Device capable of automatically outputting target

Abstract

The invention discloses a device capable of automatically outputting a target. The device comprises a robot base, a robot moving box installed above the robot base, a foot target agility training mechanism arranged in the robot base and a foot target stretching mechanism arranged in the robot moving box. A motor cavity, a third movable cavity, a second movable cavity and a first movable cavity are sequentially formed in the robot base from top to bottom. The first motor can drive the rotating disc to rotate through the main shaft, the positioning sliding pin at one end of the first supporting rod slides in the arc-shaped sliding groove of the rotating disc, the rotating disc can pull one end of the first supporting rod to rotate through the positioning sliding pin, and the other end of the first supporting rod pulls the second supporting rod; the second supporting rod can pull the third supporting rod and the first foot target to move in the central axis direction of the directional sliding groove, the first foot target can be pulled to contract towards the interior of the third movable cavity, on the contrary, the first foot target can be pushed out and unfolded, and the first foot target can provide a foot kicking position for a user.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a device capable of automatically releasing a target. Background Art

[0002] Taekwondo generally focuses on leg techniques, and usually leg training is done by kicking, usually by kicking a sandbag or a wooden man, to train the leg's sensitivity and ability to withstand blows. In order to improve the efficiency of leg training, a flexible kick target device can be designed.

[0003] In the prior art, there is a Taekwondo training device with publication number CN112245887A. The invention relates to a Taekwondo training device, including a base, a vertical cylinder is provided on the base, a rotating rod is passed through the bottom of the vertical cylinder, one end of the rotating rod is rotatably connected with a connecting rod, the other end of the connecting rod is rotatably connected to the inner wall of the vertical cylinder, the other end of the rotating rod extends out of the vertical cylinder and is connected with a crank handle, bevel gear 1 is respectively sleeved on the connecting rod and the rotating rod, a bevel gear 2 is matched between the two bevel gears 1 above, a threaded rod is inserted on the bevel gear 2, a moving rod is matched and sleeved on the outside of the threaded rod, connecting blocks are respectively provided on the inner walls on both sides above the vertical cylinder, slide rails parallel to the vertical cylinder are respectively provided on both sides of the outside of the moving rod, a sliding groove matching the slide rails is provided on the connecting block, the upper end of the moving rod extends out of the vertical cylinder and has insertion rods on both radial sides, and a training target is detachably provided on the outside of the insertion rod.

[0004] In view of the contents of the above application, the existing device has the following problems: Generally, the position of the training target is changed by rotating a rotating rod to assist in leg training. Since the training targets are at the same level and the position of the training targets can only be changed at the same level, the functionality is relatively simple. Leg training generally uses low height, medium height, and higher height to train kicking at different heights. Training at the same height is easily restricted by the set training height, which is not convenient for providing users with kicking positions at different heights, and is not convenient for training kicking reaction speed and accuracy. For this reason, we propose a device that can automatically produce targets. Summary of the invention

[0005] The purpose of the present invention is to provide a device capable of automatically releasing a target, thereby solving the existing problems.

[0006] To achieve the above object, the present invention provides the following technical solutions: A device capable of automatically releasing a target, comprising: A robot base, a robot activity box installed above the robot base, a foot target agility training mechanism disposed inside the robot base, and a foot target extension mechanism disposed inside the robot activity box; The robot base is provided with a motor cavity, a third activity cavity, a second activity cavity and a first activity cavity in sequence from top to bottom; A fourth activity cavity is provided inside the robot activity box, a hollow frame is installed inside the fourth activity cavity, and the hollow frame is fixedly connected to the robot activity box; The foot target extension mechanism includes a screw sleeve block arranged inside the hollow frame, a movable screw is passed through the interior of the screw sleeve block, the input shaft of the movable screw is connected to the second motor, the outer wall of the screw sleeve block is connected to four connecting rods, an extension arm is correspondingly arranged below the connecting rod, a connecting arm is fixed to one end of the extension arm, a movable shaft is passed through the other end of the extension arm, the extension arm is movably connected to the robot movable box through the movable shaft, a third foot target is arranged at one end of the connecting arm, a connecting shaft is passed through the end of the third foot target inserted into the connecting arm, and the third foot target is movably connected to the connecting arm through the connecting shaft.

[0007] Preferably, a connecting slot is provided inside the connecting rod, a connecting slide pin is passed through the connecting slot, the connecting slot is partially adapted to the connecting slide pin, and one end of the connecting slide pin passes through the connecting slot and is fixedly connected to the hollow frame; One end of the connecting rod is connected to the screw rod sleeve block with a movable sliding pin, and the other end of the connecting rod is connected to a movable sliding sleeve with a movable pin.

[0008] Preferably, a transverse sliding groove is opened inside the extension arm, a guide sliding rod is passed through the inside of the movable sliding sleeve, a fixed rack is fixed to the bottom of the guide sliding rod, the fixed rack meshes with the movable gear, the shaft passing through the inside of the movable gear is fixed inside the movable sliding sleeve, and the guide sliding rod passes through the inside of the movable sliding sleeve and is fixedly connected to the extension arm.

[0009] Preferably, an adjusting screw is provided at the bottom of the movable sliding sleeve, a handle is fixed to one end of the adjusting screw, and a locking tooth block is connected to the other end; A bidirectional screw is arranged on one side inside the connecting arm, one end of the bidirectional screw is connected to a turning handle, both sides of the bidirectional screw are sleeved with internal threaded sleeves, one side of the internal threaded sleeve is fixed with a clamping arm, the cross-section of the clamping arm is arranged in an "L" shape, and grooves are provided on both sides of the extension arm inserted into the connecting arm, and the grooves are partially adapted to one end of the clamping arm.

[0010] Preferably, a return spring is provided between the clamping arm and the connecting arm, a connecting slide rod is passed through the interior of the return spring, one end of the connecting slide rod is fixed to the clamping arm, and the other end passes through the interior of the connecting arm; Two spacers are arranged on the other side of the connecting arm, one end of the spacer is connected with the movable pin of the connecting arm, and the other end is in contact with the third foot target, and a plurality of connecting springs are connected between the connecting arm and the spacer.

[0011] Preferably, the foot target agility training mechanism comprises a turntable arranged inside the third activity chamber, a main shaft is passed through the middle of the turntable, the main shaft is fixedly connected to the turntable, and an input end of the main shaft is connected to a first motor; Four arc-shaped arc-shaped sliding grooves are opened inside the rotating disk, and a positioning sliding pin is passed through one end of the arc-shaped sliding groove, and the arc-shaped sliding groove is partially adapted to the positioning sliding pin.

[0012] Preferably, four groups of first support rods, second support rods, third support rods and first foot targets are provided on the turntable, the outer sleeve of the third support rod is provided with a directional slide groove, one end of the first support rod is slidably connected to the arc slide groove through a positioning slide pin, and the other end is movably pin-connected to one end of the second support rod, the other end of the second support rod is movably pin-connected to one end of the third support rod, the other end of the third support rod is penetrated by a plurality of fixing bolts, and the third support rod is fixedly connected to the first foot target by fixing bolts.

[0013] Preferably, a support plate is provided between the second active cavity and the third active cavity, and the support plate is fixedly connected to the robot base; A coaxial disk is arranged inside the support plate, and the coaxial disk is fixedly connected to the main shaft. A support ring is fixed on the outer wall of the coaxial disk, and an annular groove is arranged on the outer sleeve of the support ring. The support ring is adapted to the annular groove, and both the support ring and the annular groove are in annular structures.

[0014] Preferably, a coaxial toothed disc is fixed to one end of the main shaft passing through the coaxial disc, four driven gears are arranged around the coaxial toothed disc, the coaxial toothed disc is meshed with the driven gears, the output shaft of the driven gears is connected to a crankshaft, and a counterweight disc is fixed to the bottom of the crankshaft.

[0015] Preferably, the crankshaft is provided with a plurality of journals, the outer sleeve of the journal is provided with a fourth support rod, one end of the fourth support rod is movably connected to the journal through an axis, the other end of the fourth support rod is movably pin-connected with a fifth support rod, the outer sleeve of the fifth support rod is provided with a limiting slide groove, and one end of the fifth support rod is connected to a second foot target.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The second motor provided in the present invention can drive the movable screw rod to rotate, and the movable screw rod can push the screw rod sleeve block to move inside the hollow frame. Since the two ends of the connecting rod are respectively connected with the screw rod sleeve block and the movable sliding sleeve inside the extension arm, the screw rod sleeve block can pull the extension arm to rotate with the movable shaft as the axis through the connecting rod. When the screw rod sleeve block moves upward, the screw rod sleeve block pulls one end of the connecting rod to move upward, and the connecting rod rotates with the connecting sliding pin as the axis at the same time, and the other end of the connecting rod pulls the extension arm to rotate with the movable shaft as the axis, which can rotate the extension arm counterclockwise to retract the extension arm, the connecting arm and the third foot target. Conversely, the second motor pushes the screw rod sleeve block downward through the movable screw rod, and the screw rod sleeve block pushes one end of the connecting rod to move downward. At the same time, the connecting rod rotates along the connecting sliding pin, and the bottom of the connecting rod applies thrust to the extension arm, which can rotate the extension arm clockwise, and the extension arm, the connecting arm and the third foot target can be unfolded. At this time, the third foot target can provide a kicking position for the user.

[0017] The present invention can insert one end of the third foot target into the interior of the connecting arm, and connect the connecting arm to the third foot target through a connecting shaft. When the third foot target is subjected to external force, the third foot target rotates with the connecting shaft as the axis, and the third foot target can apply pressure to the spacer, so that the spacer compresses the connecting spring, and the connecting spring can provide collision buffering for the third foot target.

[0018] The first motor provided in the present invention can drive the turntable to rotate through the main shaft. Since the positioning slide pin at one end of the first support rod slides inside the arc-shaped slide groove of the turntable, the turntable can pull one end of the first support rod to rotate through the positioning slide pin, and the other end of the first support rod pulls the second support rod. The second support rod can pull the third support rod and the first foot target to move along the central axis direction of the directional slide groove, and can pull the first foot target to shrink inside the third active cavity. Conversely, the first foot target can be pushed out and expanded, and the first foot target can provide a kicking position for the user.

[0019] The main shaft provided in the present invention can drive the coaxial disk and the coaxial toothed disk to rotate synchronously, and the coaxial disk can drive the coaxial toothed disk to rotate. Since the driven gear of the coaxial toothed disk is meshed, the driven gear is fixedly connected to the crankshaft, and the coaxial toothed disk can push the driven gear and the crankshaft to rotate synchronously. The crankshaft can drive the journal to make a circular motion. Since one end of the fourth support rod is movably connected to the journal through the shaft, and the other end is movably pin-connected with one end of the fifth support rod, the journal can drive one end of the fourth support rod to make a circular motion, and the other end pulls the fifth support rod and the second foot target to reciprocate along the central axis direction of the limiting slide groove, and the second foot target can be pushed out and pulled back, which is used to train the user's kicking speed and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 For the present invention Figure 1 A schematic diagram of the partially enlarged structure at center A; Figure 3 is a top view schematic diagram of the turntable of the present invention; Figure 4 For the present invention Figure 1 A schematic diagram of the partially enlarged structure at B in the middle; Figure 5 For the present invention Figure 1 The schematic diagram of the structure C is partially enlarged at B in the middle; Figure 6 It is a partial cross-sectional structural schematic diagram of the extension arm of the present invention; Figure 7 For the present invention Figure 6 The schematic diagram of the structure C is partially enlarged at D in the middle; Figure 8 It is a schematic diagram of the internal structure of the connecting arm of the present invention; Fig. 9 For the present invention Figure 8 The schematic diagram of the C structure is partially enlarged at E in the middle; Fig.10 For the present invention Figure 8 The schematic diagram of the C structure is partially enlarged at F in the middle; Fig.11 Schematic diagram of the sensing structure of the present invention.

[0021] In the figure: 1. Robot base; 2. First activity cavity; 3. Second activity cavity; 4. Third activity cavity; 5. Foot target agility training mechanism; 501. first motor; 502. main shaft; 503. turntable; 504. first support rod; 505. arc slide; 506. positioning slide pin; 507. second support rod; 508. third support rod; 509. first foot target; 510. directional slide; 511. support plate; 512. coaxial disk; 513. support ring; 514. ring groove; 515. coaxial gear disk; 516. driven gear; 517. crankshaft; 518. journal; 519. fourth support rod; 520. fifth support rod; 521. limit slide; 522. fixing bolt; 523. second foot target; 524. counterweight plate; 6. Robot activity box; 7. Fourth activity chamber; 8. Hollow frame; 9. Foot target extension mechanism; 901. Second motor; 902. Active lead screw; 903. Lead screw sleeve; 904. Connecting rod; 905. Connecting slide; 906. Connecting slide pin; 907. Extension arm; 908. Connecting arm; 909. Third foot target; 910. Transverse slide; 911. Guide slide; 912. Active slide; 913. Fixed rack; 914. Active gear; 915. Adjusting screw; 916. Handle; 917. Locking gear block; 918. Bidirectional lead screw; 919. Internal thread sleeve; 920. Clamping arm; 921. Groove; 922. Return spring; 923. Connecting slide; 924. Connecting shaft; 925. Spacer; 926. Connecting spring; 927. Active shaft. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0023] See also Figure 1-10 , a device capable of automatically releasing a target, comprising: A robot base 1, a robot activity box 6 installed above the robot base 1, a foot target agility training mechanism 5 arranged inside the robot base 1, and a foot target extension mechanism 9 arranged inside the robot activity box 6; The inside of the robot base 1 is provided with a motor cavity, a third activity cavity 4, a second activity cavity 3 and a first activity cavity 2 in sequence from top to bottom; A fourth activity chamber 7 is provided inside the robot activity box 6 , and a hollow frame 8 is installed inside the fourth activity chamber 7 . The hollow frame 8 is fixedly connected to the robot activity box 6 .

[0024] like Figure 1 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10As shown, the foot target extension mechanism 9 includes a screw sleeve block 903 arranged inside the hollow frame 8, a movable screw 902 is passed through the interior of the screw sleeve block 903, the input shaft of the movable screw 902 is connected to the second motor 901, the outer wall of the screw sleeve block 903 is connected to four connecting rods 904, and an extension arm 907 is correspondingly arranged below the connecting rod 904, a connecting arm 908 is fixed to one end of the extension arm 907, a movable shaft 927 is passed through the other end of the extension arm 907, the extension arm 907 is movably connected to the robot movable box 6 through the movable shaft 927, a third foot target 909 is arranged at one end of the connecting arm 908, and a connecting shaft 924 is passed through the end of the third foot target 909 inserted into the connecting arm 908, and the third foot target 909 is movably connected to the connecting arm 908 through the connecting shaft 924.

[0025] Specifically, the second motor 901 can drive the movable screw rod 902 to rotate, and the movable screw rod 902 can push the screw rod sleeve block 903 to move inside the hollow frame 8. Since the two ends of the connecting rod 904 are respectively pin-connected with the movable sleeve 912 inside the screw rod sleeve block 903 and the extension arm 907, the screw rod sleeve block 903 can pull the extension arm 907 to rotate around the movable shaft 927 through the connecting rod 904. When the screw rod sleeve block 903 moves upward, the screw rod sleeve block 903 pulls one end of the connecting rod 904 to move upward, and the connecting rod 904 rotates around the connecting sliding pin 906 as the axis, and the other end of the connecting rod 904 pulls the extension arm 907 to rotate around the movable shaft 927 is an axis rotation, which can rotate the extension arm 907 counterclockwise to retract the extension arm 907, the connecting arm 908 and the third foot target 909. Conversely, the second motor 901 pushes the screw sleeve block 903 downward through the movable screw rod 902, and the screw sleeve block 903 pushes one end of the connecting rod 904 downward. At the same time, the connecting rod 904 rotates along the connecting slide pin 906, and the bottom of the connecting rod 904 applies thrust to the extension arm 907, which can rotate the extension arm 907 clockwise, and the extension arm 907, the connecting arm 908 and the third foot target 909 can be unfolded. At this time, the third foot target 909 can provide a kicking position for the user.

[0026] like Figure 5 and Figure 6 As shown, a connecting slot 905 is provided inside the connecting rod 904, a connecting slide pin 906 is passed through the connecting slot 905, the connecting slot 905 is partially adapted to the connecting slide pin 906, and the connecting slide pin 906 passes through one end of the connecting slot 905 and is fixedly connected to the hollow frame 8; One end of the connecting rod 904 is movably pinned to the screw sleeve block 903 , and the other end is movably pinned to a movable sleeve 912 .

[0027] Specifically, the connecting rod 904 can be connected to the sliding pin 906 as an axis for rotation, and the movable range of the connecting rod 904 can be limited by connecting the sliding groove 905 and the connecting sliding pin 906 .

[0028] like Figure 6 and Figure 7 As shown, a transverse sliding groove 910 is opened inside the extension arm 907, a guide slide rod 911 is passed through the inside of the movable sliding sleeve 912, a fixed rack 913 is fixed to the bottom of the guide slide rod 911, the fixed rack 913 meshes with a movable gear 914, the shaft passing through the inside of the movable gear 914 is fixed inside the movable sliding sleeve 912, and the guide slide rod 911 passes through the inside of the movable sliding sleeve 912 and is fixedly connected to the extension arm 907.

[0029] Specifically, the position of the movable sleeve 912 on the guide slide bar 911 can be pre-adjusted, and the movable sleeve 912 can be pushed to move on the guide slide bar 911. At this time, the movable gear 914 rolls and moves at the bottom of the fixed rack 913, and the movable sleeve 912 is adjusted to a suitable position. Then, the adjusting screw 915 is rotated by the handle 916 to push the locking tooth block 917 to move. The locking tooth block 917 can be pressed against the movable gear 914. Since the movable gear 914 is meshed with the fixed rack 913, at this time, the movable gear 914 is prevented from rotating, and the position of the guide slide bar 911 and the movable sleeve 912 is limited.

[0030] like Figure 6 and Figure 7 As shown, an adjusting screw 915 is provided at the bottom of the movable sleeve 912, a handle 916 is fixed to one end of the adjusting screw 915, and a locking tooth block 917 is connected to the other end; A bidirectional screw rod 918 is arranged on one side inside the connecting arm 908, one end of the bidirectional screw rod 918 is connected to a turning handle 928, both sides of the bidirectional screw rod 918 are sleeved with internal threaded sleeve blocks 919, a clamping arm 920 is fixed to one side of the internal threaded sleeve block 919, and the cross-section of the clamping arm 920 is arranged as an "L"-shaped structure, and grooves 921 are provided on both sides of the extension arm 907 inserted into the connecting arm 908, and the groove 921 is partially adapted to one end of the clamping arm 920.

[0031] Specifically, one end of the extension arm 907 can be inserted into the interior of the connecting arm 908, and the bidirectional screw rod 918 can be rotated by the turning handle 928. Since the two parts of the bidirectional screw rod 918 have opposite threads, the bidirectional screw rod 918 and the internal thread sleeve block 919 are threadedly matched, and the bidirectional screw rod 918 can push the two internal thread sleeve blocks 919 to approach each other. Since the internal thread sleeve block 919 is fixedly connected to the clamping arm 920, the internal thread sleeve block 919 and the clamping arm 920 can move synchronously, and one end of the clamping arm 920 can be embedded in the groove 92 1, the return spring 922 exerts elastic force on the clamping arm 920, so that the two clamping arms 920 can provide clamping and fixing for the extension arm 907, and the extension arm 907 can be connected to the connecting arm 908. Conversely, the turning handle 928 can reversely rotate the bidirectional screw rod 918, and the bidirectional screw rod 918 can push the two internal threaded sleeves 919 and the clamping arm 920 away from each other, and the clamping arm 920 compresses the return spring 922, and separates one end of the clamping arm 920 from the groove 921, so that the connecting arm 908 can be removed.

[0032] like Figure 8 and Fig.10 As shown, a return spring 922 is provided between the clamping arm 920 and the connecting arm 908, and a connecting slide rod 923 is passed through the interior of the return spring 922, one end of the connecting slide rod 923 is fixed to the clamping arm 920, and the other end passes through the interior of the connecting arm 908; Two spacers 925 are disposed on the other side of the connecting arm 908 , one end of the spacer 925 is movably pin-connected to the connecting arm 908 , and the other end is in contact with the third foot target 909 . A plurality of connecting springs 926 are connected between the connecting arm 908 and the spacer 925 .

[0033] Specifically, one end of the third target leg 909 can be inserted into the interior of the connecting arm 908, and the connecting arm 908 can be connected to the third target leg 909 through the connecting shaft 924. When the third target leg 909 is subjected to external force, the third target leg 909 rotates around the connecting shaft 924, and the third target leg 909 can apply pressure to the spacer 925, so that the spacer 925 compresses the connecting spring 926, and the connecting spring 926 can provide collision buffering for the third target leg 909.

[0034] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the foot target agility training mechanism 5 includes a turntable 503 disposed inside the third activity chamber 4, a main shaft 502 is passed through the middle of the turntable 503, the main shaft 502 is fixedly connected to the turntable 503, and the input end of the main shaft 502 is connected to the first motor 501; Four arc-shaped arc-shaped sliding grooves 505 are opened inside the rotating disk 503, and a positioning sliding pin 506 is penetrated at one end of the arc-shaped sliding groove 505, and the arc-shaped sliding groove 505 is partially adapted to the positioning sliding pin 506; Four groups of first support rods 504, second support rods 507, third support rods 508 and first foot targets 509 are arranged on the turntable 503. The outer sleeve of the third support rod 508 is provided with a directional slide groove 510. One end of the first support rod 504 is slidably connected to the arc slide groove 505 through a positioning slide pin 506, and the other end is movably pin-connected to one end of the second support rod 507. The other end of the second support rod 507 is movably pin-connected to one end of the third support rod 508. The other end of the third support rod 508 is penetrated by a plurality of fixing bolts 522, and the third support rod 508 is fixedly connected to the first foot target 509 through the fixing bolts 522.

[0035] Specifically, the first motor 501 can drive the turntable 503 to rotate through the main shaft 502. Since the positioning pin 506 at one end of the first support rod 504 slides inside the arc-shaped slide groove 505 of the turntable 503, the turntable 503 can pull one end of the first support rod 504 to rotate through the positioning pin 506. The other end of the first support rod 504 pulls the second support rod 507. The second support rod 507 can pull the third support rod 508 and the first foot target 509 to move along the central axis direction of the directional slide groove 510, and can pull the first foot target 509 to retract into the interior of the third active cavity 4. Conversely, the first foot target 509 can be pushed out and expanded. The first foot target 509 can provide a kicking position for the user.

[0036] like Figure 1 , Figure 2 and Figure 3 As shown, a support plate 511 is provided between the second active cavity 3 and the third active cavity 4, and the support plate 511 is fixedly connected to the robot base 1; A coaxial disk 512 is arranged inside the support plate 511, and the coaxial disk 512 is fixedly connected to the main shaft 502. A support ring 513 is fixed to the outer wall of the coaxial disk 512. An annular groove 514 is arranged on the outer sleeve of the support ring 513. The support ring 513 is adapted to the annular groove 514, and both the support ring 513 and the annular groove 514 are in annular structures.

[0037] Specifically, since the main shaft 502 is fixedly connected to the coaxial disk 512 and the coaxial toothed disk 515, the main shaft 502 can drive the coaxial disk 512 and the coaxial toothed disk 515 to rotate synchronously. Since the coaxial disk 512 is fixedly connected to the support ring 513, the coaxial disk 512 can drive the support ring 513 to rotate inside the annular groove 514. The support plate 511 can provide sliding support for the coaxial disk 512 and the support ring 513.

[0038] like Figure 1 and Figure 2As shown, the main shaft 502 passes through one end of the coaxial disk 512 and is fixed with a coaxial toothed disk 515, four driven gears 516 are arranged around the coaxial toothed disk 515, the coaxial toothed disk 515 is meshed with the driven gears 516, the output shaft of the driven gears 516 is connected to the crankshaft 517, and a counterweight disk 524 is fixed to the bottom of the crankshaft 517.

[0039] Specifically, the coaxial disk 512 can drive the coaxial toothed disk 515 to rotate. Since the coaxial toothed disk 515 is meshed with the driven gear 516, and the driven gear 516 is fixedly connected to the crankshaft 517, the coaxial toothed disk 515 can push the driven gear 516 and the crankshaft 517 to rotate synchronously. Since the crankshaft 517 is fixedly connected to the counterweight disk 524, the crankshaft 517 also drives the counterweight disk 524 to rotate at the bottom inside the robot base 1. The counterweight disk 524 can improve the rotation stability of the crankshaft 517.

[0040] like Figure 1 and Figure 4 As shown, a plurality of journals 518 are provided on the crankshaft 517, and a fourth support rod 519 is sleeved on the outer side of the journal 518. One end of the fourth support rod 519 is movably connected to the journal 518 through an axis, and the other end of the fourth support rod 519 is movably pin-connected to a fifth support rod 520. A limiting slide groove 521 is sleeved on the outer side of the fifth support rod 520, and one end of the fifth support rod 520 is connected to a second foot target 523.

[0041] Specifically, the crankshaft 517 can drive the journal 518 to make a circular motion. Since one end of the fourth support rod 519 is movably connected to the journal 518 through the shaft, and the other end is movably pinned to one end of the fifth support rod 520, the journal 518 can drive one end of the fourth support rod 519 to make a circular motion, and the other end pulls the fifth support rod 520 and the second foot target 523 to reciprocate along the central axis direction of the limiting slide groove 521, and the second foot target 523 can be pushed out and pulled back, which is used to train the user's kicking speed and accuracy.

[0042] Working principle: First, Move the device to a suitable location, then Fig.11As shown, the trainee can stand in the sensing area of ​​the infrared human body sensing sensor. The infrared human body sensing sensor is installed in the front, rear, left and right areas of the device. The infrared human body sensing sensor senses the person and feeds back to the microprocessor. The microprocessor can control the first motor 501 and the second motor 901 to start, and can pre-adjust the position of the movable sleeve 912 on the guide slide bar 911, and can push the movable sleeve 912 to move on the guide slide bar 911. At this time, the movable gear 914 rolls and moves at the bottom of the fixed rack 913, and the movable sleeve 912 is adjusted to a suitable position. Then, the adjusting screw 915 is rotated by the handle 916 to push the locking tooth block 917 to move, and the locking tooth block 917 can be pressed against the movable gear 914. Since the movable gear 914 is meshed with the fixed rack 913, at this time, the movable gear 914 is prevented from rotating, and the position of the guide slide bar 911 and the movable sleeve 912 is limited; Secondly, the second motor 901 can drive the movable screw rod 902 to rotate, and the movable screw rod 902 can push the screw rod sleeve block 903 to move downward inside the hollow frame 8, and the screw rod sleeve block 903 pushes one end of the connecting rod 904 to move downward, and at the same time, the connecting rod 904 rotates along the connecting slide pin 906, and the bottom of the connecting rod 904 applies thrust to the movable sleeve 912. Since the positions of the movable sleeve 912, the fixed rack 913 and the guide slide rod 911 are relatively fixed, the guide slide rod 9 11 applies thrust to the extension arm 907. Since the two ends of the connecting rod 904 are respectively connected with the screw sleeve block 903 and the movable sleeve 912 inside the extension arm 907, the screw sleeve block 903 can pull the extension arm 907 to rotate around the movable shaft 927 through the connecting rod 904, so that the extension arm 907 can be rotated clockwise, and the extension arm 907, the connecting arm 908 and the third foot target 909 can be unfolded. At this time, the third foot target 909 can provide a kicking position for the user; Secondly, the first motor 501 can drive the turntable 503 to rotate through the main shaft 502. Since the positioning pin 506 at one end of the first support rod 504 slides inside the arc-shaped slide groove 505 of the turntable 503, the turntable 503 can pull one end of the first support rod 504 to rotate through the positioning pin 506. The other end of the first support rod 504 pulls the second support rod 507. The second support rod 507 can pull the third support rod 508 and the first foot target 509 to move along the central axis direction of the directional slide groove 510, and can pull the first foot target 509 to retract into the third activity chamber 4. Conversely, the first foot target 509 can be pushed out and unfolded. The first foot target 509 can provide a kicking position for the user. Since the turntable 503 performs a circular motion, the first foot target 509 can be reciprocated and retracted, which is used to train the user's sensitivity in kicking the first foot target 509. Then, the coaxial disc 512 can drive the coaxial toothed disc 515 to rotate. Since the coaxial toothed disc 515 is meshed with the driven gear 516, the driven gear 516 is fixedly connected to the crankshaft 517. The coaxial toothed disc 515 can push the driven gear 516 to rotate synchronously with the crankshaft 517. Since the crankshaft 517 is fixedly connected to the counterweight disc 524, the crankshaft 517 drives the counterweight disc 524 to rotate at the bottom inside the robot base 1. At the same time, the crankshaft 517 can drive the journal 518 to make a circular motion. Since one end of the fourth support rod 519 is movably connected to the journal 518 through the shaft, and the other end is movably pinned to one end of the fifth support rod 520, the journal 518 can drive one end of the fourth support rod 519 to make a circular motion, and the other end pulls the fifth support rod 520 and the second foot target 523 to reciprocate along the central axis direction of the limiting slide groove 521, and the second foot target 523 can be pushed out and pulled back, which is used to train the user's kicking speed and accuracy.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A device capable of automatically releasing a target, characterized in that: include: A robot base (1), a robot activity box (6) installed above the robot base (1), a foot target agility training mechanism (5) arranged inside the robot base (1), and a foot target extension mechanism (9) arranged inside the robot activity box (6); The robot base (1) is provided with a motor cavity, a third activity cavity (4), a second activity cavity (3) and a first activity cavity (2) in sequence from top to bottom; A fourth activity chamber (7) is provided inside the robot activity box (6), a hollow frame (8) is installed inside the fourth activity chamber (7), and the hollow frame (8) is fixedly connected to the robot activity box (6); The foot target extension mechanism (9) comprises a screw sleeve block (903) arranged inside the hollow frame (8), a movable screw (902) is passed through the screw sleeve block (903), an input shaft of the movable screw (902) is connected to a second motor (901), an outer wall of the screw sleeve block (903) is connected to four connecting rods (904), an extension arm (907) is correspondingly arranged below the connecting rod (904), and a connecting arm (907) is fixed at one end of the extension arm (907) 908), a movable shaft (927) is passed through the other end of the extension arm (907), and the extension arm (907) is movably connected to the robot movable box (6) via the movable shaft (927); a third foot target (909) is provided at one end of the connecting arm (908), and a connecting shaft (924) is passed through one end of the third foot target (909) inserted into the connecting arm (908), and the third foot target (909) is movably connected to the connecting arm (908) via the connecting shaft (924).

2. A device capable of automatically releasing a target according to claim 1, characterized in that: The connecting rod (904) is provided with a connecting slot (905) inside, and a connecting slide pin (906) is passed through the connecting slot (905). The connecting slot (905) and the connecting slide pin (906) are partially adapted to each other, and the connecting slide pin (906) passes through one end of the connecting slot (905) and is fixedly connected to the hollow frame (8); One end of the connecting rod (904) is movably pinned to the screw sleeve block (903), and the other end is movably pinned to a movable sleeve (912).

3. The device capable of automatically releasing a target according to claim 2, characterized in that: A transverse sliding groove (910) is provided inside the extension arm (907), a guide sliding rod (911) is passed through the inside of the movable sliding sleeve (912), a fixed rack (913) is fixed to the bottom of the guide sliding rod (911), the fixed rack (913) meshes with a movable gear (914), a shaft passing through the inside of the movable gear (914) is fixed inside the movable sliding sleeve (912), and the guide sliding rod (911) passes through the inside of the movable sliding sleeve (912) and is fixedly connected to the extension arm (907).

4. The device capable of automatically releasing a target according to claim 3, characterized in that: An adjusting screw (915) is provided at the bottom of the movable sliding sleeve (912); a handle (916) is fixed to one end of the adjusting screw (915), and a locking tooth block (917) is connected to the other end; A bidirectional screw rod (918) is arranged on one side inside the connecting arm (908), one end of the bidirectional screw rod (918) is connected to a rotating handle (928), both sides of the bidirectional screw rod (918) are sleeved with internal thread sleeve blocks (919), one side of the internal thread sleeve block (919) is fixed with a clamping arm (920), the cross section of the clamping arm (920) is arranged in an "L"-shaped structure, and both sides of the extension arm (907) inserted into the connecting arm (908) are provided with grooves (921), and the grooves (921) are partially adapted to one end of the clamping arm (920).

5. The device capable of automatically releasing a target according to claim 4, characterized in that: A return spring (922) is provided between the clamping arm (920) and the connecting arm (908), a connecting slide rod (923) is passed through the interior of the return spring (922), one end of the connecting slide rod (923) is fixed to the clamping arm (920), and the other end passes through the interior of the connecting arm (908); Two spacers (925) are arranged on the other side of the connecting arm (908), one end of the spacer (925) is movably pin-connected to the connecting arm (908), and the other end is in contact with the third foot target (909), and a plurality of connecting springs (926) are connected between the connecting arm (908) and the spacer (925).

6. The device capable of automatically releasing a target according to claim 1, characterized in that: The foot target agility training mechanism (5) comprises a rotating disk (503) arranged inside the third activity chamber (4), a main shaft (502) passing through the middle of the rotating disk (503), the main shaft (502) being fixedly connected to the rotating disk (503), and the input end of the main shaft (502) being connected to a first motor (501); Four arc-shaped arc-shaped sliding grooves (505) are provided inside the rotating disk (503), and a positioning sliding pin (506) is passed through one end of the arc-shaped sliding groove (505), and the arc-shaped sliding groove (505) is partially adapted to the positioning sliding pin (506).

7. The device capable of automatically releasing a target according to claim 6, characterized in that: The rotating disk (503) is provided with four groups of first support rods (504), second support rods (507), third support rods (508) and first foot targets (509); the third support rod (508) is sleeved with a directional slide groove (510) on its outer side; one end of the first support rod (504) is slidably connected to the arcuate slide groove (505) through a positioning slide pin (506); the other end of the first support rod (504) is movably pin-connected to one end of the second support rod (507); the other end of the second support rod (507) is movably pin-connected to one end of the third support rod (508); the other end of the third support rod (508) is penetrated with a plurality of fixing bolts (522); the third support rod (508) is fixedly connected to the first foot target (509) through the fixing bolts (522).

8. The device capable of automatically releasing a target according to claim 7, characterized in that: A support plate (511) is provided between the second active cavity (3) and the third active cavity (4), and the support plate (511) is fixedly connected to the robot base (1); A coaxial disk (512) is arranged inside the support plate (511), the coaxial disk (512) is fixedly connected to the main shaft (502), a support ring (513) is fixed to the outer wall of the coaxial disk (512), an annular groove (514) is sleeved on the outside of the support ring (513), the support ring (513) is matched with the annular groove (514), and the support ring (513) and the annular groove (514) are both annular structures.

9. The device capable of automatically releasing a target according to claim 8, characterized in that: A coaxial toothed disc (515) is fixed to one end of the main shaft (502) passing through the coaxial disc (512); four driven gears (516) are arranged around the coaxial toothed disc (515); the coaxial toothed disc (515) is meshed with the driven gears (516); the output shaft of the driven gears (516) is connected to a crankshaft (517); and a counterweight disc (524) is fixed to the bottom of the crankshaft (517).

10. The device capable of automatically releasing a target according to claim 9, characterized in that: The crankshaft (517) is provided with a plurality of journals (518), the outer sleeve of the journal (518) is provided with a fourth support rod (519), one end of the fourth support rod (519) is movably connected to the journal (518) via an axis, the other end of the fourth support rod (519) is movably pin-connected with a fifth support rod (520), the outer sleeve of the fifth support rod (520) is provided with a limiting sliding groove (521), and one end of the fifth support rod (520) is connected to a second foot target (523).

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