CN214232652U

CN214232652U - Device for conveniently picking football

Info

Publication number: CN214232652U
Application number: CN202023076398.7U
Authority: CN
Inventors: 容爱琼; 邢哲恺; 伍国熙; 黄煜锋
Original assignee: Guangzhou College of South China University of Technology
Current assignee: Guangzhou College of South China University of Technology
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2021-09-21
Anticipated expiration: 2030-12-18

Abstract

The utility model provides a conveniently pick up device of getting football, including mobile device, mobile device includes chassis and cloud platform, the cloud platform sets up in the top on chassis, is equipped with the transmission fuselage on the cloud platform, be equipped with actuating mechanism on the transmission fuselage, the last clamping device that is equipped with of actuating mechanism, clamping device includes centre gripping connecting plate, centre gripping fixed plate, rotary steering wheel, steering wheel fixed plate, tong subassembly, the tong subassembly includes first tong, second tong and tong driving cylinder, and the ball device is picked up in the removal of above-mentioned structure is provided with the removal chassis, consequently can freely move on the spot, and still be equipped with clamping device, can pick up the football on the spot and send back other devices that are used for the training, does not need manual operation completely, and is simple convenient.

Description

Device for conveniently picking football

Technical Field

The utility model relates to a football trainer technical field, concretely relates to conveniently pick up device of getting football.

Background

The football game is a ball game project which is confronted by two teams, is violent and rich in appreciation, achieves the purpose of attack and guard by applying the mutual cooperation of personal technologies during the football match, and is characterized in that the number of people participating in the match is the largest, and the football game is incomparable to all ball projects.

Most of the prior football ball receiving training devices need to manually and continuously send balls, and have low automation degree, thereby leading to the condition that the training is not coherent and the training effect is poor.

The invention discloses a football ball-receiving training device in the patent document with the Chinese patent application No. 201910937957.1 and the publication No. 2019.12.20, which comprises a base, wherein an installation seat is fixedly arranged on the upper end surface of the base, a launching tube is arranged on the installation seat, a launching device is arranged on the launching tube, a ball storage box is arranged at the position above the left side of the launching tube, a plurality of uniformly distributed support rods are fixedly arranged on the lower end surface of the ball storage box, and a ball adding port is fixedly arranged on the upper end surface of the ball storage box. Poor training effect.

However, the invention adopts the football storage box to store more footballs, but only reduces the operation amount of training personnel, and cannot thoroughly solve the problems of automatic football picking, delivering and serving, if footballs are required to be launched at a plurality of places, personnel are required to go to the footballer to check and supplement the footballs at any time, the launched footballs are required to be picked up by the personnel, and the training is inconvenient.

Disclosure of Invention

An object of the utility model is to provide a conveniently pick up device of getting football, the utility model discloses a device can freely remove and pick up the ball automatically, has fully alleviateed training personnel's operation volume.

In order to achieve the purpose, the device comprises a moving device, wherein the moving device comprises a chassis and a holder, the holder is arranged above the chassis, a launching machine body is arranged on the holder, a driving mechanism is arranged on the launching machine body, the driving mechanism comprises a driving main shaft, a clamping driving motor, a clamping driving wheel, a clamping driving chain and a clamping driving driven wheel, the launching machine body is arranged on the driving main shaft, the clamping driving motor is arranged on one side of the launching machine body, the clamping driving motor is provided with the clamping driving wheel, the clamping driving driven wheel is arranged at two ends of the driving main shaft, the clamping driving wheel is connected with the clamping driving driven wheel through the clamping driving chain, the clamping driving driven wheel is connected with a clamping device, the clamping device comprises a clamping connecting plate, a clamping fixing plate, a rotary steering engine, a rotating steering engine, a steering engine and a driving wheel, the driving wheel is arranged on the clamping driving main shaft, the clamping driving wheel is connected with the driven wheel, and the clamping device is connected with the clamping device, and the driving wheel is connected with the driving wheel, and the driving device is connected with the driving wheel, and the driving wheel, the driving device is connected with the driving wheel, and the driving wheel, the driving device is connected with the driving wheel, and the driving device, and the driving wheel, the driving device is connected with the driving wheel, the driving device is connected with the driving device, the driving device is connected with the driving wheel, the driving device is connected with the driving device, steering wheel fixed plate, tong subassembly, actuating mechanism is connected to the one end of centre gripping connecting plate, and the steering wheel fixed plate is connected to the other end of centre gripping connecting plate, and rotatory steering wheel is connected to the centre gripping fixed plate, rotatory steering wheel passes the centre gripping fixed plate and connects the steering wheel fixed plate, is equipped with the tong subassembly at the both ends of centre gripping fixed plate, the tong subassembly includes first tong, second tong and tong drive actuating cylinder, the tong drives actuating cylinder and fixes the both ends at the centre gripping fixed plate, is equipped with along the first tong and the second tong of tong drive actuating cylinder wobbling on the tong drive actuating cylinder at both ends.

The device for conveniently picking up the football with the structure is provided with the moving chassis, so the device can freely move on the ground, and is also provided with the clamping device, the football on the ground can be picked up and sent back to other devices for training, manual operation is not needed at all, the device is simple and convenient, when a person is trained, the device for picking up the football can be moved on a training field in a patrol way, when the football needs to be picked up, the clamping device clamps the underground football, the first clamping hand and the second clamping hand are driven to open and close, the football can be conveyed to the device needing to be used for training after being clamped tightly, as the first clamping hand plate and the second clamping hand plate are arranged in an arc shape, the clamping hands are more attached to the football, therefore, the football is clamped more firmly, when the clamping device is used for picking up the football, the driving mechanism drives the clamping device to move towards the football on the ground, when moving the position of football, rotatory steering wheel is rotatory to the angle that corresponds the football with clamping device, the tong driving cylinder drive first tong and second tong open with the football card go into between first tong and the second tong, thereby the tong driving cylinder drive first tong second tong is closed with the football back of cliping, driver actuating mechanism drive clamping device rebound, place the transmitter with the football that the centre gripping is good on one's body, can send the football to the device that needs use the football from this.

Furthermore, the clamping hand driving cylinder comprises a clamping hand cylinder seat, a clamping hand cylinder, a swing shaft and a clamping hand mounting groove, the clamping hand cylinder is arranged in the clamping hand cylinder seat, the clamping hand mounting groove is formed in one end, located at the clamping hand cylinder seat, of the clamping hand cylinder, the front end of the clamping hand cylinder is located in the clamping hand mounting groove, the swing shaft is arranged on two sides of the clamping hand mounting groove, the swing shaft is movably connected with the first clamping hand and the second clamping hand and connected with the clamping hand cylinder, and therefore the clamping hand driving cylinder pushes forwards when the football is required to be clamped, the first clamping hand and the second clamping hand can be driven by the clamping hand cylinder to swing outwards along the swing shaft, opening of the clamping hands is achieved, the clamping hand cylinder can be driven to be closed when being reset, and the football is clamped.

Furthermore, a gripper limiting plate and a limiting rod are arranged at the front end of the gripper cylinder, the gripper limiting plates are arranged at two ends of the gripper cylinder, and the first gripper and the second gripper are connected between the gripper limiting plates through the limiting rods; when the piston rod of the clamping cylinder moves, the piston rod of the clamping cylinder drives the first clamping hand and the second clamping hand to swing around the swinging shaft.

Furthermore, the first clamping hand comprises a first clamping hand plate, a first connecting plate and a first swinging plate, the swinging shaft movably connected with one side of the clamping hand cylinder seat is positioned at one end of the first swinging plate, the first connecting plate is connected between the clamping hand limiting plates of the clamping hand cylinder, the other end of the first swinging plate is connected with the first clamping hand plate, the first clamping hand is provided with two clamping hand driving cylinders which are arranged at two ends of the clamping fixing plate, and the two first clamping hands are mutually connected through the first clamping hand connecting plate, so that the first clamping hand connecting plate connects the two first clamping hands, and the structure of the first clamping hand is firmer.

Furthermore, the second gripper comprises a second gripper plate, a second connecting plate and a second swing plate, the second swing plate is movably connected with a swing shaft on the other side of the gripper cylinder seat, the second swing shaft is arranged at one end of the second swing shaft, the second connecting plate is connected between the gripper limiting plates of the gripper cylinder, the other end of the second swing plate is connected with the second gripper plate, the second gripper is provided with two gripper driving cylinders which are arranged at two ends of the clamping fixing plate, the two second grippers are connected with each other through the second gripper connecting plate, and therefore the second gripper connecting plate connects the two second grippers, and the structure of the second gripper is firmer.

Further, first tong board includes first connecting portion, first ball support portion and first card bulb, first swing board is connected to the one end of first connecting portion, is equipped with first ball support portion at the other end of first connecting portion, first ball support portion extends the form from first connecting portion to inside outside arc forward and sets up, and the end that is located first ball support portion is equipped with first ball support portion, first ball support portion extends the setting to outside inside arc forward from first ball support portion, is equipped with first card bulb at the end of first ball support portion, first card bulb extends the setting from first ball support portion to inside slope forward, through the arc setting of first tong board for the tong more laminates the football, and is more firm when centre gripping football from this.

Further, the second tong board includes second connecting portion, second ball support portion and second card bulb, the second swing board is connected to the one end of second connecting portion, is equipped with second ball support portion at the other end of second connecting portion, the second ball support portion is from the setting of the forward inside outside arc extension form of second connecting portion, and the end that is located second ball support portion is equipped with the second and presss from both sides the bulb, the second ball support portion is from the setting of the forward outside inside arc extension of second ball support portion, is equipped with second card bulb at the end of second ball support portion, second card bulb is from the setting of the forward inside slope extension of second ball support portion, through the arc setting of second tong board for the tong more laminates the football, and is more firm when centre gripping football from this.

Furthermore, the cradle head comprises a first guide rail, a second guide rail group and a mobile cradle head, the first guide rail is fixed on the chassis, the second guide rail group is arranged on the first guide rail in a sliding manner, the second guide rail group comprises a second guide rail, a second guide rail base plate, a guide rail propulsion cylinder, a guide rail propulsion shaft, a propulsion shaft connecting plate, a cylinder connecting plate and a second guide rail slide block, the second guide rail base plate is connected on the first guide rail in a sliding way through a second guide rail sliding block, the second guide rail is arranged on the second guide rail base plate, cylinder connecting plates are arranged at two ends of the second guide rail base plate, the cylinder connecting plate is connected with a guide rail propulsion cylinder which is connected on a guide rail propulsion shaft, two ends of the guide rail propulsion shaft are fixed on the first guide rail through a propulsion shaft connecting plate, two second guide rails are arranged, and the moving cloud deck is arranged between the second guide rails; the guide rail propulsion cylinder drives the cylinder connecting plate, the second guide rail base plate and the second guide rail sliding block to slide on the first guide rail, and the moving holder is controlled to move in one direction.

Further, the moving cradle head comprises a cradle head base, a cradle head slider, a cradle head rotary table, a transmitting base mounting plate, a belt wheel motor, a synchronous belt shaft, a driving belt wheel, a synchronous belt pad, a synchronous belt connecting block and a belt wheel mounting plate, wherein the cradle head base is arranged on a second guide rail through the cradle head slider in a sliding manner, the cradle head rotary table is arranged above the cradle head base, the transmitting base mounting plate is arranged on the cradle head rotary table, a transmitting machine body is arranged on the transmitting base mounting plate, the belt wheel mounting plate is also arranged on a second guide rail base plate, the belt wheel motor is arranged on the belt wheel mounting plate, the belt wheel motor is connected with the driving belt wheel through the synchronous belt shaft, the synchronous belt is arranged on the driving belt wheel, the synchronous belt pad is arranged below the cradle head base, and the synchronous belt is also connected with the synchronous belt pad through the synchronous belt connecting block; an inner gear ring is arranged on the holder base, a rotating motor is arranged on the transmitting base mounting plate, a rotating driving gear is arranged on an output shaft of the rotating motor, and the rotating driving gear is meshed with the inner gear ring; the belt wheel motor drives the synchronous belt to move through a driving belt wheel, the synchronous belt drives the holder base to slide through the synchronous belt pad and the synchronous belt connecting block, and the holder base is controlled to move in the other direction; when the rotating motor works, the rotating motor drives the transmitting base mounting plate to rotate through the rotating driving gear and the inner gear ring.

Further, the chassis includes omniwheel, chassis frame and bumper shock absorber, the omniwheel is equipped with more than two and sets up in the periphery of chassis frame, and the removal cloud platform passes through the bumper shock absorber and connects the chassis frame, and the bumper shock absorber can finely alleviate mobile device's vibration to protection architecture is difficult to suffer the damage.

Drawings

Fig. 1 is a schematic perspective view of the device for conveniently picking up rugby balls according to the present invention.

Fig. 2 is a right side view of the launcher body of the present invention.

Fig. 3 is a schematic perspective view of the clamping device of the present invention.

Fig. 4 is a schematic perspective view of the mobile device of the present invention.

Fig. 5 is an exploded view of the cradle head of the present invention.

Fig. 6 is an exploded view of the mobile tripod head of the present invention.

Fig. 7 is an enlarged view at E in fig. 4.

Fig. 8 is an enlarged view at F in fig. 5.

Fig. 9 is an exploded view of the clamping device of the present invention.

Fig. 10 is an enlarged view at G in fig. 9.

Fig. 11 is an exploded view of the gripper assembly of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1 to 11, a device for conveniently picking up footballs comprises a moving device 1.

The mobile device 1 comprises a chassis 11 and a cradle head 12, wherein the cradle head 12 is arranged above the chassis 11, and a transmitting machine body 24 is arranged on the cradle head 12.

As shown in fig. 2 and 3, the driving mechanism 23 includes a driving spindle 236, a clamping driving motor 237, a clamping driving wheel 238, a clamping driving chain 239, and a clamping driving driven wheel 234, the launcher body 24 is disposed on the driving spindle 236, the clamping driving motor 237 is disposed on one side of the launcher body 24, the clamping driving wheel 238 is disposed on the clamping driving motor 237, the clamping driving driven wheel 234 is disposed on two ends of the driving spindle 236, the clamping driving wheel 238 is connected to the clamping driving driven wheel 234 through the clamping driving chain 239, the clamping driving driven wheel 234 is connected to the clamping device 3, the driving mechanism is used as a main power source, and the driving wheel and the driven wheel are engaged for transmission, which is simple and reliable.

As shown in fig. 3, the clamping device 3 includes a clamping connecting plate 31, a clamping fixing plate 32, a rotary steering engine 33, a steering engine fixing plate 34, and a clamping hand assembly 35, one end of the clamping connecting plate 31 is connected to the driving mechanism 23, the other end of the clamping connecting plate 31 is connected to the steering engine fixing plate 34, the clamping fixing plate 32 is connected to the rotary steering engine 33, the rotary steering engine 33 passes through the clamping fixing plate 32 and is connected to the steering engine fixing plate 34, and the clamping hand assembly 35 is arranged at two ends of the clamping fixing plate 32.

As shown in fig. 9 to 11, the gripper assembly 35 includes a first gripper 351, a second gripper 352, and a gripper driving cylinder 353, the gripper driving cylinder 353 is fixed to both ends of the holding fixing plate 32, the first gripper 351 and the second gripper 352 are provided on the gripper driving cylinder 353 at both ends to swing along the gripper driving cylinder 353, so that the holding device 3 holds the football in the ground, the driving mechanism 23 drives the holding device 3 to move the held football upward to the ball holding mechanism 4, the angles of the football in different directions can be adjusted by rotating the steering machine 33, and the gripper driving cylinder 353 drives the first gripper 351 and the second gripper 352 to open and close, so that the football can be easily held.

As shown in fig. 9 and 10, the gripper driving cylinder 353 includes a gripper cylinder block 3531, a gripper cylinder 3532, a swing shaft 3533 and a gripper installation groove 3534, the gripper cylinder 3532 is disposed in the gripper cylinder block 3531, the gripper installation groove 3534 is disposed at one end of the gripper cylinder block 3531, the front end of the gripper cylinder 3532 is disposed in the gripper installation groove 3534, the swing shaft 3533 is disposed at two sides of the gripper installation groove 3534, and the first gripper 351 and the second gripper 352 are movably connected with the swing shaft 3533 and the gripper cylinder 3532; when the piston rod of tong cylinder moved, the piston rod of tong cylinder drove first tong and second tong and swings round the oscillating axle, sets up from this, and when needs centre gripping football, drive tong cylinder pushed up forward, and first tong and second tong can be driven along the oscillating axle outwards swing by the tong cylinder to realize opening of tong, can drive the tong closed when the tong cylinder resets, thereby step up the football.

As shown in fig. 10, a gripper limiting plate 3535 and a limiting rod 3536 are arranged at the front end of the gripper cylinder 3532, the gripper limiting plates 3535 are arranged at two ends of the gripper cylinder 3532, and the first gripper 351 and the second gripper 352 are connected between the gripper limiting plates 3535 through the limiting rod 3536, so that the arrangement is simple and effective, and the two grippers can be connected through the limiting rod.

As shown in fig. 9 to 11, the first gripper 351 includes a first gripper plate 3511, a first connecting plate 3512 and a first swing plate 3513, the first swing plate 3513 is movably connected to the swing shaft 3533 on one side of the gripper cylinder block 3531, the first connecting plate 3512 is disposed at one end of the first swing plate 3513, the first connecting plate 3512 is connected between the gripper limiting plates 3535 of the gripper cylinder 3532, the other end of the first swing plate 3513 is connected to the first gripper plate 3511, the first gripper 351 is provided with two gripper driving cylinders 353 disposed at both ends of the gripper fixing plate 32, and the two first grippers 351 are connected to each other through the first gripper connecting plate 3510, so that the first gripper connecting plate connects the two first grippers, thereby making the structure of the first gripper firmer.

As shown in fig. 9 to 11, the second gripper 352 includes a second gripper plate 3521, a second connecting plate 3522 and a second swing plate 3523, the second swing plate 3523 is movably connected to the swing shaft 3533 at the other side of the gripper cylinder block 3531, the second connecting plate 3522 is disposed at one end of the second swing shaft 3523, the second connecting plate 3522 is connected between the gripper limiting plates 3535 of the gripper cylinder 3532, the other end of the second swing plate 3523 is connected to the second gripper plate 3521, the second gripper 352 is provided with two gripper driving cylinders 353 disposed at both ends of the gripper fixing plate 32, and the two second grippers 352 are connected to each other through the second gripper connecting plate 3510, so that the second gripper connecting plate connects the two second grippers, thereby making the structure of the second gripper firmer.

As shown in fig. 11, the first gripper plate 3511 includes a first connecting portion 35111, a first ball supporting portion 35112, a first ball clamping portion 35113 and a first ball catching portion 35114, one end of the first connecting portion 35111 is connected to the first swing plate 3513, the other end of the first connecting portion 35111 is provided with the first ball supporting portion 35112, the first ball supporting portion 35112 is arcuately extended forward and inward from the first connecting portion 35111, a first ball clamping portion 35113 is provided at a distal end of the first ball supporting portion 35112, the first ball clamping portion 35113 is arcuately extended forward and outward from the first ball supporting portion 35112, a first ball catching portion 35114 is provided at a distal end of the first ball clamping portion 35113, and the first ball clamping portion 35114 is obliquely extended forward and inward from the first ball clamping portion 35113, and the gripper is further attached to the football ball by the arcuately arranged of the first gripper plate, thereby more firmly clamping the football.

As shown in fig. 11, the second gripper plate 3521 includes a second connecting portion 35211, a second ball supporting portion 35212, a second ball clamping portion 35213 and a second ball catching portion 35214, one end of the second connecting portion 35211 is connected to the second swing plate 3523, the other end of the second connecting portion 35211 is provided with a second ball supporting portion 35212, the second ball supporting portion 35212 is arcuately extended forward and inward from the second connecting portion 35211, a second ball catching portion 35213 is provided at a distal end of the second ball supporting portion 35212, the second ball clamping portion 35213 is arcuately extended forward and outward from the second ball supporting portion 35212, a second ball catching portion 35214 is provided at a distal end of the second ball catching portion 35213, and the second ball catching portion 35214 is obliquely extended forward and inward from the second ball clamping portion 35213, and the gripper is more firmly attached to the football by the arcuately arranged of the second gripper plate, thereby clamping the football more firmly.

As shown in fig. 4 to 8, the pan/tilt head 12 includes a first guide rail 121, a second guide rail group 7 and a moving pan/tilt head 8, the first guide rail 121 is fixed on the chassis 11, the second guide rail group 7 is slidably disposed on the first guide rail 121, the second guide rail group 7 includes a second guide rail 71, a second guide rail base plate 72, a guide rail propulsion cylinder 73, a guide rail propulsion shaft 74, a propulsion shaft connecting plate 75, a cylinder connecting plate 76 and a second guide rail slider 77, the second guide rail base plate 72 is slidably connected to the first guide rail 121 through the second guide rail slider 77, the second guide rail 71 is disposed on the second guide rail base plate 72, cylinder connecting plates 76 are disposed at two ends of the second guide rail base plate 72, the cylinder connecting plate 76 is connected to the guide rail propulsion cylinder 73, the guide rail propulsion cylinder 73 is connected to the guide rail propulsion shaft 74, two ends of the guide rail propulsion shaft 74 are fixed on the first guide rail 121 through the propulsion shaft connecting plate 75, two second guide rails 71 are provided, and the moving cloud deck 8 is arranged between the second guide rails 71; the guide rail propulsion cylinder drives the cylinder connecting plate, the second guide rail base plate and the second guide rail sliding block to slide on the first guide rail, and the moving holder is controlled to move in one direction.

As shown in fig. 6 and 8, the moving pan-tilt 8 includes a pan-tilt base 81, a pan-tilt slider 82, a pan-tilt turntable 83, a transmitting base mounting plate 84, a pulley motor 85, a synchronous belt shaft 86, a driving pulley 87, a synchronous belt 88, a synchronous belt pad 89, a synchronous belt connecting block 891 and a pulley mounting plate 80, the pan-tilt base 81 is slidably disposed on the second guide rail 71 through the pan-tilt slider 82, the pan-tilt turntable 83 is disposed above the pan-tilt base 81, the transmitting base mounting plate 84 is disposed on the pan-tilt turntable 83, the transmitting body 24 is mounted on the transmitting base mounting plate 84, the pulley mounting plate 80 is further disposed on the second guide rail base plate 72, the pulley motor 85 is disposed on the pulley mounting plate 80, the pulley motor 85 is connected to the driving pulley 87 through the synchronous belt shaft 86, the synchronous belt 88 is disposed on the driving pulley 87, and the synchronous belt pad 89 is disposed below the pan-tilt base 81, hold-in range 88 still connects hold-in range pad 89 through hold-in range connecting block 891, sets up from this, makes clamping device can carry out the rotation of certain angle through the cloud platform carousel.

As shown in fig. 5, an inner gear ring 811 is provided on the pan/tilt base 81, a rotating motor 841 is mounted on the transmitting base mounting plate 84, and a rotating drive gear (not shown) is mounted on an output shaft of the rotating motor 841, the rotating drive gear being engaged with the inner gear ring 811; the belt wheel motor 85 drives the synchronous belt 88 to move through the driving belt wheel 87, the synchronous belt 88 drives the holder base 81 to slide through the synchronous belt pad 89 and the synchronous belt connecting block 894, and the holder base 81 is controlled to move in the other direction; when the rotating motor 841 operates, the rotating motor 841 rotates the transmitting base mounting plate 81 by rotating the driving gear and the ring gear 811.

As shown in fig. 1, the chassis 11 includes an omni wheel 111, a chassis frame 112 and a shock absorber 114, the omni wheel 111 is provided with more than two and is disposed at the periphery of the chassis frame 112, the moving platform 8 is connected to the chassis frame 112 through the shock absorber 114, and the shock absorber 114 can well reduce the vibration of the moving device, so that the protection structure is not easily damaged.

Claims

1. The utility model provides a conveniently pick up device of football, includes mobile device, its characterized in that: the moving device comprises a chassis and a tripod head, the tripod head is arranged above the chassis, a transmitting machine body is arranged on the tripod head, a driving mechanism is arranged on the transmitting machine body, the driving mechanism comprises a driving main shaft, a clamping driving motor, a clamping driving wheel, a clamping driving chain and a clamping driving driven wheel, the transmitting machine body is arranged on the driving main shaft, the clamping driving motor is arranged on one side of the transmitting machine body, the clamping driving motor is provided with a clamping driving wheel, the two ends of the driving main shaft are provided with clamping driving driven wheels, the clamping driving wheel is connected with the clamping driving driven wheel through the clamping driving chain, the clamping driving driven wheel is connected with a clamping device, the clamping device comprises a clamping connecting plate, a clamping fixing plate, a rotary steering engine, a steering engine fixing plate and a clamping hand assembly, one end of the clamping connecting plate is connected with the driving mechanism, the other end of centre gripping connecting plate is connected the steering wheel fixed plate, and rotatory steering wheel is connected to the centre gripping fixed plate, rotatory steering wheel passes the centre gripping fixed plate and is connected the steering wheel fixed plate, is equipped with the tong subassembly at the both ends of centre gripping fixed plate, the tong subassembly includes that first tong, second tong and tong drive actuating cylinder, the tong drives actuating cylinder and fixes the both ends at the centre gripping fixed plate, is equipped with on the tong at both ends drives actuating cylinder and drives actuating cylinder wobbling first tong and second tong along the tong.

2. The device for facilitating the picking of rugby balls according to claim 1, wherein: the clamping hand driving cylinder comprises a clamping hand cylinder seat, a clamping hand cylinder, a swing shaft and a clamping hand mounting groove, the clamping hand cylinder is arranged in the clamping hand cylinder seat, the clamping hand mounting groove is formed in one end, located at the clamping hand cylinder seat, of the clamping hand cylinder, the front end of the clamping hand cylinder is located in the clamping hand mounting groove, the swing shaft is arranged on two sides of the clamping hand mounting groove, and the first clamping hand and the second clamping hand are movably connected with the swing shaft and connected with the clamping hand cylinder.

3. The device for facilitating the picking of rugby balls according to claim 2, wherein: the front end of tong cylinder is equipped with tong limiting plate and gag lever post, the tong limiting plate sets up the both ends at the tong cylinder, and first tong and second tong pass through the gag lever post and connect between the tong limiting plate.

4. The device for facilitating the picking of rugby balls according to claim 3, wherein: the first clamping hand comprises a first clamping hand plate, a first connecting plate and a first swinging plate, a swinging shaft at one side of a cylinder seat of the first swinging plate is movably connected with the clamping hand and is positioned at one end of the first swinging plate, the first connecting plate is connected between limiting plates of the clamping hand cylinder, the other end of the first swinging plate is connected with the first clamping hand plate, the first clamping hand is provided with two clamping hand driving cylinders which are arranged at two ends of a clamping fixing plate, and the two first clamping hands are mutually connected through the first clamping hand connecting plate.

5. The device for facilitating the picking of rugby balls according to claim 3, wherein: the second clamping hand comprises a second clamping hand plate, a second connecting plate and a second swinging plate, the second swinging plate is movably connected with a swinging shaft at the other side of the clamping hand cylinder seat, the second swinging shaft is arranged at one end of the second swinging shaft, the second connecting plate is connected between the clamping hand limiting plates of the clamping hand cylinder, the other end of the second swinging plate is connected with the second clamping hand plate, the second clamping hand is provided with two clamping hand driving cylinders which are arranged at the two ends of the clamping fixing plate, and the two second clamping hands are mutually connected through the second clamping hand connecting plates.

6. The device for facilitating the picking of rugby balls according to claim 4, wherein: first tong board includes first connecting portion, first ball support portion, first ball clamp portion and first card ball portion, first swing board is connected to the one end of first connecting portion, is equipped with first ball support portion at the other end of first connecting portion, first ball support portion extends the form from the connecting portion to inside outside arc forward and sets up, and the end that is located first ball support portion is equipped with first ball clamp portion, first ball clamp portion extends the setting to outside inside arc from first ball support portion to outside, is equipped with first card ball portion at the end of first ball clamp portion, first card ball portion extends the setting from first ball clamp to the inside slope of preceding ball.

7. The device for facilitating the picking of rugby balls according to claim 5, wherein: the second tong board includes second connecting portion, second support ball portion, second clamp ball portion and second card ball portion, the second swing board is connected to the one end of second connecting portion, is equipped with second support ball portion at the other end of second connecting portion, second support ball portion extends the form from the second connecting portion to inside outside arc forward and sets up, and the end that is located second support ball portion is equipped with the second and presss from both sides the ball portion, the second presss from both sides the ball portion and extends the setting from the second support ball portion to outside inside arc, is equipped with second card ball portion at the end that the ball portion was pressed from both sides to the second, second card ball portion presss from both sides the setting that extends to the inside slope of preceding ball portion from the second.

8. The device for facilitating the picking of rugby balls according to claim 1, wherein: the cradle head comprises a first guide rail, a second guide rail group and a moving cradle head, wherein the first guide rail is fixed on a chassis, the second guide rail group is arranged on the first guide rail in a sliding mode, the second guide rail group comprises a second guide rail, a second guide rail base plate, guide rail propulsion cylinders, guide rail propulsion shafts, a propulsion shaft connecting plate, a cylinder connecting plate and a second guide rail slider, the second guide rail base plate is connected to the first guide rail in a sliding mode through the second guide rail slider, the second guide rail is arranged on the second guide rail base plate, the cylinder connecting plate is arranged at the two ends of the second guide rail base plate, the cylinder connecting plate is connected with the guide rail propulsion cylinders, the guide rail propulsion cylinders are connected to the guide rail propulsion shafts, the two ends of the guide rail propulsion shafts are fixed to the first guide rail through the propulsion shaft connecting plate, the two guide rails are provided, and the moving cradle head is arranged between the second guide rails.

9. The device for facilitating the picking of rugby balls according to claim 8, wherein: the mobile tripod head comprises a tripod head base, a tripod head sliding block, a tripod head turntable, a transmitting base mounting plate, a belt wheel motor, a synchronous belt shaft, a driving belt wheel, a synchronous belt pad, a synchronous belt connecting block and a belt wheel mounting plate, wherein the tripod head base is arranged on a second guide rail through the sliding of the tripod head sliding block; the cradle head base is provided with an inner gear ring, the emission base mounting plate is provided with a rotating motor, an output shaft of the rotating motor is provided with a rotating driving gear, and the rotating driving gear is meshed with the inner gear ring.

10. The device for facilitating the picking of rugby balls according to claim 8, wherein: the chassis comprises more than two omnidirectional wheels, a chassis frame and a shock absorber, the omnidirectional wheels are arranged on the periphery of the chassis frame, and the movable holder is connected with the chassis frame through the shock absorber.