A ball throwing unit

Abstract

The present application provides a ball throwing unit, including a frame, an electrical control cabinet, and a two-axis moving unit, a ball dropping unit and a ball throwing device arranged on the frame, wherein the ball dropping unit is located above the two-axis moving unit, and the two-axis moving unit drives the ball throwing device to move left and right and up and down in a vertical plane to realize the function of multiple ball throwing trajectories in one plane, and the ball dropping unit is used to realize the functions of dropping and catching the ball. The ball throwing unit provided in the present application adopts a unit combination structure, and each working unit is relatively independent and can be combined with each other. It can be used for the static control training of motion control systems, and focuses more on the training of dynamic control technology.

Description

Technical Field

[0001] The invention relates to a practical training teaching device, in particular to a ball throwing unit. Background Art

[0002] Practical training is an important part of the education process in colleges and universities. Practical training can improve students' professional quality by simulating the actual working environment and letting students complete actual cases from real work projects, so as to achieve the goal of satisfying students' employment and satisfying enterprises' employment. However, the practical training equipment on the market currently has a single function, which is not convenient for students to understand automatic control and affects the teaching quality.

[0003] In summary, how to improve the above problems is an issue that technical personnel in this field need to solve urgently. Summary of the invention

[0004] The purpose of the present invention is to provide a ball throwing unit, which solves the problem of single function of existing practical teaching equipment.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a ball throwing unit, comprising a frame, an electrical control cabinet, and a two-axis moving unit, a ball dropping unit and a ball throwing device arranged on the frame, the ball dropping unit being located above the two-axis moving unit, the two-axis moving unit driving the ball throwing device to move left and right and up and down in a vertical plane to realize the function of multiple ball throwing trajectories in one plane, and the ball dropping unit is used to realize the functions of dropping and catching the ball.

[0006] Furthermore, the ball dropping unit includes a height adjustment frame arranged on the frame, two parallel fixed frames, two blocking mechanisms and a dropping barrel, the dropping barrel is connected to the height adjustment frame through two fixed frames, and two blocking mechanisms are respectively arranged on corresponding fixed frames, and the blocking mechanisms can act in the dropping barrel to prevent the ball from falling.

[0007] Furthermore, the blanking barrel is arranged along the vertical direction.

[0008] Furthermore, the blocking mechanism includes a pen-shaped cylinder and a blocking plate, the pen-shaped cylinder is fixed on the fixed frame through a cylinder frame, the blocking plate is connected to the front end of the cylinder rod of the pen-shaped cylinder, and the front end of the blocking plate can pass through the arc groove on the side wall of the blanking barrel and extend into the blanking barrel.

[0009] Furthermore, the ball falling unit also includes two photoelectric sensors, and the photoelectric sensors are arranged above the corresponding blocking mechanisms.

[0010] Furthermore, the ball throwing device includes a ball bowl, and the ball bowl is arranged on the longitudinal slide of the longitudinal linear module.

[0011] Furthermore, the ball bowl is funnel-shaped.

[0012] Furthermore, the two-axis moving unit includes two parallel transverse linear modules, a longitudinal linear module mounted between the two transverse linear modules, a transverse driving mechanism and a longitudinal driving mechanism, the ball throwing device is arranged on the longitudinal linear module, the transverse driving mechanism is used to drive the longitudinal linear module to reciprocate left and right along the transverse linear module, and the longitudinal driving mechanism is used to drive the ball throwing device to reciprocate up and down along the longitudinal linear module.

[0013] Furthermore, the transverse driving mechanism includes a first driving motor and a transmission shaft, the transmission shaft is drivingly connected to the ends of the two transverse linear modules, and the first driving motor is connected to one end of the transmission shaft.

[0014] It can be seen from the above technical solution that the present invention has the following beneficial effects:

[0015] In the present invention, the ball throwing unit adopts a structure in which a two-axis moving unit 2, a ball dropping unit 3 and a ball throwing device 4 are combined. The two-axis moving unit 2 and the ball throwing device 4 cooperate to realize single-axis ball throwing motion control and multi-axis ball throwing motion control. The ball dropping unit 3 can realize falling ball motion control. The two-axis moving unit 2, the ball dropping unit 3 and the ball throwing device 4 cooperate to realize ball catching motion control and cyclic ball catching motion control. It can be used for the training of static control of motion control systems, and focuses more on the training of dynamic control technology. When in use, different combinations, installations and commissioning can be carried out according to the needs of training or different work tasks to achieve the goals of simulating productive functions and integrating learning functions. It is suitable for both teaching and training and professional training of enterprises.

[0016] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure of the ball falling unit of the present invention.

[0020] Figure 3 It is a structural schematic diagram of the ball falling unit of the present invention.

[0021] Explanation of the accompanying drawings: frame 1, two-axis moving unit 2, horizontal linear module 21, horizontal slide 211, longitudinal linear module 22, longitudinal slide 221, horizontal drive mechanism 23, first drive motor 231, transmission shaft 232, longitudinal drive mechanism 24, second drive motor 241, ball dropping unit 3, height adjustment frame 31, T-slot 311, fixed frame 32, blocking mechanism 33, pen-shaped cylinder 331, cylinder frame 332, blocking plate 333, drop barrel 34, arc groove 341, photoelectric sensor 35, angle iron 36, ball throwing device 4, ball bowl 41. DETAILED DESCRIPTION

[0022] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0023] Reference below Figures 1 to 3 The present invention is further described as follows. Figure 1 A ball throwing unit shown includes a frame 1, an electrical control cabinet, and a two-axis moving unit 2, a ball dropping unit 3 and a ball throwing device 4 arranged on the frame 1. The ball dropping unit 3 is located above the two-axis moving unit 2. The two-axis moving unit 2 drives the ball throwing device 4 to move left and right and up and down in a vertical plane to realize the function of multiple ball throwing trajectories in one plane. The ball dropping unit 3 is used to realize the function of dropping and catching the ball at any height. The electrical control cabinet is used to control the two-axis moving unit 2 and the ball dropping unit 3 to work independently or cooperate to complete the corresponding function display. When in use, the ball throwing unit is placed on a training table.

[0024] In this embodiment, Figure 2 , Figure 3 As shown, the ball dropping unit 3 includes a height adjustment frame 31, two parallel fixed frames 32, two blocking mechanisms 33 and a blanking barrel 34 arranged in the vertical direction. The height adjustment frame 31 is fixed on the frame 1 through two angle irons 36. The blanking barrel 34 is connected to the height adjustment frame 31 through two fixed frames 32. The two blocking mechanisms 33 are respectively arranged on the corresponding fixed frames 32. The blocking mechanisms 33 can act in the blanking barrel 34 to prevent the ball from falling. The ball dropping unit 3 also includes two photoelectric sensors 35. The photoelectric sensors 35 are arranged above the corresponding blocking mechanisms 33. A plurality of T-slots are provided on the height adjustment frame 31 along the length direction to facilitate the fixed connection between the fixed frame 32 and the angle iron 36 and the height adjustment frame 31. In addition, the height adjustment of the height adjustment frame 31 can be achieved by adjusting the relative position between the angle iron 36 and the height adjustment frame 31.

[0025] In this embodiment, Figure 2 , Figure 3As shown, the blocking mechanism 33 includes a pen-shaped cylinder 331 and a blocking plate 333. The pen-shaped cylinder 331 is fixed on the fixing frame 32 through a cylinder frame 332. The blocking plate 333 is connected to the front end of the cylinder rod of the pen-shaped cylinder 331. The front end of the blocking plate 333 can be controlled by the pen-shaped cylinder 331 to pass through the arc groove 341 on the side wall of the blanking barrel 34 and extend into the blanking barrel 34.

[0026] In this embodiment, Figure 1 As shown, the two-axis moving unit 2 includes two parallel transverse linear modules 21, a longitudinal linear module 22 mounted between the two transverse linear modules 21, a transverse driving mechanism 23 and a longitudinal driving mechanism 24, the two ends of the transverse linear module 21 are respectively fixed on the frame 1, the two ends of the longitudinal linear module 22 are respectively connected to the transverse slides 211 of the two transverse linear modules 21, the ball throwing device 4 includes a ball bowl 41, the ball bowl 41 is arranged on the longitudinal slide 221 of the longitudinal linear module 22, the transverse driving mechanism 23 includes a first driving motor 231 and a transmission shaft 232, the transmission shaft 232 is connected to the two transverse linear modules 21, and the two longitudinal linear modules 21 are connected to the longitudinal slide 221 of the longitudinal linear module 22. The end of the module 21 is connected for transmission, the first drive motor 231 is connected to one end of the drive shaft 232, the transverse drive mechanism 23 is used to drive the longitudinal linear module 22 to reciprocate left and right along the transverse linear module 21, the longitudinal drive mechanism 24 includes a second drive motor 241, the second drive motor 241 is connected to the lower end of the longitudinal linear module 22, the longitudinal drive mechanism 24 is used to drive the ball throwing device 4 to reciprocate up and down along the longitudinal linear module 22, wherein the first drive motor 231 and the second drive motor 241 are both servo motors, combined with Ethercat bus communication, can achieve complex motion control requirements.

[0027] In this embodiment, Figure 1 As shown, the ball bowl 41 is funnel-shaped, which can effectively prevent the ball from shaking in the ball bowl 41, making the positioning of the ball more accurate.

[0028] In this embodiment, the electrical control cabinet integrates important components such as the servo drive system, bus slave station, and NJ controller. The electrical control cabinet and the mechanical part are of combined design and can be separated individually or combined with a single module to complete the corresponding training tasks.

[0029] In this embodiment, Figure 1As shown, in the process of throwing, catching and dropping the ball, first control the two blocking plates 333 to extend into the drop barrel 34, then control the movement of the two-axis moving unit 2 to throw the ball in the ball bowl 41 along a predetermined trajectory, and then the ball falls into the drop barrel 34, the photoelectric sensor 35 located above detects the falling of the ball, and then the blocking plate 333 located above is pulled out from the drop barrel 34, and the ball falls on the blocking plate 333 located below, and waits for the photoelectric sensor 35 located below to detect the ball, and the ball bowl 41 moves with the two-axis moving unit 2 to be directly below the drop barrel 34, and then the blocking plate 333 located below is pulled out from the drop barrel 34, and the ball falls from the drop barrel 34 into the ball bowl 41 so that the ball can be thrown out next time.

[0030] From the above, it can be seen that the ball throwing unit adopts a structure composed of a two-axis moving unit 2, a ball falling unit 3 and a ball throwing device 4. The two-axis moving unit 2 and the ball throwing device 4 can cooperate to realize single-axis ball throwing motion control and multi-axis ball throwing motion control, the ball falling unit 3 can realize falling ball motion control, and the two-axis moving unit 2, the ball falling unit 3 and the ball throwing device 4 can cooperate to realize ball catching motion control and cyclic ball catching motion control. It can be used for the training of static control of motion control systems, and focuses more on the training of dynamic control technology. When in use, different combinations, installations and commissioning can be carried out according to the needs of training or different work tasks to achieve the goal of simulating productive functions and integrating learning functions. It is suitable for both teaching and training and professional training of enterprises.

[0031] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A ball throwing unit, characterized in that: The invention comprises a frame (1), an electrical control cabinet, and a two-axis moving unit (2), a ball dropping unit (3) and a ball throwing device (4) arranged on the frame (1); the ball dropping unit (3) is located above the two-axis moving unit (2); the two-axis moving unit (2) drives the ball throwing device (4) to move left and right and up and down in a vertical plane to realize the function of multiple ball throwing trajectories in one plane; wherein the ball dropping unit (3) comprises two blocking mechanisms (33) and a material dropping barrel (34) arranged on the frame (1); the blocking mechanism (33) comprises a blocking plate (333); the front end of the blocking plate (333) can pass through an arc-shaped groove (341) on the side wall of the material dropping barrel (34) and extend into the material dropping barrel (34) to prevent the ball from falling; the ball throwing device (4) comprises a ball bowl (41), The ball bowl (41) is funnel-shaped. When in operation, the two blocking plates (333) extend into the blanking barrel (34). Then, the two-axis moving unit (2) is controlled to move so that the ball in the ball bowl (41) is thrown out along a predetermined trajectory. Then, the ball falls into the blanking barrel (34). The blocking plate (333) located above is extracted from the blanking barrel (34). The ball falls on the blocking plate (333) located below. The ball bowl (41) moves with the two-axis moving unit (2) to the bottom of the blanking barrel (34). Then, the blocking plate (333) located below is extracted from the blanking barrel (34). The ball falls from the blanking barrel (34) into the ball bowl (41), forming a cycle.

2. The ball throwing unit according to claim 1, characterized in that: The ball dropping unit (3) further comprises a height adjustment frame (31) and two parallel fixed frames (32) arranged on the frame (1); the dropping barrel (34) is connected to the height adjustment frame (31) via the two fixed frames (32); and two blocking mechanisms (33) are respectively arranged on corresponding fixed frames (32).

3. The ball throwing unit according to claim 2, characterized in that: The blanking cylinder (34) is arranged in a vertical direction.

4. The ball throwing unit according to claim 2, characterized in that: The blocking mechanism (33) further comprises a pen-shaped cylinder (331), the pen-shaped cylinder (331) being fixed to the fixing frame (32) via a cylinder frame (332), and the blocking plate (333) being connected to the front end of the cylinder rod of the pen-shaped cylinder (331).

5. The ball throwing unit according to claim 2, characterized in that: The ball falling unit (3) further comprises two photoelectric sensors (35), wherein the photoelectric sensors (35) are arranged above the corresponding blocking mechanisms (33).

6. The ball throwing unit according to claim 1, characterized in that: The ball bowl (41) is arranged on a longitudinal slide table (221) of a longitudinal linear module (22) of the two-axis moving unit (2).

7. The ball throwing unit according to claim 6, characterized in that: The two-axis moving unit (2) further comprises two parallel transverse linear modules (21), a longitudinal linear module (22) mounted between the two transverse linear modules (21), a transverse driving mechanism (23) and a longitudinal driving mechanism (24); the ball throwing device (4) is arranged on the longitudinal linear module (22); the transverse driving mechanism (23) is used to drive the longitudinal linear module (22) to reciprocate left and right along the transverse linear module (21); and the longitudinal driving mechanism (24) is used to drive the ball throwing device (4) to reciprocate up and down along the longitudinal linear module (22).

8. The ball throwing unit according to claim 7, characterized in that: The transverse driving mechanism (23) comprises a first driving motor (231) and a transmission shaft (232); the transmission shaft (232) is drivingly connected to the ends of the two transverse linear modules (21); and the first driving motor (231) is connected to one end of the transmission shaft (232).

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