CN213667835U

CN213667835U - Continuous ball throwing device

Info

Publication number: CN213667835U
Application number: CN202022795991.0U
Authority: CN
Inventors: 申一童; 刘自红; 熊世红; 张承宇; 蒋全斌
Original assignee: Southwest University of Science and Technology
Current assignee: Southwest University of Science and Technology
Priority date: 2020-11-27
Filing date: 2020-11-27
Publication date: 2021-07-13
Anticipated expiration: 2030-11-27

Abstract

The utility model discloses a continuous ball throwing device, which aims at solving the problem that the research on a football serving mechanism is less in China at present, and comprises a supporting unit, a clamping unit, a throwing unit and a control system, wherein the supporting unit comprises a base and a launching bracket, the launching bracket is connected with the base, and the base can provide support for the launching bracket; the clamping unit comprises a mechanical arm, a lifting assembly, a sliding rail and an opening and closing assembly, the mechanical arm is hinged to the base, the lifting assembly is connected with the base and the mechanical arm respectively, and the sliding rail is connected with the mechanical arm. Based on the structure after the improvement, this application can realize that the fixed point of football is thrown fast, and the rate of accuracy is high, also can throw the relative motion speed of wheel through the adjustment in the unit, realizes the limit orbit of football, the transportation of change point. Meanwhile, based on the mutual matching of the travel switch and the proximity switch, the components can be quickly and accurately positioned, and the continuous casting speed, efficiency and accuracy are improved.

Description

Continuous ball throwing device

Technical Field

The utility model belongs to the technical field of machinery and specifically relates to a mechanical automation field specifically is a continuous throwing ball device.

Background

In recent years, with the increasing living standard of people in China, the requirements for physical training are also increasing, and particularly, various ball games are deeply favored by people. In order to improve the level of ball game play, people have developed corresponding auxiliary ball serving mechanisms to assist in ball games. For example, chinese patent application CN202010843159.5 discloses a serving machine, which is mainly used for serving table tennis balls, so that the balls form a spin after being shot.

Chinese patent application CN202010639870.9 discloses an automatic tennis ball serving machine for physical education, which is mainly used for serving tennis balls, and the device makes the direction randomness of the tennis ball serving machine through a physical structure, thereby increasing the difficulty of training for users.

Chinese patent application CN202010638819.6 discloses a conveyor belt lower ball type service robot, which is mainly used for service of golf balls, and comprises a frame, a vibration ball dropping mechanism and a rotary ball dropping mechanism which are arranged at a ball outlet of the frame, a conveyor belt mechanism arranged below the rotary ball dropping mechanism, and a turnover ball dropping mechanism arranged at a ball outlet of the conveyor belt mechanism; the rotary ball dropping mechanism is arranged beside the vibration ball dropping mechanism, can drop balls on the vibration ball dropping mechanism onto the conveyor belt mechanism in a rotating manner, and then conveys the balls to the ball dropping mechanism through the conveyor belt mechanism, and the balls are conveyed to the hitting position after being overturned by the ball dropping mechanism.

Chinese patent application CN202010597761.5 discloses an automatic service robot equipment of basketball, its mainly used service of basketball, it includes engine body shell, be equipped with the washing chamber in the engine body shell, the outer support frame that is equipped with the tube-shape in the washing chamber, outer support frame with engine body shell fixed connection, the outer support frame internal rotation is equipped with two pivots, be equipped with bilateral symmetry's semicircular cylinder in the pivot, the cylinder internal fixation is equipped with the sponge that absorbs water, the outside upper end of cylinder is equipped with bilateral symmetry's return spring, return spring with outer support frame is fixed to be linked to each other.

However, the above-described launching mechanism is primarily directed to ball or softball type sports. Further, people also make corresponding research and development aiming at non-spherical or softball-shaped balls, such as badminton. For example, chinese patent application CN202010505011.0 discloses a badminton lifting and clamping assembly and a serving machine, which are mainly used for serving badminton, and comprise a badminton clamping bracket and a guiding assembly for guiding the lifting movement of the badminton clamping bracket; the ball clamping support is provided with a driving shaft and a ball clamping assembly; the driving shaft is provided with a ball lifting stroke wheel and a ball clamping cam for providing power for clamping and placing balls of the ball clamping assembly; the badminton lifting clamping assembly further comprises a driving assembly for driving the driving shaft to rotate, and a badminton lifting action piece matched with the lifting inclined plane and the translation surface.

The Chinese patent application CN202010503259.3 discloses a badminton serving machine, which comprises a frame, a badminton feeding device and a badminton serving device, wherein the top of the frame is provided with a badminton inlet; the ball feeding device comprises a guide rail, a sliding block, a first motor, a pushing assembly and a clamping assembly, the guide rail, the pushing assembly and the ball serving device are arranged on the rack, and the clamping assembly is connected to the guide rail in a sliding mode through the sliding block and located below the ball inlet; the first motor drives the clamping assembly to reciprocate towards the pushing assembly along the guide rail through the crank rocker assembly, and the first motor drives the pushing assembly to reciprocate towards the ball serving device.

Chinese patent application No. cn202020103266.x discloses an angle-adjustable automatic serving machine for badminton training, which can adjust the flight direction of badminton by the rotation of a serving device therein.

However, the prior art has been less studied for the service organization of footballs. Football was originated in 1823 from lagrange, the original name lagrange football. Because its ball shape resembles an olive, it is called a football in China. In recent years, with the improvement of living standard of people, the football gradually enters the daily life of people and is popular among people. The lack of a corresponding service mechanism limits the popularization of football sports to a certain extent. Therefore, the application provides an automatic ball taking and throwing mechanism to solve the problems.

SUMMERY OF THE UTILITY MODEL

The invention of the utility model aims to: aiming at the problem that the research on the football serving organization is less in China at present, a continuous ball throwing device is provided. This application can realize the continuous operation of football centre gripping, projection, realizes the supplementary transmission of football. The application has the advantages of ingenious design, reasonable design, simple operation, convenient use and higher application value.

The utility model adopts the technical scheme as follows:

a continuous ball throwing device comprises a supporting unit, a clamping unit, a throwing unit and a control system, wherein the supporting unit comprises a base and a launching bracket, the launching bracket is connected with the base, and the base can provide support for the launching bracket;

the clamping unit comprises a mechanical arm, a lifting assembly, a slide rail and an opening and closing assembly, the mechanical arm is hinged with the base, the lifting assembly is respectively connected with the base and the mechanical arm and can drive the mechanical arm to rotate relative to the base, the slide rail is connected with the mechanical arm and the mechanical arm can drive the slide rail to move synchronously;

the opening and closing assembly comprises a manipulator, a telescopic cylinder and a first air source, the telescopic cylinder and the first air source are arranged on a manipulator arm, the manipulator is connected with the slide rail through a slide block, the telescopic cylinder is connected with the manipulator and can drive the manipulator to axially move relative to the slide rail, the first air source is connected with the telescopic cylinder, and the first air source can provide power for the telescopic cylinder;

the opening and closing assemblies are in one group, the side, facing the opening of the ball to be thrown, of each manipulator of each opening and closing assembly is arc-shaped, the openings of the two manipulators are oppositely arranged, and the clamping of the ball to be thrown can be realized when the two manipulators move oppositely;

the ejection unit comprises an ejection support, an ejection motor and an ejection wheel, the ejection support is connected with the emission support, the emission support can provide support for the ejection support, the ejection motor is arranged on the ejection support, the ejection support can provide support for the ejection motor, an output shaft of the ejection motor is connected with the ejection wheel, and the ejection motor can drive the ejection wheel to rotate;

the ejection units are a group, an ejection space is formed among the ejection wheels of the ejection units, and the balls to be ejected, which are placed into the ejection space by the clamping units, can be ejected outwards under the friction action of the ejection wheels;

the lifting assembly, the first air source and the casting motor are respectively connected with the control system.

The launching bracket is obliquely arranged along the vertical direction.

The side, facing the opening of the ball to be thrown, of the manipulator is arc-shaped or C-shaped.

And an anti-slip sheet is arranged on the opening side of the manipulator.

The anti-slip sheet is made of rubber or plastics.

The manipulator, telescopic cylinder, first air supply in the subassembly that opens and shuts are two respectively.

The launching bracket is rectangular, and the casting wheels are positioned at the upper end and the lower end of the launching bracket.

The distance between the two opposite sides of the rubber wheels is less than the diameter of the ball to be thrown, and the ball to be thrown can keep relative static with the throwing wheel when entering the throwing space and can synchronously move under the driving of the throwing wheel so as to finish the throwing operation of the ball to be thrown.

The lifting assembly comprises a lifting cylinder and a second air source, two ends of the lifting cylinder are respectively connected with the base and the mechanical arm, the lifting cylinder can drive the mechanical arm to rotate relative to the base, and the second air source is connected with the control system.

The lifting assembly further comprises an elastic reset piece, wherein two ends of the elastic reset piece are respectively connected with the base and the mechanical arm, and the elastic reset piece can provide reset force for the mechanical arm to balance the thrust of the lifting cylinder.

The elastic reset piece is one or more of a reset spring and a reset elastic rope.

The reset elastic rope is a rubber band.

The projectile wheel is made of rubber materials;

or the ejection wheel is made of plastics and a friction layer is arranged on the surface of the ejection wheel.

The friction layer is made of rubber or cloth.

The two ejection units are arranged oppositely, and an ejection space is formed between the ejection wheels.

The clamping units and the projecting units are respectively two groups and are symmetrically arranged on the base.

The emergency brake switch is connected with the control system.

The mechanical arm lifting device is characterized by further comprising a travel switch, the travel switch is located below the mechanical arm and can send a signal to the control system when the mechanical arm descends to a set position, the travel switch is connected with the control system, and the control system can enable the mechanical arm to stop moving through controlling the lifting assembly according to the signal of the travel switch.

The device is characterized by further comprising a proximity switch, the proximity switch is arranged on the launching support and can send a signal to the control system when the mechanical arm reaches a set position close to the launching support, the proximity switch is connected with the control system, and the control system can drive the ball to be thrown outwards by controlling the throwing wheel to move according to the signal of the proximity switch.

In view of the foregoing problems, the present application provides a continuous ball throwing device, which includes a support unit, a clamping unit, a throwing unit, and a control system. The device uses the support unit as the support, carries out centre gripping, loads the operation through the clamping unit to the football, realizes the work of throwing of football through throwing the unit, realizes continuous, throwing fast of football through control system. Based on the structure after the improvement, this application can realize that the fixed point of football is thrown fast, and the rate of accuracy is high, also can throw the relative motion speed of wheel through the adjustment in the unit, realizes the limit orbit of football, the transportation of change point. Meanwhile, based on the mutual matching of the travel switch and the proximity switch, the components can be quickly and accurately positioned, and the continuous casting speed, efficiency and accuracy are improved. The automatic ball clamping device is ingenious in design, reasonable in design, convenient to use and low in cost, can be suitable for automatic clamping, loading and throwing of football and other balls, can effectively control the movement track and the falling point of the football, and has high practical value.

Drawings

FIG. 1 is a front view of embodiment 1.

Fig. 2 is a top view of fig. 1.

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

The labels in the figure are: 1. the base, 2, launch support, 3, arm, 4, slide rail, 5, manipulator, 6, telescopic cylinder, 7, throw the support, 8, throw the motor, 9, throw the wheel, 10, antiskid piece, 11, lift cylinder.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example 1

As shown in the drawings, the present embodiment provides a continuous ball throwing device, which includes a supporting unit, a clamping unit, a throwing unit, and a control system. Wherein, the supporting unit includes base 1, emission support 2, and emission support 2 links to each other with base 1, and base 1 can provide the support for emission support 2. As shown, the launch pad 2 in this embodiment is rectangular.

In this embodiment, the centre gripping unit includes arm 3, lifting unit, slide rail 4, the subassembly that opens and shuts, and arm 3 is articulated with base 1, and lifting unit links to each other with base 1, arm 3 respectively, and slide rail 4 links to each other with arm 3. The opening and closing assembly comprises a telescopic cylinder 6, a sliding block, a manipulator 5 and a first air source; the telescopic cylinder 6 is arranged on the mechanical arm 3, and the mechanical arm 3 can provide support for the telescopic cylinder 6; the manipulator 5 is connected with the slide rail 4 through a slide block, the telescopic cylinder 6 is connected with the manipulator 5, and the first air source is connected with the telescopic cylinder 6. Simultaneously, the subassembly that opens and shuts is a set of, and manipulator 5 of the subassembly that opens and shuts is the arc towards the opening one side of treating the throwing ball, and the opening of two manipulators 5 sets up in opposite directions.

In this structure, the working process of the clamping unit is as follows: the lifting assembly is used for driving the mechanical arm 3 to rotate relative to the base 1, and then the ball to be cast clamped by the clamping unit is placed in the casting unit; the mechanical arm 3 is used for driving the sliding rail 4 and the telescopic cylinder 6 to move synchronously, the first air source is used for providing power for the telescopic cylinder 6, and the telescopic cylinder 6 can drive the manipulator 5 to move axially relative to the sliding rail 4 (namely the manipulator 5, the telescopic cylinder 6 and the first air source in the opening and closing assembly are respectively two); the openings of the two mechanical arms 5 are arranged in opposite directions, and the mechanical arms 5 are arc-shaped towards one side of the opening of the ball to be thrown, so that the ball to be thrown can be effectively clamped when the two mechanical arms 5 are close to each other, and the clamping contact of the ball to be thrown can be realized when the mechanical arms 5 are far away from each other, and further the clamping function is realized. Further, the side of the manipulator 5 facing the opening of the ball to be thrown is arc-shaped or C-shaped.

Preferably, the lifting assembly of this embodiment includes lift cylinder 11, second air supply, and the both ends of lift cylinder 11 are connected with base 1, arm 3 respectively, and the second air supply links to each other with control system. In the structure, the lifting cylinder 11 is used for driving the mechanical arm 3 to rotate relative to the base 1, and the lifting cylinder can control the mechanical arm 3 to reach the placing position of the ball to be cast, and control the mechanical arm 3 to reach the casting unit to perform corresponding ball casting operation after the ball to be cast is clamped by the clamping unit. Preferably, the lifting assembly of this embodiment further includes an elastic reset member, and both ends of the elastic reset member are respectively connected with the base 1 and the robot arm 3. By adopting the structure, the lifting cylinder 11 provides thrust to enable the mechanical arm 3 to reach a set position, and then corresponding clamping operation is carried out, and the elastic resetting piece is used for providing resetting force for the mechanical arm 3 to enable the mechanical arm 3 to return to an initial position. In this structure, the elasticity piece that resets is reset spring or the elasticity rope that resets, and the elasticity rope that resets can be the rubber band. By adopting the structure, the control gas circuit of the lifting cylinder 11 is reduced, the operation is simplified, and the operation speed of the mechanical arm 3 is increased.

The casting unit comprises a casting support 7, a casting motor 8 and a casting wheel 9, the casting support 7 is connected with the launching bracket 2, the casting motor 8 is arranged on the casting support 7, and an output shaft of the casting motor 8 is connected with the casting wheel 9. In this structure, emission support 2 is used for providing the support for throwing support 7, throws support 7 and is used for providing the support for throwing motor 8, throws motor 8 and drives throwing wheel 9 and rotate. Meanwhile, the throwing units are in a group, and a throwing space is formed between the throwing wheels 9 of the throwing units. In the structure, the number of the ejection units is two, an ejection space is formed between the ejection wheels 9 of the ejection units, when the clamping unit puts the ball to be ejected into the ejection space, the ball to be ejected is in contact with the ejection wheels 9, the ejection wheels 9 provide friction force for the ball to be ejected, the rotation directions of the two ejection wheels 9 are opposite, and then the ball to be ejected is ejected.

In this application, lifting unit, first air supply, throw motor 8 and link to each other with control system respectively. Further, the second air source is connected with the control system. Adopt this application, through to lifting unit, first air supply, throw motor 8's control, can realize waiting to throw fixed point or the variable track of ball and throw. Corresponding clamping and throwing operations can be realized aiming at the spherical shape of the football, and the automatic ball taking and serving operations of the football are realized.

Further, the opening side of the manipulator 5 of the present embodiment is provided with the anti-slip sheet 10. Preferably, the anti-slip sheet 10 is made of rubber or plastic. The anti-slip sheet 10 is adopted to increase the friction force between the manipulator 5 and the ball to be thrown, and the phenomenon of ball falling is avoided. Further, the throwing wheels 9 are positioned at the upper and lower ends of the launching cradle 2. Preferably, the distance between the two rubber wheels at the opposite sides is smaller than the diameter of the ball to be thrown; when the ball to be thrown enters the throwing space, the ball to be thrown can keep relative static with the throwing wheel 9 and can synchronously move under the driving of the throwing wheel 9 so as to finish the throwing operation of the ball to be thrown. Further, the casting wheel 9 is made of rubber material; or the casting wheel 9 is made of plastic and the surface of the casting wheel 9 is provided with a friction layer. Preferably, the friction layer is made of rubber or cloth. Further, the device of the embodiment further comprises an emergency brake switch, and the emergency brake switch is connected with the control system. Through setting up emergency braking switch, can carry out emergency braking, avoid the emergence of dangerous condition. Furthermore, the launching cradle 2 is obliquely arranged along the vertical direction, and the opening directions of the two throwing wheels 9 are upward, so that the launching of the balls to be thrown is facilitated.

The device of the embodiment also comprises a travel switch and a proximity switch. Wherein, the travel switch is connected with the base 1, and the base 1 can provide support for the travel switch; the travel switch is located below the mechanical arm 3, and after the mechanical arm 3 touches the travel switch, the travel switch can send a signal to the control system, and the control system controls the telescopic cylinder 6 to contract, so that the mechanical arm 5 clamps the ball to be thrown. In other words, the travel switch can send a signal to the control system when the mechanical arm 3 descends to a set position, and the control system controls the lifting assembly to stop the movement of the mechanical arm 3 according to the signal of the travel switch. When the robot arm 3 reaches the set position, the clamping operation is performed by the clamping unit. Meanwhile, a proximity switch is arranged on the launching bracket 2 and is connected with the control system. In the structure, when the travel switch detects that the mechanical arm 3 reaches a set position close to the launching bracket 2, the travel switch sends a signal to a control system; after receiving the signal of the proximity switch, the control system controls the throwing wheel 9 to move so as to drive the ball to be thrown outwards to finish the ball throwing operation. Wherein, the ejection motor 8 can move all the time and also can work after receiving the signal.

Preferably, the clamping unit and the projecting unit are respectively arranged on the base 1 in two groups and symmetrically. By adopting the structure, the football can be launched simultaneously or alternatively, and different launching requirements can be met.

In this embodiment, the continuous ball throwing device works as follows: in the initial state, the lifting cylinder 11 is in a contracted state; when the continuous ball throwing device starts to work, the control system sends an instruction, the throwing motor 8 drives the throwing wheel 9 to rotate, the output shaft of the telescopic cylinder 6 extends out, and the telescopic cylinder 6 drives the mechanical arm 3 to move downwards; after the mechanical arm 3 moves to a set position, the mechanical arm 3 contacts a travel switch on the base 1, and then the travel switch sends a signal to a control system; after the control system receives the signal of the travel switch, the control system sends out an instruction, the telescopic cylinder 6 in the opening and closing assembly contracts and drives the mechanical arm 5 to clamp the ball to be thrown (in the embodiment, the ball to be thrown can be a football); then, the control system sends an instruction to the clamping unit to enable the lifting cylinder 11 to contract and drive the mechanical arm 3 to move upwards; after the mechanical arm 3 moves to the top end, the mechanical arm 3 touches a proximity switch on the launching bracket 2, and the football is shot out in an accelerating way through the friction of a rubber wheel.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A continuous ball throwing device is characterized by comprising a supporting unit, a clamping unit, a throwing unit and a control system, wherein the supporting unit comprises a base and a launching bracket, the launching bracket is connected with the base, and the base can provide support for the launching bracket;

2. The device of claim 1, wherein the open side of the robot is provided with anti-slip tabs.

3. The device as claimed in claim 1, wherein the distance between the two rubber wheels on the opposite sides is less than the diameter of the ball to be thrown, and the ball to be thrown can keep relative static with the throwing wheel when entering the throwing space and can move synchronously under the driving of the throwing wheel to complete the throwing operation of the ball to be thrown.

4. The device of claim 1, wherein the lifting assembly comprises a lifting cylinder and a second air source, both ends of the lifting cylinder are respectively connected with the base and the mechanical arm, the lifting cylinder can drive the mechanical arm to rotate relative to the base, and the second air source is connected with the control system.

5. The device of claim 4, wherein the lifting assembly further comprises an elastic reset member, two ends of the elastic reset member are respectively connected with the base and the mechanical arm, and the elastic reset member can provide a reset force for the mechanical arm to balance the thrust of the lifting cylinder.

6. Device according to claim 1, characterized in that the number of the ejection units is two, the two ejection wheels being arranged opposite each other and an ejection space being formed between the ejection wheels.

7. The device as claimed in claim 1, wherein the clamping unit and the projecting unit are respectively provided in two groups and symmetrically arranged on the base.

8. The apparatus of claim 1, further comprising an emergency brake switch, the emergency brake switch coupled to the control system.

9. The device according to any one of claims 1 to 8, further comprising a travel switch, wherein the travel switch is positioned below the mechanical arm and can send a signal to the control system when the mechanical arm descends to a set position, the travel switch is connected with the control system, and the control system can stop the mechanical arm from moving by controlling the lifting assembly according to the signal of the travel switch.

10. The device according to claim 9, characterized by further comprising a proximity switch, wherein the proximity switch is arranged on the launching support and can send a signal to the control system when the mechanical arm reaches a set position close to the launching support, the proximity switch is connected with the control system, and the control system can drive the ball to be thrown outwards by controlling the throwing wheel to move according to the signal of the proximity switch.