CN206910747U - A kind of ball serving device for balls sport training - Google Patents
A kind of ball serving device for balls sport training Download PDFInfo
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- CN206910747U CN206910747U CN201720539549.7U CN201720539549U CN206910747U CN 206910747 U CN206910747 U CN 206910747U CN 201720539549 U CN201720539549 U CN 201720539549U CN 206910747 U CN206910747 U CN 206910747U
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- movable pulley
- wheel
- framed bent
- receipts
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Abstract
The utility model provides a kind of ball serving device for balls sport training, including：Moving carriage, two receipts ball sub-devices, two are penetrated ball sub-device and an intelligent control module (34)；The moving carriage includes：Chassis and two support frames (5)；The chassis includes：Two outer panels (1), two interior plates (2), some short connecting rods (4) and some long connecting rods (3)；Two interior plates (2) are staggered relatively, and two outer panels (1) are respectively positioned at its outside；The both ends of the long connecting rod (3) are respectively and vertically fixed between two interior plates (2)；The short connecting rod (4) is respectively and vertically fixed between the outer panel (1) and the interior plate (2)；In between, universal wheel (6), traction wheel (8) and secondary support wheel (9) are respectively symmetrically installed；In interior plate (2) madial wall, install respectively the receipts ball sub-device, this penetrate ball sub-device；The intelligent control module (34) is wherein installed on a madial wall.
Description
Technical field
It the utility model is related to the technical field of Excercise training apparatus, more particularly to a kind of hair for balls sport training
Ball device.
Background technology
In physical education teaching process, generally using ball game as physical education project, in order to preferably train
Raw skill of receiving, often uses service robot in the training process.Service robot is generally used in the training of ball game
Assistive device, regular multi-ball drill is provided for trainer.Therefore, service robot is in student or the instruction of the skill of receiving of sportsman
Vital effect is played in white silk.
At present, ball game includes：Table tennis, tennis, vollyball and basketball.And in the training of these ball game, lead to
It is often that ball is sent on hand by service robot by player.But existing frequently-used service robot is all fixed, it is impossible to autonomous to move
It is dynamic, or simply service part local motion, moving range are small；Receipts ball uses more blocks net, bulky, heavy, or only
Able person's frock fills out ball, and use is dumb.
The content of the invention
The purpose of this utility model is that insufficient existing for above-mentioned existing service robot in order to solve, the utility model carries
A kind of ball serving device for balls sport training is supplied, it includes：Moving carriage, two receipts ball sub-devices, two are penetrated ball
Device and an intelligent control module；The moving carriage further comprises：Chassis and two support frames；Described two support frames
On the chassis；The chassis further comprises：Two outer panels, two interior plates, some short connecting rods and some
Long connecting rod；Described two interior plates are staggered relatively, and described two outer panels are located at the outside of described two interior plates respectively, and
It is staggered relatively with the interior plate respectively；The both ends of each long connecting rod be respectively and vertically fixed at described two interior plates it
Between, and the long connecting rod is horizontal positioned and parallel between each other；Each short connecting rod is respectively and vertically fixed at described outer
Between side plate and the interior plate, and it is parallel between each other；In subaerial side, the interior plate and outer panel it
Between, a universal wheel, a traction wheel and a secondary support wheel is symmetrically fixedly mounted equidistantly and respectively, and lead between three
Cross synchronous band connection；On the madial wall of described two interior plates, the receipts ball sub-device, described respectively symmetrically is fixedly mounted
Ball sub-device is penetrated, the intelligent control module is installed on a madial wall wherein；The ball sub-device of penetrating is positioned at the receipts ball dress
Put between the intelligent control module.
The both ends of the axle of universal wheel are respectively and fixedly installed on the outer wall of the interior plate and the inwall of the outer panel；Lead
The both ends of the axle of running wheel are respectively and fixedly installed on the outer wall of the interior plate and the inwall of the outer panel；The two of secondary support wheel
End is respectively and fixedly installed on the outer wall of the interior plate and the inwall of the outer panel.
The diameter of the universal wheel and the secondary support wheel is equal, and is all higher than the diameter of the traction wheel.
In the front end of the interior plate, the moving carriage further comprises：Four the first high power DC electric machines, its
In, the first high power DC electric machine is connected with the universal wheel described in each two, and drives the universal wheel, same by timing belt
When drive the traction wheel and the secondary support wheel to rotate.
The moving carriage further comprises：Two the first small power DC motors, and be connected respectively with support frame as described above,
Drive support frame as described above to jack up the front end of the moving carriage, then the middle part of the moving carriage is jacked up by traction wheel, quickly
Clear the jumps.
The receipts ball sub-device further comprises：First receipts ball framed bent, the second receipts ball framed bent, first gear, second gear,
Connecting shaft, the first movable pulley, the second movable pulley, the 3rd movable pulley, the 4th movable pulley and the second small power DC motor；Described
One receipts ball framed bent with described second receipts ball framed bent is separately fixed on the interior plate inwall, and the two it is in overlying relation and
It is staggered relatively；The second small power DC motor is installed on the inside of the first receipts ball framed bent, and connected with the first gear
Connect；The first gear is fixed on one end on the outside of the first receipts ball framed bent with the second gear, and is intermeshed；It is described
First movable pulley and second movable pulley are fixed on the described first madial wall for receiving ball framed bent, and the two homonymy and positioned at same
On one horizontal line；First movable pulley and the second gear are coaxial；3rd movable pulley is fixed on described second and receives ball
On the madial wall of framed bent, and it is relative and coaxially connected by connecting shaft with first movable pulley；4th movable pulley is fixed
On the madial wall that described second receives ball framed bent, with the 3rd movable pulley homonymy and in same horizontal line, and pass through institute
State connecting shaft and second movable pulley is coaxially connected.First movable pulley is connected with second movable pulley by emulsion tube
Connect, the 3rd movable pulley is connected with the 4th movable pulley by the emulsion tube.
By some connecting rods be vertically mounted on up and down corresponding to described first receive ball framed bent and described second receive ball framed bent it
Between, it can support fixed framed bent；Described first receives ball framed bent and the second receipts ball framed bent institute corresponding with another group corresponding to one group
State between the first receipts ball framed bent and the second receipts ball framed bent, i.e., between the two receipts ball sub-devices, form a receipts ball passage.
The centre of the first receipts ball framed bent is provided with a rectangular opening, and the centre of the second receipts ball framed bent is provided with a rectangle
Hole；Some screws are provided with the described first receipts ball framed bent and the second receipts ball framed bent.
Described first receive ball framed bent madial wall on, install the second small power DC motor, and with it is described
First gear connects, and for driving the first gear to rotate, and sequentially drives the second gear, the first dynamic cunning successively
Wheel, the emulsion tube and second movable pulley rotate；Institute is driven by the connecting shaft while second gear rotates
The 3rd movable pulley, the emulsion tube and the 4th movable pulley is stated to rotate.
The ball sub-device of penetrating further comprises：Support, penetrate wheel, sector gear, little gear, the second high power DC electric machine
With the 3rd small power DC motor；The side of the support is fixed on the madial wall of the interior plate, the one of the support
Fixed second high power DC electric machine is installed on face, is installed on the another side of the support and penetrates wheel described in fixing；It is described
Sector gear is fixed on the lateral wall of the interior plate, and coaxial with the outer round surface for penetrating wheel；The little gear
Engaged with the sector gear, the 3rd small power DC motor is connected with the little gear.3rd small power DC
Motor drives the pinion rotation, by engagement, drives the rotation of the sector gear, so as to adjust the inclination for penetrating wheel
Degree, i.e., the described launch angle for penetrating wheel.
The launch angle for penetrating wheel is adjusted in the range of 15-90 °；The launch angle is that the wheel of penetrating is formed with horizontal plane
Angle.
Second high power DC electric machine coordinates with photoelectric encoder, the rotating speed of wheel is penetrated described in regulation, so as to adjust
State and penetrate the speed that wheel rotates.
One monitoring camera of installation, is scattered for finding on the front and back ends of the receipts ball passage, the long connecting rod
The Ball for training of ground on the scene and the angle of observation service.
The intelligent control module further comprises：Three-axis gyroscope, three axle acceleration sensors and controller；The control
Device passes through I2C interface, the remote sensing such as balance, acceleration survey is obtained from the three-axis gyroscope and the three axles acceleration sensor
Amount, then by CAN interface to first high power DC electric machine on each position, second high power DC electricity
Machine, the first small power DC motor, the second small power DC motor and the 3rd small power DC motor are controlled, and pass through USB
Interface obtains the view data in the monitoring camera.
The controller communicates wirelessly with a remote controller, on the one hand to the moving carriage, the receipts ball
Sub-device, the ball sub-device of penetrating carry out Remote, remote regulating；Using described in manually mode or the control of intelligent automated manner
The movement of ball serving device, receives ball and orientation penetrates ball, while can the movement of real-time monitored car body and ball-shooting image；Or by incite somebody to action oneself
Dynamic operation control program is downloaded in the controller, and the positioning with the launch angle of Ball for training is automatically positioned on training place,
Specified location is automatically moved to receive ball and penetrate ball；On the other hand when running into larger barrier, the controller sends remote control and referred to
Two the first small power DC motors of order control drive two support frames as described above, are lifted up the moving carriage, then lead to
Middle part and front portion that the traction wheel assists the bogie are crossed, is quickly cleared the jumps.
The controller obtains the view data in the monitoring camera by USB interface, has detected ball on ground
On, the ball serving device is moved to specified location according to positioning；In the receipts ball sub-device, it is straight to start second small-power
Motor is flowed, drives first gear, by engagement, drives the second gear to rotate, due to the second gear and described first
Movable pulley is coaxial, therefore, while drives first movable pulley, second movable pulley to rotate；What the second gear rotated
Meanwhile by the connecting shaft, drive the rotation of the 3rd movable pulley, the 4th movable pulley.Now, in the interior plate
Both sides, be respectively fitted over first movable pulley, second movable pulley and the 3rd movable pulley, the 4th movable pulley
Emulsion tube also rotates, and Ball for training is taken in the receipts ball passage, and reaches and described penetrate ball sub-device；Now, described
The both sides of interior plate, it is described to penetrate the little gear in ball sub-device and start under the driving of the 3rd small power DC motor
Rotate, because the little gear and the sector gear are ratcheting, therefore, while the pinion rotation, driven the fan
Shape pinion rotation, so as to adjust the launch angle for penetrating wheel, then by being penetrated described in second high power DC electric machine driving
Wheel rotates, and Ball for training is launched and is sent to specified location or is transmitted to trainer or student, reaches training of students or training
The purpose of the ability of receiving of member.
The utility model has the advantage of：Ball serving device of the present utility model can realize autonomous, and moving range is wide, can
Realize and receive ball and service automatically, substantially increase the efficiency for receiving ball and service, flexible and convenient, greatly reduce cost；In addition,
The utility model uses universal wheel autonomous, add ball serving device movement flexibility, make ball serving device autonomous and
Reach arbitrary training court job position；Using support frame and traction wheel, improve ball serving device and clear the jumps ability；Receive ball
Sub-device, as transmission belt, reduces the abrasion to Ball for training using emulsion tube；Penetrate ball device angle and speed is automatically adjustable, cause
Ball diversity is sent, the precision for penetrating ball is improved, realizes the transmitting of comprehensive all angles；Device volume minimizes；Pass through intelligence
Energy control module, lifting receive ball and penetrate the intellectuality of ball process.
Brief description of the drawings
Fig. 1 is a kind of structural representation of ball serving device for balls sport training of the present utility model；
Fig. 2 is a kind of top view of Fig. 1 ball serving device for balls sport training of the present utility model；
Fig. 3 is a kind of partial enlarged drawing of the receipts ball sub-device of ball serving device for balls sport training of the present utility model；
Fig. 4 is a kind of partial enlarged drawing for penetrating ball sub-device of ball serving device for balls sport training of the present utility model；
Fig. 5 is that a kind of structure of the intelligent control module of ball serving device for balls sport training of the present utility model is shown
It is intended to；
1st, outer panel 2, interior plate 3, long connecting rod
4th, short connecting rod 5, support frame 6, universal wheel
7th, timing belt 8, traction wheel 9, secondary support wheel
10th, camera 11, the first high power DC electric machine 12, the first small power DC motor are monitored
13rd, first the receipts ball of ball framed bent 14, second framed bent 15, first gear are received
16th, second gear 17, the first movable pulley 18, the second movable pulley
19th, the 3rd movable pulley 20, the 4th movable pulley 21, connecting rod
22nd, connecting shaft 23, emulsion tube 24, the second small power DC motor
25th, wheel 26, sector gear 27, support are penetrated
28th, the second high power DC electric machine 29, the 3rd small power DC motor 30, little gear
31st, three-axis gyroscope 32, three axle acceleration sensors 33, controller
34th, intelligent control module
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As illustrated in fig. 1 and 2, the utility model provides a kind of ball serving device for balls sport training, and it includes：Move
Motor-car frame, two receipts ball sub-devices, two are penetrated ball sub-device and an intelligent control module 34；The moving carriage is further wrapped
Include：Chassis and two support frames 5；Described two support frames 5 are arranged on the chassis；The chassis further comprises：Two
Outer panel 1, two interior plates, 2,16 short connecting rods 4 and 3 long connecting rod 3；As shown in figure 1, the described two left sides of interior plates 2,
Right staggered relatively, described two outer panels 1 are located at the outside of described two interior plates 2 respectively, and respectively with the phase of interior plate 2
To placing；As shown in Fig. 2 the both ends of one of them long connecting rod 3 are respectively and vertically fixed at the upper of described two interior plates 2
Between the madial wall of end, the both ends of two other long connecting rod 3 are vertically fixed on the bottom of described two interior plates 2
Madial wall between, and the 3 long connecting rod 3 it is horizontal positioned and between each other it is parallel；As shown in Fig. 2 described in wherein every 4
Short connecting rod 4 is respectively and vertically fixed between the upper/lower terminal of the outer panel 1 and the interior plate 2, and the short connecting rod
It is parallel to each other between 4；As shown in figure 1, in subaerial side, between the interior plate 2 and the outer panel 1, between waiting
Away from and be symmetrically fixedly mounted a universal wheel 6 respectively, a traction wheel 8 and a secondary support wheel 9, and by same between three
Step band 7 connects；On the madial wall of described two interior plates 2, the receipts ball sub-device and described respectively symmetrically is fixedly mounted
Penetrate ball sub-device；As shown in figure 1, on the madial wall of the interior plate 2 in left side, the intelligent control module is fixedly mounted
34, and the ball sub-device of penetrating is between the receipts ball sub-device and the intelligent control module 34.
As shown in Fig. 2 the left and right both ends of the axle of universal wheel 6 are respectively and fixedly installed to lateral wall and the institute of the interior plate 2
On the madial wall for stating outer panel 1；The left and right both ends of the axle of traction wheel 8 be respectively and fixedly installed to the interior plate 2 lateral wall and
On the madial wall of the outer panel 1；The left and right both ends of secondary support wheel 9 be respectively and fixedly installed to the interior plate 2 lateral wall and
On the madial wall of the outer panel 1.
As shown in Fig. 2 the universal wheel 6 is equal with the diameter of the secondary support wheel 9, and it is all higher than the traction wheel 8
Diameter.
As shown in Fig. 2 the upper end of the interior plate 2, the arranged on left and right sides of the moving carriage, installs two first respectively
High power DC electric machine 11, wherein, the first high power DC electric machine 11 is connected with the universal wheel 6 described in each two, and can be driven
The universal wheel is moved, drives the traction wheel 8 and the secondary support wheel 9 to rotate simultaneously by timing belt 7.
As illustrated in fig. 1 and 2, in the arranged on left and right sides of the moving carriage, a first small power DC motor is installed respectively
12, and be connected respectively with support frame as described above 5, driving support frame as described above 5 jacks up the front end of the moving carriage sub-device, then passes through
Traction wheel 8 jacks up the middle part of the moving carriage sub-device, quickly clears the jumps.
As shown in figure 1, the hole of some circular holes and irregular shape is opened up on shown outer panel 1.
As shown in figure 1, a monitoring camera 10 is installed respectively in the long connecting rod of the front and back ends, for finding
The Ball for training and the launch angle of observation service being scattered on place.
As shown in Figures 3 and 4, the receipts ball sub-device further comprises：First receives ball framed bent 13, and second receives ball framed bent 14,
First gear 15, second gear 16, the first movable pulley 17, the second movable pulley 18, the 3rd movable pulley 19, the 4th movable pulley 20 and company
Spindle 22；As shown in figure 3, on the Right Inboard wall of the interior plate 2, described first receives ball framed bent 13 receives ball row with described second
Frame 14 is separately fixed on the interior plate 2, and the two is in overlying relation and staggered relatively；The first gear 15 and institute
State second gear 16 and be fixed on the described first front end for receiving the outside of ball framed bent 13, and be intermeshed；As shown in Figures 3 and 4, described
One movable pulley 17 is fixed on the described first madial wall for receiving ball framed bent 13 with second movable pulley 18, and the two homonymy and position
In in same horizontal line；First movable pulley 17 and the second gear 16 are coaxial；3rd movable pulley 19 is fixed on institute
On the madial wall for stating the second receipts ball framed bent 14, and connected relatively and coaxially by the connecting shaft 22 with first movable pulley 17
Connect；4th movable pulley 20 is fixed on the described second madial wall for receiving ball framed bent 14, and with the phase of the second movable pulley 18
Pair and it is coaxially connected by the connecting shaft 22.
First movable pulley 17 is connected with second movable pulley 18 by the emulsion tube 23, the 3rd movable pulley
19 are connected with the 4th movable pulley 20 by the emulsion tube 23.
The centre of the first receipts ball framed bent 13 is provided with a rectangular opening, and the centre of the second receipts ball framed bent 14 is provided with a square
Shape hole；Some screws are provided with the described first receipts ball framed bent 13 and the second receipts ball framed bent 14.
4 connecting rods 21 are vertically mounted on and corresponding described first receive ball framed bent 13 and the second receipts ball framed bent up and down
Between 14, it can support, fixed described first receives ball framed bent 13 and the second receipts ball framed bent 14；Described first corresponding to one group
Receive ball framed bent 13 and described second and receive the first receipts ball framed bent 13 corresponding with another group of ball framed bent 14 and the second receipts ball
Between framed bent 14, i.e., between the two receipts ball sub-devices, form a receipts ball passage.
As shown in Figure 3 and Figure 4, on the described first madial wall for receiving ball framed bent 13, second small-power is installed
Direct current generator 24, and be connected with the first gear 15, for driving the first gear 15 to rotate, and order drives institute successively
State second gear 16, first movable pulley 17, emulsion tube and second movable pulley 18；The second gear 16 rotates same
When, the rotation of the 3rd movable pulley 19, emulsion tube and the 4th movable pulley 20 is sequentially driven by the connecting shaft 22.
As shown in figure 4, the ball sub-device of penetrating further comprises：Penetrate wheel 25, sector gear 26, support 27, second largest work(
Rate direct current generator 28, the 3rd small power DC motor 29 and little gear 30；As shown in figure 4, in the Right Inboard wall of the interior plate 2
On, the right-hand member of the support 27 is fixed thereon；The inner side of the support 27, fixed second high power DC electric machine of installation
28, in the outside of the support 27, install and penetrate wheel 25 described in fixing, i.e., described support 27 is located at second high power DC electricity
Machine 28 and described penetrate are taken turns between 25；The sector gear 26 is fixed between the interior plate 2 and the outer panel 1, and
On the lateral wall of the interior plate 2, and it is coaxial with the outer round surface for penetrating wheel 25；As shown in figure 1, in the sector
The little gear 30 is installed in the side of gear 26, and the sector gear 26 engages with the little gear 30；The 3rd small work(
Rate direct current generator 29 is connected with the little gear 30；The 3rd small power DC motor 29 drives the little gear 30, simultaneously
Drive the sector gear 26 to rotate, then the launch angle of wheel 25 is penetrated described in change.
As shown in figure 4, the launch angle is the angle penetrated wheel 25 and formed with horizontal plane, the launch angle exists
Adjusted in the range of 15-90 °.
Second high power DC electric machine 28 coordinates with photoelectric encoder, the rotating speed of wheel 25 is penetrated described in regulation, so as to adjust
The speed that wheel rotates is penetrated described in section.
As described in figures 1 and 5, the intelligent control module 34 further comprises：Three-axis gyroscope 31, three axle acceleration sensors
32 and controller 33；The controller 33 passes through I2C interface, from the three-axis gyroscope 31 and the three axles acceleration sensor 32
The remote sensing surveys such as middle acquisition balance, acceleration, then by CAN interface to the first high power DC electric machine on each position
11st, the second high power DC electric machine 28, the first small power DC motor 12, the second small power DC motor 24 and the 3rd small-power
Direct current generator 29 is controlled, and the view data in the monitoring camera 10 is obtained by USB interface.
The controller 33 communicates wirelessly with a remote controller, on the one hand to the moving carriage, the receipts ball
Sub-device, the ball sub-device of penetrating carry out Remote, remote regulating；The shifting of the ball serving device is controlled using manually mode
It is dynamic, receive ball and orientation penetrates ball, while can the movement of real-time monitored car body and Ball for training transmitting image；Or by the way that automatic running is controlled
Download program is automatically positioned the positioning with the launch angle of Ball for training on training place, is automatically moved into the controller
Specified location receives ball and penetrates ball；On the other hand when running into larger barrier, the controller 33 sends telecommand control institute
The first small power DC motor 12 is stated, two support frames as described above 5 is driven, is lifted up the moving carriage, then lead by described
Running wheel 8 assists the middle part and front portion of the bogie, quickly clears the jumps.
The controller 33 obtains the view data in the monitoring camera 10 by USB interface, has detected that ball exists
On ground, the ball serving device is moved to specified location according to positioning；In the receipts ball sub-device, start the second small work(
Rate direct current generator 24, first gear 15 is driven, by engagement, drive the second gear 16 to rotate, while drive described first
Movable pulley 17, second movable pulley 18 rotate, and the second gear 16 rotates drives the described 3rd by connecting shaft 20 simultaneously
Movable pulley 19, the 4th movable pulley 20 rotate, and is now respectively fitted over first movable pulley 17, second movable pulley 18
The emulsion tube 23 and the 3rd movable pulley 19, the emulsion tube 23 of the 4th movable pulley 20 also rotate simultaneously,
Ball for training is taken in the receipts ball passage, and reaches and described penetrates ball sub-device；It is now described penetrate it is described small in ball sub-device
Gear 30 starts to rotate under the driving of the 3rd small power DC motor 29, while drives the sector gear 26 to rotate,
So as to adjust the launch angle for penetrating wheel 25, then driven by second high power DC electric machine 28 and described penetrate 25 turns of wheel
It is dynamic, trainer or student are launched or sent to Ball for training, reaches the purpose of training of students or the ability of receiving of trainer.
In the present embodiment, ball serving device of the present utility model is applied to the larger balls such as transmitting basketball, vollyball and football
Class；In other specific implementations, ball serving device of the present utility model can receive the size of ball passage by changing, to launch table tennis
It is ball etc. less.
It should be noted last that above example is only illustrating the technical solution of the utility model and unrestricted.To the greatest extent
The utility model is described in detail with reference to embodiment for pipe, it will be understood by those within the art that, to this practicality
New technical scheme is modified or equivalent substitution, without departure from the spirit and scope of technical solutions of the utility model, its
It all should cover among right of the present utility model.
Claims (10)
1. a kind of ball serving device for balls sport training, it is characterised in that it includes：Moving carriage, two are received ball dress
Put, two are penetrated ball sub-device and an intelligent control module (34)；The moving carriage further comprises：Chassis and two supports
Frame (5)；Described two support frames (5) are arranged on the chassis；The chassis further comprises：Two outer panels (1), two
Interior plate (2), some long connecting rods (3) and some short connecting rods (4)；Described two interior plates (2) are staggered relatively, described two
Outer panel (1) is located at the outside of described two interior plates (2) respectively；The both ends of the long connecting rod (3) are respectively and vertically fixed at
Between described two interior plates (2)；The short connecting rod (4) is respectively and vertically fixed at the adjacent outer panel (1) and described
Between interior plate (2)；Between the interior plate (2) and the outer panel (1), one is symmetrically fixedly mounted equidistantly and respectively
Individual universal wheel (6), a traction wheel (8) and a secondary support wheel (9), and connected between three by timing belt (7)；Described
On the madial wall of two interior plates (2), the receipts ball sub-device respectively symmetrically is fixedly mounted and described penetrates ball sub-device；At it
In an interior plate (2) madial wall on, the intelligent control module (34) is installed, and the ball sub-device of penetrating is located at institute
State and receive between ball sub-device and the intelligent control module (34).
A kind of 2. ball serving device for balls sport training according to claim 1, it is characterised in that the universal wheel
(6) and the secondary support wheel (9) diameter it is equal；And it is all higher than the diameter of the traction wheel (8).
A kind of 3. ball serving device for balls sport training according to claim 2, it is characterised in that the locomotive
Frame further comprises：Four the first high power DC electric machines (11)；Wherein, the first high power DC electric machine (11) described in each two
It is connected with each universal wheel (6), and drives the universal wheel (6), by the timing belt (7) while drives the traction
Take turns (8) and the secondary support wheel (9) rotates.
A kind of 4. ball serving device for balls sport training according to claim 3, it is characterised in that the locomotive
Frame further comprises：Two the first small power DC motors (12)；Each first small power DC motor (12) respectively with
Each support frame as described above (5) connection, for driving support frame as described above (5) to jack up the front end of the moving carriage, then by described
Traction wheel (8) jacks up the middle part of the moving carriage, quickly clears the jumps.
5. a kind of ball serving device for balls sport training according to claim 1, it is characterised in that in the length even
The monitoring camera of installation one (10) on extension bar (3), for finding the angle of the Ball for training being scattered on place and observation service.
A kind of 6. ball serving device for balls sport training according to claim 1, it is characterised in that receipts ball
Device further comprises：First receipts ball framed bent (13), the second receipts ball framed bent (14), first gear (15), second gear (16),
First movable pulley (17), the second movable pulley (18), the 3rd movable pulley (19), the 4th movable pulley (20), connecting shaft (22) and second
Small power DC motor (24)；The first receipts ball framed bent (13) is separately fixed in described with the described second receipts ball framed bent (14)
On side plate (2) madial wall, and the two is in overlying relation and staggered relatively；Installed on the inside of the first receipts ball framed bent (13)
The second small power DC motor (24), and be connected with the first gear (15)；The first gear (15) and described the
Two gears (16) are fixed on one end on the outside of the first receipts ball framed bent (13), and are intermeshed；First movable pulley (17)
It is fixed on second movable pulley (18) on the described first madial wall for receiving ball framed bent (13), and first movable pulley (17)
It is coaxial with the second gear (16)；3rd movable pulley (19) is fixed on the described second madial wall for receiving ball framed bent (14)
On, and it is relative and coaxially connected by the connecting shaft (22) with first movable pulley (17)；4th movable pulley (20)
It is fixed on the described second madial wall for receiving ball framed bent (14), with the 3rd movable pulley (19) homonymy and being located at same horizontal line
On, and it is coaxially connected by the connecting shaft (22) and second movable pulley (18)；First movable pulley (17) with it is described
Pass through emulsion tube (23) horizontal connection, the 3rd movable pulley (19) and the 4th movable pulley between second movable pulley (18)
(20) emulsion tube (23) horizontal connection is passed through between.
7. a kind of ball serving device for balls sport training according to claim 6, it is characterised in that by some connections
Bar (21) is vertically mounted on corresponding described first to be received between ball framed bent (13) and the second receipts ball framed bent (14) up and down；Two
Described first receives between ball framed bent (13), the connecting rod (21) and the second receipts ball framed bent (14) corresponding to group, i.e., two
Between the receipts ball sub-device, a receipts ball passage is formed.
8. a kind of ball serving device for balls sport training according to claim 1, it is characterised in that described to penetrate ball
Device further comprises：Penetrate wheel (25), sector gear (26), support (27), the second high power DC electric machine (28), the 3rd small work(
Rate direct current generator (29) and little gear (30)；The side of the support (27) is fixed on the madial wall of the interior plate (2), position
In second high power DC electric machine (28) and described penetrate between wheel (25)；The sector gear (26) is fixed on described
On the lateral wall of interior plate (2), and it is coaxial with the outer round surface for penetrating wheel (25)；The little gear (30) and the sector
Take turns (26) engagement；The 3rd small power DC motor (29) is connected with the little gear (30).
9. a kind of ball serving device for balls sport training according to claim 8, it is characterised in that penetrate wheel (25)
Launch angle is adjusted in the range of 15-90 °；The launch angle is the angle penetrated wheel (25) and formed with horizontal plane.
A kind of 10. ball serving device for balls sport training according to claim 1, it is characterised in that the intelligence
Control module (34) further comprises：Three-axis gyroscope (31), three axle acceleration sensors (32) and controller (33)；The control
Device (33) passes through I2C interface, balance is obtained from the three-axis gyroscope (31) and the three axles acceleration sensor (32), is accelerated
The remote sensing survey of degree, then by CAN interface to the first high power DC electric machine (11) on each position, the first small-power
Direct current generator (12), the second small power DC motor (24), the second high power DC electric machine (28), the 3rd small power DC motor
(29) it is controlled, the view data in monitoring camera (10) is obtained by USB interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720539549.7U CN206910747U (en) | 2017-05-16 | 2017-05-16 | A kind of ball serving device for balls sport training |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720539549.7U CN206910747U (en) | 2017-05-16 | 2017-05-16 | A kind of ball serving device for balls sport training |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107007996A (en) * | 2017-05-16 | 2017-08-04 | 中国人民大学附属中学 | A kind of ball serving device for balls sport training |
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2017
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107007996A (en) * | 2017-05-16 | 2017-08-04 | 中国人民大学附属中学 | A kind of ball serving device for balls sport training |
| CN107007996B (en) * | 2017-05-16 | 2022-04-19 | 中国人民大学附属中学 | Ball serving device for ball game training |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180123 Termination date: 20200516 |