged drawings of the Figure 16 for automatically-controlled door shown in Figure 15.

Specific embodiment

Accompanying drawing is combined below by specific embodiment to be described in further detail the present invention.The application can be with various Different forms is realizing, however it is not limited to the embodiment described by the present embodiment.The purpose of detailed description below is provided It is easy for becoming apparent from present disclosure thorough explanation, the words of the wherein indicating position such as upper and lower, left and right is only pin To shown structure in respective figure for position.

However, those skilled in the art may be aware that one or more detail description can be by Omit, or can also be using other methods, mechanism or material.In some instances, some embodiments are not described Or be not described later in detail.

Additionally, technical characteristic described herein, technical scheme can also in one or more embodiments arbitrarily closing Suitable mode is combined.For a person skilled in the art, it is easy to understand with provided herein is embodiment relevant method Step or operation order can also change.Therefore, any order in drawings and Examples is merely illustrative purposes, not secretly Show requirement in a certain order, required according to a certain order unless expressly stated.

It is part institute serialization number itself, such as " first ", " second " etc. herein, is only used for distinguishing described object, There are no any order or art-recognized meanings.And " connection ", " connection " described in the application, if no special instructions, including directly and It is indirectly connected with (couple).

Embodiment one：

The present embodiment one provides a kind of football training system.

Fig. 1 is refer to, the football training system includes that service robot 100, goal model configuration 200 and football reclaim dress Put.The service robot 100 includes the ball serving device 110 for football is sent to the person of being trained to and for football is transported to service dress The conveyer device 120 in 110 is put, goal model configuration 200 is with least one hole 210 for simulating goal and for indicating to work as The Target Designating Assembly (not shown) at front target hole 210, and the ball that the person of being trained to is projected by football retracting device is returned Receive and deliver in the conveyer device 120 of service robot 100.

Behind the ball homed on its target hole 210 that service robot 100 is sent by the person of being trained in the system, football retracting device can Football is reclaimed, and delivers to the conveyer device 120 of service robot 100, then carry out service next time, service robot 100 can be improved Work efficiency, contributes to lifting the training effect of sportsman.

Within the system, service robot 100 can adopt any one to be used for the service robot of football.Goal model configuration 200 may The hole 210 of several or a simulation goal can be set.When with several holes 210, come by Target Designating Assembly The instruction person of being trained to kicks ball to which target hole 210.

Target Designating Assembly is used to indicate target framework 100 which can be being referred to using sound, light or sign etc. Show, can such as be LED.

Ball of the football retracting device then for the person of being trained to is kicked out of is reclaimed and is sent in service robot 100 again.Refer to Fig. 2, in order to avoid football bounce-back too far, bad recovery.Football retracting device can include the extension for being arranged on 210 rear of hole Net 310, makes football drop below linked network 310 Jing after linked network 310 unloads power.

In the present embodiment, 1 and 2 is refer to, the goal model configuration 200 crosses substantially square training court.It is logical The form closed is designed as in the case of often, it is of course also possible to be designed as non-close form.The football retracting device is using more Simple structure, specifically also including the football recovery approach 320 being arranged at below linked network 310 and from hole 210 to football Recovery approach 320 is inclined to lead ball inclined-plane 330, leads the relatively low side in ball inclined-plane 330 and connects football recovery approach 320, and football is returned The diapire for receiving passage 320 is obliquely installed from high to low, and relatively low one end is connected to the conveyer device 120 of service robot 100.

The ball that the person of being trained to kicks out of is dropped to after leading on ball inclined-plane 330, can be directed into football recovery approach 320, then It is rolled at the conveyer device 120 of service robot 100 along football recovery approach 320 under gravity, finally by conveyer device 120 It is transported in ball serving device 110.

Additionally, football retracting device is also possible to the device for being a kind of achievable football seizure and transporting, such as with one For catching the seizure equipment of football, the such as structure such as mechanical hand.Furthermore, it is also possible to have a travel mechanism that can be walked or The transmission mechanism of football transmission can be realized, so as to realize the recovery of football.

Fig. 1 and 3 is refer to, platform 400 can be laid in the centre of training court, the platform 400 includes the steel for supporting Frame 420 and the sheet material 410 being laid on steelframe, sheet material 410 are made plane, artificial lawn are laid in plane, can simulate more Real court environment.

Training court can be sealed with sheet material with four sides, increase load-bearing.Whole training court needs to keep levelness, needs Possesses the load-bearing of every square metre of 500KG.Goal model configuration 200 is arranged on the four sides of platform 400, and its framework is higher by training court Part, combine to form a cubic space with training court.

Further, the present embodiment one also provides a kind of new service robot 100 simultaneously, and the service robot 100 is capable of achieving Service and the automatization of conveyor ball, so as to improve the work efficiency of service robot 100, contribute to greatly promoting the training effect of sportsman Really.

Fig. 4 is refer to, the service robot 100 includes ball serving device 110 and conveyer device 120.The conveyer device 120 and service Device 110 is connected, and football can be delivered in ball serving device 110, and ball serving device 110 applies active force to football, has football There is initial velocity and fly to a certain drop point.

Fig. 4 to Fig. 8 is refer to, the ball serving device 110 and 120 integral installation of conveyer device are on framework 140.The service is filled Putting 110 includes mounting seat 111, service platform mechanism 112 and for the serving mechanism 113 of service, and serving mechanism 113 is arranged on service In platform mechanism 112.

Service platform mechanism 112 includes stage body 1121 and pitching drive component, and stage body 1121 is arranged in movably mode In mounting seat 111, pitching drive component is connected with stage body 1121, and stage body 1121 can be driven to be mounted opposite seat 111 in vertically side It is rotated up, makes 113 in the vertical direction of serving mechanism form different ball launch angles.

Serving mechanism 113 includes runner (rubber wheel) 1131 and service drive component, and the runner 1131 passes through rotating shaft and axle Hold 1133 to be arranged on stage body 1121.The runner 1131 is two, and service drive component includes motor 1132, drives in motor 1132 Dynamic lower rotation.Space between two runners 1131 is the service position for placing football, and football is placed in the service position, is led to The rotation for crossing runner 1131 gives football one initial velocity, makes football fly out from ball serving device 110.Two runners 1131 turn Speed difference can make football form the rotating speed of friction speed, produce corresponding flight path.

The pitching drive component includes gear drive group and motor 1122, and gear drive group is connected to motor 1122 and stage body Between 1121, motor 1122 is mounted opposite seat 111 by gear drive group transmission stage body 1121 and rotates.

Specifically, Fig. 7 and Fig. 8 is refer to, the ball serving device 110 at least has two symmetrically arranged mounting seats 111, should Stage body 1121 is fixedly connected with rotating shaft, and is installed in rotation in two mounting seats 111 by rotating shaft.Gear drive group includes First gear 1123 and second gear 1124, first gear 1123 are arranged on the outfan of pitching motor 1122, and second Gear 1124 is arranged in the rotating shaft of stage body 1121, and first gear 1123 is engaged with second gear 1124.

The pitching motor 1122 is arranged on motor cabinet 1125, and which can be a kind of motor of strap brake.Should During pitching 1122 rotating of motor, mounting seat 111 and serving mechanism thereon 113 can be controlled respectively clockwise and anticlockwise Deflection.

In order to be controlled to the maximum pitch rotation angle of serving mechanism 113, can be in the both sides of second gear 1124 Limit sensors are set, when second gear 1124 is deflected into is capable of the position of limited sensor sensing, by control circuit Stop which continuing deflection or carry out other operations.

Certainly, stage body 1121 is arranged in mounting seat 111 in rotationally mode, pitching drive component can also pass through Other various modes come drive stage body 1121 be mounted opposite 111 in the vertical direction of seat rotation, for example gear drive group is changed into Other drive mechanisms.The even actuator of some linear movement outputs, such as cylinder, hydraulic cylinder etc., in the biography of Jing drive mechanisms After dynamic, it is also possible to form rotary motion.

Additionally, the different ball launch angles in order to realize 113 in the vertical direction of serving mechanism, except making in a rotating manner Stage body 1121 and serving mechanism 113 are outside vertical direction change in location, it is also possible to whole by sending out stage body 1121 and serving mechanism 113 Body the mode such as moves up and down to realize the change of height in pitch orientation.

Fig. 8 and 9 is refer to, ball serving device 110 also includes horizontal rotary mechanism 114, and horizontal rotary mechanism 114 includes base 1141st, can respect thereto 1141 horizontal rotation rotating seat 1142 and rotary drive assembly, mounting seat 111 be arranged on rotating seat On 1142, rotary drive assembly can drive rotating seat 1142 and serving mechanism 113 to rotate in the horizontal direction, make serving mechanism 113 form different ball launch angles in the horizontal direction.

The rotating seat 1142 is connected by gear floating bearing 1143 with base 1141, and gear floating bearing 1143 includes interior Enclose 1143a and with cogged outer ring 1143b, in rotating seat 1142 and base 1141 is fixed on inner ring 1143a, separately One is fixed on the 1143b of outer ring, and rotary drive assembly includes rotary drive motor 1144, the output of rotary drive motor 1144 End is connected with travelling gear 1145, and travelling gear 1145 is engaged with the outer ring 1143b of gear floating bearing 1143, to drive rotation 1142 respect theretos 1141 of seat rotate in the horizontal direction.

As shown in FIG. 8 and 9, in the present embodiment, the rotating seat 1142 is fixed on the inner ring 1143a of gear floating bearing 1143 On, outer ring 1143b and the base 1141 of gear floating bearing 1143 are fixed.Rotary drive motor 1144 is fixedly mounted on rotating seat On 1142, its outfan is extended downwardly from, and makes the outer ring of dress travelling gear 1145 on the output and gear floating bearing 1143 1143b is engaged.The rotary drive motor 1144 is motor, when its rotating, can drive 1142 respect thereto of rotating seat 1141 horizontally rotate, so as to be provided with more ball launch angles to service in the horizontal direction.

Additionally, please continue to refer to Fig. 8 and 9, buphthalmos roller 1146 is also equipped with rotating seat 1142, rotating seat 1142 is aided in With rotating smoothly for 1141 two ends of base, quiet rotating mechanism is finally reached.

Limit shaft 1148, corresponding that stopper slot 1147 is opened up on rotating seat 1142, the limit can be installed on base 1141 Position axle 1148 is assemblied in stopper slot 1147, the anglec of rotation of rotating seat 1142 is carried out spacing.

In addition it is also possible to rotating seat 1142 is fixed on the 1143b of outer ring, base 1141 is then fixed with inner ring 1143a, rotation Turn motor 1144 on the base 1141, the outer ring of travelling gear 1145 thereon and gear floating bearing 1143 1143b is engaged, to drive 1142 respect thereto 1141 of rotating seat to rotate in the horizontal direction.

It is this by the way of gear floating bearing 1143 except more than, it is also possible to can to realize rotating against from other Scheme.

In horizontal rotary mechanism 114, can to arrange detection sensor on rotating seat 1142 or base 1141, so as to Limiting rotation angle, by Angle ambiguity in the range of needs.

In other embodiments, pitching adjusted design and horizontal rotation design can select an employing, and this can be according to specific Training objectives are selecting.

Fig. 8,10 and 11 are refer to, the ball serving device 110 also includes release mechanism 115.The release mechanism 115 include for The release platform 1151 of temporary football, release part 1152 and release drive component for football to be sent to service position.The release platform 1151 are connected with service position, and release drive component drives release part 1152 to move, and football is sent to service from release platform 1151 Position.

The motion of release part 1152 can be rotary motion, linear motion, movement in a curve, broken line motion etc., its effect Effect on football can be thrust, or pulling force.

For example, release drive component drives release part 1152 to rotate, and release part 1152 is in rotary motion, extremely With LAP be less release part 1152 one end to service displacement move, with promote football move to service position.

Please continue to refer to Fig. 8,10 and 11, the release part 1152 is pivotally arranged, and with dial ball link 1153 It is fixedly connected, the one end for dialling ball link 1153 is flexibly connected with release drive component, release drive component can export reciprocal straight Line is moved, and makes release part 1152 rotate by dialling the transmission of ball link 1153.

In the present embodiment, release drive component includes that release motor 1154, connecting rod 1155, slide block 1156 and straight line are led Rail 1157, the outfan of motor are connected with connecting rod 1155, and drive link 1155 is rotated, and connecting rod 1155 is connected with slide block 1156, are driven The linear reciprocating motion on line slideway 1157 of movable slider 1156, slide block 1156 are connected with ball link 1153 is dialled.

Refer to Figure 10 and 11, connecting rod 1155 can be one, or two or more, when connecting rod 1155 be two with When upper, it was hinged between connecting rod 1155.Release motor 1154 is motor, and which passes through shaft coupling 1158 and a company Bar 1155 is fixedly connected, and one end of second connecting rod 1155 is movably attached on slide block 1156, and slide block 1156 is set in straight line and leads On rail 1157.Release part 1152 is two, and which is oppositely arranged, and respectively comes with protuberance.Release part 1152 dials ball with one respectively Connecting rod 1153 is fixedly connected, and this group of ball link 1153 is then with slide block 1156 to be flexibly connected.Release part 1152 rotatably arranged with On release platform 1151, when slide block 1156 reciprocatingly slides on line slideway 1157, one end of release part 1152 can be driven to revolve Turn to form folding movement, so as to promote football to move to service position from release platform 1151.

The service robot 100 also includes conveyer device 120, refer to Fig. 5 and 12, and the conveyer device 120 includes lifting transmission Mechanism 121, lifting transmission mechanism 121 include gear frame 1211, the dribble component 1212 for transporting football and lifting driving group Part.There is dribble component 1212 football to place position, and dribble component 1212 is arranged on gear frame 1211, and lifting drive component can Dribble component 1212 is driven to move up and down together with the football in the vertical direction entrained by which.

Conveyer device 120 may also be employed the mode beyond vertical lifting and carry out the conveying of football, such as spiral defeated upwards Send, but for opposed helical formula is delivered up this mode, the structure of vertical lifting is simpler, the space of occupancy is less.

Figure 12 is refer to, the lifting drive component includes lifting motor 1213 and synchronous belt drive mechanism 1214.Should Timing Belt in synchronous belt drive mechanism 1214 is vertically arranged, and dribble component 1212 is fixed on Timing Belt, lifts motor 1213 drive supporting plate to lift with Timing Belt.

Additionally, refer to Fig. 5, conveyer device 120 also includes locating part 1218,1219, and locating part 1218,1219 is arranged on The setting height of lifting transmission mechanism 121, that is, what is set unload ball position, and the ball for unloading can be entered in ball serving device 110.Dribble Component 1212 is supporting plate, and supporting plate 1212 is maintained at support ball position under the support of elastic component.Locating part 1218,1219 has spacing Portion, the limiting section at least within a specified time can be maintained in the rising trace of supporting plate 1212, and to supporting plate 1212 Divide and form spacing, so as to overcome the active force of elastic component, supporting plate 1212 is inclined to side, football is unloaded from supporting plate 1212 Under.

In structure shown in Figure 12, elastic component is spring 1215, and spring 1215 is two, and which is supported on supporting plate 1212 side by side Lower section.Under normal condition, supporting plate 1212 is horizontally disposed with, and has cavity, for placing football in the middle part of which.The spring 1215 also may be used To be designed as holding supporting plate 1212 from top.

Fig. 5 and 13 is refer to, the conveyer device 120 can also include lower ball machine structure 122, the lower ball machine structure 122 has ball Body passage 1222,1222 one end of sphere channel connect the ball position that unloads of lifting transmission mechanism 121, the other end and ball serving device 110 Connection, enables from lifting transmission mechanism 121 football for unloading be rolled at ball serving device 110.Sphere channel 1222 passes through one Plant network structure to be formed, which is fixed on lower ball stand 1221.

The exit position of sphere channel 1222 is provided with least one and goes out ball locating part, this go out ball locating part have can The flexible body of rod.The body of rod stretches into sphere channel 1222 under the state of stretching out, to the football for controlling to fall from exit position every time For less than one.

As shown in figure 13, in the present embodiment, in the exit position of sphere channel 1222 at least with two along sphere channel What 1222 depths were arranged goes out ball locating part 1223, and two go out the distance between ball locating part 1223 and can accommodate a football.

Further, detection sensor 1224 is also provided with the exit position of sphere channel 1222, to detect Mouth position whether there is football.

Detection sensor 1225 can also be provided with the lower section of the exit position of sphere channel 1222, to have detected whether Football is fallen from exit position.

Refer to Fig. 5, service robot 100 includes at least two groups ball serving devices 110 setting up and down, the then pin of conveyer device 120 Each ball serving device 110 is respectively arranged with and unloads ball position, each unloads ball position and is respectively arranged with lower ball machine structure 122.

For the ball position that unloads of top, the limiting section on locating part 1219 can be fixedly disposed at the upper of supporting plate 1212 Rise on track.And for other unload ball position, locating part can then consider to be designed as limiting section Collapsible structure, as shown in Figure 5 Electromagnetic valve 1218, only when needing the position to unload ball, its spacing cross bar just stretches out, other when cross bar retract, no Affect to continue to convey football up and down.

Certainly, the mode for unloading ball is not limited in above structure, and for example, which is possibly by a mechanical hand by football Lower ball machine structure 122 is moved to from dribble component 1212, or even is moved directly in ball serving device 110.

Ball serving device 110 is set to multiple and upper and lower and/or horizontally disposed, it is also possible to make ball launch angle in vertical and water Square to there are multiple angles, and then pitching adjusted design and horizontal rotation design can be omitted with selectivity.

Fig. 5 and 14 is refer to, the conveyer device 120 can also include Apparatus for feeding balls as disintegrating members structure 123, the Apparatus for feeding balls as disintegrating members structure 123 is two, It is symmetricly set on the both sides of lifting transmission mechanism 121.Apparatus for feeding balls as disintegrating members structure 123 has the upper ball passage 1232 being obliquely installed, ball on this The relatively low one end of passage 1232 is connected in lifting transmission mechanism 121.When supporting plate 1212 is located at 121 lowest order of lifting transmission mechanism When, the football on this in ball passage 1232 can be rolled into supporting plate 1212 under gravity.On this, ball passage 1232 passes through netted knot Realizing, which is fixedly mounted on ball stand 1231 structure.

The exit position of sphere channel 1222 can also be provided with least one in Apparatus for feeding balls as disintegrating members structure 123 and go out ball locating part 1233, this goes out ball locating part 1233 and has the body of rod that can be stretched.The body of rod stretches into ball passage 1232 under the state of stretching out, to The football for controlling to fall from exit position every time is less than one.

As shown in figure 14, in the present embodiment, at least have two in the exit position of the upper ball passage 1232 of Apparatus for feeding balls as disintegrating members structure 123 Individual to go out ball locating part 1233 along what upper 1232 depth of ball passage was arranged, two go out the distance between ball locating part 1233 and can accommodate One football.

Further, detection sensor is also provided with the exit position of the sphere channel 1222 of Apparatus for feeding balls as disintegrating members structure 123 1234, to detect that exit position whether there is football.

Figure 15 and 16 is refer to, service robot 100 also includes the automatically-controlled door 130 for being protected to ball serving device 110, should Automatically-controlled door 130 is arranged on the output direction of ball of ball serving device 110.Automatically-controlled door 130 includes that door frame 131, mobile door 132 and door drive Component, mobile door 132 are arranged on door frame 131 in openable mode, door drive assembly drive mobile door 132 carry out opening and Closed action.

The door drive assembly includes motor 133 and synchronous belt drive mechanism 134, the motor 133 and Timing Belt The drivewheel of drive mechanism 134 is fixed.The Timing Belt of synchronous belt drive mechanism 134 is horizontally disposed with, and mobile door 132 is two sides, its It is fixed on upper and lower two Timing Belts by clamping device 135 respectively, so as under the driving of motor 133, two mobile doors 132 towards or away from movement, realizes opening and closing.

As shown in figure 15,130 integral installation of automatically-controlled door in order to more smoothly move, is moved on door 132 on framework 140 Sliding door pulley 136 can be installed.

The displacement that the mobile door 132 of detection sensor 137 pairs can also be arranged at least side of mobile door 132 is carried out Control, when location triggered detection sensor 137 of mobile door 132, can stop work or the reversion step of motor 133 Stepper motor 133.

, according in framework, framework is at least in the one side towards trainer for the ball serving device, conveyer device and automatically-controlled door It is enclosed, with each device in protect-ing frame structure.Preferably four faces all seal, to resist the destruction on other directions.Please With reference to Figure 15, the bottom of the framework there is also mounted control circuit and driving of various devices etc., to the action for controlling each device.

Above content is with reference to specific embodiment further description made for the present invention, it is impossible to assert this It is bright to be embodied as being confined to these explanations.For general technical staff of the technical field of the invention, do not taking off On the premise of present inventive concept, some simple deduction or replace can also be made.

Claims (10)

1. a kind of service robot for football training, it is characterised in that include：

Ball serving device, for applying active force to football, makes football have initial velocity and fly out；

And conveyer device, which is connected with ball serving device, for football is delivered in ball serving device.

2. service robot as claimed in claim 1, it is characterised in that the ball serving device include mounting seat, service platform mechanism and For the serving mechanism of service, the serving mechanism is arranged in service platform mechanism, and the service platform mechanism includes stage body and bows Drive component is faced upward, the stage body is arranged in mounting seat in movably mode, and the pitching drive component is connected with stage body, energy Enough drive stage body to be mounted opposite an in the vertical direction to rotate, make serving mechanism in the vertical direction form different service angles Degree.

3. service robot as claimed in claim 2, it is characterised in that the pitching drive component includes gear drive group and electricity Machine, the gear drive group are connected between motor and stage body, and the motor is driven stage body by gear drive group and is mounted opposite Seat is rotated.

4. service robot as claimed in claim 2, it is characterised in that also including horizontal rotary mechanism, the horizontal rotary mechanism Including base, can respect thereto horizontal rotation rotating seat and rotary drive assembly, the mounting seat be arranged on rotating seat on, institute Stating rotary drive assembly can drive rotating seat and serving mechanism to rotate in the horizontal direction, make serving mechanism in the horizontal direction Form different ball launch angles.

5. service robot as claimed in claim 4, it is characterised in that the rotating seat is connected by gear floating bearing with base Connect, the gear floating bearing includes inner ring and with cogged outer ring, in the rotating seat and base is fixed on interior On circle, another is fixed on outer ring, and the rotary drive assembly includes motor, and the outfan of the motor is connected with driving cog Wheel, the travelling gear is engaged with the outer ring of gear floating bearing, to drive rotating seat respect thereto to rotate in the horizontal direction.

6. service robot as claimed in claim 2, it is characterised in that the ball serving device also includes release mechanism, the service Mechanism includes two runners being rotated by service drive component, and the space between two runners is for placing football Service position, the release mechanism are included for keeping in the release platform of football, the release part for football to be sent to service position and sending Ball drive component, the release platform are connected with service position, and the release drive component drives release part to rotate, and described Release part is that one end of release part is moved to service displacement in rotary motion, at least with LAP, to promote football to move To service position.

7. service robot as claimed in claim 6, it is characterised in that the release part is pivotally arranged, and with dial Ball link is fixedly connected, and one end of described group of ball link is flexibly connected with release drive component, and the release drive component can Outputting reciprocating linear movement, and make release part rotate by dialling the transmission of ball link.

8. service robot as claimed in claim 7, it is characterised in that the release drive component includes release motor, even Bar, slide block and line slideway, the outfan of the release motor are connected with connecting rod, drive link rotate, the connecting rod with Slide block connects, and drives slide block linear reciprocating motion on line slideway, the slide block to be connected with ball link is dialled.

9. the service robot as any one of claim 1 to 8, it is characterised in that the conveyer device includes lifting transmission Mechanism, the lifting transmission mechanism include gear frame, the dribble component for transporting football and lifting drive component；The dribble There is component football to place position, and the dribble component is arranged on gear frame, and the lifting drive component can drive dribble group Part is moved up and down together with the football in the vertical direction entrained by which.

10. service robot as claimed in claim 9, it is characterised in that the conveyer device also includes locating part, the locating part It is arranged on the setting height of lifting transmission mechanism；For supporting plate, the supporting plate keeps under the support of elastic component the component of dribbling In support ball position；The locating part has limiting section, and the limiting section at least can within a specified time be maintained at the upper of supporting plate Rise on track, and the part to supporting plate forms spacing, so that supporting plate is inclined to side, football is unloaded from supporting plate.