CN216536829U

CN216536829U - Wheel type service device for launching multiple balls

Info

Publication number: CN216536829U
Application number: CN202122095943.5U
Authority: CN
Inventors: 齐睿; 田若瑶; 余绍蓉; 赵宝柱; 胡睿哲
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2021-09-01
Filing date: 2021-09-01
Publication date: 2022-05-17
Anticipated expiration: 2031-09-01

Abstract

The utility model discloses a wheel type ball serving device for launching multiple balls, which comprises a launching mechanism, a pitch angle adjusting mechanism, a moving mechanism and a ball storage mechanism, wherein the pitch angle adjusting mechanism and the ball storage mechanism are arranged at the top of the moving mechanism, and the launching mechanism is arranged at the top of the pitch angle adjusting mechanism and is positioned at one side of the ball storage mechanism.

Description

Wheel type service device for launching multiple balls

Technical Field

The utility model relates to the technical field of sports equipment, in particular to a wheel type ball serving device for launching multiple balls.

Background

At present, automatic ball serving devices such as an automatic table tennis ball serving machine, a basketball serving machine and the like are widely concerned by people and gradually integrate into daily life, and at present, the table tennis ball serving machine is researched more, and the upper spin ball, the lower spin ball and the like of the table tennis ball are researched deeply.

The speed of a ball body launched by the traditional ball launching device is difficult to control, air resistance can be ignored when the motion of the table tennis is analyzed and modeled, the table tennis is light in weight and is easily influenced by air flow motion in the air, the motion path of the table tennis is difficult to be carried out according to expectation, and the table tennis is difficult to adapt to balls with various sizes and weights, so that the wheel type ball launching device for launching multiple balls is provided for solving the problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the defects in the prior art and provides a wheel type ball serving device for launching multiple balls.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the wheel type service device for launching multiple balls comprises a launching mechanism, a pitch angle adjusting mechanism, a moving mechanism and a ball storage mechanism, wherein the pitch angle adjusting mechanism and the ball storage mechanism are both arranged at the top of the moving mechanism, and the launching mechanism is arranged at the top of the pitch angle adjusting mechanism and is positioned on one side of the ball storage mechanism.

Preferably, the launching mechanism comprises a rotor motor fixing plate, a rotor connecting piece, a ball pushing claw, a stepping motor lead screw sliding table module, a sliding table support, a manual sliding table module, a friction wheel accelerating module and a center piece, wherein the rotor motor fixing plate is rigidly connected with the rotor connecting piece, the rotor connecting piece is rigidly connected with a sliding block of the manual sliding table module, the sliding block inside the manual sliding table module is matched with a lead screw, so that the position of the rotor motor fixing plate and the rotor connecting piece assembly can be indirectly adjusted through an adjusting lead screw, the ball pushing claw is rigidly connected with the sliding block of the stepping motor lead screw sliding table module, the sliding block inside the stepping motor lead screw sliding table module is matched with the lead screw, the motor inside the stepping motor lead screw sliding table module is rigidly connected with the lead screw, and the stepping motor of the stepping motor lead screw sliding table module can indirectly control the forward and backward propelling of the ball pushing claw by controlling the stepping motor of the stepping motor lead screw sliding table module, the sliding table support is in rigid connection with the center piece, the sliding table support is in rigid connection with the base of the stepping motor lead screw sliding table module, the stator of the friction wheel acceleration module brushless motor is in rigid connection with the center piece, the friction wheel acceleration module brushless motor is used for launching small balls, the friction wheel acceleration module brushless motor can be adapted to balls of various sizes, and the application range is wide.

Preferably, the pitch angle adjusting mechanism comprises a seat plate, a U-shaped connecting piece, a quincuncial coupler, a screw, a trimming nut and a speed reducing motor, wherein the top of the seat plate is fixedly connected with two guide rails which are symmetrically arranged, the guide rails are slidably connected with moving blocks which are matched with each other, two ends of the bottom of the U-shaped connecting piece are respectively and fixedly connected with the tops of the two moving blocks, the center of the U-shaped connecting piece is connected with the trimming nut, the screw penetrates through a hole in the middle of the U-shaped connecting piece, the trimming nut is matched with the screw through threads, two miniature belt seat bearings which are symmetrically arranged are fixedly connected with the top of the seat plate, two ends of the screw are respectively and rotatably connected with one side, which is close to each other, of the two miniature belt seat bearings, one end of the screw penetrates through the miniature belt seat bearings and is fixedly connected with the quincuncial coupler, and the quincuncial coupler is fixedly connected with an output shaft of the speed reducing motor, the top of U type connecting piece is rotated and is installed the push pedal, the top of push pedal is rotated with the bottom of slip table support and is connected, the top fixedly connected with motor support of bedplate for the launch angle of regulation bobble, and then can guarantee the precision of launch.

Preferably, moving mechanism includes mounting plate, the equal fixedly connected with motor supporting seat in bottom four corners of mounting plate, one side of motor supporting seat all is provided with mecanum wheel, one side that mecanum wheel was kept away from to the motor supporting seat is provided with direct current motor, direct current motor's output shaft and mecanum wheel's central point put fixed connection, bedplate fixed connection can make the device can the free mobility, adjusts the launch point at any time to no longer need artifical transport bobble, labour saving and time saving.

Preferably, the ball storage mechanism comprises a first ball storage barrel body part, a plurality of ball storage pieces, two ball storage support frames, a conveying track, a second ball storage barrel body part, a rotating shaft and a rotating connecting shaft, the tops of the two ball storage support frames are fixedly connected with the same ball storage bottom plate, a standard 42 motor is arranged between the two ball storage support frames, the two ends of the rotating shaft are respectively connected with the standard 42 motor and a shaft coupler, the top of the shaft coupler is fixedly connected with the rotating connecting shaft, the ball storage pieces and the rotating connecting shaft are fixed by bolts, the ball storage bottom plate is positioned between the ball storage support frames and the ball storage pieces and is fixedly connected with the ball storage support frames by interference fit and bolts, the conveying track is matched with the ball storage bottom plate in an interference fit manner, and the three ball storage barrel body parts above the ball storage bottom plate are composed of the two first ball storage barrel body parts and the second ball storage barrel body part, the parts are connected through copper columns with threads and screw holes, and the ball storage support frames are fixedly connected to the top of the mounting base plate and used for storing small balls, so that the continuity of automatic ball serving is guaranteed, and training requirements are met.

Preferably, the top of the seat plate is fixedly connected with two second connecting seats which are symmetrically arranged, the bottom of the sliding table support is provided with a first connecting seat, and one side, close to each other, of each second connecting seat is respectively and rotatably connected with two ends of the first connecting seat.

Preferably, the U-shaped connecting piece and the push plate as well as the push plate and the sliding table bracket are connected through a door hinge.

Compared with the prior art, the utility model has the beneficial effects that:

1. according to the utility model, at first, 15 table tennis balls or wall balls at most are put into a ball barrel, then a standard 42 motor is electrified and provided with a prepared current signal, along with the rotation of the standard 42 motor, a rotating shaft, a rotating connecting shaft and a ball rotating sheet are linked, the ball rotating sheet pushes the bottom of a ball to move, finally the ball is pushed into an outlet of a ball storage bottom plate, then the ball slides along a conveying rail by virtue of gravity and finally enters a launching mechanism, a stepping motor in a stepping motor lead screw sliding table module is controlled, a lead screw in the stepping motor lead screw sliding table module is indirectly controlled to rotate clockwise and anticlockwise, a sliding block in the stepping motor lead screw sliding table module is driven to move back and forth, a ball pushing claw is driven to move back and forth, the ball is loaded, the ball is pushed to a friction wheel accelerating module, and the ball serving frequency can be controlled;

2. according to the utility model, the knob of the manual sliding table module is controlled, so that the lead screw in the manual sliding table module is controlled to rotate clockwise and anticlockwise, the slider of the manual sliding table module is driven to move up and down, the whole movable motor fixing plate and the movable connecting piece are indirectly controlled to move up and down, and therefore, the friction wheel acceleration module arranged on the movable motor fixing plate moves up and down, the relative distance function of controlling the two friction wheel acceleration modules is realized, and balls with different sizes can be accelerated by the friction wheel acceleration module;

3. in the utility model, the PWM signal is used for controlling the rotating speed of the friction wheels in the two friction wheel acceleration modules, so that the function of controlling the ball discharging speed can be realized;

the PWM signals are used for controlling the rotating speed difference of the friction wheels in the two friction wheel acceleration modules, so that the functions of launching an upward rotating ball and launching a downward rotating ball can be realized;

determining the distance between an upper friction wheel acceleration module and a lower friction wheel acceleration module, the rotating speed, the differential speed and the starting of the friction wheels according to the ball to be launched and the launching requirement, wherein the vertical rotating directions are opposite; the ball to be launched is released to the front of the ball pushing claw at a certain frequency, and the ball pushing claw pushes the ball to the upper friction wheel acceleration module and the lower friction wheel acceleration module at the same frequency; the ball is launched and the above process is repeated;

4. according to the pitching adjusting mechanism, power is supplied to the reducing motor, the shaft of the reducing motor rotates to drive the screw to rotate, the cutting edge nut and the screw are in threaded fit, so that the cutting edge nut moves back and forth due to the rotation of the screw, the cutting edge nut is fixedly connected with the U-shaped connecting piece, and the U-shaped connecting piece is fixedly connected with the moving block, so that the U-shaped connecting piece and the cutting edge nut move back and forth due to the rotation of the screw, the movement is limited by the guide rail, the door hinge above the U-shaped connecting piece can rotate around the shaft of the U-shaped connecting piece, and the door hinge is connected with the launching mechanism, so that the included angle between the launching mechanism and the horizontal direction is changed due to the back and forth movement of the cutting edge nut, and the purpose of adjusting the pitching angle of the pitching machine is achieved;

5. in the utility model, the direct current motors drive the trolley to rotate, the rotating speed and the rotating direction of the four direct current motors plan to determine the moving direction and the moving speed of the whole trolley,

the mobile phone Bluetooth control system uses a mobile phone blinker Bluetooth to control an APP, a JDY-08 Bluetooth module, an Arduino Mega control board, 4 direct current motor drive boards, a 12V battery, 4 groups of direct current motor control boards and Mecanum wheels to realize the control of a mobile function, wherein the 12V battery is used for supplying power to the 4 direct current motor control boards, the mobile phone APP is used as an upper computer, and a fixed communication protocol is used for transmitting an instruction to the JDY-08 Bluetooth module connected with the Arduino Mega control board;

the Arduino Mega control board provides different high and low levels and PWM values for the 4 paths of direct current motors according to different signals transmitted by the mobile phone, the high and low levels are used for controlling the positive and negative rotation of the motors to realize the control of the direction, the range of the PWM values is within the range, and the effect of changing the output voltage is achieved by modulating the width of each pulse, so that the rotating speed of the motors is controlled, and the change of the speed during moving is realized;

6. the utility model uses a mobile phone blinker Bluetooth to control an APP, an HM-10 Bluetooth module, an Arduino Mega control board, a 12V battery, two groups of 24V batteries, a direct current motor and an L298N direct current motor driver, two standard 42 motors and a TB6600 stepping motor driver to realize the control of a pitching mechanism, two groups of brushless motors and electric regulators, the 12V battery is used for supplying power to the L298N direct current motor driver, one group of 24V batteries is used for supplying power to the two TB6600 stepping motor drivers, one group of 24V batteries is used for supplying power to the electric regulators of the two brushless motors, the mobile phone APP is used as an upper computer, and transmits instructions to the HM-10 Bluetooth module connected with the Arduino Mega control board through a fixed communication protocol, and the Arduino Mega control board transmits different signals to the TB6600 stepping motor drivers, the electric regulators and the direct current motors according to different instructions. The pitch angle of the utility model is controlled by a direct current motor, after receiving a Bluetooth signal, the Arduino Mega control board gives different high and low levels and PWM values to an L298N driver to control the forward and reverse rotation and speed of the motor, thereby controlling the forward and reverse of a sliding block and a push plate and realizing the change of the pitch angle;

7. in the utility model, the rotating shaft of the ball storage cylinder is controlled by a standard 42 motor, the Arduino Mega control board controls the rotating direction of the standard 42 motor by giving high and low levels to a TB6600 driver, the rotating angle of the stepping motor is controlled by giving the number of pulses, when the driver is set to be 400 minutes, the control board gives a pulse, the rotating shaft can rotate, the friction wheel is controlled by two groups of brushless motors and electric regulation, and after receiving a mobile phone signal, the Arduino Mega control board gives different PWM values to the electric regulation to realize the control of the rotating speed of the friction wheel.

The utility model has simple structure, can realize accurate fixed-point launching, can achieve higher precision by adjusting the pitch angle and controlling the ball storage speed of the ball, can be suitable for balls with various sizes and weights, has wide application range, can freely move, does not need manual carrying, saves time and labor and is convenient to use.

Drawings

FIG. 1 is a three-dimensional view of a ball serving mechanism of the present invention;

FIG. 2 is a three-dimensional view of a first perspective of a pitch angle adjustment mechanism of the present invention;

FIG. 3 is a three-dimensional view of a second perspective of the pitch angle adjustment mechanism of the present invention;

FIG. 4 is a three-dimensional view of the moving mechanism of the present invention;

FIG. 5 is a three-dimensional view of the ball storage mechanism of the present invention;

FIG. 6 is a schematic side view of a wheeled ball serving device for launching a plurality of balls according to the present invention;

FIG. 7 is a circuit diagram of a TB6600 stepping motor driver according to the present invention;

FIG. 8 is a schematic diagram of a Bluetooth control circuit according to the present invention;

fig. 9 is a schematic diagram of a brushless motor control circuit according to the present invention.

In the figure: 1. a launching mechanism; 101. a rotor motor fixing plate; 102. a rotor connecting piece; 103. ball pushing claws; 104. a stepping motor lead screw sliding table module; 105. a sliding table bracket; 106. a manual sliding table module; 107. a friction wheel acceleration module; 108. a center piece; 109. a first connecting seat; 2. a pitch angle adjusting mechanism; 201. a seat plate; 202. a guide rail; 203. a moving block; 204. a U-shaped connecting piece; 205. a door hinge; 206. pushing a plate; 207. a quincuncial coupler; 208. a screw; 209. trimming the nut; 210. a miniature seated bearing; 211. a reduction motor; 212. a motor bracket; 213. a second connecting seat; 3. a moving mechanism; 301. mounting a bottom plate; 302. a motor supporting seat; 303. a direct current motor; 304. a Mecanum wheel; 4. a ball storage mechanism; 401. a first ball storage barrel body component; 402. rotating the ball sheet; 403. a ball storage bottom plate; 404. a ball storage support frame; 405. a standard 42 motor; 406. a conveying track; 407. a second ball storage barrel body component; 408. rotating the connecting shaft; 409. and rotating the shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Example one

Referring to fig. 1-9, the wheel type service device for launching multiple balls comprises a launching mechanism 1, a pitch angle adjusting mechanism 2, a moving mechanism 3 and a ball storage mechanism 4, wherein the pitch angle adjusting mechanism 2 and the ball storage mechanism 4 are both arranged at the top of the moving mechanism 3, and the launching mechanism 1 is arranged at the top of the pitch angle adjusting mechanism 2 and is positioned on one side of the ball storage mechanism 4.

Example two

Referring to fig. 1-9, a wheel-type service device for launching multiple balls comprises a launching mechanism 1, a pitch angle adjusting mechanism 2, a moving mechanism 3 and a ball storage mechanism 4, wherein the pitch angle adjusting mechanism 2 and the ball storage mechanism 4 are both arranged on the top of the moving mechanism 3, the launching mechanism 1 is arranged on the top of the pitch angle adjusting mechanism 2 and is positioned on one side of the ball storage mechanism 4, the launching mechanism 1 comprises a rotor motor fixing plate 101, a rotor connecting piece 102, a ball pushing claw 103, a stepping motor lead screw sliding table module 104, a sliding table bracket 105, a manual sliding table module 106, a friction wheel accelerating module 107 and a center piece 108, the rotor motor fixing plate 101 is rigidly connected with the rotor connecting piece 102, the rotor connecting piece 102 is rigidly connected with a slide block of the manual sliding table module 106, the slide block and the lead screw in the manual sliding table module 106 are matched, so that the position of the rotor motor fixing plate 101 and the rotor connecting piece 102 can be indirectly adjusted through adjusting the lead screw, the ball pushing claw 103 is rigidly connected with a slider of a stepping motor lead screw sliding table module 104, the slider in the stepping motor lead screw sliding table module 104 is matched with a lead screw, a motor in the stepping motor lead screw sliding table module 104 is rigidly connected with the lead screw, the ball pushing claw 103 can be indirectly controlled to advance forwards and backwards by controlling the stepping motor of the stepping motor lead screw sliding table module 104, a sliding table bracket 105 is rigidly connected with a central piece 108, the sliding table bracket 105 is rigidly connected with a base of the stepping motor lead screw sliding table module 104, a stator of a brushless motor of a friction wheel accelerating module 107 is rigidly connected with the central piece 108 for launching small balls and can be adapted to balls with various sizes, the application range is wide, the pitch angle adjusting mechanism 2 comprises a seat plate 201, a U-shaped connecting piece 204, a plum coupling 207, a screw 208, a trimming nut 209 and a reducing motor 211, the top of the seat plate 201 is fixedly connected with two guide rails 202 which are symmetrically arranged, the guide rail 202 is connected with a matched moving block 203 in a sliding way, two ends of the bottom of the U-shaped connecting piece 204 are respectively and fixedly connected with the tops of the two moving blocks 203, the center of the U-shaped connecting piece 204 is connected with a trimming nut 209, a screw 208 penetrates through a hole in the middle of the U-shaped connecting piece 204, the trimming nut 209 is matched with the screw 208 through threads, two second connecting seats 213 which are symmetrically arranged are fixedly connected with the top of the seat plate 201, the bottom of the sliding table bracket 105 is provided with a first connecting seat 109, one sides of the two second connecting seats 213 which are close to each other are respectively and rotatably connected with two ends of the first connecting seat 109, two miniature belt seat bearings 210 which are symmetrically arranged are fixedly connected with the top of the seat plate 201, two ends of the screw 208 are respectively and rotatably connected with one side of the two miniature belt seat bearings 210 which are close to each other, one end of the screw 208 penetrates through the miniature belt seat bearings 210 and is fixedly connected with a plum blossom coupling 207, the plum blossom coupling 207 is fixedly connected with an output shaft of a speed reducing motor 211, a push plate 206 is rotatably installed at the top of a U-shaped connecting piece 204, the U-shaped connecting piece 204 and the push plate 206 as well as the push plate 206 and a sliding table support 105 are connected through a door hinge 205, the top of the push plate 206 is rotatably connected with the bottom of the sliding table support 105, a motor support 212 is fixedly connected with the top of the seat plate 201 and used for adjusting the launching angle of small balls, and further ensuring the launching precision, the moving mechanism 3 comprises an installation bottom plate 301, motor support seats 302 are fixedly connected with four corners of the bottom of the installation bottom plate 301, mecanum wheels 304 are arranged on one sides of the motor support seats 302, a direct current motor 303 is arranged on one side of the motor support seats 302 away from the mecanum wheels 304, the output shaft of the direct current motor 303 is fixedly connected with the center position of the mecanum wheels 304, the seat plate 201 is fixedly connected with the top of the installation bottom plate 301, and the device can freely move, the launching point can be adjusted at any time, the small ball does not need to be carried manually any more, time and labor are saved, the ball storage mechanism 4 comprises a first ball storage barrel body part 401, a plurality of ball rotating sheets 402, two ball storage support frames 404, a conveying rail 406, a second ball storage barrel body part 407, a rotating shaft 409 and a rotating connecting shaft 408, the tops of the two ball storage support frames 404 are fixedly connected with the same ball storage bottom plate 403, a standard 42 motor 405 is arranged between the two ball storage support frames 404, two ends of the rotating shaft 409 are respectively connected with the standard 42 motor 405 and a coupler, the top of the coupler is fixedly connected with the rotating connecting shaft 408, the ball rotating sheets 402 and the rotating connecting shaft 408 are fixed by bolts, the ball storage bottom plate 403 is positioned between the ball storage support frames 404 and the ball rotating sheets 402 and is fixedly connected with the ball storage support frames 404 by interference fit and the bolts, and the conveying rail 406 is matched with the ball storage bottom plate 403 by interference fit, three storage barrel body part spare of the top of storage bottom plate 403 comprises two first storage barrel body parts 401 and a second storage barrel body part 407, connects by the copper post from threaded and screw between the part, and two equal fixed connection of storage ball support frame 404 are at the top of mounting plate 301 for store the bobble, guarantee the continuity of automatic service, and then satisfy the training requirement.

The working principle is as follows: firstly, putting a maximum of 15 left and right table tennis balls or wall balls into a ball barrel, then electrifying a standard 42 motor 405 and giving a prepared current signal, forming linkage among a rotating shaft 409, a rotating connecting shaft 408 and a ball rotating sheet 402 along with the rotation of the standard 42 motor 405, pushing the bottom of the ball by the ball rotating sheet 402 to move, finally pushing the ball into an outlet of a ball storage bottom plate 403, sliding the small ball along a conveying rail 406 by virtue of gravity, finally entering a launching mechanism 1, controlling a stepping motor in a stepping motor lead screw sliding table module 104, indirectly controlling a lead screw in the stepping motor lead screw sliding table module 104 to rotate clockwise and anticlockwise, driving a sliding block in the stepping motor lead screw sliding table module 104 to move back and forth, driving a ball pushing claw 103 to move back and forth, realizing ball loading, pushing the ball to the action among friction wheel acceleration modules 107, and controlling the ball launching frequency;

the knob of the manual sliding table module 106 is controlled, so that the screw rod in the manual sliding table module 106 is controlled to rotate clockwise and anticlockwise to drive the slider of the manual sliding table module 106 to move up and down, and the mover motor fixing plate 101 and the mover connecting piece 102 are indirectly controlled to integrally move up and down, so that the friction wheel acceleration module 107 mounted on the mover motor fixing plate 101 moves up and down, the function of controlling the relative distance of the two friction wheel acceleration modules 107 is realized, and balls with different sizes can be accelerated by the friction wheel acceleration module 107;

the PWM signals are used for controlling the rotating speed of the friction wheels in the two friction wheel acceleration modules 107, so that the function of controlling the ball discharging speed can be realized;

the PWM signals are used for controlling the rotating speed difference of the friction wheels in the two friction wheel acceleration modules 107, so that the functions of launching an upward rotating ball and launching a downward rotating ball can be realized;

according to the ball to be launched and the launching requirements, the distance, the rotating speed and the differential speed of an upper friction wheel acceleration module 107 and a lower friction wheel acceleration module 107 are determined, and the vertical rotating directions are opposite; the ball to be launched is released to the front of the ball pushing claw 103 at a certain frequency, the ball pushing claw 103 pushes the ball to the space between the upper friction wheel acceleration module 107 and the lower friction wheel acceleration module 107 at the same frequency, the ball is launched, the above process is repeated, power is supplied to the speed reducing motor 211, the shaft of the speed reducing motor 211 rotates, so that the screw 208 is driven to rotate, because the trimming nut 209 and the screw 208 are in threaded fit, the rotation of the screw 208 causes the back and forth movement of the trimming nut 209, the trimming nut 209 is fixedly connected with the U-shaped connecting piece 204, the U-shaped connecting piece 204 is fixedly connected with the moving block 203, so the rotation of the screw 208 causes the back and forth movement of the U-shaped connecting piece 204 and the trimming nut 209, and the movement is limited by the guide rail 202, the door hinge 205 above the U-shaped connecting piece 204 can rotate around the shaft thereof, the door hinge 205 is connected with the launching mechanism 1, so that the back and forth movement of the trimming nut 209 causes the change of the included angle between the launching mechanism 1 and the horizontal direction, therefore, the purpose of adjusting the pitching angle of the pitching machine is achieved, the direct current motor 303 drives the trolley to rotate, the whole moving direction and moving speed of the trolley are determined by the rotating speed and rotating direction of the four direct current motors 303, the mobile phone blinker Bluetooth control APP, the JDY-08 Bluetooth module, the Arduino Mega control board, the 4-way direct current motor 303 drive board, the 12V battery, the 4 groups of direct current motor 303 control boards and the Mecanum wheel 304 are used for realizing the control of the moving function, the 12V battery is used for supplying power to the 4-way direct current motor 303 control boards, the mobile phone APP is used as an upper computer, and a fixed communication protocol is used for transmitting an instruction to the JDY-08 Bluetooth module connected with the Arduino Mega control board;

the Arduino Mega control board provides different high and low levels and PWM values for the 4 paths of direct current motors 303 according to different signals transmitted by the mobile phone, the high and low levels are used for controlling the positive and negative rotation of the motors to realize the control of the direction, the range of the PWM values is in the middle, the effect of changing the output voltage is achieved by modulating the width of each pulse, so that the rotating speed of the motors is controlled, and the change of the speed during moving is realized;

the utility model uses a mobile phone blinker Bluetooth control APP, an HM-10 Bluetooth module, an Arduino Mega control board, a 12V battery, two groups of 24V batteries, a direct current motor 303 and an L298N direct current motor 303 driver, two standard 42 motors 405 and a TB6600 stepping motor driver to realize the control of a pitching mechanism, two groups of brushless motors and electric regulators, the 12V battery is used for supplying power to the L298N direct current motor 303 driver, one group of 24V batteries is used for supplying power to the two TB6600 stepping motor drivers, one group of 24V batteries is used for supplying power to the electric regulators of the two brushless motors, the mobile phone APP is used as an upper computer, a command is transmitted to the HM-10 Bluetooth module connected with the Arduino Mega control board through a fixed communication protocol, and the Arduino Mega control board transmits different signals to the TB6600 stepping motor driver, the electric regulators and the direct current motor 303 according to different commands. The pitch angle of the utility model is controlled by a direct current motor 303, after receiving a Bluetooth signal, an Arduino Mega control board gives different high and low levels and PWM values to an L298N driver to control the forward and reverse rotation and speed of the motor, thereby controlling the forward and reverse of a sliding block and a push plate 206 and realizing the change of the pitch angle;

the rotating shaft 409 of the ball storage cylinder is controlled by a standard 42 motor 405, the Arduino Mega control board controls the rotating direction of the standard 42 motor 405 by giving high and low levels to a TB6600 driver, the rotating angle of a stepping motor is controlled by giving pulse numbers, when the driver is set to be 400 minutes, the control board gives a pulse, the rotating shaft 409 can rotate, the friction wheel is controlled by two groups of brushless motors and electric regulation, and after a mobile phone signal is received, the Arduino Mega control board gives different PWM values to the electric regulation, so that the rotating speed of the friction wheel is controlled.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.

Claims

1. Wheeled service device of transmission many balls, including launching mechanism (1), angle of pitch adjustment mechanism (2), moving mechanism (3) and storage ball mechanism (4), its characterized in that, angle of pitch adjustment mechanism (2) and storage ball mechanism (4) all set up the top at moving mechanism (3), launching mechanism (1) sets up at the top of angle of pitch adjustment mechanism (2) and is located one side of storage ball mechanism (4), launching mechanism (1) includes active cell motor fixed plate (101), active cell connecting piece (102), pushes away ball claw (103), step motor lead screw slip table module (104), slip table support (105), manual slip table module (106), friction pulley acceleration module (107) and centre piece (108), active cell motor fixed plate (101) and active cell connecting piece (102) rigid connection, the slider rigid connection of active cell connecting piece (102) and manual slip table module (106), the slide block in the manual sliding table module (106) is matched with the screw rod, so that the manual sliding table module can indirectly adjust the position of a rotor motor fixing plate (101) and rotor connecting piece (102) combination body through adjusting the screw rod, the ball pushing claw (103) is rigidly connected with a slide block of a stepping motor lead screw sliding table module (104), the slide block inside the stepping motor lead screw sliding table module (104) is matched with the lead screw, the motor inside the stepping motor lead screw sliding table module (104) is rigidly connected with the lead screw, and the stepping motor of the stepping motor lead screw sliding table module (104) is controlled, can indirectly control the ball pushing claw (103) to advance forwards and backwards, the sliding table bracket (105) is rigidly connected with the central piece (108), the sliding table bracket (105) is rigidly connected with the base of the stepping motor lead screw sliding table module (104), the stator of the brushless motor of the friction wheel acceleration module (107) is rigidly connected with the central piece (108).

2. The wheeled ball serving device for launching multiple balls according to claim 1, wherein the pitch angle adjusting mechanism (2) comprises a seat plate (201), a U-shaped connecting piece (204), a plum coupling (207), a screw (208), a trimming nut (209) and a speed reduction motor (211), the top of the seat plate (201) is fixedly connected with two guide rails (202) which are symmetrically arranged, the guide rails (202) are slidably connected with adaptive moving blocks (203), two ends of the bottom of the U-shaped connecting piece (204) are respectively fixedly connected with the tops of the two moving blocks (203), the center of the U-shaped connecting piece (204) is connected with the trimming nut (209), the screw (208) penetrates through a hole in the middle of the U-shaped connecting piece (204), the trimming nut (209) is matched with the screw (208) through threads, and the top of the seat plate (201) is fixedly connected with two miniature seated bearings (210) which are symmetrically arranged, the both ends of screw rod (208) are rotated with one side that two miniature tape seat bearings (210) are close to each other respectively and are connected, the one end of screw rod (208) run through miniature tape seat bearing (210) and with plum blossom shaft coupling (207) fixed connection, the output shaft fixed connection of plum blossom shaft coupling (207) and gear motor (211), the top of U type connecting piece (204) is rotated and is installed push pedal (206), the top of push pedal (206) is rotated with the bottom of slip table support (105) and is connected, the top fixedly connected with motor support (212) of bedplate (201).

3. The wheeled serving device for launching multiple balls according to claim 1, wherein the moving mechanism (3) comprises a mounting base plate (301), four corners of the bottom of the mounting base plate (301) are fixedly connected with motor supporting bases (302), one side of each motor supporting base (302) is provided with a mecanum wheel (304), one side of each motor supporting base (302) far away from the mecanum wheel (304) is provided with a direct current motor (303), an output shaft of the direct current motor (303) is fixedly connected with the center position of the mecanum wheel (304), and the seat plate (201) is fixedly connected to the top of the mounting base plate (301).

4. The wheeled ball serving device for launching multiple balls according to claim 1, wherein the ball storage mechanism (4) comprises a first ball storage barrel body part (401), multiple ball rotating sheets (402), two ball storage support frames (404), a conveying track (406), a second ball storage barrel body part (407), a rotating shaft (409) and a rotating connecting shaft (408), the tops of the two ball storage support frames (404) are fixedly connected with the same ball storage base plate (403), a standard 42 motor (405) is arranged between the two ball storage support frames (404), the two ends of the rotating shaft (409) are respectively connected with the standard 42 motor (405) and a coupling, the top of the coupling is fixedly connected with the rotating connecting shaft (408), the ball rotating sheets (402) and the rotating connecting shaft (408) are fixed by using bolts, the ball storage base plate (403) is positioned between the ball storage support frames (404) and the ball rotating sheets (402), use interference fit and bolt and storage ball support frame (404) fixed connection, delivery track (406) cooperate through interference fit's mode with storage ball bottom plate (403), and the three storage ball barrel body part spare of the top of storage ball bottom plate (403) comprises two first storage ball barrel body parts (401) and a second storage ball barrel body part (407), connects by the copper post from threaded and screw between the part, two the equal fixed connection in the top of mounting plate (301) of storage ball support frame (404).

5. A wheeled ball serving device for launching multiple balls according to claim 3, wherein the top of the seat plate (201) is fixedly connected with two symmetrically arranged second connecting seats (213), the bottom of the sliding table bracket (105) is provided with the first connecting seat (109), and the sides of the two second connecting seats (213) close to each other are respectively connected with the two ends of the first connecting seat (109) in a rotating way.

6. A wheeled serving device for launching a plurality of balls according to claim 2, characterised in that the U-shaped connection (204) and the pusher (206) and the ramp bracket (105) are connected by a door hinge (205).