A multifunctional ball serving device

Abstract

The present invention provides a method for a multifunctional ball-serving device, the specific steps of which include: S1 When the ball-serving robot needs to pick up and serve the ball; (1) The moving mechanism drives the ball-serving robot to move to the position of the ball; (2) The first gripping drive device drives the first gripper assembly to move downward to the position of the ball; (3) The first gripper assembly grips the ball; (4) The first gripping drive device drives the first gripper assembly to move upward to the ball-serving device; (5) The first gripper assembly releases the ball, and the ball is placed on the ball-serving device; (6) The rotation device rotates to adjust the serving direction of the ball-serving device; (7) The angle adjustment device adjusts the serving angle of the ball-serving device; (8) The ball-serving device shoots the ball; (9) Repeat steps (2)-(8) to perform the ball-picking and serving action; S2 When the ball-serving robot does not need to serve the ball temporarily but needs to pick up the ball; (1) The first gripping mechanism picks up one ball; (2) The second gripping mechanism picks up another ball.

Description

Technical Field

[0001] This invention relates to the field of serving training robot technology, and more specifically to a method for a multifunctional serving device. Background Technology

[0002] To improve the effectiveness and convenience of ball sports (such as basketball, football, tennis, etc.) training for athletes, a large number of balls are usually used for training. However, using a large number of balls not only leads to a very high amount of exercise for the training partners, making them prone to fatigue, but also affects the training effect.

[0003] Robots have been widely applied in many fields of competitive sports and national quality education. Efforts should be made to improve the technical level of various robots in China, especially to design intelligent robot mechanisms suitable for various sports training purposes and improve their control level. By giving full play to and popularizing their application advantages, we will further promote the efficient development and steady improvement of national health and competitive sports.

[0004] However, some current training robots only have a serving function and do not have an automatic ball-retrieval function. Although this can reduce the amount of exercise for the training partner, the ball still needs to be retrieved. Moreover, in order to improve the serving efficiency, continuous ball retrieval and continuous serving from multiple directions are required, but the existing robots cannot achieve continuous serving. Summary of the Invention

[0005] The purpose of this invention is to provide a method for a multifunctional ball-serving device. This method can be adjusted according to the position of the trainee, enabling ball retrieval and serving, as well as rapid and continuous serving, and is simple to operate.

[0006] To achieve the above objectives, a method for a multifunctional ball-serving device includes the following steps:

[0007] S1 is when the serving robot needs to pick up and serve the ball.

[0008] (1) The moving mechanism drives the ball-serving robot to move to the position of the ball.

[0009] (2) The first gripping drive device of the first gripping mechanism drives the first gripper assembly to move downward to the position of the ball.

[0010] (3) The first gripper component grips the ball.

[0011] (4) The first gripping drive device drives the first gripper assembly to move upward onto the ball-serving device.

[0012] (5) The first gripper assembly releases the ball, and the ball is placed on the serving device.

[0013] (6) Rotate the rotary device to adjust the serving direction of the serving device.

[0014] (7) Angle adjustment device adjusts the serving angle of the serving device.

[0015] (8) The ball is launched by the ball-launching device.

[0016] (9) Repeat steps (2)-(8) to perform the ball-picking and serving action.

[0017] S2 is when the serving robot performs continuous serves.

[0018] (1) The first gripping mechanism picks up a ball.

[0019] (2) The second gripping mechanism picks up the other ball.

[0020] (3) When a ball needs to be served, the first clamping mechanism places a ball on the serving device and launches the ball.

[0021] (4) The rotating device rotates and adjusts the ball-serving device to one end of the second clamping mechanism.

[0022] (5) The second clamping mechanism places another ball on the serving device.

[0023] (6) The rotation device readjusts the serving direction of the serving device.

[0024] (7) The ball-launching device launches another ball.

[0025] The above method is implemented by a serving robot, which includes a walking mechanism, a first gripping mechanism, a second gripping mechanism, and a launching mechanism. The launching mechanism is located at the center of the walking mechanism, the first gripping mechanism is located at the rear end of the walking mechanism, and the second gripping mechanism is located at the front end of the walking mechanism.

[0026] The launching mechanism includes a rotary device, an angle adjustment device, and a ball-serving device. The angle adjustment device is rotatably mounted on the traveling mechanism via the rotary device, and the ball-serving device is mounted on the angle adjustment device. The angle adjustment device drives the ball-serving device to move up and down.

[0027] The first gripping mechanism includes a first gripper assembly and a first gripping drive device. The first gripping drive device is located at the rear end of the walking mechanism, and the first gripper assembly is located on the first gripping drive device. The first gripper drive device drives the first gripper assembly to swing towards the serving device.

[0028] The ball-serving robot described above employs an automatic ball-collecting and serving mode, as well as a continuous serving mode. It collects the ball via a first gripping mechanism and then launches it via a launching mechanism, making operation convenient and effective. The inclusion of a rotation and angle adjustment device allows for angle and direction adjustment of the launching mechanism, enabling the ball's direction to be adjusted according to the trainee's position, thus improving overall training quality. Furthermore, a walking mechanism allows the robot to move to different locations to collect and serve balls, further reducing the workload of the training partner. A second gripping mechanism allows the robot to pick up additional balls when the first gripping mechanism holds a ball but a serve is not yet required. This allows the robot to carry two balls simultaneously, facilitating continuous multi-directional serves.

[0029] Furthermore, the rotary device includes a rotary base, a rotary drive assembly, and a rotary connecting seat. The rotary drive assembly includes a rotary motor, a rotary drive wheel, a rotary belt, a rotary connecting shaft, and a rotary driven wheel. The rotary base is mounted on the traveling mechanism, and a rotary motor is located at one end of the rotary base. The rotary connecting shaft is rotatably mounted at the center of the rotary base via a rotary connecting bearing, and a rotary driven wheel is located on the rotary connecting shaft. A rotary drive wheel is located on the drive shaft of the rotary motor, and a rotary belt is wound between the rotary drive wheel and the rotary driven wheel. The rotary connecting seat is located on the rotary driven wheel, and an angle adjustment device is located on the rotary connecting seat.

[0030] The above setup uses a rotary motor to drive the rotary drive wheel, which in turn moves the rotary belt and drives the rotary driven wheel. This allows the launching mechanism to be adjusted in horizontal angle, thus adjusting the launching direction. The structure is simple and effective.

[0031] Furthermore, the angle adjustment device includes an angle connecting base, an angle adjusting base, a lifting component, and a sliding component. The angle connecting base is disposed on a rotary connecting base, the lifting component is disposed at one end of the angle connecting base, and the sliding component is disposed at the other end of the angle connecting base. One end of the angle adjusting base is connected to the lifting component, and the other end of the angle adjusting base is connected to the sliding component. A ball-serving device is provided on the angle adjusting base.

[0032] The lifting assembly includes a lifting motor, a lifting lead screw, a lifting guide shaft, a lifting slider, a lifting connecting seat, and a lifting connecting block. The lifting motor is mounted on an angle connecting base. A lifting lead screw is mounted on the drive shaft of the lifting motor. A lifting slider is mounted on the lifting lead screw. Lifting guide shafts are mounted on angle connecting bases on both sides of the lifting lead screw. The lifting connecting seat is slidably mounted on the lifting guide shaft. The lifting lead screw is connected to the lifting connecting seat via the lifting slider. A lifting connecting block is mounted on the lifting connecting seat. A first angle adjusting connecting bearing seat is mounted at one end of the angle adjusting base. The first angle adjusting connecting bearing seat is rotatably mounted on the lifting connecting block via a first angle adjusting connecting shaft.

[0033] The above setup uses a lifting motor to drive the lifting screw to rotate, which in turn causes the lifting slider to move up and down along the lifting screw. This, in turn, causes one end of the angle adjustment base mounted on the lifting connecting block to move up and down, thereby adjusting the angle of the angle adjustment base. The structure is simple and effective.

[0034] Furthermore, the sliding assembly includes a sliding base, a sliding guide rail, a sliding block, a sliding connecting seat, and a sliding connecting block. The sliding guide rail is disposed on the angle connecting base, and the sliding base is slidably disposed on the sliding guide rail via the sliding block. A sliding connecting seat is disposed on the sliding base, and a sliding connecting block is disposed on the sliding connecting seat. A second angle adjusting connecting bearing seat is disposed at the other end of the angle adjusting base, and the second angle adjusting connecting bearing seat is rotatably disposed on the sliding connecting block via a second angle adjusting connecting shaft.

[0035] With the above configuration, when the lifting motor drives one end of the angle adjustment base to move up and down, the other end of the angle adjustment base can slide along the sliding guide rail, thereby enabling the angle adjustment base to adjust its angle.

[0036] Furthermore, the ball-serving device includes a ball-serving frame, a friction wheel assembly, and a conveying assembly. The ball-serving frame is mounted on an angle-adjusting base, and a launching channel is provided at the center of the ball-serving frame. A friction wheel assembly extending into the launching channel is provided on the ball-serving frame, and a conveying assembly is provided at one end face of the ball-serving frame.

[0037] The friction wheel assembly includes a friction wheel, a friction wheel bracket, and a friction wheel motor. The friction wheel motor is fixed to the ball-launching machine frame via the friction wheel bracket. A friction wheel is mounted on the drive shaft of the friction wheel motor, and the rolling surface of the friction wheel extends into the launch channel.

[0038] Step (8) specifically includes:

[0039] (81) The delivery assembly delivers the ball into the launch channel.

[0040] (82) The friction wheel motor drives the friction wheel to rotate.

[0041] (83) The ball is squeezed by the friction wheel and moved forward.

[0042] (84) The moment the ball is squeezed out of the launch channel, the ball is quickly ejected by the elastic force squeezed between the friction wheel and the ball.

[0043] In the above configuration, the first or second clamping mechanism clamps the ball and places it on the conveying assembly. The conveying assembly conveys the ball towards the friction wheel assembly. When the ball is in the launch channel, the friction wheel contacts and squeezes the ball. The friction wheel motor drives the friction wheel to rotate while squeezing the ball forward. At the moment the ball is squeezed out of the launch channel, the ball is quickly ejected by the elastic force of the squeeze between the friction wheel and the ball, thus completing the launch action.

[0044] Furthermore, the conveying assembly includes a conveying cylinder, a conveying guide rail, a conveying slider, a conveying fixing block, a conveying connecting block, a conveying push rod, and a conveying placement rod. The conveying cylinder is mounted on the ball-launching machine frame on both sides of the launching channel. The conveying guide rail is mounted on both sides of the ball-launching machine frame via the conveying fixing block. The conveying connecting block is slidably mounted on the conveying guide rail via the conveying slider. The piston rod of the conveying cylinder is connected to the conveying connecting block. A conveying push rod is provided between the conveying connecting blocks on both sides of the ball-launching machine frame. A conveying placement rod is provided at the bottom end of the ball-launching machine frame.

[0045] The above setup, by placing the ball on the conveyor rod, allows the ball to be temporarily stored, enabling the serving robot to move and pick up the ball while adjusting the angle and direction of the serve, thus further improving training quality. The conveyor cylinder drives the conveyor slider to move along the conveyor guide rail towards the launch channel, and then the conveyor push rod pushes the ball into the launch channel for the launch action. The structure is simple and effective.

[0046] Furthermore, the first gripper drive device includes a first drive mounting base, a first gripper drive motor, a first drive driving wheel, a first drive driven wheel, a first drive connecting frame, and a first drive connecting rod. The first drive mounting base is mounted on the walking mechanism. The first gripper drive motor is mounted on the first drive mounting base. The first drive connecting frame is mounted on the first drive mounting base at both ends of the first gripper drive motor. The two ends of the first drive connecting rod are rotatably mounted on the first drive connecting frame through the first drive connecting bearing. The first drive driving wheel is mounted on the drive shaft of the first gripper drive motor. The first drive driven wheel, which meshes with the first drive driving wheel, is mounted on the first drive connecting rod. The first gripper assembly is mounted on the first drive connecting rod.

[0047] The above configuration uses a first gripper drive motor to drive the first drive wheel to rotate, which in turn drives the first drive driven wheel to rotate, thereby moving the first gripper assembly toward the launching device. The structure is simple and effective.

[0048] Furthermore, the first gripper assembly includes a first gripper, a first gripper connecting frame, and a first pneumatic finger. One end of the first gripper connecting frame is connected to a first drive connecting rod, and the other end of the first gripper connecting frame is provided with a first pneumatic finger. The first gripper is provided on the first drive rod and the second drive rod of the first pneumatic finger, and a ball-gripping area is formed between the first gripper of the first drive rod and the first drive rod.

[0049] In the above configuration, the first pneumatic finger drives the first drive rod and the second drive rod to separate, thereby opening the first gripper. When the ball is within the ball-gripping area, the first pneumatic finger drives the first gripper to close, thus clamping the ball.

[0050] The first gripper includes a first fixed gripper, a first supporting gripper, and a first gripper connecting plate. The first gripper connecting plate is disposed on the first pneumatic finger. The first fixed gripper is disposed at the upper end of the first gripper connecting plate, and the first supporting gripper is disposed at the lower end of the first gripper connecting plate.

[0051] The above setup, through the support of the gripper, can hold the ball, thus further ensuring that the ball is not easily dropped when picking it up.

[0052] The first support gripper includes a first support plate and a first support plate. One end of the first support plate is connected to a first gripper connecting plate, and the other end of the first support plate is provided with a first support plate. The first support plate extends into the ball gripping area.

[0053] With the above configuration, when the first clamp closes, the first fixed clamp holds the upper and middle ends of the ball, and the first support plate supports the bottom end of the ball, thus ensuring that the ball is not easily dropped.

[0054] The first fixed gripper includes a first fixed connecting part and a first fixed gripper part. One end of the first fixed connecting part is disposed on the first gripper connecting plate, and the other end of the first fixed connecting part is provided with the first fixed gripper part. The first fixed gripper part extends forward, outward, and inward in an arc shape from the other end of the first fixed connecting part. The arc shape allows the first fixed gripper to better fit the ball, thereby clamping the ball more stably.

[0055] The first support plate includes a first support connecting part and a first support gripper part. One end of the first support connecting part is disposed on the first gripper connecting plate, and the other end of the first support connecting part is provided with the first support gripper part. The first support gripper part extends in an arc shape forward, outward, and inward from the other end of the first support connecting part, and a first support plate is provided at the end of the first support gripper part. By means of the arc shape, the shape of the first support connecting part can have a larger contact area with the ball, thereby better supporting the ball. Step (3) specifically includes:

[0056] (31) The first drive rod and the second drive rod of the first pneumatic finger open to open the first gripper, and the first gripper drive device drives the first gripper to move so that the ball is located in the ball gripping area.

[0057] (32) The first drive rod and the second drive rod of the first pneumatic finger close, so that the first gripper closes and grips the ball.

[0058] (33) The first fixed clamp holds the upper end of the ball, and the first supporting clamp holds the lower end of the ball.

[0059] Furthermore, the second gripping mechanism includes a second gripping device and a second gripping drive device. The second gripping drive device is disposed at the front end of the walking mechanism, and the second gripping device is provided on the second gripping drive device. The second gripping drive device drives the second gripping device to swing towards the serving device. The second gripping drive device includes a second drive mounting base, a second drive motor, a second drive connecting block, a second drive frame, and a second drive guide rail. The second drive motor is mounted on the walking mechanism through the second drive mounting base. The second drive frame is disposed on the drive shaft of the second drive motor through the second drive connecting block. The second drive guide rails are provided at both ends of the second drive frame, and the second gripping device is provided on the second drive guide rails.

[0060] The above setup involves the second drive motor driving the second drive connecting block to rotate, which in turn causes the second drive frame to swing upward, thereby moving the second gripper device toward the launch device.

[0061] The second gripper device includes a left gripper assembly, a right gripper assembly, a second gripper drive motor, a second drive driving wheel, a second drive driven wheel, a second drive connecting shaft, a second drive main pulley, a second drive belt, and a second drive driven pulley assembly. The left gripper assembly is slidably mounted on a second drive guide rail at one end of the second drive frame, and the right gripper assembly is slidably mounted on a second drive guide rail at the other end of the second drive frame. The second gripper drive motor is mounted on the second drive frame via a second gripper drive mounting plate. A second drive driving wheel is located on the drive shaft of the second gripper drive motor. The second drive frame is provided with a second drive driven wheel that meshes with the second drive driving wheel. The second drive driven wheel is provided with a second drive connecting shaft, and the second drive connecting shaft is provided with a second drive main pulley. The second drive driven pulley assembly is arranged on the second drive frame and the second drive guide rail. The second drive belt is wound around the second drive main pulley and the second drive driven pulley. The left gripper assembly is arranged at one end of the second drive belt, and the right gripper assembly is arranged at the other end of the second drive belt. The left gripper assembly is located in the forward movement direction of the second drive belt, and the right gripper assembly is located in the reverse movement direction of the second drive belt.

[0062] The above configuration involves the second gripper drive motor driving the second gripper drive wheel to rotate, which in turn drives the second gripper driven wheel to rotate, thereby causing the second drive pulley to rotate. This, in turn, drives the second drive belt to move, which in turn causes the left and right gripper assemblies to open and close, thus gripping the ball. Since the left gripper assembly is located in the forward direction of the second drive belt and the right gripper assembly is located in the reverse direction of the second drive belt, when the second drive belt moves, the left and right gripper assemblies move in opposite directions, thereby enabling the left and right gripper assemblies to open and close.

[0063] The left gripper assembly includes a left gripper, a left gripper connecting seat, a left gripper guide wheel, and a left gripper connecting block. The left gripper connecting seat is slidably mounted on the second drive guide rail via the left gripper guide wheel. A left gripper connecting block is provided on the left gripper connecting seat and is connected to the second drive belt. A gripper is provided on the side of the left gripper connecting seat near the right gripper assembly. The right gripper assembly has the same structure as the left gripper assembly, and a second gripping area is formed between the right gripper assembly and the left gripper assembly.

[0064] The above setup, with the left and right gripper components working together, can clamp objects, making the structure simple and effective.

[0065] The second drive pulley assembly includes a first intermediate pulley, a second intermediate pulley, a left clamping pulley, a third intermediate pulley, a fourth intermediate pulley, a right clamping pulley, and a fifth intermediate pulley. The first intermediate pulley is disposed on the second drive frame near the second drive main pulley. The second intermediate pulley is disposed at one end of the second drive frame. The left clamping pulley is disposed at the end of the second drive guide rail at one end of the second drive frame. The third intermediate pulley is disposed on the second drive frame on one side of the second intermediate pulley. The fourth intermediate pulley is disposed at the other end of the second drive frame. The right clamping pulley is disposed at the end of the second drive guide rail at the other end of the second drive frame. The fifth intermediate pulley is disposed on the second drive frame on the other side near the second drive main pulley.

[0066] One end of the second drive belt is located on the second drive main pulley, and the other end of the second drive belt is sequentially wound around the first transfer pulley, the second transfer pulley, the left gripper pulley, the third transfer pulley, the fourth transfer pulley, the right gripper pulley, and the fifth transfer pulley, and connected to one end of the second drive belt to form a closed loop; the left gripper assembly is connected to the second drive belt between the left gripper pulley and the second transfer pulley; the right gripper assembly is connected to the second drive belt between the fourth transfer pulley and the right gripper pulley.

[0067] Step S2-(2) specifically includes:

[0068] (21) The second gripping drive device drives the second gripping device to move downward to the position of the ball.

[0069] (22) The second gripper drive motor drives the left gripper assembly and the right gripper assembly to open and close and clamp the ball.

[0070] (221) The second gripper drive motor drives the second drive belt to move, and the left gripper assembly and the right gripper assembly move in opposite directions to achieve opening and closing.

[0071] (23) The second gripping drive device drives the second gripping device to move upward to the position of the serving device and places the ball on the serving device.

[0072] With the above configuration, when the left and right gripper assemblies need to be opened or closed, the second drive pulley rotates in the forward direction, thereby driving the second drive belt to move. Since the left gripper assembly is connected to the second drive belt between the left gripper pulley and the second intermediate pulley, and the right gripper assembly is connected to the second drive belt between the right gripper pulley, the fourth intermediate pulley, and the right gripper pulley, when the second drive belt moves, the left and right gripper assemblies move in opposite directions, thereby realizing the opening and closing of the left and right gripper assemblies.

[0073] Furthermore, the walking mechanism includes a walking wheel device and a walking base. The walking wheel device is located at the front end and rear end of the walking base. The first clamping mechanism is located at the rear end of the walking base, the second clamping mechanism is located at the front end of the walking base, and the launching mechanism is located at the center of the walking base.

[0074] The traveling wheel device includes a moving component and a steering component. The moving component includes a moving mounting frame, a moving motor, a moving drive gear, a moving intermediate gear, a moving driven gear, and a moving wheel. The moving mounting frame is mounted on the steering component. The moving motor is located at the top of the moving mounting frame. The moving wheel is rotatably mounted at the bottom of the moving mounting frame via a moving wheel axle. The moving drive gear is located on the drive shaft of the moving motor, and the moving driven gear is located on the moving wheel axle. The moving intermediate gear is mounted on the moving mounting frame between the moving drive gear and the moving driven gear, and the moving intermediate gear meshes with the moving drive gear and the moving driven gear.

[0075] The above setup uses a mobile motor to drive the active gear to rotate, which in turn drives the intermediate gear to rotate, thereby driving the driven gear to rotate. This achieves the rotation of the moving wheel and drives the walking mechanism to move. The structure is simple and effective.

[0076] The steering assembly includes a steering motor, a steering mounting bracket, a steering drive gear, and a steering driven gear. The steering driven gear is rotatably mounted on a movable base via a steering bearing seat. A through slot is provided at the center of the steering driven gear. The movable mounting bracket is disposed in the through slot and connected to the steering driven gear. A steering mounting bracket is provided on the movable base on one side of the steering driven gear. A steering motor is provided on the steering mounting bracket. A steering drive gear is provided on the drive shaft of the steering motor. The steering drive gear meshes with the steering driven gear. A steering encoder is provided on the steering mounting bracket on one side of the steering motor. The steering encoder meshes with the steering driven gear through an encoder gear.

[0077] The above configuration, through the steering component, allows the walking wheel device to be adjusted in different directions, enabling the serving robot to serve from different positions and in different directions. The steering motor controls the rotation of the steering drive gear and drives the steering driven gear to rotate, which in turn drives the movable mounting frame located in the through groove and connected to the driven gear to rotate, thereby realizing the steering of the moving wheels. The structure is simple and effective. Attached Figure Description

[0078] Figure 1 This is a schematic diagram of the serving robot of the present invention.

[0079] Figure 2 This is a schematic diagram of the launching mechanism of the present invention.

[0080] Figure 3 This is an exploded schematic diagram of the rotary device of the present invention.

[0081] Figure 4 This is a schematic diagram of the angle adjustment device of the present invention.

[0082] Figure 5 This is an exploded view of the sliding component of the present invention.

[0083] Figure 6 This is a schematic diagram of the serving device of the present invention.

[0084] Figure 7 This is a schematic diagram of the structure of the first clamping mechanism of the present invention.

[0085] Figure 8 for Figure 7 Enlarged view of point A in the middle.

[0086] Figure 9 for Figure 7 Enlarged view of point B in the middle.

[0087] Figure 10 This is an explosion diagram of the second gripping mechanism.

[0088] Figure 11 for Figure 10 Enlarged view of point C in the middle.

[0089] Figure 12 This is a top view of the second clamping mechanism of the present invention.

[0090] Figure 13 This is a schematic diagram of the structure of the left gripper assembly of the present invention.

[0091] Figure 14 This is a schematic diagram showing the position of the second drive pulley group of the present invention.

[0092] Figure 15 This is a schematic diagram of the walking mechanism of the present invention.

[0093] Figure 16 This is a schematic diagram of the structure of the mobile component of the present invention.

[0094] Figure 17 This is a schematic diagram of the steering assembly of the present invention.

[0095] Figure 18 This is a flowchart of the serving method of the present invention. Detailed Implementation

[0096] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0097] like Figures 1 to 17 As shown, a serving robot includes a walking mechanism 1, a first gripping mechanism 2, a second gripping mechanism 3, and a launching mechanism 4. The launching mechanism 4 is located at the center of the walking mechanism 1. The first gripping mechanism 2 is located at the rear end of the walking mechanism 1, and the second gripping mechanism 3 is located at the front end of the walking mechanism 1.

[0098] like Figure 2 As shown, the launching mechanism 4 includes a rotating device 41, an angle adjusting device 42, and a ball-serving device 43. The angle adjusting device 42 is rotatably mounted on the traveling mechanism 1 via the rotating device 41. The ball-serving device 43 is mounted on the angle adjusting device 42, and the angle adjusting device 42 drives the ball-serving device 43 to move up and down.

[0099] The ball-serving robot described above picks up the ball through the first gripping mechanism 2 and then shoots it through the launching mechanism 4. It is convenient and effective to operate. Due to the setting of the rotation device 41 and the angle adjustment device 42, the launching mechanism 4 can be adjusted in angle and direction, so that the direction of the ball can be adjusted according to the position of the trainee, thereby improving the overall training quality. In addition, a walking mechanism 1 is set up so that the ball-serving robot can move to different places to pick up and serve the ball, thereby reducing the workload of the training partner. By setting up a second gripping mechanism, when the ball is gripped by the first gripping mechanism but not yet ready to be served, the second gripping mechanism can be used to grip another ball. In this way, the ball-serving robot can carry two balls at the same time, which facilitates continuous multi-directional serving.

[0100] like Figure 3 As shown, the rotary device 41 includes a rotary base 411, a rotary drive assembly, and a rotary connecting seat 412. The rotary drive assembly includes a rotary motor 413, a rotary drive wheel 414, a rotary belt 415, a rotary connecting shaft 416, and a rotary driven wheel 417. The rotary base 411 is mounted on the traveling mechanism 1. The rotary motor 413 is located at one end of the rotary base 411. The rotary connecting shaft 416 is rotatably mounted at the center of the rotary base 411 via a rotary connecting bearing 418. The rotary driven wheel 417 is mounted on the rotary connecting shaft 416. The rotary drive wheel 414 is mounted on the drive shaft of the rotary motor 413. The rotary belt 415 is wound between the rotary drive wheel 414 and the rotary driven wheel 417. The rotary connecting seat 412 is mounted on the rotary driven wheel 417. An angle adjustment device 42 is located on the rotary connecting seat 412.

[0101] The above configuration uses a rotary motor 413 to drive the rotary drive wheel 414 to rotate, which in turn drives the rotary belt 415 to move and drives the rotary driven wheel 417 to rotate. This allows the launching mechanism 4 to adjust its horizontal angle and thus adjust the launching direction. The structure is simple and effective.

[0102] like Figure 4 As shown, the angle adjustment device 42 includes an angle connecting base 421, an angle adjustment base 422, a lifting component 423, and a sliding component 424. The angle connecting base 421 is disposed on the rotary connecting base 412. The lifting component 423 is disposed at one end of the angle connecting base 421, and the sliding component 424 is disposed at the other end of the angle connecting base 421. One end of the angle adjustment base 422 is connected to the lifting component 423, and the other end of the angle adjustment base 422 is connected to the sliding component 424. A ball-serving device 43 is provided on the angle adjustment base 422.

[0103] The lifting assembly 423 includes a lifting motor 4231, a lifting lead screw 4232, a lifting guide shaft 4233, a lifting slider 4234, a lifting connecting seat 4235, and a lifting connecting block 4236. The lifting motor 4231 is mounted on the angle connecting base 421. The lifting lead screw 4232 is mounted on the drive shaft of the lifting motor 4231. The lifting slider 4234 is mounted on the lifting lead screw 4232. The lifting guide shaft 4234 is mounted on the angle connecting base 421 on both sides of the lifting lead screw 4232. 33. The lifting connecting seat 4235 is slidably mounted on the lifting guide shaft 4233. The lifting screw 4232 is connected to the lifting connecting seat 4235 through the lifting slider 4234. A lifting connecting block 4236 is provided on the lifting connecting seat 4235. A first angle adjusting connecting bearing seat 42201 is provided at one end of the angle adjusting base 422. The first angle adjusting connecting bearing seat 42201 is rotatably mounted on the lifting connecting block 4236 through the first angle adjusting connecting shaft 42202.

[0104] The above configuration uses a lifting motor 4231 to drive the lifting screw 4232 to rotate, thereby causing the lifting slider 4234 to move up and down along the lifting screw 4232. This, in turn, causes one end of the angle adjustment base 421 on the lifting connecting block 4236 to move up and down, thus adjusting the angle of the angle adjustment base 421. The structure is simple and effective.

[0105] like Figure 4 and Figure 5 As shown, the sliding assembly 424 includes a sliding base 4241, a sliding guide rail 4242, a sliding block 4243, a sliding connecting seat 4244, and a sliding connecting block 4245. The sliding guide rail 4242 is disposed on the angle connecting base 421. The sliding base 4241 is slidably disposed on the sliding guide rail 4242 via the sliding block 4243. The sliding connecting seat 4244 is disposed on the sliding base 4241, and the sliding connecting block 4245 is disposed on the sliding connecting seat 4244. A second angle adjusting connecting bearing seat 42203 is disposed at the other end of the angle adjusting base 422. The second angle adjusting connecting bearing seat 42203 is rotatably disposed on the sliding connecting block 4245 via a second angle adjusting connecting shaft 42204.

[0106] With the above configuration, when the lifting motor drives one end of the angle adjustment base to move up and down, the other end of the angle adjustment base can slide along the sliding guide rail, thereby enabling the angle adjustment base to adjust its angle.

[0107] like Figure 6As shown, the ball-serving device 43 includes a ball-serving frame 431, a friction wheel assembly 432, and a conveying assembly 433. The ball-serving frame 431 is mounted on an angle adjustment base 422. A launching channel 434 is provided at the center of the ball-serving frame 431. A friction wheel assembly 432 extending into the launching channel 434 is provided on the ball-serving frame 431. A conveying assembly 433 is provided at one end face of the ball-serving frame 431.

[0108] The friction wheel assembly 432 includes a friction wheel 4321, a friction wheel bracket 4322, and a friction wheel motor 4323. The friction wheel motor 4323 is fixed on the ball-launching machine frame 431 by the friction wheel bracket 4322. The friction wheel 4321 is provided on the drive shaft of the friction wheel motor 4323, and the rolling surface of the friction wheel 4321 extends into the launching channel 434.

[0109] In the above configuration, the first clamping mechanism 1 or the second clamping mechanism 2 clamps the ball and places it on the conveying assembly 433. The conveying assembly 433 conveys the ball towards the friction wheel assembly 432. When the ball is in the launch channel 434, the friction wheel 4321 contacts the ball and squeezes the ball. The friction wheel motor 4323 drives the friction wheel 4321 to rotate while squeezing the ball forward. At the moment the ball is squeezed out of the launch channel 434, the ball is quickly ejected by the elastic force of the squeeze between the friction wheel 4321 and the ball, thus completing the launch action.

[0110] like Figure 6 As shown, the conveying assembly 433 includes a conveying cylinder 4331, a conveying guide rail 4332, a conveying slider 4333, a conveying fixing block 4334, a conveying connecting block 4335, a conveying push rod 4336, and a conveying placement rod 4337. The conveying cylinder 4331 is mounted on the ball-launching machine frame 431 on both sides of the launching channel 434. The conveying guide rail 4332 is mounted on both sides of the ball-launching machine frame 431 via the conveying fixing block 4334. The conveying connecting block 4335 is slidably mounted on the conveying guide rail 4332 via the conveying slider 4333. The piston rod of the conveying cylinder 4331 is connected to the conveying connecting block 4335. A conveying push rod 4336 is provided between the conveying connecting blocks 4335 on both sides of the ball-launching machine frame 431. A conveying placement rod 4337 is provided at the bottom of the ball-launching machine frame 431. The above setup, by placing the ball on the conveyor rod 4337, allows the ball to be temporarily stored, enabling the serving robot to move and pick up the ball while adjusting the angle and direction of the serve, further improving training quality. The conveyor cylinder drives the conveyor slider to move along the conveyor guide rail towards the launch channel, and then the conveyor push rod pushes the ball into the launch channel for the launch action. The structure is simple and effective.

[0111] like Figure 7As shown, the first gripping mechanism 2 includes a first gripper assembly 21 and a first gripping drive device 22. The first gripping drive device 22 is disposed at the rear end of the walking mechanism 1, and the first gripper assembly 21 is disposed on the first gripping drive device 22. The first gripper drive device 22 drives the first gripper assembly 21 to swing toward the ball-serving device.

[0112] like Figure 7 and Figure 8 As shown, the first gripper drive device 22 includes a first drive mounting base 221, a first gripper drive motor 222, a first drive driving wheel 223, a first drive driven wheel 224, a first drive connecting frame 225, and a first drive connecting rod 226. The first drive mounting base 221 is mounted on the walking mechanism 1. The first gripper drive motor 222 is mounted on the first drive mounting base 224. The first drive connecting frame 225 is mounted on the first drive mounting base 221 at both ends of the first gripper drive motor 222. The two ends of the first drive connecting rod 226 are rotatably mounted on the first drive connecting frame 225 through the first drive connecting bearing 227. The first drive driving wheel 223 is mounted on the drive shaft of the first gripper drive motor 222. The first drive driven wheel 224, which meshes with the first drive driving wheel 223, is mounted on the first drive connecting rod 226. The first gripper assembly 21 is mounted on the first drive connecting rod 226.

[0113] The above configuration uses the first gripper drive motor 222 to drive the first drive active wheel 223 to rotate, which in turn drives the first drive driven wheel 224 to rotate, thereby moving the first gripper assembly 21 toward the launching device. The structure is simple and effective.

[0114] like Figure 7 As shown, the first gripper assembly 21 includes a first gripper 211, a first gripper connecting frame 212, and a first pneumatic finger 213. One end of the first gripper connecting frame 212 is connected to a first drive connecting rod 226, and the other end of the first gripper connecting frame 212 is provided with a first pneumatic finger 213. The first gripper 211 is respectively provided on the first drive rod and the second drive rod of the first pneumatic finger 213, forming a ball-gripping section 210 between the first grippers 211 on the first drive rod and the second drive rod. In this embodiment, the pneumatic finger is prior art and will not be described further.

[0115] In the above configuration, the first pneumatic finger drives the first drive rod and the second drive rod to separate, thereby opening the first gripper. When the ball is within the ball-gripping area, the first pneumatic finger drives the first gripper to close, thus clamping the ball.

[0116] like Figures 7-9As shown, the first gripper 211 includes a first fixed gripper 2111, a first supporting gripper 2112, and a first gripper connecting plate 2113. The first gripper connecting plate 2113 is disposed on the first pneumatic finger 213. The first fixed gripper 2111 is provided at the upper end of the first gripper connecting plate 2113, and the first supporting gripper 2112 is disposed at the lower end of the first gripper connecting plate 2113.

[0117] The above setup, through the support of the gripper, can hold the ball, thus further ensuring that the ball is not easily dropped when picking it up.

[0118] like Figure 7 and Figure 9 As shown, the first support gripper 2112 includes a first support plate 21121 and a first support plate 21122. One end of the first support plate 21121 is connected to the first gripper connecting plate 2113, and the other end of the first support plate 2112 is provided with the first support plate 2112. The first support plate 21122 extends into the ball clamping area 210.

[0119] With the above configuration, when the first clamp closes, the first fixed clamp holds the upper and middle ends of the ball, and the first support plate supports the bottom end of the ball, thus ensuring that the ball is not easily dropped.

[0120] like Figure 9 As shown, the first fixed gripper 2111 includes a first fixed connecting portion 21111 and a first fixed gripper portion 21112. One end of the first fixed connecting portion 21111 is disposed on the first gripper connecting plate 2113, and the other end of the first fixed connecting portion 21111 is provided with the first fixed gripper portion 21112. The first fixed gripper portion 21112 extends forward, outward, and inward in an arc shape from the other end of the first fixed connecting portion 21111. This arc shape allows the first fixed gripper 2111 to better conform to the ball, thereby clamping the ball more securely.

[0121] like Figure 9 As shown, the first support plate 21121 includes a first support connecting portion 21124 and a first support gripper portion 21125. One end of the first support connecting portion 21124 is disposed on the first gripper connecting plate 2113, and the other end of the first support connecting portion 21124 is provided with the first support gripper portion 21125. The first support gripper portion 21125 extends forward, outward, and inward in an arc shape from the other end of the first support connecting portion 21124. A first support plate 21122 is provided at the end of the first support gripper portion 21125. The arc shape allows the first support connecting portion to have a larger contact area with the ball, thereby better supporting the ball.

[0122] like Figure 10As shown, the second clamping mechanism 3 includes a second clamping device 31 and a second clamping driving device 32. The second clamping driving device 32 is disposed at the front end of the walking mechanism 1. The second clamping device 31 is provided on the second clamping driving device 32. The second clamping driving device 32 drives the second clamping device 31 to swing towards the ball serving device.

[0123] The second gripping drive device 32 includes a second drive mounting base 321, a second drive motor 322, a second drive connecting block 323, a second drive frame 324, and a second drive guide rail 325. The second drive motor 322 is mounted on the walking mechanism 1 through the second drive mounting base 321. The second drive frame 324 is set on the drive shaft of the second drive motor 322 through the second drive connecting block 323. The second drive guide rail 325 is provided at both ends of the second drive frame 324. A second gripping device 31 is provided on the second drive guide rail 325.

[0124] The above setup involves the second drive motor driving the second drive connecting block to rotate, which in turn causes the second drive frame to swing upward, thereby moving the second gripper device toward the launch device.

[0125] like Figures 10-12 As shown, the second gripper device 31 includes a left gripper assembly 311, a right gripper assembly 312, a second gripper drive motor 313, a second drive drive wheel 314, a second drive driven wheel 315, a second drive connecting shaft 316, a second drive main pulley 317, a second drive belt 318, and a second drive driven pulley group 319; the left gripper assembly 311 is slidably disposed on a second drive guide rail 325 at one end of the second drive frame 324, and the right gripper assembly 312 is slidably disposed on a second drive guide rail 325 at the other end of the second drive frame 324; The second gripper drive motor 313 is mounted on the second drive frame 324 via the second gripper drive mounting plate 3131. A second drive drive wheel 314 is mounted on the drive shaft of the second gripper drive motor 313. A second drive driven wheel 315, meshing with the second drive drive wheel 314, is mounted on the second drive frame 324 on one side of the second gripper drive motor 314. A second drive connecting shaft 316 is mounted on the second drive driven wheel 315, and a second drive master pulley 317 is mounted on the second drive connecting shaft 316. The second drive driven pulley assembly 319 (in...) Figure 12(As shown in the figure) The second drive belt 318 is wound around the second drive master pulley 317 and the second drive slave pulley 319, and the left gripper assembly 311 is disposed at one end of the second drive belt 318 and the right gripper assembly 312 is disposed at the other end of the second drive belt 318. The left gripper assembly 311 is located in the forward movement direction of the second drive belt 318 and the right gripper assembly 312 is located in the reverse movement direction of the second drive belt 318.

[0126] The above configuration involves the second gripper drive motor 313 driving the second gripper drive wheel 314 to rotate, which in turn drives the second gripper driven wheel 315 to rotate, thereby causing the second drive main pulley 317 to rotate. This, in turn, drives the second drive belt 318 to move, thereby causing the left gripper assembly 311 and the right gripper assembly 312 to open and close to clamp the ball. Since the left gripper assembly 311 is located in the forward movement direction of the second drive belt 318, and the right gripper assembly 312 is located in the reverse movement direction of the second drive belt 318, when the second drive belt 318 moves, the left gripper assembly 311 and the right gripper assembly 312 move in opposite directions, thus enabling the left gripper assembly 311 and the right gripper assembly 312 to open and close.

[0127] like Figure 13 As shown, the left gripper assembly 311 includes a left gripper 3111, a left gripper connecting seat 3112, a left gripper guide wheel 3113, and a left gripper connecting block 3114. The left gripper connecting seat 3112 is slidably mounted on the second drive guide rail 325 via the left gripper guide wheel 3113. The left gripper connecting block 3114 is provided on the left gripper connecting seat 3112 and is connected to the second drive belt 318. The left gripper 3111 is provided on the side of the left gripper connecting seat 3112 near the right gripper assembly 312. The right gripper assembly 312 has the same structure as the left gripper assembly 311, and a second gripping area 310 is formed between the right gripper assembly 312 and the left gripper assembly 311.

[0128] The above setup, with the left and right gripper components working together, can clamp objects, making the structure simple and effective.

[0129] like Figure 12 and Figure 14As shown, the second drive pulley assembly 319 includes a first intermediate pulley 3191, a second intermediate pulley 3192, a left gripping pulley 3193, a third intermediate pulley 3194, a fourth intermediate pulley 3195, a right gripping pulley 3196, and a fifth intermediate pulley 3197. The first intermediate pulley 3191 is disposed on the second drive frame 324 near the second drive master pulley 317. The second intermediate pulley 3192 is disposed at one end of the second drive frame 324. The left gripping pulley 3193... 3. The second drive guide rail 325 is set at one end of the second drive frame 324; the third transfer pulley 3194 is set on the second drive frame 324 on one side of the second transfer pulley 3192; the fourth transfer pulley 3195 is set at the other end of the second drive frame 324; the right clamp pulley 3196 is set at the end of the second drive guide rail 325 at the other end of the second drive frame 324; and the fifth transfer pulley 3197 is set on the second drive frame 324 on the other side near the second drive main pulley 317.

[0130] One end of the second drive belt 318 is located on the second drive main pulley 317, and the other end of the second drive belt 318 is sequentially wrapped around the first transfer pulley 3191, the second transfer pulley 3192, the left gripper pulley 3193, the third transfer pulley 3194, the fourth transfer pulley 3195, the right gripper pulley 3196, and the fifth transfer pulley 3197 and connected to one end of the second drive belt 318 to form a closed loop; the left gripper assembly 311 is connected to the second drive belt 318 between the left gripper pulley 3193 and the second transfer pulley 3192; the right gripper assembly 312 is connected to the second drive belt 318 between the fourth transfer pulley 3195 and the right gripper pulley 3196.

[0131] With the above configuration, when the left gripper assembly 311 and the right gripper assembly 312 need to be opened or closed, the second drive pulley 317 rotates in the forward direction, thereby driving the second drive belt 318 to move. Since the left gripper assembly 311 is connected to the second drive belt 318 between the left gripper pulley 3193 and the second intermediate pulley 3192; and the right gripper assembly 312 is connected to the second drive belt 318 between the fourth intermediate pulley 3195 and the right gripper pulley 3196, when the second drive belt 318 moves, the left gripper assembly 311 and the right gripper assembly 312 follow the second drive belt 318 and move in the opposite direction (e.g., ...). Figure 14 (As shown by the middle arrow), this enables the opening and closing of the left gripper assembly 311 and the right gripper assembly 312; the setting of the left gripper assembly 311 and the right gripper assembly 312 can assist in the handling of objects on the training field and can also be used to pick up balls, thus facilitating the training of athletes.

[0132] like Figure 15As shown, the walking mechanism 1 includes a walking wheel device 11 and a walking base 12. The walking wheel device 11 is located at the front end and the rear end of the walking base 12. The first clamping mechanism 2 is located at the rear end of the walking base 12, the second clamping mechanism 3 is located at the front end of the walking base 12, and the launching mechanism 4 is located at the center of the walking base 12.

[0133] like Figures 15-17 As shown, the walking wheel device 11 includes a moving component 13 and a steering component 14. The moving component 13 includes a moving mounting frame 131, a moving motor 132, a moving drive gear 133, a moving intermediate gear 134, a moving driven gear 135, and a moving wheel 136. The moving mounting frame 131 is mounted on the steering component 14. The moving motor 132 is mounted at the top of the moving mounting frame 131. The moving wheel 136 is rotatably mounted at the bottom of the moving mounting frame 131 via a moving wheel axle (not shown in the figure). The moving drive gear 133 is mounted on the drive shaft of the moving motor 132. The moving driven gear 135 is mounted on the moving wheel axle. The moving intermediate gear 134 is mounted on the moving mounting frame 131 between the moving drive gear 133 and the moving driven gear 135. The moving intermediate gear 134 is meshed with the moving drive gear 133 and the moving driven gear 135.

[0134] The above configuration uses a mobile motor 132 to drive the mobile drive gear 133 to rotate, which in turn drives the mobile intermediate gear 134 to rotate, thereby driving the mobile driven gear 135 to rotate. This enables the mobile wheel 136 to rotate and drive the walking mechanism 1 to move. The structure is simple and effective.

[0135] like Figure 17 As shown, the steering assembly 14 includes a steering motor 141, a steering mounting bracket 142, a steering drive gear 143, and a steering driven gear 144. The steering driven gear 144 is rotatably mounted on a movable base 12 via a steering bearing seat 145. A through groove 146 is provided at the center of the steering driven gear 144. The movable mounting bracket 131 is disposed in the through groove 146 and connected to the steering driven gear 144. The steering mounting bracket 142 is provided on the movable base 12 on one side of the steering driven gear 144. The steering motor 141 is provided on the steering mounting bracket 142. The steering drive gear 143 is provided on the drive shaft of the steering motor 141. The steering drive gear 143 meshes with the steering driven gear 144. A steering encoder 147 is provided on the steering mounting bracket 142 on one side of the steering motor 141. The steering encoder 147 meshes with the steering driven gear 144 via an encoder gear 148.

[0136] The above configuration, through the setting of the steering component 14, enables the walking wheel device 11 to be adjusted in different directions, thereby allowing the serving robot to serve the ball from different positions and in different directions. The steering motor 141 controls the rotation of the steering drive gear 143 and drives the steering driven gear 144 to rotate, thereby driving the movable mounting frame located in the through groove and connected to the driven gear to rotate, thus realizing the steering of the moving wheel. The structure is simple and effective.

[0137] like Figure 18 As shown, a method for operating a serving robot includes the following steps:

[0138] S1 is when the serving robot needs to pick up and serve the ball.

[0139] (1) The moving mechanism drives the ball-serving robot to move to the position of the ball.

[0140] (2) The first gripping drive device of the first gripping mechanism drives the first gripper assembly to move downward to the position of the ball.

[0141] (3) The first gripper component grips the ball.

[0142] (31) The first drive rod and the second drive rod of the first pneumatic finger open to open the first gripper, and the first gripper drive device drives the first gripper to move so that the ball is located in the ball gripping area.

[0143] (32) The first drive rod and the second drive rod of the first pneumatic finger close, so that the first gripper closes and grips the ball.

[0144] (33) The first fixed clamp holds the upper end of the ball, and the first supporting clamp holds the lower end of the ball.

[0145] (4) The first gripping drive device drives the first gripper assembly to move upward onto the ball-serving device.

[0146] (5) The first gripper assembly releases the ball, and the ball is placed on the serving device.

[0147] (6) Rotate the rotary device to adjust the serving direction of the serving device.

[0148] (7) Angle adjustment device adjusts the serving angle of the serving device.

[0149] (8) The ball is launched by the ball-launching device.

[0150] (81) The delivery assembly delivers the ball into the launch channel.

[0151] (82) The friction wheel motor drives the friction wheel to rotate.

[0152] (83) The ball is squeezed by the friction wheel and moved forward.

[0153] (84) The moment the ball is squeezed out of the launch channel, the ball is quickly ejected by the elastic force squeezed between the friction wheel and the ball.

[0154] (9) Repeat steps (2)-(8) to perform the ball-picking and serving action.

[0155] S2 is when the serving robot performs continuous serves.

[0156] (1) The first gripping mechanism picks up a ball.

[0157] (2) The second gripping mechanism picks up the other ball.

[0158] (21) The second gripping drive device drives the second gripping device to move downward to the position of the ball.

[0159] (22) The second gripper drive motor drives the left gripper assembly and the right gripper assembly to open and close and clamp the ball.

[0160] (221) The second gripper drive motor drives the second drive belt to move, and the left gripper assembly and the right gripper assembly move in opposite directions to achieve opening and closing.

[0161] (23) The second gripping drive device drives the second gripping device to move upward to the position of the serving device and places the ball on the serving device.

[0162] (3) When a ball needs to be served, the first clamping mechanism places a ball on the serving device and launches the ball.

[0163] (4) The rotating device rotates and adjusts the ball-serving device to one end of the second clamping mechanism.

[0164] (5) The second clamping mechanism places another ball on the serving device.

[0165] (6) The rotation device readjusts the serving direction of the serving device.

[0166] (7) The ball-launching device launches another ball.

[0167] The working principle of this invention is as follows: When it is necessary to pick up the ball, the moving motor drives the moving wheel to rotate and move, and the steering motor controls the moving wheel to turn, so that the ball-launching robot can move to the position of the ball. The first gripper drive motor drives the first gripper assembly to move downward to the position of the ball, and then the first pneumatic finger drives the first gripper to open and close to clamp the ball. The first gripper drive motor then drives the first gripper assembly to move upward to place the ball on the conveyor placement rod, thus realizing the ball picking. When it is necessary to launch the ball, the rotary motor drives the rotary connecting seat to rotate to adjust the launching direction of the launching mechanism. The lifting motor drives the angle adjustment base to adjust the launching angle of the launching mechanism. After the angle and direction are adjusted, the conveying cylinder drives the conveying slider to move along the conveying guide rail towards the launching channel, and then the conveying push rod pushes the ball into the launching channel. The friction wheel motor drives the friction wheel to rotate while squeezing the ball forward. When the ball is squeezed out of the launching channel, the elastic force squeezed between the friction wheel and the ball quickly ejects the ball, thus completing the launching action.

Claims

1. A method for using a multifunctional ball-serving device, characterized in that: The specific steps include: S1 When the serving robot needs to pick up and serve the ball; (1) The moving mechanism drives the serving robot to move toward the position of the ball; (2) The first gripping drive device of the first gripping mechanism drives the first gripper assembly to move downward to the position of the ball; (3) The first gripper assembly holds the ball; (4) The first gripping drive device drives the first gripper assembly to move upward onto the serving device; (5) The first gripper assembly releases the ball, and the ball is placed on the serving device; (6) Rotate the rotary device to adjust the serving direction of the serving device; (7) The angle adjustment device adjusts the serving angle of the serving device; (8) The serving device launches the ball; (9) Repeat steps (2)-(8) to perform the ball-picking and serving action; S2 When the serving robot does not need to serve temporarily but needs to pick up the ball; (1) The first gripping mechanism picks up a ball; (2) The second gripping mechanism picks up the other ball; (3) When a serve is required, the first clamping mechanism places a ball onto the serving device and launches the ball. (4) The rotating device rotates and adjusts the serving device to one end of the second clamping mechanism; (5) The second clamping mechanism places another ball on the serving device; (6) The spin device readjusts the serving direction of the serving device; (7) The serving device launches another ball; The above method is implemented by a serving robot, which includes a walking mechanism, a first gripping mechanism, a second gripping mechanism, and a launching mechanism. The launching mechanism is located at the center of the walking mechanism, the first gripping mechanism is located at the rear end of the walking mechanism, and the second gripping mechanism is located at the front end of the walking mechanism. The launching mechanism includes a rotating device, an angle adjusting device, and a ball-serving device. The angle adjusting device is rotatably mounted on the traveling mechanism via the rotating device. The ball-serving device is mounted on the angle adjusting device, and the angle adjusting device drives the ball-serving device to move up and down. The first gripping mechanism includes a first gripper assembly and a first gripping drive device. The first gripping drive device is located at the rear end of the walking mechanism, and the first gripper assembly is located on the first gripping drive device. The first gripping drive device drives the first gripper assembly to swing towards the ball-serving device. The rotating device includes a rotating base, a rotating drive assembly, and a rotating connecting seat. The rotating drive assembly includes a rotating motor, a rotating drive wheel, a rotating belt, a rotating connecting shaft, and a rotating driven wheel. The rotating base is located on the walking mechanism, and a rotating motor is located at one end of the rotating base. The rotating connecting shaft is rotatably located at the center of the rotating base via a rotating connecting bearing. A rotating driven wheel is located on the rotating connecting shaft, and a rotating drive wheel is located on the drive shaft of the rotating motor. The rotating belt is wound between the rotating drive wheel and the rotating driven wheel. The rotating connecting seat is located on the rotating driven wheel and has an angle adjustment device. When picking up the ball, the first gripping mechanism or the second gripping mechanism places the ball on the conveying rod in the conveying assembly.

2. The method of a multifunctional ball-serving device according to claim 1, characterized in that: The angle adjustment device includes an angle connecting base, an angle adjusting base, a lifting component, and a sliding component. The angle connecting base is mounted on a rotary connecting base. The lifting component is mounted at one end of the angle connecting base, and the sliding component is mounted at the other end of the angle connecting base. One end of the angle adjusting base is connected to the lifting component, and the other end of the angle adjusting base is connected to the sliding component. A ball-serving device is provided on the angle adjusting base. The lifting assembly includes a lifting motor, a lifting lead screw, a lifting guide shaft, a lifting slider, a lifting connecting seat, and a lifting connecting block. The lifting motor is mounted on an angle connecting base. A lifting lead screw is mounted on the drive shaft of the lifting motor. A lifting slider is mounted on the lifting lead screw. Lifting guide shafts are mounted on angle connecting bases on both sides of the lifting lead screw. The lifting connecting seat is slidably mounted on the lifting guide shaft. The lifting lead screw is connected to the lifting connecting seat via the lifting slider. A lifting connecting block is mounted on the lifting connecting seat. A first angle adjusting connecting bearing seat is mounted at one end of the angle adjusting base. The first angle adjusting connecting bearing seat is rotatably mounted on the lifting connecting block via a first angle adjusting connecting shaft.

3. The method of a multifunctional ball-serving device according to claim 2, characterized in that: The sliding assembly includes a sliding base, a sliding guide rail, a sliding block, a sliding connecting seat, and a sliding connecting block. The sliding guide rail is disposed on the angle connecting base, and the sliding base is slidably disposed on the sliding guide rail via the sliding block. A sliding connecting seat is disposed on the sliding base, and a sliding connecting block is disposed on the sliding connecting seat. A second angle adjusting connecting bearing seat is disposed at the other end of the angle adjusting base, and the second angle adjusting connecting bearing seat is rotatably disposed on the sliding connecting block via a second angle adjusting connecting shaft.

4. The method of a multifunctional ball-serving device according to claim 2, characterized in that: The ball-serving device includes a ball-serving frame, a friction wheel assembly, and a conveying assembly. The ball-serving frame is mounted on an angle-adjusting base, and a launching channel is provided at the center of the ball-serving frame. A friction wheel assembly extending into the launching channel is provided on the ball-serving frame, and a conveying assembly is provided at one end face of the ball-serving frame. The friction wheel assembly includes a friction wheel, a friction wheel bracket, and a friction wheel motor. The friction wheel motor is fixed to the ball-launching machine frame via the friction wheel bracket. A friction wheel is mounted on the drive shaft of the friction wheel motor, and the rolling surface of the friction wheel extends into the launch channel. Step (8) specifically includes: (81) The delivery assembly delivers the ball into the launch channel; (82) The friction wheel motor drives the friction wheel to rotate; (83) The ball is pushed forward by the friction wheel; (84) The moment the ball is squeezed out of the launch channel, the ball is quickly ejected by the elastic force squeezed between the friction wheel and the ball.

5. The method of a multifunctional ball-serving device according to claim 4, characterized in that: The conveying assembly includes a conveying cylinder, a conveying guide rail, a conveying slider, a conveying fixing block, a conveying connecting block, a conveying push rod, and a conveying placement rod. The conveying cylinder is mounted on the ball-launching machine frame on both sides of the launching channel. The conveying guide rail is mounted on both sides of the ball-launching machine frame via the conveying fixing block. The conveying connecting block is slidably mounted on the conveying guide rail via the conveying slider. The piston rod of the conveying cylinder is connected to the conveying connecting block. A conveying push rod is provided between the conveying connecting blocks on both sides of the ball-launching machine frame. A conveying placement rod is provided at the bottom end of the ball-launching machine frame.

6. The method of a multifunctional ball-serving device according to claim 1, characterized in that: The first gripping drive device includes a first drive mounting base, a first gripper drive motor, a first drive driving wheel, a first drive driven wheel, a first drive connecting frame, and a first drive connecting rod. The first drive mounting base is mounted on the walking mechanism. The first gripper drive motor is mounted on the first drive mounting base. The first drive connecting frame is mounted on the first drive mounting base at both ends of the first gripper drive motor. The two ends of the first drive connecting rod are rotatably mounted on the first drive connecting frame through the first drive connecting bearing. The first drive driving wheel is mounted on the drive shaft of the first gripper drive motor. The first drive driven wheel, which meshes with the first drive driving wheel, is mounted on the first drive connecting rod. The first gripper assembly is mounted on the first drive connecting rod.

7. The method of a multifunctional ball-serving device according to claim 6, characterized in that: The first gripper assembly includes a first gripper, a first gripper connecting frame, and a first pneumatic finger. One end of the first gripper connecting frame is connected to a first drive connecting rod, and the other end of the first gripper connecting frame is provided with a first pneumatic finger. The first gripper is provided on the first drive rod and the second drive rod of the first pneumatic finger, and a ball-gripping area is formed between the first gripper of the first drive rod and the first drive rod. The first gripper includes a first fixed gripper, a first supporting gripper, and a first gripper connecting plate. The first gripper connecting plate is disposed on the first pneumatic finger. The first fixed gripper is disposed at the upper end of the first gripper connecting plate, and the first supporting gripper is disposed at the lower end of the first gripper connecting plate. The first support gripper includes a first support plate and a first support plate. One end of the first support plate is connected to a first gripper connecting plate, and the other end of the first support plate is provided with a first support plate. The first support plate extends into the ball gripping area. The first fixed clamp includes a first fixed connecting part and a first fixed clamping part. One end of the first fixed connecting part is disposed on the first clamping connecting plate, and the other end of the first fixed connecting part is provided with the first fixed clamping part. The first fixed clamping part extends forward, outward and inward in an arc shape from the other end of the first fixed connecting part. The first support plate includes a first support connecting part and a first support clamping part. One end of the first support connecting part is disposed on the first clamping connecting plate, and the other end of the first support connecting part is provided with the first support clamping part. The first support clamping part extends in an arc shape from the other end of the first support connecting part forward, outward and inward, and a first support plate is provided at the end of the first support clamping part. Step (3) specifically includes: (31) The first drive rod and the second drive rod of the first pneumatic finger open to open the first gripper, and the first gripping drive device drives the first gripper to move so that the ball is located in the ball gripping area; (32) The first and second drive rods of the first pneumatic finger close, causing the first gripper to close and clamp the ball; (33) The first fixed clamp holds the upper end of the ball, and the first supporting clamp holds the lower end of the ball.

8. The method of a multifunctional serving device according to claim 1, characterized in that: The second gripping mechanism includes a second gripping device and a second gripping drive device. The second gripping drive device is disposed at the front end of the walking mechanism. The second gripping drive device is provided with a second gripping device. The second gripping drive device drives the second gripping device to swing towards the serving device. The second gripping drive device includes a second drive mounting base, a second drive motor, a second drive connecting block, a second drive frame, and a second drive guide rail. The second drive motor is mounted on the walking mechanism via the second drive mounting base. The second drive frame is set on the drive shaft of the second drive motor via the second drive connecting block. Second drive guide rails are provided at both ends of the second drive frame, and a second gripping device is provided on the second drive guide rail. The second gripper device includes a left gripper assembly, a right gripper assembly, a second gripper drive motor, a second drive driving wheel, a second drive driven wheel, a second drive connecting shaft, a second drive main pulley, a second drive belt, and a second drive driven pulley assembly. The left gripper assembly is slidably mounted on a second drive guide rail at one end of the second drive frame, and the right gripper assembly is slidably mounted on a second drive guide rail at the other end of the second drive frame. The second gripper drive motor is mounted on the second drive frame via a second gripper drive mounting plate. A second drive driving wheel is mounted on the drive shaft of the second gripper drive motor. A second drive driven wheel that meshes with the second drive driving wheel is mounted on the second drive frame on one side of the second gripper drive motor. A second drive connecting shaft is mounted on the second drive driven wheel, and a second drive main pulley is mounted on the second drive connecting shaft. The second drive driven pulley assembly is mounted on the second drive frame and the second drive guide rail. The second drive belt is wound around the second drive main pulley and the second drive driven pulley. The left gripper assembly is mounted at one end of the second drive belt, and the right gripper assembly is mounted at the other end of the second drive belt. The second drive pulley assembly includes a first intermediate pulley, a second intermediate pulley, a left clamping pulley, a third intermediate pulley, a fourth intermediate pulley, a right clamping pulley, and a fifth intermediate pulley. The first intermediate pulley is disposed on the second drive frame near the second drive main pulley. The second intermediate pulley is disposed at one end of the second drive frame. The left clamping pulley is disposed at the end of the second drive guide rail at one end of the second drive frame. The third intermediate pulley is disposed on the second drive frame on one side of the second intermediate pulley. The fourth intermediate pulley is disposed at the other end of the second drive frame. The right clamping pulley is disposed at the end of the second drive guide rail at the other end of the second drive frame. The fifth intermediate pulley is disposed on the second drive frame on the other side near the second drive main pulley. The left gripper assembly includes a left gripper, a left gripper connecting seat, a left gripper guide wheel, and a left gripper connecting block. The left gripper connecting seat is slidably mounted on the second drive guide rail via the left gripper guide wheel. A left gripper connecting block is provided on the left gripper connecting seat and is connected to the second drive belt. A gripper is provided on the side of the left gripper connecting seat near the right gripper assembly. The right gripper assembly has the same structure as the left gripper assembly, and a second gripping area is formed between the right gripper assembly and the left gripper assembly. One end of the second drive belt is located on the second drive pulley, and the other end of the second drive belt is sequentially wound around the first intermediate pulley, the second intermediate pulley, the left gripper pulley, the third intermediate pulley, the fourth intermediate pulley, the right gripper pulley, and the fifth intermediate pulley, and connected to one end of the second drive belt to form a closed loop; the left gripper assembly is connected to the second drive belt between the left gripper pulley and the second intermediate pulley; the right gripper assembly is connected to the second drive belt between the fourth intermediate pulley and the right gripper pulley. Step S2-(2) specifically includes: (21) The second gripping drive device drives the second gripping device to move downward to the position of the ball; (22) The second gripper drive motor drives the left gripper assembly and the right gripper assembly to open and close and clamp the ball; (221) The second gripper drive motor drives the second drive belt to move, and the left gripper assembly and the right gripper assembly move in opposite directions to open and close; (23) The second gripping drive device drives the second gripping device to move upward to the position of the serving device and places the ball on the serving device.

9. The method of a multifunctional ball-serving device according to claim 1, characterized in that: The walking mechanism includes a walking wheel device and a walking base. The walking wheel device is located at the front end and the rear end of the walking base. The first clamping mechanism is located at the rear end of the walking base, the second clamping mechanism is located at the front end of the walking base, and the launching mechanism is located at the center of the walking base. The walking wheel device includes a moving component and a steering component. The moving component includes a moving mounting frame, a moving motor, a moving drive gear, a moving intermediate gear, a moving driven gear, and a moving wheel. The moving mounting frame is mounted on the steering component. A moving motor is located at the top of the moving mounting frame. The moving wheel is rotatably mounted at the bottom of the moving mounting frame via a moving wheel axle. A moving drive gear is located on the drive shaft of the moving motor. A moving driven gear is located on the moving wheel axle. The moving intermediate gear is mounted on the moving mounting frame between the moving drive gear and the moving driven gear. The moving intermediate gear meshes with the moving drive gear and the moving driven gear. The steering assembly includes a steering motor, a steering mounting bracket, a steering drive gear, and a steering driven gear. The steering driven gear is rotatably mounted on a movable base via a steering bearing seat. A through slot is provided at the center of the steering driven gear. The movable mounting bracket is disposed in the through slot and connected to the steering driven gear. A steering mounting bracket is provided on the movable base on one side of the steering driven gear. A steering motor is provided on the steering mounting bracket. A steering drive gear is provided on the drive shaft of the steering motor. The steering drive gear meshes with the steering driven gear. A steering encoder is provided on the steering mounting bracket on one side of the steering motor. The steering encoder meshes with the steering driven gear through an encoder gear.

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