Intelligent football auxiliary training robot

Abstract

The invention relates to the technical field of physical training equipment, in particular to an intelligent football auxiliary training robot which comprises a vector wheel chassis, and a launching device is arranged on the vector wheel chassis; the launching device comprises a rolling steering mechanism and a friction wheel launching mechanism, the rolling steering mechanism comprises a retainer, a rolling frame and a rolling driving assembly, and the rolling frame is rotationally installed in the retainer and is in transmission connection with the rolling driving assembly; the rolling driving assembly comprises a rolling driving motor and a transmission gear, the rolling driving motor is arranged on the retainer, and the transmission gear is arranged on an output shaft of the rolling driving motor; the rolling frame comprises rolling rings, a first connecting piece and a gear ring, the two rolling rings are connected through the first connecting piece, and the gear ring is arranged on one rolling ring and meshed with the transmission gear; the rolling driving motor drives the gear ring to rotate through the transmission gear, so that the launching channel generates angle deviation when the sphere is launched; the friction wheel launching mechanism is arranged on the rolling frame and provides driving force for launching a football.

Description

Technical Field

[0001] The invention relates to the technical field of sports training equipment, and in particular to an intelligent football auxiliary training robot. Background Art

[0002] In the current football training field, various auxiliary training equipment and technologies are constantly emerging in order to improve players' skills and reaction speed. However, traditional football training devices often have single functions and cannot meet diverse training needs. For example, most existing automatic ball serving machines can only launch footballs in a fixed direction and cannot flexibly adjust the launch angle and spin angular velocity, making it difficult to simulate the complex situations in real games.

[0003] Existing ball shooting mechanisms mostly use fixed-angle friction wheels or pneumatic devices, which have obvious limitations: 1. Single trajectory: Only supports horizontal spinning ball launch, and cannot generate complex trajectories such as oblique spinning and falling balls; 2. Poor dynamic accuracy: When shooting the ball while moving, the vibration of the chassis causes a large deviation in the launch angle, and the range landing point offset is as high as 1.2m. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects and shortcomings of the prior art and to provide an intelligent football auxiliary training robot. Through the launching device on the vector wheel chassis, the robot can provide the football with multi-directional deflected spin angular velocity, which not only solves the problem of single function and poor flexibility of traditional training devices, but also greatly improves the training effect.

[0005] The purpose of the present invention can be achieved through the following technical solutions: An intelligent football auxiliary training robot comprises a vector wheel chassis, on which a launching device capable of providing a multi-directional deflected spin angular velocity for a football is arranged; The launching device comprises a rolling steering mechanism and a friction wheel launching mechanism. The rolling steering mechanism comprises a retaining frame, a rolling frame and a rolling drive assembly. The rolling frame is rotatably installed in the retaining frame and is transmission-connected to the rolling drive assembly. The rolling drive assembly comprises a rolling drive motor and a transmission gear. The rolling drive motor is arranged on the retaining frame, and the transmission gear is arranged on the output shaft of the rolling drive motor. The rolling frame comprises a rolling ring, a first connecting member and a gear ring. Two rolling rings are connected by the first connecting member to form a launching channel. The gear ring is arranged on one of the rolling rings and meshes with the transmission gear. The rolling drive motor drives the gear ring to rotate through the transmission gear, so that the launching channel is angularly offset when launching the ball. The friction wheel launching mechanism is arranged on the rolling frame to provide driving force for launching the football.

[0006] As a preferred embodiment, the retaining frame includes a second connecting member and a support frame, and the two support frames are connected by the second connecting member; the support frame is provided with a bearing for supporting the rolling ring, and the bearing includes a screw bearing and a bull's eye bearing staggered on the axial end face of the support frame, the radial end face of the screw bearing abuts the radial end face of the rolling ring, and the axial end face of the bull's eye bearing abuts the axial end face of the rolling ring.

[0007] As a preferred embodiment, the friction wheel launching mechanism includes a connecting frame and an extrusion amount adjusting plate connected to the connecting frame by a fastener, and the friction wheel and the friction launching driving assembly are respectively installed on the connecting frame; the friction launching driving assembly is drivingly connected to the input shaft of the friction wheel to drive the friction wheel to rotate; the extrusion amount adjusting plate is installed on the input shaft of the friction wheel, and the friction wheel is fastened to different positions on the connecting frame by the extrusion amount adjusting plate to adjust the extrusion amount of the friction wheel.

[0008] As a preferred embodiment, the connecting frame includes a mounting plate and a connecting rod, and the two mounting plates are respectively fixed at both ends of the connecting rod; the extrusion amount adjusting plate is slidably connected to the mounting plate by a fastener, and a slide groove is arranged on the mounting plate, and the fastener passes through the extrusion amount adjusting plate and the slide groove in turn to fix the extrusion amount adjusting plate on the mounting plate; the friction emission driving assembly includes a friction wheel driving motor and a transmission structure, and the output shaft of the friction wheel driving motor is transmission-connected to the input shaft of the friction wheel through the transmission structure, and the transmission structure includes a driving wheel, a synchronous belt and a driven wheel, and the friction wheel driving motor is installed on the mounting plate, and the output shaft of the friction wheel driving motor passes through the mounting plate and is connected to the driving wheel, and the friction wheel is arranged between the two mounting plates, and the input shaft of the friction wheel passes through the mounting plate and the extrusion amount adjusting plate in turn to be connected to the driven wheel, and the driving wheel is transmission-connected to the driven wheel through a synchronous belt.

[0009] As a preferred embodiment, the intelligent football auxiliary training robot also includes a ball storage and delivery device capable of supplying balls to the launching device, the ball storage and delivery device includes a side panel, an outer track of a side panel support column and a connecting block, the outer track is located between the two side panels, the side panel support column passes through the outer track to connect the two side panels into a ball storage channel, and the side panel is connected to the retaining frame through the connecting block.

[0010] As a preferred embodiment, the ball storage and feeding device also includes a ball feeding assembly arranged in the ball storage channel, the second connecting member of the retaining frame includes a connecting plate, the ball feeding assembly includes a driving guide wheel, a first driven guide wheel, a second driven guide wheel, a third driven guide wheel, a ball feeding drive motor and a belt, the driving guide wheel, the first driven guide wheel and the second driven guide wheel are rotatably mounted on the connecting plate via a bearing seat, the third driven guide wheel is rotatably mounted on the connecting plate via a bearing seat and can contact the ball, the output shaft of the ball feeding drive motor is connected to the driving guide wheel, and the driving guide wheel, the first driven guide wheel, the second driven guide wheel and the third driven guide wheel are connected via a belt drive.

[0011] As a preferred embodiment, the vector wheel chassis includes a chassis frame and a vector wheel module installed on the chassis frame, the vector wheel module includes a wheel hub drive motor, a wheel hub steering motor, a drive gear system, a steering gear, a synchronous belt wheel system and a wheel hub, a wheel face bevel gear is arranged on the axial end face of the wheel hub, a wheel frame is arranged on the radial end face of the wheel hub, the output shaft of the wheel hub drive motor is connected to the wheel face bevel gear through the drive gear system, and the wheel hub steering motor is connected to the wheel frame through the synchronous belt wheel system.

[0012] As a preference, the driving gear system includes a first driving gear, a combined gear, a second driving gear and a third driving gear. The output shaft of the hub drive motor is connected to the first driving gear, the first driving gear is transmission-connected to the second driving gear through the combined gear, the second driving gear and the third driving gear are coaxially arranged, and the third driving gear is meshed with the wheel face bevel gear; the combined gear includes an upper gear and a lower gear coaxially arranged, the first driving gear is meshed with the upper gear, and the lower gear is meshed with the second driving gear.

[0013] As a preferred embodiment, the synchronous pulley system includes a first steering gear, a second steering gear, an integrated shaft of a synchronous pulley, a synchronous belt and a synchronous pulley, the output shaft of the hub steering motor is connected to the first steering gear, the first steering gear is meshed with the second steering gear, the second steering gear is coaxially arranged with the integrated shaft of the synchronous pulley, the integrated shaft of the synchronous pulley is connected to the synchronous pulley through a synchronous belt, and the synchronous pulley is coaxially arranged with the wheel frame.

[0014] As a preference, the vector wheel chassis further includes an angle sensor, and the angle sensor is arranged on the vector wheel module.

[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1. Improved dynamic shooting accuracy: Traditional soccer robots use a hub motor to drive the chassis + a fixed-angle launcher. The trajectory of the shot is significantly affected by inertia during movement, and the angle deviation of the shot is >5°. The present invention uses a design of composite transmission superimposed with roll-steering dynamic compensation, so that during the omnidirectional movement of the vector wheel chassis, the roll-steering mechanism of the launch device compensates for the posture deviation of the intelligent soccer auxiliary training robot in real time, ensuring that the angle deviation of the shot is <1°.

[0016] 2. Diversified ball track simulation capabilities: The roll steering mechanism drives the rolling frame through the gear ring to achieve ±180° continuous rotation, and with the speed difference of the friction wheel group, it can generate horizontal spin angular velocity and skew spin angular velocity; the extrusion adjustment plate realizes stepless adjustment of the friction wheel spacing through the slide groove, which can adapt to footballs of different diameters; the friction wheel has a concave contoured surface, which increases the contact area between the friction wheel and the ball and reduces the slip rate between the friction wheel and the ball.

[0017] 3. Seamless connection between ball supply and launching: The belt transmission system contacts the football through the third driven guide wheel at the end of the ball storage channel, so that the ball enters the launching channel of the launching device smoothly, reducing the connection time error.

[0018] 4. Adaptive ball parameters: The joint adjustment of the friction wheel extrusion amount can reduce the fluctuation of the initial velocity of the ball for the football with a diameter variation of ±10mm.

[0019] 5. Reduced failure rate: The existing storage and delivery mechanism uses a spiral push rod to force the ball to be delivered, which makes the surface of the ball easy to wear. This application reduces the probability of ball jamming by adopting a design of belt flexible transmission + concave contoured friction wheel.

[0020] 6. Rapid movement capability and responsiveness: Different from traditional wheel-mounted motors, the wheel hub drive motor and wheel hub steering motor of the present invention are arranged on top, which reduces the weight of the wheel hub, reduces the steering inertia moment, and increases the response speed to complete a 90° turn within 0.2 seconds; the drive gear system and the synchronous belt pulley system are precisely matched to reduce the steering accuracy error; the high friction coefficient tire skin is combined with four-wheel independent control to achieve an omnidirectional movement speed of ≥3m / s, which can simulate the emergency stop and change of direction action of a real coach.

[0021] 7. While the vector wheel chassis moves according to the preset path, the ball storage and delivery device supplies balls according to the shooting rhythm, and the launching device synchronously adjusts the rolling angle and the friction wheel speed to achieve a full closed-loop control of movement-ball supply-launching.

[0022] 8. Movement-launch response synchronization: The steering signal of the vector wheel module of the vector wheel chassis is fed back through the angle sensor and linked with the roll drive motor of the launch device to reduce the synchronization delay between mobile steering and shooting angle adjustment.

[0023] Working principle: The operator places the football in the ball storage and delivery device, and then adjusts the position and direction of the vector wheel chassis according to training needs. The ball delivery assembly in the ball storage and delivery device is started, and the active guide wheel drives the belt to circulate, passing through the first, second and third driven guide wheels in turn, and finally smoothly delivers the football to the entrance of the launch device. The rolling drive motor starts to work, drives the gear ring to rotate through the transmission gear, and adjusts the launch channel to the required angle. The friction wheel launch mechanism is started, and the friction wheel drive motor drives the friction wheel to rotate at high speed, aligns and pushes the football into the predetermined orbit, and completes the launch action. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the intelligent football auxiliary training robot of the present invention; Figure 2 It is a schematic diagram of the structure of the launch device of the present invention; Figure 3 is an exploded view of the launch device of the present invention; Figure 4 is a schematic structural diagram of the roll steering mechanism of the present invention; Figure 5 It is a structural schematic diagram of the rolling rack of the present invention; Figure 6 is a schematic structural diagram of the retainer of the present invention; Figure 7 It is a structural schematic diagram of the friction wheel launching mechanism of the present invention; Figure 8 is an exploded view of the friction wheel launching mechanism of the present invention; Fig. 9 It is a structural schematic diagram of the ball storage and delivery device of the present invention; Fig.10 It is an exploded view of the ball storage and delivery device of the present invention; Fig.11 is an exploded view of the outer track of the present invention; Fig.12 is a cross-sectional view of a ball storage and delivery device of the present invention; Fig.13 is an exploded view of the ball delivery assembly of the present invention; Fig.14 It is a structural schematic diagram of the vector wheel chassis of the present invention; Fig.15 is an exploded view of the vector wheel chassis of the present invention; Fig.16 is an exploded view of the chassis frame of the present invention; Fig.17 is an exploded view of the vector wheel module of the present invention; Fig.18 It is a partial structural schematic diagram of the exploded view of the present invention; Fig.19 is a schematic structural diagram of the angle sensor of the present invention; Among them: 1: vector wheel chassis, 11: chassis frame, 111: chassis outer frame beam, 112: chassis cross beam, 113: chassis middle beam, 114: chassis angle code, 115: chassis angle code, 116: battery bottom support plate, 117: battery rack support, 118: battery, 12: vector wheel module, 121: wheel hub drive motor, 122: wheel hub steering motor, 123: drive gear system, 1231: first drive gear, 1232: combination gear, 1233: second drive gear, 12 34: third drive gear, 124: wheel frame, 125: synchronous belt wheel system, 1251: first steering gear, 1252: second steering gear, 1253: synchronous belt wheel integrated shaft, 1254: synchronous belt, 1255: synchronous belt wheel, 126: wheel hub, 127: wheel bevel gear, 128: upper bottom plate, 129: lower bottom plate, 13: angle sensor, 2: launch device, 21: roll steering mechanism, 211: retaining frame, 2111: connecting plate, 2112: support frame, 211 3: screw bearing, 2114: bull's eye bearing, 212: rolling frame, 2121: rolling ring, 2122: first connecting piece, 2123: gear ring, 213: rolling drive assembly, 2131: rolling drive motor, 2132: transmission gear, 22: friction wheel launching mechanism, 221: connecting frame, 2211: mounting plate, 2212: connecting rod, 2213: slideway, 222: extrusion amount adjustment plate, 223: friction wheel, 224: friction launching drive assembly, 2241: friction wheel Driving motor, 2242: driving wheel, 2243: synchronous belt, 2244: driven wheel, 225: angle code, 3: ball storage and delivery device, 31: side plate, 32: side plate support column, 33: outer track, 331: tenon, 332: tenon groove, 34: connecting block, 35: ball delivery assembly, 351: driving guide wheel, 352: first driven guide wheel, 353: second driven guide wheel, 354: third driven guide wheel, 355: ball delivery driving motor, 356: belt, 357: bearing seat, 4: bracket. DETAILED DESCRIPTION

[0025] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0026] like Figure 1 As shown, an intelligent football auxiliary training robot includes a vector wheel chassis, on which a launch device capable of providing a multi-directional deflected spin angular velocity for a football is arranged. The launch device is mounted on the vector wheel chassis through a bracket.

[0027] like Figure 2 and Figure 3As shown, the launching device includes a roll steering mechanism and a friction wheel launching mechanism, the roll steering mechanism includes a retaining frame, a rolling frame and a roll drive assembly, the rolling frame is rotatably installed in the retaining frame and is transmission-connected to the roll drive assembly; the roll drive assembly includes a roll drive motor and a transmission gear, the roll drive motor is arranged on the retaining frame, and the transmission gear is arranged on the output shaft of the roll drive motor; the rolling frame includes a rolling ring, a first connecting member and a gear ring, the two rolling rings are connected by the first connecting member to form a launching channel, the gear ring is arranged on one of the rolling rings and meshes with the transmission gear; the roll drive motor drives the gear ring to rotate through the transmission gear, so that the launching channel is angularly offset when launching the ball; the friction wheel launching mechanism is arranged on the rolling frame to provide driving force for launching the football.

[0028] like Figures 4 to 6 As shown, the roll steering mechanism includes a retaining frame, a rolling frame and a roll drive assembly. Two rolling rings are installed in the rolling frame, and the two rolling rings are connected by a first connecting member to form a launch channel. The gear ring is fixed on a rolling ring and meshes with the transmission gear on the output shaft of the roll drive motor. When the roll drive motor is working, it drives the gear ring to rotate, thereby adjusting the angle of the launch channel.

[0029] The friction wheel launching mechanism is located on the rolling frame and is mainly composed of a friction wheel, a friction wheel driving motor and a transmission structure. The extrusion amount of the friction wheel can be adjusted by the extrusion amount adjustment plate to adapt to footballs of different sizes. The friction wheel driving motor drives the friction wheel to rotate through the transmission structure composed of the driving wheel, the synchronous belt and the driven wheel, providing the necessary launching driving force for the football.

[0030] The retaining frame includes a second connecting member and a support frame, and the two support frames are connected by the second connecting member; a bearing for supporting the rolling ring is arranged on the support frame, and the bearing includes a screw bearing and a bull's eye bearing which are staggered on the axial end face of the support frame, the radial end face of the screw bearing abuts against the radial end face of the rolling ring, and the axial end face of the bull's eye bearing abuts against the axial end face of the rolling ring.

[0031] like Figure 7 and Figure 8 As shown, the friction wheel launching mechanism includes a connecting frame and an extrusion amount adjusting plate connected to the connecting frame through fasteners, and the friction wheel and the friction launching driving assembly are respectively installed on the connecting frame; the friction launching driving assembly is drivingly connected to the input shaft of the friction wheel to drive the friction wheel to rotate; the extrusion amount adjusting plate is installed on the input shaft of the friction wheel, and the friction wheel is fastened to different positions on the connecting frame through the extrusion amount adjusting plate to adjust the extrusion amount of the friction wheel.

[0032] The friction wheel is installed on the connecting frame through the friction wheel hexagonal shaft; the friction wheel has a concave contoured surface with a curvature radius of R=110mm; the friction wheel includes an aluminum inner core, and the aluminum inner core is coated with a polyurethane rubber layer; The connecting frame includes a mounting plate and a connecting rod, and the two mounting plates are fixed at both ends of the connecting rod respectively; the extrusion amount adjustment plate is slidably connected to the mounting plate through a fastener, and a slide groove is arranged on the mounting plate, and the fastener passes through the extrusion amount adjustment plate and the slide groove in turn to fix the extrusion amount adjustment plate on the mounting plate; the friction emission drive assembly includes a friction wheel drive motor and a transmission structure, and the output shaft of the friction wheel drive motor is connected to the input shaft of the friction wheel through the transmission structure, and the transmission structure includes a driving wheel, a synchronous belt and a driven wheel, and the friction wheel drive motor is mounted on the mounting plate, and the output shaft of the friction wheel drive motor passes through the mounting plate and is connected to the driving wheel, and the friction wheel is arranged between the two mounting plates, and the input shaft of the friction wheel passes through the mounting plate and the extrusion amount adjustment plate in turn to be connected to the driven wheel, and the driving wheel is connected to the driven wheel through the synchronous belt. The friction wheel drive motor drives the driven wheel through the driving wheel and the synchronous belt.

[0033] The extrusion adjustment plate adjusts the friction wheel spacing through the slide structure, and the length of the synchronous belt is constant, which is suitable for footballs with a diameter of 18-22cm. According to the hardness of the football (inflation pressure 0.6-1.1bar), the friction wheel spacing (pressure 50-200N) and rotation speed can be adjusted to ensure that the initial speed of the shot is 10-30m / s.

[0034] like Figure 1 , Fig. 9 As shown, the intelligent football auxiliary training robot also includes a ball storage and delivery device capable of supplying balls to the launching device, the ball storage and delivery device includes a side panel, a side panel support column, an outer track and a connecting block, the outer track is located between the two side panels, the side panel support column passes through the outer track to connect the two side panels into a ball storage channel, and the side panel is connected to the retaining frame through the connecting block.

[0035] like Fig.10 As shown, the outer track includes a head-end track connecting block, a middle track connecting block and a terminal track connecting block, one end of the head-end track connecting block is provided with a protruding tenon for connecting with the middle track connecting block, the middle track connecting block is located in the middle position, and both ends are provided with a tenon and a tenon respectively, the side plate support column passes through the tenon of the head-end track connecting block and the tenon of the middle track connecting block, and the head-end track connecting block is connected and fixed with the middle track connecting block, the terminal track connecting block is used as the terminal part, one end of which is provided with a tenon for connecting with the tenon of the middle track connecting block, the side plate support column passes through the tenon of the middle track connecting block and the tenon of the end track connecting block, and the middle track connecting block is connected and fixed with the terminal track connecting block.

[0036] like Fig.12 and Fig.13As shown, the ball storage and feeding device also includes a ball feeding assembly arranged in the ball storage channel, the second connecting member of the retaining frame includes a connecting plate, the ball feeding assembly includes a driving guide wheel, a first driven guide wheel, a second driven guide wheel, a third driven guide wheel, a ball feeding drive motor and a belt, the driving guide wheel, the first driven guide wheel and the second driven guide wheel are rotatably mounted on the connecting plate through a bearing seat, the third driven guide wheel is rotatably mounted on the connecting plate through a bearing seat and can contact the ball, the output shaft of the ball feeding drive motor is connected to the driving guide wheel, and the driving guide wheel, the first driven guide wheel, the second driven guide wheel and the third driven guide wheel are connected through a belt drive.

[0037] In order to ensure continuous ball supply, the ball storage and delivery device is designed to be connected to the cage. The ball storage and delivery device includes side plates, side plate support columns, outer tracks and connecting blocks, which together form a stable ball storage channel. The ball delivery assembly consists of multiple guide wheels and belts, among which the third driven guide wheel directly contacts the football, ensuring that the football can be accurately delivered to the launch channel every time.

[0038] like Figures 14 to 16 As shown, the vector wheel chassis includes a chassis frame and a vector wheel module installed on the chassis frame, the vector wheel module includes a wheel hub drive motor, a wheel hub steering motor, a drive gear system, a synchronous belt wheel system and a wheel hub, a wheel face bevel gear is arranged on the axial end face of the wheel hub, a wheel frame is arranged on the radial end face of the wheel hub, the output shaft of the wheel hub drive motor is connected to the wheel face bevel gear through the drive gear system, and the wheel hub steering motor is connected to the wheel frame through the synchronous belt wheel system.

[0039] In this embodiment, the vector wheel chassis includes a chassis frame and four vector wheel modules. The chassis frame is composed of a chassis outer frame beam, a chassis cross beam and a chassis middle beam made of high-strength aluminum alloy, and is connected and fixed by chassis angle brackets and screws and nuts. A battery bottom support plate is provided at the middle and rear of the chassis, which is connected to the chassis middle beam through three battery rack pillars to form a battery rack to support the battery.

[0040] like Fig.17 and Fig.18 As shown, the driving gear system includes a first driving gear, a combined gear, a second driving gear and a third driving gear. The output shaft of the hub driving motor is connected to the first driving gear, the first driving gear is transmission-connected to the second driving gear through the combined gear, the second driving gear is coaxially arranged with the third driving gear, the third driving gear is a bevel gear, and the third driving gear is meshed with the wheel surface bevel gear; the combined gear includes an upper gear and a lower gear coaxially arranged, the first driving gear is meshed with the upper gear, and the lower gear is meshed with the second driving gear.

[0041] The wheel hub drive motor transmits torque to the wheel face bevel gear through the drive gear train (first drive gear, combined gear, third drive gear) to drive the wheel hub to roll.

[0042] The synchronous pulley system includes a first steering gear, a second steering gear, a synchronous pulley integrated shaft, a synchronous belt and a synchronous pulley. The output shaft of the hub steering motor is connected to the first steering gear, the first steering gear is meshed with the second steering gear, the second steering gear is coaxially arranged with the synchronous pulley integrated shaft, the synchronous pulley integrated shaft is connected to the synchronous pulley through a synchronous belt, and the synchronous pulley is coaxially arranged with the wheel frame.

[0043] The wheel hub steering motor drives the wheel frame to steer through the first steering gear, the second steering gear, the synchronous pulley integrated shaft, the synchronous belt and the synchronous pulley, thereby driving the wheel hub to steer.

[0044] The wheel hub drive motor and the wheel hub steering motor are fixed to the upper base plate, and the vertical driving force is converted into the horizontal direction through the bevel gear.

[0045] like Fig.19 As shown, the vector wheel chassis also includes an angle sensor, and the angle sensor is arranged on the vector wheel module.

[0046] The angle sensor is a wheelcoder angle sensor, which is installed on the upper base plate to detect the steering angle of the wheel frame and realize closed-loop control. When the vector wheel chassis moves omnidirectionally, the wheelcoder angle sensor feeds back the wheel frame angle in real time, and adjusts the speed of the roll drive motor through the controller to synchronize the deflection angle of the launch channel with the movement direction of the chassis.

[0047] The vector wheel chassis is the basic support structure of the entire robot. It is not only responsible for the movement of the robot, but also supports the flexible adjustment of the launch device. The chassis frame is equipped with a vector wheel module, each of which contains key components such as a hub drive motor and a hub steering motor. The axial end face of the wheel hub is provided with a wheel face bevel gear, and the radial end face is provided with a wheel frame. The hub drive motor is connected to the wheel face bevel gear through a drive gear train to realize the rotation of the hub; and the hub steering motor is connected to the wheel frame through a synchronous belt gear train to realize the change of the hub direction. In addition, the vector wheel chassis also includes an angle sensor for accurately controlling the direction change of the hub.

[0048] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An intelligent football training robot, characterized in that: It comprises a vector wheel chassis, on which a launching device capable of providing a multi-directional deflected spin angular velocity for a football is arranged; The launching device comprises a rolling steering mechanism and a friction wheel launching mechanism, the rolling steering mechanism comprises a holding frame, a rolling frame and a rolling driving assembly, the rolling frame is rotatably mounted in the holding frame and is in transmission connection with the rolling driving assembly; the rolling driving assembly comprises a rolling driving motor and a transmission gear, the rolling driving motor is arranged on the holding frame, and the transmission gear is arranged on the output shaft of the rolling driving motor; the rolling frame comprises a rolling ring, a first connecting member and a gear ring, the two rolling rings are connected by the first connecting member to form a launching channel, the gear ring is arranged on one of the rolling rings and meshes with the transmission gear; The rolling drive motor drives the gear ring to rotate through the transmission gear, so that the launching channel has an angular deviation when launching the ball; the friction wheel launching mechanism is arranged on the rolling frame to provide driving force for launching the football.

2. The intelligent football training robot according to claim 1, characterized in that: The retaining frame includes a second connecting member and a support frame, and the two support frames are connected by the second connecting member; a bearing for supporting the rolling ring is arranged on the support frame, and the bearing includes a screw bearing and a bull's eye bearing which are staggered on the axial end face of the support frame, the radial end face of the screw bearing abuts against the radial end face of the rolling ring, and the axial end face of the bull's eye bearing abuts against the axial end face of the rolling ring.

3. The intelligent football auxiliary training robot according to claim 1, characterized in that: The friction wheel launching mechanism comprises a connecting frame and an extrusion amount adjusting plate connected to the connecting frame through a fastener, and the friction wheel and the friction launching driving assembly are respectively mounted on the connecting frame; the friction launching driving assembly is drivingly connected to the input shaft of the friction wheel to drive the friction wheel to rotate; The extrusion amount adjusting plate is installed on the input shaft of the friction wheel. The friction wheel is fastened to different positions on the connecting frame through the extrusion amount adjusting plate to adjust the extrusion amount of the friction wheel.

4. The intelligent football auxiliary training robot according to claim 3, characterized in that: The connecting frame includes a mounting plate and a connecting rod, and the two mounting plates are respectively fixed at both ends of the connecting rod; the extrusion amount adjustment plate is slidably connected to the mounting plate by a fastener, and a slide groove is arranged on the mounting plate, and the fastener passes through the extrusion amount adjustment plate and the slide groove in sequence to fix the extrusion amount adjustment plate on the mounting plate; the friction emission drive assembly includes a friction wheel drive motor and a transmission structure, and the output shaft of the friction wheel drive motor is transmission-connected to the input shaft of the friction wheel through the transmission structure, and the transmission structure includes a driving wheel, a synchronous belt and a driven wheel, and the friction wheel drive motor is installed on the mounting plate, and the output shaft of the friction wheel drive motor passes through the mounting plate and is connected to the driving wheel, and the friction wheel is arranged between the two mounting plates, and the input shaft of the friction wheel passes through the mounting plate and the extrusion amount adjustment plate in sequence to be connected to the driven wheel, and the driving wheel is transmission-connected to the driven wheel through the synchronous belt.

5. The intelligent football auxiliary training robot according to claim 2, characterized in that: The intelligent football auxiliary training robot also includes a ball storage and delivery device capable of supplying balls to the launching device. The ball storage and delivery device includes a side panel, a side panel support column, an outer track and a connecting block. The outer track is located between the two side panels. The side panel support column passes through the outer track to connect the two side panels into a ball storage channel. The side panel is connected to the retaining frame through the connecting block.

6. The intelligent football auxiliary training robot according to claim 5, characterized in that: The ball storage and delivery device also includes a ball delivery assembly arranged in the ball storage channel, the second connecting member of the retaining frame includes a connecting plate, the ball delivery assembly includes a driving guide wheel, a first driven guide wheel, a second driven guide wheel, a third driven guide wheel, a ball delivery drive motor and a belt, the driving guide wheel, the first driven guide wheel and the second driven guide wheel are rotatably mounted on the connecting plate through a bearing seat, the third driven guide wheel is rotatably mounted on the connecting plate through a bearing seat and can contact the ball, the output shaft of the ball delivery drive motor is connected to the driving guide wheel, and the driving guide wheel, the first driven guide wheel, the second driven guide wheel and the third driven guide wheel are connected through a belt transmission.

7. The intelligent football training robot according to claim 1, characterized in that: The vector wheel chassis includes a chassis frame and a vector wheel module installed on the chassis frame. The vector wheel module includes a wheel hub drive motor, a wheel hub steering motor, a drive gear system, a steering gear, a synchronous belt wheel system and a wheel hub. A wheel face bevel gear is arranged on the axial end face of the wheel hub, and a wheel frame is arranged on the radial end face of the wheel hub. The output shaft of the wheel hub drive motor is connected to the wheel face bevel gear through the drive gear system, and the wheel hub steering motor is connected to the wheel frame through the synchronous belt wheel system.

8. The intelligent football auxiliary training robot according to claim 7, characterized in that: The driving gear system includes a first driving gear, a combined gear, a second driving gear and a third driving gear. The output shaft of the wheel hub driving motor is connected to the first driving gear. The first driving gear is connected to the second driving gear through the combined gear. The second driving gear is coaxially arranged with the third driving gear. The third driving gear is meshed with the wheel face bevel gear. The combined gear comprises an upper gear and a lower gear which are coaxially arranged, the first driving gear is meshed with the upper gear, and the lower gear is meshed with the second driving gear.

9. The intelligent football auxiliary training robot according to claim 7, characterized in that: The synchronous pulley system includes a first steering gear, a second steering gear, a synchronous pulley integrated shaft, a synchronous belt and a synchronous pulley. The output shaft of the hub steering motor is connected to the first steering gear, the first steering gear is meshed with the second steering gear, the second steering gear is coaxially arranged with the synchronous pulley integrated shaft, the synchronous pulley integrated shaft is connected to the synchronous pulley through a synchronous belt, and the synchronous pulley is coaxially arranged with the wheel frame.

10. The intelligent football auxiliary training robot according to claim 7, characterized in that: The vector wheel chassis also includes an angle sensor, which is arranged on the vector wheel module.

Images