JP2001038039A - Hitting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a hitting device capable of freely controlling a spherical body accompanying the movement of a device body and hitting the spherical body after opening a pair of arm members by guiding the spherical body like holding it by the pair of the arm members. SOLUTION: The device body 2 of this hitting device 1 is provided with a driving device 10, a guide means 70 for guiding the spherical body and a hitting means 100 for hitting the spherical body. The guide means 70 is composed of a pair of the arm members 71 and 76 opened and closed by the driving device 10, both side faces of the spherical body are guided when the pair of the arm members 71 and 76 are closed and the spherical body is released when the pair of the arm members 71 and 76 are opened. The hitting means 10 is constituted so as to hit the spherical body by the driving device 10 when the pair of the arm members 71 and 76 are opened and not to hit it when the pair of the arm members 71 and 76 are closed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a launching device capable of holding a sphere and emitting the sphere.

[0002]

2. Description of the Related Art Conventionally, a launching device 401 remotely controlled by an external controller has a sphere 1 as shown in FIG.
A guide member 402 having a substantially U-shape for guiding the sphere 30 and an injection device 4 for injecting the sphere 130 in the guide member 402
03, drive wheels 405, 405, and control wheels 406, 40
6 and a drive motor 40 for driving the drive wheels 405 and 405
7, a control circuit for controlling the injection device 403 and the drive motor 407, and a receiving circuit for receiving a signal from an external controller.

When the receiving circuit receives a signal from an external controller, the control circuit drives the drive motor 407 based on the signal, and the launching device 401 travels. Injection device 403
Can be driven to eject the sphere 130.

[0004]

The above-mentioned conventional launching device 4
01 can travel while guiding the sphere 130 by the guide member 402, but there is a problem that the sphere 130 jumps out of the guide member 402 when stopped or bent. Further, when traveling forward, the sphere 130 is pressed against the guide member 402, and thus the sphere 130 can be guided. However, when traveling backward, the sphere 130 does not come into contact with the guide member 402. Could not guide. As described above, the above-described conventional launching device 401 includes the sphere 1
There is a problem that the 30 cannot be controlled according to the running state.

[0005] Furthermore, the conventional launching device 401 described above.
While traveling forward, since the sphere 130 is pressed against the guide member 402, the sphere 130 can be ejected. However, when the vehicle stops, bends, or travels backward as described above, the sphere 130 , The ball 130 cannot be ejected by the ejection device 403, and the ball 130 cannot be freely ejected at a position desired by the operator.

The present invention has been devised in view of the above problems, and since a pair of arm members can guide the sphere so as to hold the sphere, the sphere can be freely moved as the apparatus body moves. It is an object of the present invention to provide a launching device that can control a sphere and can eject a sphere after opening a pair of arm members.

[0007]

According to a first aspect of the present invention, there is provided a firing apparatus having the following means to achieve the above object. (A) The apparatus main body is provided with a driving device, guide means for guiding the sphere, and injection means for injecting the sphere. (B) The guide means comprises a pair of arm members which are opened and closed by a driving device, and can guide both sides of the sphere when the pair of arm members are closed, and release the sphere when the pair of arm members are opened. thing. (C) The injection means is configured to be capable of emitting a sphere by a driving device.

In order to achieve the above object, the launching apparatus according to the present invention has the following means in addition to the above means. (A) The injection means includes an injection member that emits a sphere and an elastic member that urges the injection member in the injection direction. (B) The driving device engages with one side of the ejection member to move the ejection member in the reflection exit direction against the elasticity of the elastic member, and releases the engagement to cause the ejection member to move in the ejection direction by the elastic member. Is provided with an engagement means for urging the actuator.

In order to achieve the above object, the launching apparatus according to the present invention has the following means in addition to the above means. (A) The drive device includes a first drive motor, a first gear group and a second gear group that are rotated by the first drive motor. (B) The first gear group meshes with the first driven gear during normal rotation of the first drive motor to transmit the rotation of the first drive motor to the first final gear, and causes the first drive motor to rotate. A first idler gear that does not mesh with the first driven gear during reverse rotation and does not transmit the rotation of the first drive motor to the first final gear; (C) The pair of arm members are linked to the first final gear so as to be opened and closed by rotation of the first final gear. (D) The second gear group meshes with the second driven gear when the first drive motor rotates in the reverse direction, transmits the rotation of the first drive motor to the second final gear, and rotates the first drive motor forward. A second floating gear that does not mesh with the second driven gear during rotation and does not transmit the rotation of the first drive motor to the second final gear. (E) The engagement means for moving the ejection member in the reflection exit direction includes:
Being associated with the second final gear so as to operate by rotation of the second final gear.

In order to achieve the above object, the launching apparatus according to the present invention has the following means in addition to the above means. (A) The drive device includes a first drive motor, a first gear group and a second gear group that are rotated by the first drive motor. (B) A rotating body including a sun gear and a planetary gear meshing with the sun gear is provided on the drive shaft of the first drive motor. (C) The first gear group includes a first gear group that can mesh with the planetary gears.
And a first final gear for opening and closing the pair of arm members. (D) The second gear group is a second gear group that can mesh with the planetary gears.
, And a second final gear for operating an engagement means for moving the ejection member in the reflection exit direction.

According to a fifth aspect of the present invention, in order to achieve the above object, at least one drive wheel and a second drive motor for driving the at least one drive wheel are provided on the apparatus body. Have been.

According to a sixth aspect of the present invention, in order to achieve the above object, the launching apparatus further comprises a control circuit for controlling the driving of the first drive motor and the second drive motor,
A receiving circuit for receiving a signal from the external controller is provided.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to FIGS. FIG. 1 is an overall perspective view of a launching device according to the present invention as viewed from one side. FIG.
It is the whole perspective view which looked at the launching device concerning the present invention from the other side. 3 and 4 are overall plan views illustrating the operation of the launching apparatus according to the present invention.

The launching device 1 has a device body 2. The apparatus main body 2 includes a rectangular box-shaped lower frame 3 and an upper frame 5 attached to the lower frame 3 with a screw, an adhesive or the like. The apparatus main body 2 is provided with a driving device 10, a guide unit 70 for guiding the sphere 130, and an injection unit 100 for emitting the sphere 130.

The driving device 10 includes a first driving motor 11
And a first gear group 12 and a second gear group 42 that are rotated by the first drive motor 11. The first drive motor 11 is mounted horizontally on a rear portion of the upper surface of the upper wall 3 a of the lower frame 3, and is covered by the upper frame 5. The first gear group 12 and the second gear group 42 are provided in the lower frame 3.

The first gear group 12 includes a first drive motor 1
The first driven gear 13 meshes with the first driven gear 13 during the forward rotation of 1 to transmit the rotation of the first drive motor 11 to the first final gear 15, and meshes with the first driven gear 13 during the reverse rotation of the first drive motor 11. A first floating gear 16 that does not transmit the rotation of the first drive motor 11 to the first final gear 15.

The first gear group 12 will be described in more detail. The first gear group 12 includes a first spur gear 19 that meshes with a worm gear 17 fixedly attached to the drive shaft of the first drive motor 11. The first spur gear 19 is formed integrally with the first floating gear 16,
It is attached to the first floating shaft 20. Both ends of the first floating shaft 20 are slidably and rotatably attached to elongated holes 22, 22 formed to extend in the front-rear direction of the pair of guide pieces 21, 21. The pair of guide pieces 21 and 21 are attached to predetermined positions of the upper frame 5.

The upper wall 3a and the lower wall 3b at the rear of the lower frame 3
The first support shaft 25 is rotatably supported. The projecting portion projecting from the upper wall 3a of the first support shaft 25 has the first
Is fixedly provided. When the first idler shaft 20 is located at the front end of the pair of guide pieces 21, 21, the first idler gear 16 meshes with the first idler gear 13. (See FIG. 1).

Inside the lower frame 3 and on the first support shaft 25,
A first small gear 27 is fixedly provided. This first
Is engaged with the first rear crown gear 29. The first rear crown gear 29 is rotatably supported by a bearing (not shown) in the lower frame 3.
Is fixedly attached to the rear end of the transmission shaft 31. A first front crown gear 30 is fixedly attached to the front end of the first transmission shaft 31.

The first front crown gear 30 meshes with the first intermediate gear 32. The first intermediate gear 32 is
The lower frame 3 is fixedly attached to a first intermediate shaft 33 rotatably supported on the upper wall 3a and the lower wall 3b. Further, the first intermediate gear 32 meshes with the first final gear 15. The first final gear 15 is fixedly attached to a first final shaft 35 rotatably supported on the upper wall 3a and the lower wall 3b of the lower frame 3. A base 74 of a left arm member 71 described later is fixedly attached to the first final shaft 35.

As described above, the first gear group 12 includes the first spur gear 19, the first idle gear 16, the first driven gear 13, the first small gear 27, and the first small gear 27. A rear crown gear 29, a first front crown gear 30, a first intermediate gear 32, and a first final gear 15 are provided in series in the lower frame 3 on the left side.

The second gear group 42 includes the first drive motor 1
When the first drive motor 11 rotates in the reverse direction, the second driven gear 43 meshes with the second driven gear 43 to transmit the rotation of the first drive motor 11 to the second final gear 45, and meshes with the second driven gear 43 when the first drive motor 11 rotates forward. A second floating gear 46 that does not transmit the rotation of the first drive motor 11 to the second final gear 45.

The second gear group 42 will be described in more detail. The second gear group 42 includes a second spur gear 49 that meshes with the worm gear 17 fixedly attached to the drive shaft of the first drive motor 11. The second spur gear 49 is formed integrally with the second floating gear 46,
It is attached to the second floating shaft 50. Both ends of the second floating shaft 50 are slidably and rotatably attached to long holes 52, 52 formed to extend in the front-rear direction of the pair of guide pieces 51, 51. The pair of guide pieces 51, 51 are attached to predetermined positions of the upper frame 5.

The upper wall 3a and the lower wall 3b at the rear of the lower frame 3 have
The second support shaft 55 is rotatably supported. The protrusion protruding from the upper wall 3a of the second support shaft 55 has the second
Of the driven gear 43 is fixedly provided. When the second floating shaft 50 is located at the rear end of the long holes 52, 52 of the pair of guide pieces 51, 51, the second driven gear 43 is engaged with the second driven gear 43. (See FIG. 2).

In the lower frame 3, the second support shaft 55
A second small gear 57 is fixedly provided. This second
Is engaged with the second rear intermediate gear 59. The second rear intermediate gear 59 is a second rear intermediate shaft 6 rotatably supported by the upper wall 3a and the lower wall 3b of the lower frame 3.
0 fixed. Second rear intermediate shaft 6
At 0, a second rear intermediate small gear 61 is fixedly provided.

The second rear intermediate small gear 61 meshes with a second front intermediate gear 62. The second front intermediate gear 62 is fixedly attached to a second front intermediate shaft 63 rotatably supported on the upper wall 3a and the lower wall 3b of the lower frame 3. A second front intermediate small gear 65 is fixedly provided on the second front intermediate shaft 63.

The second front intermediate small gear 65 meshes with the second final gear 45. This second final gear 4
5 is fixedly attached to a second final shaft 66 rotatably supported on the upper wall 3a and the lower wall 3b of the lower frame 3. The engagement means 110 is fixedly attached to the second final shaft 66. In addition, an engagement claw 67 that engages with the teeth of the second final gear 45 and prevents the second final gear 45 from reversing is attached to the front portion of the lower frame 3.

As described above, the second gear group 42 includes the second spur gear 49, the second idle gear 46, the second driven gear 43, the second small gear 57, and the second Rear intermediate gear 59
And a second rear intermediate small gear 61, a second front intermediate gear 62, a second front intermediate small gear 65, and a second final gear 45. They are provided in series.

The guide means 70 comprises a pair of arm members 71 and 76 which can be opened and closed by the driving device 10. When the pair of arm members 71 and 76 are closed, both side surfaces of the sphere 130 can be guided, and the pair of arm members 71 and 76 can be guided. When is opened, the sphere 130 is released. The left arm member 71 includes a curved portion 72 formed by bending along the side surface of the sphere 130, a straight portion 73, a base 74 formed in a circular shape, and a bent end portion 75, The center of the base 74 is fixed to the first final shaft 35 of the first gear group 12, and protrudes from the front wall 3c of the lower frame 3.

The right arm member 76 includes a curved portion 77 formed by bending along the side surface of the sphere 130, a straight portion 78, a base 79 formed in a circular shape, and a bent end portion 80. The center of the base 79 is rotatably attached to the base shaft 81, and protrudes from the front wall 3 c of the lower frame 3. The base shaft 81 is provided symmetrically with the first final shaft 35 about the center line of the apparatus main body 2.

The left arm member 71 has a projecting piece 83 projecting from a base 74. The right arm member 76 has a protruding piece 85 protruding from a base 79. Both ends of a substantially U-shaped connecting shaft 89 are inserted into a hole 86 formed in the projecting piece 83 and a hole 87 formed in the projecting piece 85, and the left arm member 71 and the right arm member 76 are simultaneously opened and closed. It is supposed to. Thus, the pair of arm members 71, 76
Is linked to the first final gear 15 so as to be opened and closed by the rotation of the first final gear 15.

The left arm member 71 holds the upper frame 5 when opened.
Is housed in a left arm cover 6 formed on the front left side of the front arm. Also, the left arm member 71 is
It is urged in the opening direction by an elastic member 91 such as a coil spring attached between the locking piece 90 provided on the outside and the locking piece 6a provided in the left arm cover 6, and is stored in the left arm cover 6. Have been.

When the right arm member 76 is opened, the upper frame 5
Is housed in a right arm cover 7 formed on the right side of the front part. The right arm member 76 is
It is urged in the opening direction by an elastic member 93 such as a coil spring attached between the locking piece 92 provided on the outside and the locking piece 7a provided in the right arm cover 7, and is stored in the right arm cover 7. Have been.

The injection means 100 includes a pair of arm members 7
When the spheres 1 and 76 are open,
30 can be ejected and cannot be ejected when the pair of arm members 71 and 76 are closed. The injection unit 100 includes an injection member 101 that emits a sphere 130, and an elastic member 102 that urges the injection member 101 in the injection direction.
Consists of The injection member 101 is provided between the first gear group 12 and the second gear group 42, and is slidably provided on the lower wall 3a of the lower frame 3 in the front-rear direction.

The injection member 101 is provided with an injection piece 104 for injecting the sphere 130 at the front, and a spring receiving piece 10 on the left side.
3, and an engagement piece 105 is provided on the right side.
The injection member 101 includes the spring receiving piece 103 and the lower wall 3 of the lower frame 3.
The elastic member 102 such as a coil spring attached between the substantially L-shaped spring receiving portions 106 provided at the position a.

The engaging piece 105 of the injection member 101 is connected to the engaging means 11 fixedly attached to the second final shaft 66.
0 is engaged. The engaging means 110 includes a boss 111 and engaging projections 112, 1 formed on both sides of the boss 111.
It consists of 12. When the second final shaft 66 rotates, the engagement protrusions 112, 112 rotate, and one of the engagement protrusions 1 is rotated.
When the engaging member 12 is engaged with the engaging piece 105, the ejection member 101 moves in the reflection emergence direction (rearward direction) against the elastic member 102 such as a coil spring, and the elastic force of the elastic member 102 is stored.

When the engagement protrusion 112 is no longer engaged with the engagement piece 105, the ejection member 1 is repelled by the elastic force of the elastic member 102.
01 is pushed out in the injection direction (forward direction). As described above, the engagement means 110 for moving the ejection member 101 in the reflection / projection direction is linked to the second final gear 45 so as to operate by rotation of the second final gear 45.

In the launching apparatus 1, at least one driving wheel 120 and an idle wheel 121 are provided in the apparatus main body 2. The drive wheels 120 are driven by a second drive motor (not shown) provided in the apparatus main body 2. Further, the launching device 1 has a first
And a control circuit for controlling the driving of the drive motor 11 and the second drive motor, and a receiving circuit for receiving signals from an external controller.

Since the launching apparatus 1 has the above configuration, when the receiving circuit receives a signal from the external controller, the control circuit controls the driving of the first drive motor 11 and the second drive motor based on the signal. When the control circuit rotates the second drive motor forward, the drive wheels 120 rotate forward, and the firing device 1 moves forward. When the control circuit reverses the second drive motor, the drive wheel 120 rotates backward, and the firing device 1
Rotate around 1.

The launching apparatus 1 can freely run and stop by operating the external controller in this way. The pair of arm members 71, 76 are elastic members 91, 9.
Open by three. When the drive shaft of the first drive motor 11 is rotated forward by the operation of the external controller when the sphere 130 enters between the pair of arm members 71 and 76, the worm gear 17 also rotates forward and the first spur gear 19 While the second spur gear 49 is rotating, the elongated holes 2 of the guide pieces 21 and 51 are rotated.
It moves forward along 2 and 52 (see FIG. 3).

The second idler gear 46 integral with the second spur gear 49 is separated from the second driven gear 43 and the first spur gear 19
The first floating gear 16 integral with the first driven gear 13 meshes with the first driven gear 13. Therefore, the rotation of the worm gear 17 is controlled by the first spur gear 19, the first idle gear 16, and the first driven gear 1.
3, the first support shaft 25, the first small gear 27, the first rear crown gear 29, the first transmission shaft 31, the first front crown gear 30, the first intermediate gear 32, the first Final gear 15
And the first final shaft 35 rotates.

The rotation of the first final shaft 35 causes the left arm member 71 to rotate in the closing direction against the elasticity of the elastic member 91. The right arm member 76 connected to the left arm member 71 by the connecting member 89 is also an elastic member 93.
Rotates in the closing direction against the elasticity of As described above, the left arm member 71 and the right arm member 76 are closed, and both side surfaces of the sphere 130 are bent by the curved portions 72 of the left arm member 71.
And the curved portion 77 of the right arm member 76 guides.

The launching device 1 can run and stop freely while holding the sphere 130 by the pair of closed arm members 71 and 76. When the drive shaft of the first drive motor 11 is reversed by the operation of the external controller, the worm gear 17 also reverses, and the first spur gear 19 and the second spur gear 49 rotate while the guide pieces 21 and 51 It moves backward along the long holes 22, 52 (see FIG. 4).

The first idler gear 16 integral with the first spur gear 19 is separated from the first driven gear 13 and the second idle gear 49
The second floating gear 46 integral with the second driven gear 43 meshes with the second driven gear 43. When the first floating gear 16 separates from the first driven gear 13, the pair of arm members 71 and 76
1, 93 returns to the original open state and the sphere 13
Release 0. Since the first floating gear 16 is slowly separated from the first driven gear 13, the pair of arm members 7
1,76 does not return suddenly.

The second idle gear 46 is connected to the second driven gear 43
When the worm gear 17 rotates, the second spur gear 49, the second idle gear 46, the second driven gear 43, the second small gear 57, the second rear intermediate gear 59, the second The rear intermediate small gear 61, the second front intermediate gear 62, the second front intermediate small gear 65, and the second final gear 45 are transmitted to the second intermediate small gear 61,
Is rotated.

When the second final shaft 66 rotates, the engagement projections 112 of the engagement means 110 rotate, and one of the engagement projections 112 engages with the engagement piece 105 of the injection member 101, The ejection member 101 is moved in the reflection emergence direction (rearward direction) against the elasticity of the elastic member 102, and the elastic force of the elastic member 102 is stored. When the engagement protrusion 112 is no longer engaged with the engagement piece 105, the ejection member 101 is pushed out in the ejection direction (forward direction) by the elastic force of the elastic member 102, and the ejection piece 104 ejects the sphere 130 forward. .

As described above, when the pair of arm members 71 and 76 are open, the driving device 10 engages one side (the engagement piece 105) of the injection member 101 to move the injection member 101 to the elastic member 102. An engagement means 110 is provided which moves the ejection member 101 in the ejection direction by displacing the engagement and displacing the engagement to bias the ejection member 101 in the ejection direction against the elasticity.

As described above, since the launching device 1 can freely control the sphere 130 to carry it to a predetermined position and eject the sphere 130 at that position, it can be used for ball games such as a soccer robot, a handball robot, and a baseball robot. Can be used as a robot. It should be noted that the time during which the sphere 130 can be kept may be set by the control circuit. For example, when the pair of arm members 71 and 76 are closed and holding the sphere 130, the control circuit forcibly reverses the first drive motor 11 after a predetermined time, for example, 5 seconds, to cause the pair of arms to rotate. Open the members 71 and 76,
The sphere 130 may be released by the injection means 100.

Another embodiment of the present invention is shown in FIGS.
It will be described based on. FIG. 5 is an overall perspective view of the launching device according to the present invention as viewed from one side. FIG. 6 is an overall perspective view of the launching apparatus according to the present invention as viewed from the other side. FIG.
FIG. 8 is an overall plan view for explaining the operation of the launching apparatus according to the present invention.

The launching device 201 has a device body 202. The apparatus main body 202 includes a rectangular box-shaped lower frame 203 and an upper frame 2 attached to the lower frame 203 with screws, an adhesive, or the like.
05. The device main body 202 includes a driving device 210.
And a guide unit 270 for guiding the sphere 130 and an injection unit 300 for injecting the sphere 130.

The driving device 210 includes the first driving motor 21
1 and a first gear group 212 and a second gear group 242 rotated by a first drive motor 211. First
The drive motor 211 is mounted vertically at the rear of the upper surface of the upper wall 203 a of the lower frame 203, and is covered by the upper frame 205. First gear group 212 and second gear group 24
2 is provided in the lower frame 203.

The drive shaft of the first drive motor 211 has a sun gear 295 and a planetary gear 2 meshing with the sun gear 295.
A rotator 297 provided with 96 is provided. Rotating body 2
Reference numeral 97 includes a pair of flat plates 298 and 299. The first gear group 212 includes a first input gear 221 that can mesh with the planetary gear 296, and a first final gear 215 that opens and closes the pair of arm members 271 and 276.

The first gear group 212 will be described in more detail. The first gear group 212 includes a first drive motor 2
The first input gear 221 meshes with the planetary gear 296 attached to the eleventh drive shaft. The first input gear 221 is rotatably attached to a first input shaft 222 provided at the rear of the upper surface of the upper wall 203a of the lower frame 203.

The upper wall 203a and the lower wall 2 at the rear of the lower frame 203
A first support shaft 225 is rotatably supported at 03b. A first driven gear 213 is fixedly provided on a protruding portion protruding from the upper wall 203a of the first support shaft 225. The first driven gear 213 meshes with the first input gear 221.

A first small gear 227 is fixedly provided on the first support shaft 225 in the lower frame 3. The first small gear 227 meshes with the first rear intermediate gear 216. The first rear intermediate gear 216 is connected to the lower frame 2
03 is fixedly attached to a first rear intermediate shaft 217 rotatably supported on the upper wall 203a and the lower wall 203b. A first rear intermediate small gear 218 is fixedly attached to the first rear intermediate shaft 217.

A first front intermediate gear 229 meshes with a first rear intermediate small gear 218 in the lower frame 3. The first front intermediate gear 229 is connected to the upper wall 2 of the lower frame 203.
03a and the first front intermediate shaft 230 rotatably supported on the lower wall 203b. A first front intermediate small gear 231 is fixedly attached to the first front intermediate shaft 230.

The first front intermediate small gear 231 is meshed with the first final gear 215. The first final gear 215 includes an upper wall 203a and a lower wall 2 of the lower frame 203.
03b is fixedly attached to a first final shaft 235 rotatably supported on the first shaft 235. This first final axis 235
, A base 274 of a left arm member 271 described later is fixedly attached thereto.

As described above, the first gear group 212 is
Input gear 221, a first driven gear 213, a first small gear 227, a first rear intermediate gear 216, a first rear intermediate small gear 218, a first front intermediate gear 229, a first front. An intermediate small gear 231 and a first final gear 215;
It is provided in series on the left side inside the lower frame 203.

The second gear group 242 includes a second input gear 251 meshable with the planetary gear 296 and the injection member 30.
A second final gear 245 for operating the engaging means 310 for moving the first gear 1 in the reflection exit direction is provided.

The second gear group 242 will be described in more detail. The second gear group 242 includes the first drive motor 2
And a second input gear 251 that meshes with a planetary gear 296 attached to the eleventh drive shaft. The second input gear 251 is rotatably attached to a second input shaft 252 provided at the rear of the upper surface of the upper wall 203a of the lower frame 203.

The upper wall 203a and the lower wall 2 at the rear of the lower frame 203
A second support shaft 255 is rotatably supported at 03b. A second driven gear 243 is fixedly provided on a protruding portion protruding from the upper wall 203a of the first support shaft 255. The second driven gear 243 is designed to mesh with the second input gear 251.

A second small gear 257 is fixedly provided on the second support shaft 255 in the lower frame 3. The second small gear 227 meshes with the second final gear 245. The second final gear 245 is fixedly attached to a second final shaft 266 rotatably supported on the upper wall 203a and the lower wall 203b of the lower frame 203. An engagement means 310 is fixedly attached to the second final shaft 66.

As described above, the second gear group 242 is
, An input gear 251, a second driven gear 243, a second small gear 257, and a second final gear 245.
3 are provided in series on the left side.

The guide means 270 comprises a pair of arm members 271 and 276 which can be opened and closed by the driving device 210. When the pair of arm members 271 and 276 are closed,
30 can be guided, and a pair of arm members 271,
When the 276 is opened, the sphere 130 is released. The left arm member 271 includes a curved portion 272 formed by bending along the side surface of the sphere 130, a base portion 274 formed in a circular shape, and a bent end portion 275, and the center of the base portion 274 is formed. It is fixed to the first final shaft 235 of the first gear group 212 and protrudes from the front wall 203c of the lower frame 203.

The right arm member 276 has a curved portion 277 curved along the side surface of the sphere 130,
A circular base 279 and a bent tip 280
The center of the base 279 is rotatably attached to the base shaft 281 and protrudes from the front wall 203c of the lower frame 203. The base shaft 281 is provided symmetrically with the first final shaft 235 about the center line of the apparatus main body 202.

The left arm member 271 has a protruding piece 283 protruding from a base 274. Right arm member 276
Has a protruding piece 285 protruding from a base 279. Protruding piece 2
The two ends of the substantially U-shaped connecting shaft 289 are inserted into the hole 286 formed in the 83 and the hole 287 formed in the protruding piece 285, and the right arm member 271 and the left arm member 27 are inserted.
6 open and close at the same time.

The left arm member 271 is housed in a left arm cover 206 formed on the front left side of the upper frame 205 when opened. Further, the left arm member 271 is urged in an opening direction by an elastic member 291 such as a coil spring attached between a locking piece 290 provided on the outside and a locking piece 206a provided in the left arm cover 206. And is stored in the left arm cover 206.

The right arm member 276 is housed in a right arm cover 207 formed on the front right side of the upper frame 205 when opened. The right arm member 276 is urged in an opening direction by an elastic member 293 such as a coil spring attached between a locking piece 292 provided on the outside and a locking piece 207a provided in the right arm cover 207. And housed in the right arm cover 207.

The injection means 300 comprises a pair of arm members 27
When the first and second members 276 and 276 are open, the sphere 130 can be ejected by the driving device 210 and the pair of arm members 271 and 276 can be ejected.
Is configured so that it cannot be ejected when is closed.
The injection means 300 includes an injection member 30 that injects the sphere 130.
1 and an elastic member 302 that urges the ejection member 301 in the ejection direction. The injection member 301 is located between the first gear group 212 and the second gear group 242 and
The lower wall 203a is slidably provided in the front-rear direction.

The injection member 301 is provided with an injection piece 304 for injecting the sphere 130 at the front portion, and an engagement piece 305 protruding on the right side. The ejection member 301 is urged in the ejection direction (front direction) by an elastic member 302 such as a coil spring provided at a rear portion.

The engaging piece 305 of the injection member 301 is connected to the engaging means 3 fixedly attached to the second final shaft 266.
Engage with 10. The engagement means 310 includes a boss 311,
The boss 311 includes an engaging projection 312 protrudingly formed. When the second final shaft 266 rotates, the engagement protrusion 312 rotates, and when the engagement protrusion 312 engages with the engagement piece 305,
The injection member 301 is an elastic member 302 such as a coil spring.
Moves in the reflection exit direction (rearward direction) against the elastic member 3
02 resilience is stored. The engagement projection 312 is the engagement piece 3
When the engagement member 05 is no longer engaged, the ejection member 301 is pushed out in the ejection direction (forward direction) by the elastic force of the elastic member 302.

Further, the launching device 201 comprises a device body 202.
, At least one drive wheel 320 and an idle wheel 321 are provided. The drive wheels 320 are driven by a second drive motor (not shown) provided in the apparatus main body 202. Further, the launching device 201 includes a control circuit for controlling the driving of the first drive motor 211 and the second drive motor, and a receiving circuit for receiving a signal from an external controller in the device main body 202.

Since the launching device 201 has the above configuration, when the receiving circuit receives a signal from the external controller, the control circuit operates the first driving motor 211 by the signal.
And the drive of the second drive motor. The control circuit is the second
When the drive motor is rotated forward, the drive wheel 320 rotates forward,
The firing device 201 moves forward. When the control circuit reverses the second drive motor, the drive wheel 320 rotates backward and the
01 rotates around the idler wheel 321.

The launching device 201 can freely run and stop by the operation of the external controller. The pair of arm members 271 and 276 are opened by elastic members 291 and 293. When the spherical member 130 enters the space between the pair of arm members 271, 276 and the drive shaft of the first drive motor 211 is rotated forward by the operation of the external controller, the sun gear 295 rotates forward and the planetary gear 2
96 turns about sun gear 295 and meshes with first input gear 221.

Therefore, the rotation of the sun gear 295 is controlled by the planetary gear 296, the first input gear 221, and the first driven gear 2.
13, a first support shaft 225, a first small gear 227, a first rear intermediate gear 216, a first rear intermediate small gear 218, a first front intermediate gear 229, a first front intermediate small gear 23
1, transmitted to the first final gear 215, the first final shaft 2
35 rotates.

The rotation of the first final shaft 235 causes the left arm member 271 to rotate in the closing direction against the elasticity of the elastic member 291. The right arm member 276 connected to the left arm member 271 by the connecting member 289 also rotates in the closing direction against the elasticity of the elastic member 293.
As described above, the left arm member 271 and the right arm member 276 are closed, and the curved portion 272 of the left arm member 271 and the curved portion 277 of the right arm member 276 guide both sides of the sphere 130.

The firing device 201 can freely run and stop while holding the sphere 130 by the pair of closed arm members 271 and 276. When the drive shaft of the first drive motor 211 is reversed by the operation of the external controller, the sun gear 295 is reversed and the planetary gear 296 is rotated.
Turns around the sun gear 295 and meshes with the second input gear 251.

When the planetary gear 296 separates from the first input gear 221, the pair of arm members 271 and 276 return to the original open state by the elastic members 291 and 293, and release the sphere 130. When the planetary gear 296 meshes with the second input gear 251, the rotation of the sun gear 295 becomes
The planetary gear 296, the second input gear 251, the second driven gear 243, the second support shaft 255, the second small gear 257, and the second final gear 245 are transmitted to rotate the second final shaft 266. I do.

When the second final shaft 266 rotates, the engagement projection 312 of the engagement means 310 rotates, and the engagement projection 312 engages with the engagement piece 305 of the injection member 301 and the injection member 30
1 is moved in the reflection emergence direction (rearward direction) against the elasticity of the elastic member 302, and the elastic force of the elastic member 302 is stored. When the engagement projection 312 is no longer engaged with the engagement piece 305, the ejection member 301 is pushed out in the ejection direction (forward direction) by the elastic force of the elastic member 302, and the ejection piece 304 ejects the sphere 130 forward. .

As described above, the launching device 201 includes the sphere 13
Since 0 can be freely controlled and carried to a predetermined position and the sphere 130 can be ejected at that position, it can be used as a ball game robot such as a soccer robot, a handball robot, and a baseball robot.

[0081]

The launching device according to the first and second aspects of the present invention can be used by being attached to a traveling body operated by an external controller, and can be guided by holding a sphere by a pair of arm members. Therefore, there is an effect that the sphere can be freely controlled with the movement of the apparatus main body. Further, since the injection means is provided, there is an effect that a sphere can be emitted.

According to the third and fourth aspects of the present invention, the pair of arm members are operated by the first gear group, and the ejection member is operated by the second gear group. Are alternately driven by one drive motor, so that there is an effect that the pair of arm members and the injection member do not operate simultaneously. Therefore, when the pair of arm members are closed and holding the sphere, the sphere cannot be ejected. When the pair of arm members open and release the sphere, the sphere is ejected. There is an effect that it is possible to prevent breakage of each part caused by injecting the sphere held by the member.

According to the fifth aspect of the present invention, in addition to the above-described effects, since the apparatus main body is provided with at least one drive wheel driven by the second drive motor, it can be run.

The launching device according to claim 6 has the effect that it can be used as a ball game robot for soccer, handball, etc. since it can be controlled by an external controller in addition to the above effects.

[Brief description of the drawings]

FIG. 1 is an overall perspective view showing one embodiment of a launching device according to the present invention as viewed from one side.

FIG. 2 is an overall perspective view as viewed from the other side of FIG. 1;

FIG. 3 is an overall plan view for explaining the operation of FIG. 1;

FIG. 4 is an overall plan view for explaining the operation of FIG. 1;

FIG. 5 is an overall perspective view of another embodiment of the launching apparatus according to the present invention as viewed from one side.

FIG. 6 is an overall perspective view as viewed from the other side of FIG. 5;

FIG. 7 is an overall plan view for explaining the operation of FIG. 5;

8 is an overall plan view for explaining the operation of FIG.

FIG. 9 is an overall perspective view showing a conventional technique.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Launching device 2 Device main body 3 Lower frame 3a Upper wall 3b Lower wall 3c Front wall 5 Upper frame 6 Left arm cover 6a Locking piece 7 Right arm cover 7a Locking piece 10 Drive 11 First drive motor 12 Gear group 13 First driven gear 15 First final gear 16 First floating gear 17 Worm gear 19 First spur gear 20 First floating shaft 21 Guide piece 22 Slot 25 First support shaft 27 First Small gear 29 first rear crown gear 30 first front crown gear 31 first transmission shaft 32 first intermediate gear 33 first intermediate shaft 35 first final shaft 42 second gear group 43 2 driven gear 45 2nd final gear 46 2nd idle gear 49 2nd spur gear 50 2nd idle shaft 51 guide piece 52 long hole 55 2nd support shaft 57 2nd small gear 59 2nd Rear intermediate gear 60 second Part intermediate shaft 61 Second rear intermediate small gear 62 Second front intermediate gear 63 Second front intermediate shaft 65 Second front intermediate small gear 66 Second final shaft 67 Engagement pawl 70 Guide means 71 Arm member 72 Curved portion 73 Linear portion 74 Base portion 75 Tip portion 76 Arm member 77 Curved portion 78 Linear portion 79 Base portion 80 Tip portion 81 Base shaft 83 Projection piece 85 Projection piece 86 Hole 87 Hole 89 Connection axis 90 Lock piece 91 Elastic member 92 Locking piece 93 Elastic member 100 Injecting means 101 Injecting member 102 Elastic member 103 Spring receiving piece 104 Injecting piece 105 Engaging piece 106 Spring receiving part 110 Engaging means 111 Boss part 112 Engaging projection 120 Driving wheel 121 Idling wheel 130 Sphere 201 Launching device 202 Device body 203 Lower frame 203a Upper wall 203b Lower wall 203c Front wall 205 Upper frame 206 Left arm Cover 206a Locking piece 207 Right arm cover 207a Locking piece 210 Driving device 211 First drive motor 212 First gear group 213 First driven gear 215 First final gear 216 First rear intermediate gear 217 First Rear intermediate shaft 218 first rear intermediate small gear 221 first input gear 222 first input shaft 225 first support shaft 227 first small gear 229 first front intermediate gear 230 first front Intermediate shaft 231 First front intermediate small gear 235 First final shaft 242 Second gear group 243 Second driven gear 245 Second final gear 251 Second input gear 252 Second input shaft 255 Second Support shaft 257 second small gear 266 second final shaft 270 guide means 271 arm member 272 curved portion 274 base 275 tip 276 arm member 277 bay Part 279 Base 280 Tip 281 Base 283 Projection 285 Projection 286 Hole 287 Hole 289 Connection shaft 290 Locking piece 291 Elastic member 292 Locking piece 293 Elastic member 295 Sun gear 296 Planetary gear 297 Rotating body 298 Flat plate 299 Flat plate 300 Injection Means 301 Injection member 302 Elastic member 304 Injection piece 305 Engagement piece 310 Engagement means 311 Boss 312 Engagement projection 320 Drive wheel 321 Idling wheel

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yoshinori Haga 3-6-20 Toy Town, Mibu-cho, Shimotsuga-gun, Tochigi Pref.

Claims (6)

[Claims] 1. A launching device having the following requirements. (A) The apparatus main body is provided with a driving device, guide means for guiding the sphere, and injection means for injecting the sphere. (B) The guide means is composed of a pair of arm members which are opened and closed by a drive device. When the pair of arm members are closed, the side surfaces of the sphere can be guided, and when the pair of arm members are opened, the sphere is released. thing. (C) The injection means is configured to be capable of emitting a sphere by a driving device. 2. The launch device according to claim 1, wherein the launch device has the following requirements. (A) The injection means includes an injection member that emits a sphere and an elastic member that urges the injection member in the injection direction. (B) The driving device engages with one side of the ejection member to move the ejection member in the reflection exit direction against the elasticity of the elastic member, and releases the engagement to cause the ejection member to move in the ejection direction by the elastic member. Is provided with an engagement means for urging the actuator. 3. The launch device according to claim 1, wherein the launch device has the following requirements. (A) The drive device includes a first drive motor, a first gear group and a second gear group that are rotated by the first drive motor. (B) The first gear group meshes with the first driven gear during normal rotation of the first drive motor to transmit the rotation of the first drive motor to the first final gear, and causes the first drive motor to rotate. A first idler gear that does not mesh with the first driven gear during reverse rotation and does not transmit the rotation of the first drive motor to the first final gear; (C) The pair of arm members are linked to the first final gear so as to be opened and closed by rotation of the first final gear. (D) The second gear group meshes with the second driven gear during reverse rotation of the first drive motor to transmit the rotation of the first drive motor to the second final gear, so that the first drive motor rotates normally. A second idler gear that does not mesh with the second driven gear during rotation and that does not transmit the rotation of the first drive motor to the second final gear; (E) The engagement means for moving the ejection member in the reflection exit direction includes:
Being associated with the second final gear so as to operate by rotation of the second final gear. 4. The launch device according to claim 1, wherein the launch device has the following requirements. (A) The drive device includes a first drive motor, a first gear group and a second gear group that are rotated by the first drive motor. (B) A rotating body including a sun gear and a planetary gear meshing with the sun gear is provided on the drive shaft of the first drive motor. (C) The first gear group includes a first gear group that can mesh with the planetary gears.
And a first final gear for opening and closing the pair of arm members. (D) The second gear group is a second gear group that can mesh with the planetary gears.
, And a second final gear for operating an engagement means for moving the ejection member in the reflection exit direction. 5. The apparatus body according to claim 1, wherein the apparatus main body is provided with at least one drive wheel and a second drive motor for driving the at least one drive wheel. The launching device according to the paragraph. 6. The apparatus main body includes a first drive motor and a second drive motor.
6. The launching device according to claim 5, further comprising a control circuit for controlling the driving of the driving motor, and a receiving circuit for receiving a signal from an external controller.