RU2733571C1 - Sporting equipment throwing device - Google Patents

Abstract

FIELD: mechanics; robotics.

SUBSTANCE: invention relates to mechanics and robotics, can be used for throwing sports equipment for training purposes. Device for throwing sports equipment comprises two hingedly connected internal and external frames, two accelerating wheels installed on internal frame, each of which is connected to its motor, two gear motors mounted on outer frame, gas shock absorbers connected to inner and outer frames, wherein outer frame is made with possibility of rotation along vertical axis, and internal frame is made with possibility of rotation both on vertical and horizontal axis, at that on each axis there is a motor-reducer and absolute encoder, besides on external frame there installed are inductive sensors.

EFFECT: technical result consists in improvement of training process quality, providing possibility of equipment departure parameters flexible control, providing task of parameters of departing equipment via wireless communication channels, improving accuracy of supply and recurrence of trajectory of equipment departure to player in different zones and along different trajectory, improving safety of sportsman, increasing service life of device without servicing, high stability and balance of the structure, ensuring stable, accurate and reliable operation of the device as a whole.

10 cl, 6 dwg

Description

The technical field to which the invention relates

The invention relates to the field of mechanics and robotics, can be used for throwing sports equipment for training purposes.

State of the art

A thrower-trainer is known from the prior art (RU 2413558 C2, publ. 03/10/2011). The thrower-simulator contains a support frame mounted on roller supports, on which ball pushers are located, a feeder containing several balls and an electric control panel. The pushers, symmetrically located parallel to the vector of the ball throw, are a pair of endless belts with a variable profile of the working surface in contact with the ball. The belts are located on vertical pulleys with grooves spaced apart along the height, while the driving pair of pulleys is connected coaxially with the respective separately controlled electric motors fixed on the support frame. The feeder, made in the form of a folding tubular structure formed by longitudinally fixed rails, is movably fixed in the rear part of the support frame, the control panel attached to the support frame is designed in such a way as to provide separate adjustment of the rotation frequency of the electric motors.

The disadvantage of such a device is that the design of this device does not allow automatic rotation in both horizontal and vertical planes, the complexity and unreliability of the design, the impossibility of flexible control of the projectile departure parameters, the inability to set the parameters of the projectile departure via wireless communication channels, low accuracy of delivering the projectile to the player in different zones and along different trajectories, low quality of the training process in general.

The claimed invention eliminates the indicated disadvantages and makes it possible to achieve the claimed technical result.

Disclosure of invention

The technical problem that the proposed solution solves is the creation of a device for throwing sports equipment, which provides an increased quality of the training process due to the possibility of flexible control of the parameters of the projectile departure.

The technical result consists in improving the quality of the training process, providing the possibility of flexible control of the parameters of the projectile departure, ensuring the task of the parameters of the projectiles flying through wireless communication channels, increasing the accuracy of feeding and the repeatability of the projectile departure trajectory to the player in different zones and along different trajectories, increasing the safety of the athlete, increasing the period service of the device without its maintenance, increasing the stability and balance of the structure, ensuring stable, accurate and reliable operation of the device as a whole.

To solve the set problem with the achievement of the claimed technical result, the device for throwing sports equipment contains two articulated internal and external frames, two accelerating wheels mounted on the inner frame, each of which is connected to its own engine, two gear motors mounted on the outer frame, gas shock absorbers connected to the inner and outer frames, and the outer frame is made with the possibility of rotation along the vertical axis, and the inner frame is made with the possibility of rotation both along the vertical and along the horizontal axis, with a gear motor installed on each axis and absolute encoder, with inductive sensors mounted on the outer frame.

Each of the frames has at least a lower horizontal platform and two side vertical walls.

The accelerating wheels are installed horizontally, at a distance from each other, on the lower horizontal platform of the inner frame, through the hubs.

Each of the engines is mounted under the platform of the inner frame, coaxially with the hub and wheel.

On one outer side of the side wall of the outer frame, on the horizontal axis, a gear motor is installed, and on the other outer side of the side wall of the outer frame, on the horizontal axis, an absolute encoder is installed.

On the horizontal platform of the outer frame, on the vertical axis, a geared motor is installed, while an encoder is attached to the geared motor.

Inductive sensors are mounted on the side walls of the outer frame.

The device additionally has optical sensors mounted on a protective panel.

The device is made with the possibility of changing the angle of the platform position in two axes with a step of one degree.

The device is made with the possibility of programming the parameters of the projectiles flying through wireless communication channels.

Brief Description of Drawings

Fig. 1. - Device for throwing sports equipment;

Fig. 2. - Device for throwing sports equipment, side view;

Fig. 3. - Device for throwing sports equipment, bottom view;

Fig. 4. - Device for throwing sports equipment with a protective panel;

Fig. 5. - Device for throwing sports equipment with a protective panel, side view;

Fig. 6. - A device for throwing sports equipment, in isometric view from the back.

In the figures, the following elements are indicated by numbers:

1 - Internal welded metal frame;

2 - External welded metal frame;

3 - Horizontal axis of rotation of the device;

4 - the hub;

5 - Wheel;

6 - Brushless or asynchronous motor;

7 - Two-stage worm gear motor for turning around a horizontal axis;

8 - Absolute encoder that determines the position of rotation along the horizontal axis;

9 - Vertical axis of rotation of the device;

10 - Two-stage worm gear motor for turning around a vertical axis;

11 - Absolute encoder that determines the position of rotation along the vertical axis;

12 - Gas shock absorber;

13 - Cover for wheel protection;

14 - Support roller;

15 - Inductive sensor;

16 - Protective metal panel;

17 - Optical sensor;

18 - sports equipment.

Implementation of the invention

The device for throwing sports equipment is a metal welded structure mounted on roller supports with accelerating wheels fixed on it. Throwing of sports equipment is carried out due to the rotation of the accelerating wheels by engines. The speed of rotation of the wheels determines the speed and rotation of the projectile. The device is equipped with geared motors that allow the structure with accelerating wheels to rotate along the vertical and horizontal axes, giving the projectile different flight paths.

The design of the device consists of two pivotally connected to each other by means of a bearing connection, inner 1 and outer 2 welded metal frames.

The inner frame 1 has at least a lower horizontal platform and two side vertical walls. On the outer side of each of the two side walls of the inner frame 1, one horizontal, coaxial to each other, a flange in the form of a shaft (flange-shaft) is made.

The outer frame 2 also has at least a lower horizontal platform and two side vertical walls. In each of the two side walls of the outer frame, one flange is made, coaxial to each other and to the flange-shafts, in which the self-aligning bearing is installed, and in which the flange-shaft of the inner frame is located.

All the above-described flanges are located coaxially to each other and their connections are the horizontal axis 3 of rotation of the device. The platform of the inner frame 1 is located above the platform of the outer frame 2, creating a space for placing additional equipment.

On the lower horizontal platform of the inner frame through the hubs 4, at a distance from each other necessary for the passage of the projectile, the accelerating wheels 5 are horizontally mounted, each of which is rotatable due to the brushless or asynchronous motor 6. Each of the motors 6 is installed under the platform, coaxial with hub 4 and wheel 5, and is attached to hub 4 through bolts from below to the platform of the inner welded frame 1.

The inner frame 1 is made with the possibility of rotation along the horizontal axis 3 due to a two-stage worm gear motor 7 mounted on the side wall of the outer frame 7. The gear motor 7 is attached to the frame with bolts passing through a flange with a bearing installed in the vertical side wall of the outer frame 2. The flange-shaft of the inner frame 1 passes through the bearing and enters the gearbox. Rotation from the geared motor 7 is transmitted to the inner frame 1 through this flange by a key. On the other hand, on the opposite vertical side wall, an absolute encoder 8 is fixed to the bearing flange and is connected through a coupling to the shaft of the inner frame 1. Encoder 8 determines the position of rotation of the inner frame along the horizontal axis 3. Encoder 8 is made stationary, since its body is fixed on the flange with a bearing on the outer frame.

In this case, the inner 1 and outer 2 frames are made with the possibility of joint rotation along the vertical axis 9 due to the second gear motor 10 installed directly on top of the horizontal platform of the outer frame (under the platform of the inner frame) 10. The gear motor is fixed to the outer platform frame with 2 bolts passing through the flange with a bearing mounted underneath the frame. Frame 2 is installed on a vertical flange-shaft, fixed in the seat (fixed base) of the device. This flange goes through the bearing and into the gearbox. Rotation from the gear motor 10 is transmitted to the frame through this flange by a key. To determine the position of rotation along the vertical axis 9 of the outer and inner frames, an absolute encoder 11 is provided, which is attached to the gear motor 10 through a plate and is connected by a coupling to the flange-shaft.

The geared motors are controlled by drivers connected to the central control board.

Gas shock absorbers 12 are also provided in the design. Gas shock absorbers 12 are bolted to the side walls of the outer frame, and are also bolted to the side walls of the inner frame with their body and stem. Gas shock absorbers select the clearance of the gear motor 7, limit the extreme positions of rotation of the inner frame, damp the vibrations of the ball kickback and reduce the load from the gear motor 7, ensure stable and reliable operation of the device.

In addition, it is possible to design a metal cover 13, which protects the wheels, and is screwed to the inner frame 1.

To add stability to the entire structure, support rollers 14 are provided, installed under the outer frame through welded corners.

The extreme positions of rotation of the inner frame are determined by two inductive sensors 15, fixed on the side walls of the outer frame.

The wheel can be made in the form of a car rim coated with polyurethane.

Wheels 5 are installed on hubs 4. The hub has a wheel bearing and a landing flange for an automobile disk. Each hub 4 is bolted to the engine 6 through bolts to the welded inner frame 1. The rotation of each wheel 1 is carried out by the engine 6 through the splined coupling. The rotation of the wheels is multidirectional. Two two-stage worm gear motors 7 and 10 are installed on the outer frame 2. The gear motor 10 rotates the structure around the vertical axis 9, the position is determined by the absolute encoder 11 mounted on the gear motor 10. Frame 1 is fastened to the frame 2 through flanges with bearings. The rotation of the frame 1 is carried out with the help of the gear motor 7 around the horizontal axis 3, the position is determined by the absolute encoder 8. Gas shock absorbers 12 select the clearance of the gear motor 7, damp the vibrations of the ball kickback and reduce the load from the gear motor 7. The metal cover 13 protects the wheels 1 and screwed to frame 1. Support rollers 14 are mounted on frame 2 through welded corners, adding stability to the structure. The extreme positions of rotation of frames 1 and 2 are determined by two inductive sensors 15.

Throwing of sports equipment 18, such as soccer balls, basketballs, volleyballs or rugby balls, is carried out by the rotation of the accelerating wheels by the motors at their base. Depending on the type of projectile, the wheel center distance can be from 490 mm to 520 mm, while the diameter of each wheel can be 345-350 mm, and the distance of the ball can be 140-180 mm.

Due to the wheels and motors, it is possible to regulate the speed of the ball departure, which depends on the speed of rotation of the wheels, they are controlled from the control board. Spinning the wheels at different speeds gives the ball a spin on departure.

Gear motors and encoders provide the ability to change the horizontal and vertical angles of the ball. Worm gear motors change the position of the platform in two axes, and the absolute encoder controls the angles set by the program, which allows you to change the angle in 1 degree increments.

All motors are controlled and programmed from any device.

In addition, it is possible to pre-program the parameters of each ball release or set the range of parameters within which the ball will be released, creating an effect of uncertainty, because each next shot can take off with different parameters.

Parameters of projectiles (speed, vertical angle of departure, horizontal angle of departure, twisting, departure frequency) can be set wirelessly through the control board by the server from any device (computer, phone, tablet, smart watch, etc.). It is only necessary to connect via, for example, Wi-Fi to the server, the server gives commands to the control board, and it already moves each element of the device separately. Also, the control system can be implemented through a control panel with buttons.

In addition to the above, the device can be equipped with a protective metal panel 16, which is attached to the sides of the outer frame with 2 bolts, covering the front, side and top sides of the device. In this case, optical sensors 17 can be installed on the upper and lower outer surfaces of the protective metal panel 16, which register that the ball 18 has flown from the outside back into the device and urgently stop all mechanisms. This excludes a shot with two balls and a breakdown due to the fact that there were two balls in conflict in the device, additionally ensuring the reliability of the device. At the same time, it also affects the safety of the athlete, since the shot with two balls has the effect of surprise for the athlete and can lead to injury. The same sensors can record the fact of the ball leaving the device, which provides an additional check that after the command to shoot the ball, the ball actually flew out of the device.

Due to the absence of quickly wearing elements, a long service life of the device is ensured without maintenance.

Due to the absence of pushing mechanisms of the ball in the wheels, the soft material of the wheels, due to the weight, rigidity, stability and balance of the structure, the noiseless operation of the device is additionally ensured (including the shot is not accompanied by a metallic sound).

Also, due to the performance of the accelerating wheels, the quality of their manufacture and balancing, the precise positioning of the rotation angles of the device and the precise control of the wheel rotation frequency, the accuracy and high repeatability of the ball's trajectory are ensured.

Claims (10)

1. A device for throwing sports equipment, characterized by the fact that it contains two articulated inner and outer frames, two accelerating wheels mounted on the inner frame, each of which is connected to its own engine, two geared motors mounted on the outer frame, gas shock absorbers connected to the inner and outer frames, and the outer frame is made with the possibility of rotation along the vertical axis, and the inner frame is made with the possibility of rotation both along the vertical and along the horizontal axis, with a gear motor and an absolute encoder installed on each axis , with inductive sensors installed on the outer frame. 2. The device according to claim 1, characterized in that each of the frames has at least a lower horizontal platform and two side vertical walls. 3. The device according to claim 1, characterized in that the accelerating wheels are installed horizontally, at a distance from each other, on the lower horizontal platform of the inner frame, through the hubs. 4. The device according to claim 1, characterized in that each of the engines is installed under the platform of the inner frame coaxially with the hub and the wheel. 5. The device according to claim 1, characterized in that on one outer side of the side wall of the outer frame, on the horizontal axis, a gear motor is installed, and on the other outer side of the side wall of the outer frame, on the horizontal axis, an absolute encoder is installed. 6. The device according to claim 1, characterized in that a geared motor is installed on the horizontal platform of the outer frame, on the vertical axis, and an encoder is attached to the geared motor. 7. The device according to claim 1, characterized in that the inductive sensors are attached to the side walls of the outer frame. 8. The device according to claim 1, characterized in that it additionally has optical sensors mounted on the protective panel. 9. The device according to claim 1, characterized in that it is configured to change the angle of the platform position in two axes with a step of one degree. 10. The device according to claim 1, characterized in that it is made with the possibility of programming the parameters of the projectiles flying through wireless communication channels.

Images