A method of serving

Abstract

The application provides a ball serving method, and the specific steps include: (1) a moving mechanism drives a ball serving robot to move to the position of the ball; (2) a second clamping driving device of a second clamping mechanism drives a second clamping device to move downward to the position of the ball; (3) the second clamping device clamps the ball; (4) the second clamping driving device drives the second clamping device to move upward to a ball serving device; (5) the second clamping device releases the ball, and the ball is placed on the ball serving device; (6) a rotating device rotates to adjust the ball serving direction of the ball serving device; (7) an angle adjusting device adjusts the ball serving angle of the ball serving device; (8) the ball serving device shoots the ball; and (9) steps (2)-(8) are repeated to perform the ball picking and serving action, so that the automatic ball picking and multi-angle and multi-direction ball serving are realized, and the operation is simple.

Description

Technical Field

[0001] This invention relates to the field of serving training robot technology, and specifically to a serving method. 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, which is inconvenient for the training partner. If an additional ball-retrieval robot is added, it will require operating two robots to retrieve and serve the ball, which is complicated. In addition, some robots have a fixed launching angle and are not flexible, so it cannot guarantee that the ball can be served from multiple angles to improve the training quality. Summary of the Invention

[0005] The purpose of this invention is to provide a serving method that enables automatic ball retrieval and multi-angle and multi-directional serving, and is simple to operate.

[0006] To achieve the above objectives, a serving method is implemented using a gripping and launching robot, with the following specific steps: (1) The moving mechanism drives the ball-serving robot to move to the position of the ball.

[0007] (2) The second gripping drive device of the second gripping mechanism drives the second gripper device to move downward to the position of the ball.

[0008] (3) The second gripping device grips the ball, specifically including the following steps (31)-(33).

[0009] (31) The second gripper drive motor drives the left gripper assembly and the right gripper assembly to open and close and clamp the ball; (32) 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; (33) 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.

[0010] (4) The second gripping drive device drives the second gripping device to move upward to the ball-serving device.

[0011] (5) The second clamping device releases the ball, and the ball is placed on the serving device.

[0012] (6) Rotate the rotary device to adjust the serving direction of the serving device.

[0013] (7) Angle adjustment device adjusts the serving angle of the serving device.

[0014] (8) The ball is launched by the ball-launching device.

[0015] (9) Repeat steps (2)-(8) to perform the ball-picking and serving action.

[0016] The gripping and launching robot includes a walking mechanism, a second gripping mechanism, and a launching mechanism. The launching mechanism is located at the center of the walking mechanism, and the second gripping mechanism is located at the front end of the walking mechanism.

[0017] 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.

[0018] The second gripping mechanism includes a second gripping device and a second gripping drive device. The second gripping drive device is located at the front end of the traveling mechanism, and the second gripping device is mounted 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 traveling mechanism via the second drive mounting base. The second drive frame is mounted on the drive shaft of the second drive motor via the second drive connecting block. Second drive guide rails are located at both ends of the second drive frame, and the second gripping device is mounted on the second drive guide rail. The second gripping device includes a left gripping assembly, a right gripping assembly, a second gripping drive motor, a second drive driving wheel, a second drive driven wheel, a second drive connecting shaft, a second drive main pulley, and a second drive drive drive wheel. Two drive belts and a second drive 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 drive wheel is provided on the drive shaft of the second gripper drive motor, a second drive driven wheel is provided on the second drive frame on one side of the second gripper drive motor and meshes with the second drive drive wheel, a second drive connecting shaft is provided on the second drive driven wheel, and a second drive main pulley is provided on the second drive connecting shaft; the second drive pulley assembly is set 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 set at one end of the second drive belt, and the right gripper assembly is set 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 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.

[0019] The aforementioned gripping and launching robot picks up the ball through a second gripping mechanism and then launches it through a launching mechanism. A single robot can automatically pick up and launch the ball, making it 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 trajectory to be adjusted according to the trainee's position, thus improving overall training quality. Furthermore, a walking mechanism allows the gripping and launching robot to move to different locations for ball picking and launching, further reducing the workload of the training partner. The second drive mechanism rotates the second drive connecting block, causing the second drive frame to swing upwards, thus moving the second gripper device towards the launching device. The structure is simple and easy to operate.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] Step (8) specifically includes: (81) The delivery assembly delivers the ball into the launch channel.

[0030] (82) The friction wheel motor drives the friction wheel to rotate.

[0031] (83) The ball is squeezed by the friction wheel and moved forward.

[0032] (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.

[0033] In the above configuration, the 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.

[0034] 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.

[0035] The above setup, by placing the ball on the conveyor rod, allows the ball to be temporarily stored, enabling the gripper and launch robot to move and pick up the ball while adjusting the angle and direction of the launch, 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.

[0036] 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 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] The above configuration, through the setting of the steering component, enables the walking wheel device to be adjusted in different directions, thereby allowing the gripping and launching robot to launch the ball from different positions and 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 moving mounting frame located in the through slot and connected to the driven gear to rotate, thus realizing the steering of the moving wheels. The structure is simple and effective. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the gripping and launching robot of the present invention.

[0042] Figure 2 This is a schematic diagram of the launching mechanism of the present invention.

[0043] Figure 3 This is an exploded schematic diagram of the rotary device of the present invention.

[0044] Figure 4 This is a schematic diagram of the angle adjustment device of the present invention.

[0045] Figure 5This is an exploded view of the sliding component of the present invention.

[0046] Figure 6 This is a schematic diagram of the serving device of the present invention.

[0047] Figure 7 This is an explosion diagram of the second gripping mechanism.

[0048] Figure 8 for Figure 10 A magnified view of point C in the middle.

[0049] Figure 9 This is a top view of the second clamping mechanism of the present invention.

[0050] Figure 10 This is a schematic diagram of the structure of the left gripper assembly of the present invention.

[0051] Figure 11 This is a schematic diagram showing the position of the second drive pulley group of the present invention.

[0052] Figure 12 This is a schematic diagram of the walking mechanism of the present invention.

[0053] Figure 13 This is a schematic diagram of the structure of the mobile component of the present invention.

[0054] Figure 14 This is a schematic diagram of the steering assembly of the present invention. Detailed Implementation

[0055] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0056] like Figures 1 to 14 As shown, a gripping and launching robot includes a walking mechanism 1, a second gripping mechanism 3, and a launching mechanism 4. The launching mechanism 4 is located at the center of the walking mechanism 1, and the second gripping mechanism 3 is located at the front end of the walking mechanism 1.

[0057] 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.

[0058] The gripping and launching robot described above picks up the ball through the second gripping mechanism 3 and launches it through the launching mechanism 4. It is convenient and effective to operate. Because 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 provided so that the gripping and launching robot can move to different places to pick up and launch the ball, thereby reducing the workload of the training partner.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] In the above configuration, 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 and squeezes the ball. The friction wheel motor 4323 drives the friction wheel 4321 to rotate while squeezing the ball forward. When 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.

[0069] 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 gripping and launching robot to move and pick up the ball while adjusting the angle and direction of the launch, 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.

[0070] like Figure 7As 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.

[0071] 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.

[0072] 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.

[0073] like Figures 7-9 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 9(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.

[0074] 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.

[0075] like Figure 10 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. The above setup, with the left and right gripper components working together, can clamp objects, making the structure simple and effective.

[0076] like Figure 9 and Figure 11As 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. 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.

[0077] 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 11 (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.

[0078] like Figure 12As 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 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.

[0079] like Figures 12-14 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.

[0080] 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.

[0081] like Figure 14 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.

[0082] 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 gripping and launching robot to launch the ball from different positions and in different directions. The steering motor 141 controls the steering drive gear 143 to rotate 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.

[0083] The working method of the above-mentioned gripping and launching robot includes the following specific steps: (1) The moving mechanism drives the ball-serving robot to move to the position of the ball.

[0084] (2) The second gripping drive device of the second gripping mechanism drives the second gripper device to move downward to the position of the ball.

[0085] (3) The second gripping device clamps the ball.

[0086] (31) The second gripper drive motor drives the left gripper assembly and the right gripper assembly to open and close and clamp the ball.

[0087] (32) 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.

[0088] (33) 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.

[0089] (4) The second gripping drive device drives the second gripping device to move upward to the ball-serving device.

[0090] (5) The second clamping device releases the ball, and the ball is placed on the serving device.

[0091] (6) Rotate the rotary device to adjust the serving direction of the serving device.

[0092] (7) Angle adjustment device adjusts the serving angle of the serving device.

[0093] (8) The ball is launched by the ball-launching device.

[0094] (81) The delivery assembly delivers the ball into the launch channel.

[0095] (82) The friction wheel motor drives the friction wheel to rotate.

[0096] (83) The ball is squeezed by the friction wheel and moved forward.

[0097] (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.

[0098] (9) Repeat steps (2)-(8) to perform the ball-picking and serving action.

[0099] 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 gripping and launching robot can move to the position of the ball. The second gripping drive device drives the second gripping device to move downward to the position of the ball. Then, the second gripping drive motor drives the left gripping assembly and the right gripping assembly to grip the ball. The second gripping drive device then drives the second gripping device to move upward to place the ball on the conveying and placing rod, thus picking up the ball. 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 adjusting 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. 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 serving a ball, implemented by a gripping and launching robot, characterized in that: The specific steps include: (1) The moving mechanism drives the serving robot to move toward the position of the ball; (2) The second gripping drive device of the second gripping mechanism drives the second gripper device to move downward to the position of the ball; (3) The second gripping device clamps the ball, specifically including the following steps (31)-(33); (31) The second gripper drive motor drives the left gripper assembly and the right gripper assembly to open and close and clamp the ball; (32) 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; (33) 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; (4) The second gripping drive device drives the second gripping device to move upward onto the serving device; (5) The second clamping device 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; The gripping and launching robot includes a walking mechanism, a second gripping mechanism, and a launching mechanism. The launching mechanism is located at the center 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 second gripping mechanism includes a second gripping device and a second gripping drive device. The second gripping drive device is located at the front end of the traveling mechanism. The second gripping device is mounted 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 traveling mechanism via the second drive mounting base. The second drive frame is mounted on the drive shaft of the second drive motor via the second drive connecting block. Second drive guide rails are located at both ends of the second drive frame, and the second gripping device is mounted on the second drive guide rail. The second gripping device includes a left gripping assembly, a right gripping assembly, a second gripping drive motor, a second drive driving wheel, a second drive driven wheel, a second drive connecting shaft, a second drive main pulley, and a second drive drive drive wheel. Two drive belts and a second drive 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 drive wheel is provided on the drive shaft of the second gripper drive motor, a second drive driven wheel is provided on the second drive frame on one side of the second gripper drive motor and meshes with the second drive drive wheel, a second drive connecting shaft is provided on the second drive driven wheel, and a second drive main pulley is provided on the second drive connecting shaft; the second drive pulley assembly is set 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 set at one end of the second drive belt, and the right gripper assembly is set 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 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 gripping pulley, the third transfer pulley, the fourth transfer pulley, the right gripping pulley, and the fifth transfer pulley, and connected to one end of the second drive belt to form a closed loop; the left gripping assembly is connected to the second drive belt between the left gripping pulley and the second transfer pulley; the right gripping assembly is connected to the second drive belt between the fourth transfer pulley and the right gripping pulley; the angle adjustment device includes an angle connecting base, an angle adjusting base, a lifting assembly, and a sliding assembly; the angle connecting base is disposed on a rotary connecting base; the lifting assembly is disposed at one end of the angle connecting base; the sliding assembly is disposed at the other end of the angle connecting base; one end of the angle adjusting base is connected to the lifting assembly; the other end of the angle adjusting base is connected to the sliding assembly; 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, and 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. The rotation device and the angle adjusting device enable the launching mechanism to adjust its angle and direction.

2. The serving method according to claim 1, characterized in that: 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 a traveling mechanism. 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. A rotary driven wheel is mounted on the rotary connecting shaft. A rotary drive wheel is mounted on the drive shaft of the rotary motor. The rotary belt is wound between the rotary drive wheel and the rotary driven wheel. The rotary connecting seat is mounted on the rotary driven wheel and has an angle adjustment device.

3. The serving method according to claim 1, 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 serving method according to claim 1, 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 serving method 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 serving method 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 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.

Images