Ball throwing mechanism for ball throwing robot

Abstract

The utility model discloses a ball throwing mechanism for a ball throwing robot. The ball throwing mechanism comprises a bottom frame, a front frame and a rotating disc. The bottom frame is of a flat plate structure, a round ball inlet is formed in the bottom frame, the rotating disc and the bottom frame are in electric control rotating fit through a rotating mechanism, a front-arranged frame and a rear-arranged frame are fixed to the front side and the rear side of the rotating disc respectively, the height of the rear-arranged frame is larger than that of the front-arranged frame, and a deflection frame is in rotating fit with the front-arranged frame through a shaft rod. The deflection frame and the rear frame are connected in a matched mode through a deflection mechanism capable of adjusting the deflection angle of the deflection frame, the front frame is provided with a front ball serving mechanism for providing launching power for balls, and the side, away from the front frame, of the deflection frame is provided with a rear ball serving mechanism for providing launching power for the balls. The ball throwing robot has the advantages that the ball throwing behavior can be achieved in a non-ball-throwing mode, and the ball throwing robot is more ornamental during competition or demonstration.

Description

Technical Field

[0001] The utility model belongs to the technical field of ball pitching robots, in particular to a ball pitching mechanism used for the ball pitching robot. Background Art

[0002] The utility model with publication number CN207273232U discloses an intelligent basketball shooting robot, including a chassis, a cross lifting frame, a top plate, a curved arm, a gripper, a battery pack and an intelligent control cabinet. The chassis and the moving wheels form a body that can be flexibly moved. The cross lifting frame is installed on the body through a guide groove and a rolling bearing. A curved arm is installed on the cross lifting frame through a rotating support seat. The curved arm is connected to the gripper through a rotating shaft to grab the fire and release the basketball. A battery pack and an intelligent control cabinet are installed in the body. The battery pack provides various powers during the operation of the utility model. The intelligent control cabinet receives and processes various control instructions, and outputs and executes the control instructions through a motor and various execution components. The operation of throwing the basketball into the basket is that the elevator transports the gripper with the basketball to the top of the basket, and then releases the gripper to place the ball into the basket. Based on its principle, its technical means is actually a "ball release" behavior rather than a pitching behavior, which loses the original intention of the "pitching robot" and does not have the actual viewing value of pitching. Therefore, the existing technology requires a pitching mechanism for a pitching robot that can simulate the "pitching" behavior. Utility Model Content

[0003] The purpose of the utility model is to provide a pitching mechanism for a pitching robot to solve the problems mentioned in the above background technology.

[0004] The above technical objectives of the utility model are achieved through the following technical solutions:

[0005] A pitching mechanism for a pitching robot comprises: a base frame, a front frame, and a turntable; the base frame is a flat plate structure, on which a circular ball inlet is arranged, a turntable is arranged above the base frame, and a ball through hole concentric with the ball inlet is arranged on the turntable, the turntable and the base frame are rotated and matched by an electric control mechanism, the front frame and the rear frame are respectively fixed on the front and rear sides of the turntable, the main bodies of the front frame and the rear frame are both two groups of parallel plates, the two groups of parallel plates are vertically fixedly connected by connecting rods, the height of the rear frame is greater than that of the front frame, a deflection frame is rotated and matched on the front frame through an axial rod, the deflection frame and the rear frame are connected and matched by a deflection mechanism that can adjust the deflection angle of the deflection frame, the front frame is provided with a front serving mechanism that provides launching power for a ball, and the side of the deflection frame away from the front frame is provided with a rear serving mechanism that provides launching power for a ball.

[0006] Furthermore, the rotating mechanism comprises: a spherical gear ring, a pulley, a rotating motor, a first belt transmission group, a driving gear, a reduction gear, and a shaft-belt gear. The spherical gear ring is a circular ring structure with gear teeth on the outer ring. A number of pulleys are arranged in a circular array around the axis of the spherical gear ring on the spherical gear ring. The pulleys and the spherical gear ring are rotationally matched through an axle rod. All the pulleys are embedded in the inner ring of the ball inlet and roll with the inner ring of the ball inlet, so that the spherical gear ring forms a rotational connection with the ball inlet through the pulleys thereon, and the top of the spherical gear ring is fixedly connected to the turntable; a rotating motor is installed under the base frame using a motor bracket, and a shaft-belt gear is rotationally matched above the base frame, and the gear teeth of the shaft-belt gear and the spherical gear ring are meshed. A reduction gear is provided under the base frame and is coaxially connected with the shaft-belt gear, and a driving gear is meshed on the side of the reduction gear. The driving gear is rotationally matched with the base frame through the axle rod and the bearing, and the output shaft of the rotating motor and the driving gear are connected by the first belt transmission group.

[0007] Furthermore, the deflection frame includes: a deflection plate and a mounting frame. The main body of the mounting frame is two sets of parallel plate structures. The two flat plate structures are fixedly connected by connecting rods to form the mounting frame. The mounting frames on both sides of the mounting frame are connected to both sides of the front frame using bracket structures and form a rotational fit with the front frame.

[0008] Furthermore, the deflection mechanism comprises: a deflection motor, a second belt transmission group, a deflection rotating rod, a deflection gear, and a tooth arc; the deflection motor is fixed on a mounting frame, a deflection rotating rod is rotatably fitted between two parallel plates of the mounting frame through a bearing, a deflection gear of the same model is fixed on both sides of the deflection rotating rod, a tooth arc with circular arc teeth is fixed on each of the two parallel plates of the rear frame, the tooth arc is meshed with the deflection gear on the same side, and the axis line of the tooth arc coincides with the axis line of the connecting shaft of the deflection frame and the front frame; the second belt transmission group is used to transmit and connect the rotating rod and the output shaft of the deflection motor.

[0009] Furthermore, the rear-mounted serving mechanism comprises: a rear-mounted serving motor, a rear-mounted serving spin rod 1, a third belt transmission group, a rear-mounted serving wheel 1, a rear-mounted serving spin rod 2, a fourth belt transmission group, and a rear-mounted serving wheel 2; the rear-mounted serving spin rod 1 and the rear-mounted serving spin rod 2 are rotatably fitted between the two parallel plates of the mounting frame through bearings, one side of the rear-mounted serving spin rod 1 and the rear-mounted serving spin rod 2 are transmission-connected through the fourth belt transmission group, the rear-mounted serving wheel 1 is concentrically fixed to the middle of the rear-mounted serving spin rod 1, the rear-mounted serving wheel 2 is concentrically fixed to the middle of the rear-mounted serving spin rod 2, the rear-mounted serving motor is fixed to the side of the mounting frame away from the fourth belt transmission group, and the output shaft of the rear-mounted serving motor is transmission-connected to the rear-mounted serving spin rod 1 or the rear-mounted serving spin rod 2 through the third belt transmission group.

[0010] Furthermore, the front serving mechanism includes: a front serving motor, a front serving spin rod, a fifth belt transmission group, and a front serving wheel; the front serving spin rod is rotatably fitted on the front frame via a bearing, the front serving wheel is concentrically fixed to the middle of the front serving spin rod, the front serving motor is fixed on the front frame, and the output shaft of the front serving motor and one side of the front serving spin rod are connected via a fifth belt transmission group.

[0011] Furthermore, the radius of the tangent point circles of the front serving wheel, the rear serving wheel 1, and the rear serving wheel 2 is consistent with the diameter of the ball thrown by them.

[0012] Furthermore, the first belt drive group, the second belt drive group, the third belt drive group, the fourth belt drive group, and the fifth belt drive group are all composed of two toothed pulleys and toothed belts meshing therewith.

[0013] Furthermore, in order to facilitate the basketball to enter and be clamped between the front serving wheel, the rear serving wheel one, and the rear serving wheel two, a guide limit plate is provided at the upper opening of the ball through hole close to the side of the rear serving wheel, and an arc-shaped guide surface with the axis line horizontal is provided on the side of the guide limit plate close to the ball through hole.

[0014] In summary, the utility model has the following beneficial effects:

[0015] By setting up the rotating mechanism, the deflection mechanism, the rear serving mechanism and the front serving mechanism, the up and down deflection angles, the left and right deflection angles and the strength of the shot can be flexibly adjusted and changed. The strength of the shot is proportional to the rotation speed of the front serving wheel, the rear serving wheel one and the rear serving wheel two. The controller controls the speed of the rear serving motor and the front serving motor to change the strength of the shot. The controller starts the rotating motor, and the rotating motor drives the driving gear to rotate through the first belt transmission group. The rotational force of the driving gear is transferred to the shaft belt gear through the reduction transmission of the reduction gear. The rotation of the shaft belt gear drives the meshing spherical gear ring to rotate. Because the upper part of the spherical gear ring is fixedly connected to the turntable, the spherical gear ring will drive its The turntable on the turntable rotates synchronously, thereby driving the front frame, deflection frame, deflection mechanism, rear serving mechanism, and front serving mechanism rear frame on the turntable to rotate synchronously, thereby changing the left and right deflection angles when shooting; the controller starts the deflection motor to move, and the deflection motor drives the deflection rotary rod to rotate through the second belt transmission group, and the deflection gear on the deflection rotary rod follows the rotation, and then the deflection gear moves on its meshing tooth arc, and then the deflection frame and the rear serving mechanism are driven by the deflection rotary rod to deflect up and down around the shaft rod matched with the deflection frame and the front frame, thereby changing the up and down deflection angles when shooting, and the "pitching" behavior can be realized in a non-ball-releasing manner, which is more ornamental in pitching robot competitions or demonstrations. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 It is a structural schematic diagram of the rotating mechanism and the deflecting mechanism in the utility model;

[0018] Figure 3 yes Figure 2 A magnified view of the structure at B in the middle;

[0019] Figure 4 It is a structural schematic diagram of the front serving mechanism and the rear serving mechanism in the utility model;

[0020] Figure 5 It is a schematic diagram of the double-wheel arrangement of the rear-mounted serving mechanism in the utility model;

[0021] Figure 6 It is a schematic diagram of the ball-clamping principle of the tangent point circles of the front serving wheel, the rear serving wheel 1 and the rear serving wheel 2 in the utility model.

[0022] Figure 7 It is a reference diagram for actual application in the present utility model.

[0023] In the figure, 1, base frame; 2, front frame; 3, turntable; 4, rotating mechanism; 5, deflection frame; 6, deflection mechanism; 7, rear serving mechanism; 8, front serving mechanism; 9, rear frame; 10, ball inlet; 11, guide limit plate; 12, ball hole; 41, round gear ring; 42, pulley; 43, rotating motor; 44, first belt transmission group; 45, driving gear; 46, reduction gear; 47, shaft belt gear; 51, deflection plate; 52, mounting frame ; 61. deflection motor; 62. second belt transmission group; 63. deflection rod; 64. deflection gear; 65. tooth arc; 71. rear serving motor; 72. rear serving rod one; 73. third belt transmission group; 74. rear serving wheel one; 75. rear serving rod two; 76. fourth belt transmission group; 77. rear serving wheel two; 81. front serving motor; 82. front serving rod; 83. fifth belt transmission group; 84. front serving wheel. DETAILED DESCRIPTION

[0024] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0025] Example:

[0026] See also Figure 1-Figure 7 , the utility model provides a technical solution:

[0027] A pitching mechanism for a pitching robot comprises: a base frame 1, a front frame 2, and a turntable 3; the base frame 1 is a flat plate structure, on which a circular ball inlet 10 is arranged, a turntable 3 is arranged above the base frame 1, and a ball through hole 12 concentric with the ball inlet 10 is arranged on the turntable 3, and the turntable 3 and the base frame 1 are electrically controlled and rotated by a rotating mechanism 4, and the front and rear sides of the turntable 3 are respectively fixed with a front frame 2 and a rear frame 9, and the main bodies of the front frame 2 and the rear frame 9 are both two groups of parallel plates, and the two groups of parallel plates are vertically fixedly connected by connecting rods, and the height of the rear frame 9 is greater than that of the front frame 2, and a deflection frame 5 is rotated and matched on the front frame 2 through an axis rod, and the deflection frame 5 and the rear frame 9 are connected by a deflection mechanism 6 that can adjust the deflection angle of the deflection frame 5, and the front frame 2 is provided with a front serving mechanism 8 that provides launching power for a ball, and the side of the deflection frame 5 away from the front frame 2 is provided with a rear serving mechanism 7 that provides launching power for a ball.

[0028] The rotating mechanism 4 includes: a spherical gear ring 41, a pulley 42, a rotating motor 43, a first belt transmission group 44, a driving gear 45, a reduction gear 46, and a shaft gear 47. The spherical gear ring 41 is a ring structure with gear teeth on the outer ring. A plurality of pulleys 42 are arranged in a circular array around the axis of the spherical gear ring 41. The pulleys 42 and the spherical gear ring 41 are rotated and matched with the spherical gear ring 41 through the shaft. All the pulleys 42 are embedded in the inner ring of the ball inlet 10 and roll with the inner ring of the ball inlet 10, so that the spherical gear ring 41 forms a ball inlet 10 through the pulleys 42 thereon. Rotationally connected, the top of the circular gear ring 41 is fixedly connected to the turntable 3; a rotating motor 43 is installed at the bottom of the base frame 1 using a motor bracket, and a shaft belt gear 47 is rotatably matched at the top of the base frame 1, and the shaft belt gear 47 is meshed with the gear teeth of the circular gear ring 41, and the gear teeth, a reduction gear 46 is provided at the bottom of the base frame 1 and is coaxially connected with the shaft belt gear 47, and a driving gear 45 is meshed on the side of the reduction gear 46, and the driving gear 45 is rotationally matched with the base frame 1 through a shaft and a bearing, and the output shaft of the rotating motor 43 and the driving gear 45 are connected by a first belt transmission group 44.

[0029] The deflection frame 5 includes: a deflection plate 51 and a mounting frame 52. The main body of the mounting frame 52 is two sets of parallel plate structures. The two flat plate structures are fixedly connected by a connecting rod to form the mounting frame 52. The mounting frame 52 on both sides of the mounting frame 52 is connected to the two sides of the front frame 2 with a bracket structure, and forms a rotational fit with the front frame 2.

[0030] The deflection mechanism 6 comprises: a deflection motor 61, a second belt transmission group 62, a deflection rotating rod 63, a deflection gear 64, and a tooth arc 65; the deflection motor 61 is fixed on the mounting frame 52, a deflection rotating rod 63 is rotatably matched between two parallel plates of the mounting frame 52 through a bearing, a deflection gear 64 of the same model is fixed on both sides of the deflection rotating rod 63, a tooth arc 65 with circular arc teeth is fixed on each of the two parallel plates of the rear frame 9, the tooth arc 65 is meshed with the deflection gear 64 on the same side thereof, and the axis of the tooth arc 65 coincides with the axis of the connecting shaft of the deflection frame 5 and the front frame 2; the second belt transmission group 62 is used to transmit and connect the rotating rod 63 and the output shaft of the deflection motor 61.

[0031] The rear-mounted ball-serving mechanism 7 comprises: a rear-mounted ball-serving motor 71, a rear-mounted ball-serving rotating rod 1 72, a third belt transmission group 73, a rear-mounted ball-serving wheel 1 74, a rear-mounted ball-serving rotating rod 2 75, a fourth belt transmission group 76, and a rear-mounted ball-serving wheel 2 77; the rear-mounted ball-serving rotating rod 1 72 and the rear-mounted ball-serving rotating rod 2 75 are rotatably matched between the two parallel plates of the mounting frame 52 through bearings, one side of the rear-mounted ball-serving rotating rod 1 72 and the rear-mounted ball-serving rotating rod 2 75 is transmission-connected through the fourth belt transmission group 76, the middle part of the rear-mounted ball-serving rotating rod 1 72 is concentrically fixed with the rear-mounted ball-serving wheel 1 74, the middle part of the rear-mounted ball-serving rotating rod 2 75 is concentrically fixed with the rear-mounted ball-serving wheel 2 77, the side of the mounting frame 52 away from the fourth belt transmission group 76 is fixed with the rear-mounted ball-serving motor 71, and the output shaft of the rear-mounted ball-serving motor 71 is transmission-connected with the rear-mounted ball-serving rotating rod 1 72 or the rear-mounted ball-serving rotating rod 2 75 through the third belt transmission group 73.

[0032] The front ball-serving mechanism 8 comprises: a front ball-serving motor 81, a front ball-serving rotary rod 82, a fifth belt transmission group 83, and a front ball-serving wheel 84; the front ball-serving rotary rod 82 is rotatably fitted on the front frame 2 via a bearing, the front ball-serving wheel 84 is concentrically fixed to the middle of the front ball-serving rotary rod 82, the front ball-serving motor 81 is fixed on the front frame 2, and the output shaft of the front ball-serving motor 81 and one side of the front ball-serving rotary rod 82 are connected in transmission via the fifth belt transmission group 83.

[0033] The radius of the tangent point circles of the front serving wheel 84, the rear serving wheel one 74 and the rear serving wheel two 77 is consistent with the diameter of the ball thrown.

[0034] The first belt drive group 44, the second belt drive group 62, the third belt drive group 73, the fourth belt drive group 76, and the fifth belt drive group 83 are all composed of two toothed pulleys and toothed belts meshing therewith.

[0035] A guide limit plate 11 is provided at the upper opening of the ball passing hole 12 near the rear serving wheel 74, and a circular arc guide surface with a horizontal axis is provided on the side of the guide limit plate 11 near the ball passing hole 12.

[0036] When using, Figure 7 As shown, the pitching mechanism is installed above the pitching robot, and the rotating motor 43, the deflection motor 61, the rear serving motor 71, and the front serving motor 81 are connected to the controller of the pitching robot by wires. The pitching robot transports the basketball it obtains from the ball entrance 10 to the gap between the front serving wheel 84, the rear serving wheel 1 74, and the rear serving wheel 2 77. According to the principle of drawing a circle with three points, there is only one tangent point circle of the front serving wheel 84, the rear serving wheel 1 74, and the rear serving wheel 2 77, and the radius of the tangent point circle of the front serving wheel 84, the rear serving wheel 1 74, and the rear serving wheel 2 77 is consistent with the diameter of the ball it pitches, so the Figure 6 As shown, the basketball will be fixed by the front serving wheel 84, the rear serving wheel 1 74, and the rear serving wheel 2 77. The controller starts the rear serving motor 71 to rotate counterclockwise at high speed and the front serving motor 81 to rotate clockwise at high speed. The rear serving motor 71 drives the rear serving rotating rod 1 72 and the rear serving wheel 1 74 thereon to rotate counterclockwise at high speed through the third belt transmission group 73. The serving rotating rod 1 72 drives the rear serving rotating rod 2 75 and the rear serving wheel 2 77 thereon to rotate counterclockwise at high speed through the fourth belt transmission group 76. The front serving motor 81 drives the rear serving rotating rod 2 75 and the rear serving wheel 2 77 thereon to rotate counterclockwise at high speed through the fifth belt transmission group 83. The front serving spin rod 82 and the front serving wheel 84 thereon rotate clockwise at high speed. Therefore, under the force of the front serving wheel 84, the rear serving wheel 1 74, and the rear serving wheel 2 77 rotating at high speed, the basketball is given a launching force, squeezed out from between the front serving wheel 84, the rear serving wheel 1 74, and the rear serving wheel 2 77 to complete the shooting action. However, due to the uncertainty of the shooting position (such as the basket), it is necessary to comprehensively adjust the up and down deflection angle, the left and right deflection angle, and the strength of the shooting. The specific method is divided into the following three steps to put the basketball into the shooting position (such as the basket):

[0037] ①Step 1: When you need to change the strength of your shot:

[0038] The strength of the shot is proportional to the rotation speed of the front serving wheel 84, the rear serving wheel 1 74, and the rear serving wheel 2 77. The controller controls the rotation speed of the rear serving motor 71 and the front serving motor 81 to change the strength of the shot.

[0039] ②Step 2: When you need to change the left or right deflection angle of the shot:

[0040] The controller starts the rotating motor 43, and the rotating motor 43 drives the driving gear 45 to rotate through the first belt transmission group 44. The rotational force of the driving gear 45 is transferred to the shaft belt gear 47 through the reduction transmission of the reduction gear 46. The rotation of the shaft belt gear 47 drives the meshing spherical gear ring 41 to rotate. Because the upper side of the spherical gear ring 41 is fixedly connected to the turntable 3, the spherical gear ring 41 will drive the turntable 3 thereon to rotate synchronously, and then drive the front frame 2, deflection frame 5, deflection mechanism 6, rear serving mechanism 7, front serving mechanism 8 and rear frame 9 on the turntable 3 to rotate synchronously, thereby changing the left and right deflection angles when shooting.

[0041] ③Step 3: When you need to change the up and down deflection angle of the shot:

[0042] The controller starts the movement of the deflection motor 61, and the deflection motor 61 drives the deflection rotary rod 63 to rotate through the second belt transmission group 62. The deflection gear 64 on the deflection rotary rod 63 rotates accordingly, and then the deflection gear 64 moves on its meshing tooth arc 65, and then the deflection rack 5 and the rear serving mechanism 7 are driven by the deflection rotary rod 63 to deflect up and down around the shaft rod that cooperates with the deflection rack 5 and the front rack 2, thereby changing the up and down deflection angles when shooting.

[0043] The basketball is thrown into the shooting position (such as a basket) by gradually or simultaneously performing the above three steps.

[0044] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A pitching mechanism for a pitching robot, comprising: A base frame (1), a front frame (2), and a turntable (3); the characteristics are: the base frame (1) is a flat plate structure, on which a circular ball inlet (10) is arranged, a turntable (3) is arranged above the base frame (1), and a ball through hole (12) concentric with the ball inlet (10) is arranged on the turntable (3), the turntable (3) and the base frame (1) are electrically controlled to rotate in coordination through a rotating mechanism (4), the front frame (2) and the rear frame (9) are respectively fixed on the front and rear sides of the turntable (3), and the main bodies of the front frame (2) and the rear frame (9) are two sets of parallel The two sets of parallel plates are connected vertically and fixedly by connecting rods, the height of the rear frame (9) is greater than the height of the front frame (2), a deflection frame (5) is rotatably matched on the front frame (2) through an axis rod, the deflection frame (5) and the rear frame (9) are connected through a deflection mechanism (6) that can adjust the deflection angle of the deflection frame (5), the front frame (2) is provided with a front ball launching mechanism (8) for providing launching power for the ball, and the side of the deflection frame (5) away from the front frame (2) is provided with a rear ball launching mechanism (7) for providing launching power for the ball.

2. The pitching mechanism for a pitching robot according to claim 1, characterized in that: The rotating mechanism (4) comprises: a spherical gear ring (41), a pulley (42), a rotating motor (43), a first belt transmission group (44), a driving gear (45), a reduction gear (46), and a shaft belt gear (47). The spherical gear ring (41) is a circular ring structure with gear teeth on the outer ring. A plurality of pulleys (42) are arranged in a circular array around the axis of the spherical gear ring (41). The pulleys (42) and the spherical gear ring (41) are rotated and matched with each other through a shaft rod. All the pulleys (42) are embedded in the inner ring of the ball inlet (10) and roll with the inner ring of the ball inlet (10), so that the spherical gear ring (41) passes through the pulleys (42) thereon and the ball inlet (10). A rotary connection is formed, and the upper part of the circular gear ring (41) is fixedly connected to the turntable (3); a rotary motor (43) is installed below the base frame (1) using a motor bracket, and a shaft belt gear (47) is rotatably matched above the base frame (1), and the gear teeth of the shaft belt gear (47) and the circular gear ring (41) are meshed, and the gear teeth, a reduction gear (46) is provided below the base frame (1) and is coaxially connected with the shaft belt gear (47), and a driving gear (45) is meshed on the side of the reduction gear (46), and the driving gear (45) is rotatably matched with the base frame (1) through a shaft rod and a bearing, and a first belt transmission group (44) is used to drive and connect the output shaft of the rotary motor (43) and the driving gear (45).

3. The pitching mechanism for a pitching robot according to claim 1, characterized in that: The deflection frame (5) comprises: a deflection plate (51) and a mounting frame (52). The main body of the mounting frame (52) is two sets of parallel plate structures. The two flat plate structures are fixedly connected by connecting rods to form the mounting frame (52). The mounting frame (52) is connected to the two sides of the front frame (2) by using bracket structures on both sides of the mounting frame (52) to form a rotational fit with the front frame (2).

4. The pitching mechanism for a pitching robot according to claim 1, characterized in that: The deflection mechanism (6) comprises: a deflection motor (61), a second belt transmission group (62), a deflection rotating rod (63), a deflection gear (64), and a tooth arc (65); the deflection motor (61) is fixed on a mounting frame (52); a deflection rotating rod (63) is rotatably matched between two parallel plates of the mounting frame (52) through a bearing; a deflection gear (64) of the same model is respectively fixed on both sides of the deflection rotating rod (63); a tooth arc (65) with circular arc teeth is respectively fixed on two parallel plates of the rear frame (9); the tooth arc (65) is meshed with the deflection gear (64) on the same side thereof, and the axis center line of the tooth arc (65) coincides with the axis center line of the connecting shaft of the deflection frame (5) and the front frame (2); the second belt transmission group (62) is used for transmission connection between the rotating rod (63) and the output shaft of the deflection motor (61).

5. The pitching mechanism for a pitching robot according to claim 3, characterized in that: The rear serving mechanism (7) comprises: a rear serving motor (71), a rear serving spin rod (72), a third belt transmission group (73), a rear serving wheel (74), a rear serving spin rod (75), a fourth belt transmission group (76), and a rear serving wheel (77); the rear serving spin rod (72) and the rear serving spin rod (75) are rotatably matched between two parallel plates of the mounting frame (52) through bearings, and one side of the rear serving spin rod (72) and the rear serving spin rod (75) The rear ball-serving rotating rod (72) is connected to the rear ball-serving rotating rod (74) through a fourth belt transmission group (76), and the rear ball-serving rotating rod (75) is connected to the rear ball-serving rotating rod (74) through a fourth belt transmission group (76). The rear ball-serving rotating rod (74) is connected to the rear ball-serving rotating rod (72) through a fourth belt transmission group (76). The rear ball-serving rotating rod (77) is connected to the rear ball-serving rotating rod (75) through a third belt transmission group (73).

6. The pitching mechanism for a pitching robot according to claim 1, characterized in that: The front ball-serving mechanism (8) comprises: a front ball-serving motor (81), a front ball-serving rotating rod (82), a fifth belt transmission group (83), and a front ball-serving wheel (84); the front ball-serving rotating rod (82) is rotatably matched on the front frame (2) via a bearing, the front ball-serving wheel (84) is concentrically fixed to the middle of the front ball-serving rotating rod (82), the front ball-serving motor (81) is fixed on the front frame (2), and the output shaft of the front ball-serving motor (81) and one side of the front ball-serving rotating rod (82) are transmission-connected via the fifth belt transmission group (83).

7. The pitching mechanism for a pitching robot according to claim 1, characterized in that: The radius of the tangent point circles of the front serving wheel (84), the rear serving wheel one (74) and the rear serving wheel two (77) is consistent with the diameter of the ball thrown by them.

8. The pitching mechanism for a pitching robot according to claim 2, characterized in that: The first belt drive group (44), the second belt drive group (62), the third belt drive group (73), the fourth belt drive group (76), and the fifth belt drive group (83) are all composed of two toothed pulleys and toothed belts meshing thereon.

9. The pitching mechanism for a pitching robot according to claim 1, characterized in that: A guide limit plate (11) is provided at the upper opening of the ball-penetrating hole (12) on one side close to the rear serving wheel (74), and a circular arc-shaped guide surface with a horizontal axis is provided on the side of the guide limit plate (11) close to the ball-penetrating hole (12).

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