Football training auxiliary robot integrating marker post placing and ball receiving and serving functions

Abstract

The utility model discloses a football training auxiliary robot integrating marker post placing and ball receiving and serving functions, and relates to the technical field of sports auxiliary instruments. The sign post folding and unfolding mechanism is arranged at the front part of the frame and comprises a clamping jaw mechanism for clamping a sign post, a lifting mechanism for driving the clamping jaw mechanism to move up and down, a rotating mechanism for driving the clamping jaw mechanism to rotate and a plurality of storage cylinders for placing the sign post; the ball receiving and serving mechanism is arranged on the rear portion of the frame and comprises a ball serving rail and a pushing arm mechanism used for pushing footballs into the ball serving rail, and the ball serving rail obliquely extends upwards to be connected with a ball serving frame. By means of an integrated automatic mechanical structure, on one hand, the robot can complete placing and collecting tasks of marker posts, reduces dependence on manpower and improves the automation level of training, on the other hand, the robot can replace manpower to conduct football serving work, the requirements for coaches and training partners are reduced, and the training efficiency is improved. And the labor cost is effectively reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of sports auxiliary equipment, in particular to a football training auxiliary robot integrating the functions of placing marker poles and serving and receiving balls. Background Art

[0002] Football, as one of the most popular sports globally, has extremely high requirements for the physical fitness and skills of participants. With the development of social economy and the improvement of people's living standards, more and more people begin to pay attention to physical exercise, especially football. Football training can not only improve an individual's physical fitness but also cultivate teamwork spirit and competitive ability.

[0003] In traditional football training, coaches and players usually need to manually place and collect the marker poles used for training, which is both time-consuming and laborious. In addition, in order to simulate various goal situations in the game, players need to conduct a large number of receiving and kicking training, which often requires the assistance of multiple training partners or coaches to provide enough serves. However, this training method has obvious limitations, including low training efficiency, high labor cost, and the singularity of training scenarios. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a football training auxiliary robot integrating the functions of placing marker poles and serving and receiving balls, aiming to achieve efficient, flexible, and cost-effective football training through an automated method.

[0005] To solve the above technical problems, the utility model adopts the following technical scheme: A football training auxiliary robot integrating the functions of placing marker poles and serving and receiving balls, comprising:

[0006] A vehicle frame provided with traveling wheels;

[0007] A marker pole retracting and extending mechanism arranged at the front of the vehicle frame, including a jaw mechanism for clamping the marker poles, a lifting mechanism for driving the jaw mechanism to move up and down, a rotating mechanism for driving the jaw mechanism to rotate, and a plurality of storage cylinders for placing the marker poles;

[0008] A serving and receiving ball mechanism arranged at the rear of the vehicle frame, including a serving track and a pushing arm mechanism for pushing the football into the serving track, the serving track extending obliquely upward to connect to a launching frame, and the pushing arm mechanism being able to push the ball to move along the serving track and be launched through the launching frame.

[0009] Preferably, a bracket is provided at the front end of the vehicle frame. The rotating mechanism includes a disc rotatably mounted on the bracket and a rotating motor for driving the disc to rotate. The lifting mechanism is mounted on the disc and the jaw mechanism is mounted on the lifting mechanism. When the rotating motor drives the disc to rotate, the disc can drive the lifting mechanism and the jaw mechanism to rotate synchronously.

[0010] More preferably, the lifting mechanism includes a plurality of guide rods vertically mounted on the disc, a top plate connected to the tops of the plurality of guide rods, and a sliding seat movably connected to the plurality of guide rods. The jaw mechanism is arranged on the sliding seat. A lifting motor is mounted on the disc, a fixed wheel is mounted on the top plate, the output shaft of the lifting motor is connected with a driving wheel, and the driving wheel and the fixed wheel are connected by a belt drive. The sliding seat is fixedly connected with the belt. When the lifting motor drives the belt to run, the sliding seat can be driven to lift, and then the jaw mechanism can be driven to move up and down.

[0011] More preferably, the jaw mechanism includes a jaw seat fixedly connected to the side end of the sliding seat, a jaw motor mounted on the top of the jaw seat, and two mutually meshing jaw gears arranged in the jaw seat. One of the jaw gears is in transmission connection with the jaw motor, and each jaw gear is connected with a jaw assembly. The jaw assembly includes a first rod fixedly connected to the side of the jaw gear, a connecting rod hinged to the first rod, and a jaw body fixedly connected to one end of the connecting rod. One end of the connecting rod is also hinged to a second rod, and one end of the second rod is hinged to the jaw seat. The jaw motor can drive the two jaw gears to rotate in opposite directions, and then drive the first rod to swing, so as to drive the two jaw bodies to perform opening and closing actions to clamp or release the marking rod.

[0012] More preferably, the number of the marking rod storage and release mechanisms is two, and they are respectively arranged on both sides inside the front end of the vehicle frame. A storage cylinder is provided in each of the inner direction and the rear direction of each marking rod storage and release mechanism.

[0013] More preferably, a gantry is mounted at the rear end of the vehicle frame. The pushing arm mechanism includes a support shaft mounted on the gantry and a swing seat rotatably mounted on the support shaft. A swing arm motor is mounted on the top end of the swing seat. A fixed gear is coaxially and fixedly mounted on the support shaft. The output shaft of the swing arm motor is meshed with the fixed gear through a driving gear. The swing arm motor can drive the driving gear to rotate, and then the driving gear can move around the fixed gear to realize the rotation of the swing seat. The swing seat is fixedly connected with a pushing arm body, and a conveyor belt capable of contacting and driving the sphere to move is arranged on the pushing arm body.

[0014] More preferably, the launching frame is connected to the front end of the gantry and is connected to the vehicle frame through support columns. A circular channel is provided in the middle of the launching frame, and a plurality of guide wheels are arranged at intervals along the inner wall of the circular channel in a ring shape. One side of the guide wheel extends into the circular channel to prevent the sphere from colliding with the launching frame when being launched.

[0015] More preferably, the serving track is an arc track, and a serving channel is formed between the gantry and the launching frame. Baffles are respectively arranged on both sides of the serving channel.

[0016] Compared with the prior art, through the integrated automated mechanical structure, the robot of the present utility model can, on the one hand, complete the tasks of placing and collecting the flagpoles, reduce the dependence on manual labor, and improve the automation level of training. On the other hand, it can replace manual labor in serving footballs, reduce the need for coaches and training partners, and effectively reduce the labor cost. Description of the Drawings

[0017] Figure 1 It is a schematic diagram of the overall structure from the front side view in the embodiment;

[0018] Figure 2 It is a schematic diagram of the overall structure from the rear side view in the embodiment;

[0019] Figure 3 It is a side view of the overall structure in the embodiment;

[0020] Figure 4 It is a schematic diagram of the structure of the flagpole retracting and extending mechanism in the embodiment;

[0021] Figure 5 It is a schematic diagram of the rear side view of the serving and receiving mechanism in the embodiment;

[0022] Figure 6 It is a front side view of the launching frame in the embodiment.

[0023] In the figure:

[0024] 1 - vehicle frame; 2 - storage cylinder; 3 - serving track

[0025] 4 - launching frame; 5 - bracket; 6 - disc

[0026] 7 - rotating motor; 8 - guide rod; 9 - sliding seat

[0027] 10 - lifting motor; 11 - jaw motor; 12 - jaw gear

[0028] 13 - first rod; 14 - connecting rod; 15 - jaw body

[0029] 16 - second rod; 17 - gantry; 18 - swinging seat

[0030] 19 - Swing arm motor, 20 - Fixed gear, 21 - Driving gear

[0031] 22 - Push arm body, 23 - Conveyor belt, 24 - Guide wheel

[0032] 25 - Baffle, 26 - Lifting motor, 27 - Fixed wheel

[0033] 28 - Belt, 29 - Top plate. Detailed implementation mode

[0034] For the convenience of understanding by those skilled in the art, the present utility model will be further described below in conjunction with embodiments and the accompanying drawings. The content mentioned in the implementation mode does not limit the present utility model.

[0035] It should be noted in advance that in the present utility model, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations. In addition, in the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween.

[0036] As Figures 1 to 3 shown, a football training assistance robot integrating the functions of placing flagpoles and serving and receiving balls includes:

[0037] A frame 1 provided with traveling wheels; a flagpole retracting and extending mechanism provided at the front of the frame 1, including a claw mechanism for clamping the flagpole, a lifting mechanism for driving the claw mechanism to move up and down, a rotating mechanism for driving the claw mechanism to rotate, and a plurality of storage cylinders 2 for placing the flagpoles; a serving and receiving mechanism provided at the rear of the frame 1, including a serving track 3 and a push arm mechanism for pushing the football into the serving track 3. The serving track 3 extends obliquely upward to connect to a launching frame 4, and the push arm mechanism can push the ball to move along the serving track 3 and be launched through the launching frame 4.

[0038] In the above structure, the frame 1 serves as the basic structure of the entire robot, supporting all components and providing a stable platform. The walking wheels enable the robot to move on the training ground, increasing its flexibility and application range. The walking wheels can be omnidirectional wheels, and each omnidirectional wheel is connected to a plum blossom coupling through an M3508P19 motor for transmission. The frame 1 includes a chassis, the main frame of the chassis is set in a square shape, and is connected to the basic chassis frame through aluminum tubes and fiberglass board connecting pieces. Four sets of omnidirectional wheel assemblies are connected to the chassis through motor connectors and aluminum tubes and fiberglass board connectors to form a four-wheel omnidirectional chassis with high stability. The advantages of the four-wheel omnidirectional chassis are better stability and load-bearing capacity, as well as advantages in distributing loads and reducing bumps. This chassis configuration provides better stability and load-bearing capacity through four wheels, and is suitable for application scenarios that require higher loads and smooth operation.

[0039] For the sign post retracting and releasing mechanism, firstly, a bracket 5 is provided at the front end of the frame 1, such as Figure 4 As shown, the rotating mechanism includes a disc 6 rotatably mounted on a bracket 5 and a rotating motor 7 for driving the disc 6 to rotate. The lifting mechanism is mounted on the disc 6 and the clamping mechanism is mounted on the lifting mechanism. When the rotating motor 7 drives the disc 6 to rotate, the disc 6 can drive the lifting mechanism and the clamping mechanism to rotate synchronously.

[0040] The lifting mechanism includes a plurality of guide rods 8 vertically mounted on the disc 6, a top plate 29 connected to the top ends of the plurality of guide rods 8, and a slide 9 movably connected to the plurality of guide rods 8, the clamping mechanism is arranged on the slide 9, a lifting motor 26 is mounted on the disc 6, a fixed wheel 27 is mounted on the top plate 29, a driving wheel is connected to the output shaft of the lifting motor 26, the driving wheel and the fixed wheel 27 are connected through a belt 28, the slide 9 is fixedly connected to the belt 28, and when the lifting motor 26 drives the belt 28 to run, the slide 9 can be driven to rise and fall, thereby driving the clamping mechanism to move up and down.

[0041] The clamping mechanism includes a clamping seat 10 fixedly connected to the side end of the slide 9, a clamping motor 11 installed on the top of the clamping seat 10, and two mutually meshing clamping gears 12 installed in the clamping seat 10, one of the clamping gears 12 is transmission-connected to the clamping motor 11, and each clamping gear 12 is connected to a clamping assembly, and the clamping assembly includes a first rod 13 fixedly connected to the side of the clamping gear 12, a connecting rod 14 hinged to the first rod 13, and a clamping body 15 fixedly connected to one end of the connecting rod 14, one end of the connecting rod 14 is also hinged to a second rod 16, and one end of the second rod 16 is hinged to the clamping seat 10, and the clamping motor 11 can drive the two clamping gears 12 to rotate in opposite directions, thereby driving the first rod 13 to swing, thereby driving the two clamping bodies 15 to realize opening and closing actions to clamp or put down the sign pole.

[0042] The number of flagpole retracting and extending mechanisms is two, which are respectively arranged on both sides inside the front end of the vehicle frame 1. A storage cylinder 2 is provided in the inner direction and the rear direction of each flagpole retracting and extending mechanism.

[0043] For the ball receiving and serving mechanism, as Figure 5 shown, a gantry 17 is installed at the rear end of the vehicle frame 1. The pushing arm mechanism includes a support shaft installed on the gantry 17 and a swing seat 18 rotatably installed on the support shaft. A swing arm motor 19 is installed at the top of the swing seat 18. A fixed gear 20 is coaxially and fixedly installed on the support shaft. The output shaft of the swing arm motor 19 is engaged with the fixed gear 20 through a driving gear 21. The swing arm motor 19 can drive the driving gear 21 to rotate, so that the driving gear 21 moves around the fixed gear 20 to realize the rotation of the swing seat 18. The swing seat 18 is fixedly connected with a pushing arm body 22. A conveyor belt 23 capable of contacting and driving the ball to move is arranged on the pushing arm body 22.

[0044] Furthermore, the launching frame 4 is connected to the front end of the gantry 17 and is connected to the vehicle frame 1 through a support column. A circular channel is provided in the middle of the launching frame 4, and a plurality of guide wheels 24 are arranged at intervals along the inner wall of the circular channel in a ring shape. One side of the guide wheel 24 extends into the circular channel (as Figure 6 shown) to prevent the ball from colliding with the launching frame 4 when being launched. In addition, the serving track 3 is an arc track, and a serving channel is formed between the gantry 17 and the launching frame 4. Baffles 25 are respectively arranged on both sides of the serving channel.

[0045] When the football training assistant robot integrating the functions of placing flagpoles and receiving and serving balls provided by the above embodiment places flagpoles, first, the robot moves to the area where flagpoles need to be placed through the walking wheels. One flagpole in the storage cylinder 2 is taken out and prepared for placement. The jaw motor 11 of the jaw mechanism drives the jaw gear 12 to rotate, so that the jaw assembly opens and is ready to clamp the flagpole. The jaw mechanism descends so that the jaw assembly moves to both sides of the flagpole. The jaw assembly closes to clamp the flagpole, then rises and rotates to a predetermined position, places the flagpole on the training ground, then the jaw mechanism releases the flagpole, and then rises and rotates back to the initial position. After the training is over, the jaw mechanism repeats the above actions, but in the opposite direction, collects the flagpoles on the ground back into the storage cylinder 2, and prepares for the next training.

[0046] During the serving process, the sphere can be placed at the rear end of the pushing arm mechanism. The swing arm motor 19 is started, driving the swing seat 18 and the pushing arm body 22 to rotate to an appropriate position and contact the football. At this time, the conveyor belt 23 is also started, driving the football to move closer to the serving track. Then the pushing arm mechanism pushes the football, causing it to move along the serving track 3. The football accelerates on the serving track 3, and the inclined and arc-shaped design of the track helps the football obtain an appropriate launch angle and speed. Then the football reaches the launch frame 4, and the pushing arm body 22 further swings to enable the football to be launched through the launch frame 4 into the training area for players to conduct catching and kicking training. Finally, the pushing arm mechanism returns to the initial position to prepare for the next serve. The above two working processes demonstrate how the robot automatically completes the auxiliary tasks in football training, improving the training efficiency and quality while reducing the manpower requirements.

[0047] Certainly, in order to further achieve automation, those skilled in the art can also add corresponding sensing modules and control modules according to requirements to achieve functions such as remote control of the robot in the training ground, automatic ball searching, and placing flagpoles.

[0048] The football training assistant robot integrating the functions of placing flagpoles and serving and receiving balls realizes automatic assistance in football training through a highly integrated mechanical structure and an intelligent control system. The robot uses walking wheels to move on the field and, through the cooperation of the front bracket and the rotating, lifting, and clamping jaw mechanisms, realizes the automatic placement and collection of flagpoles, effectively reducing the manpower requirements and training preparation time. The serving and receiving ball mechanism at the rear end, including the gantry, pushing arm mechanism, serving track, and launch frame, can simulate serving, improving the training efficiency for players and reducing the manpower requirements. The entire system can be uniformly commanded by an advanced control system to ensure the accuracy of actions and the timeliness of responses. This application not only significantly improves the training efficiency and reduces the labor cost but also optimizes time management through automation technology, enhancing the flexibility and quality of training, providing an innovative, efficient, and cost-effective solution for football training.

[0049] To make it easier for those of ordinary skill in the art to understand the improvements of the present utility model over the prior art, some of the drawings and descriptions of the present utility model have been simplified, and the above embodiments are the preferred implementation solutions of the present utility model. In addition, the present utility model can also be implemented in other ways. Any obvious replacement without departing from the concept of the technical solution is within the protection scope of the present utility model.

Claims

1. A football training assistant robot integrating the functions of placing flagpoles and serving and receiving balls, characterized in that, Including: A vehicle frame (1) is provided with traveling wheels. A flagpole retracting and extending mechanism is arranged at the front part of the vehicle frame (1), and includes a jaw mechanism for clamping a flagpole, a lifting mechanism for driving the jaw mechanism to move up and down, a rotating mechanism for driving the jaw mechanism to rotate, and a plurality of storage cylinders (2) for placing flagpoles. A ball receiving and serving mechanism is arranged at the rear part of the vehicle frame (1), and includes a serving track (3) and a pushing arm mechanism for pushing a football into the serving track (3). The serving track (3) extends obliquely upward to connect to a launching frame (4), and the pushing arm mechanism can push the ball to move along the serving track (3) and be launched through the launching frame (4).

2. The football training assistance robot integrating the functions of placing flagpoles and serving / collecting balls, as claimed in claim 1, wherein: A bracket (5) is arranged at the front end of the vehicle frame (1). The rotating mechanism includes a disc (6) rotatably mounted on the bracket (5) and a rotating motor (7) for driving the disc (6) to rotate. The lifting mechanism is mounted on the disc (6), and the jaw mechanism is mounted on the lifting mechanism. When the rotating motor (7) drives the disc (6) to rotate, the disc (6) can drive the lifting mechanism and the jaw mechanism to rotate synchronously.

3. The football training auxiliary robot integrating the functions of placing flagpoles and serving and receiving balls according to claim 2, wherein: The lifting mechanism includes a plurality of guide rods (8) vertically mounted on the disc (6), a top plate (29) connected to the tops of the plurality of guide rods (8), and a sliding seat (9) movably connected to the plurality of guide rods (8). The jaw mechanism is arranged on the sliding seat (9). A lifting motor (26) is mounted on the disc (6), a fixed wheel (27) is mounted on the top plate (29), an output shaft of the lifting motor (26) is connected with a driving wheel, and the driving wheel and the fixed wheel (27) are in transmission connection through a belt (28). The sliding seat (9) is fixedly connected to the belt (28). When the lifting motor (26) drives the belt (28) to run, the sliding seat (9) can be driven to lift, and further drive the jaw mechanism to move up and down.

4. The football training auxiliary robot integrating the functions of placing flagpoles and serving and receiving balls according to claim 3, characterized in that: The jaw mechanism includes a jaw seat (10) fixedly connected to the side end of the sliding seat (9), a jaw motor (11) mounted on the top of the jaw seat (10), and two mutually meshing jaw gears (12) mounted in the jaw seat (10). One of the jaw gears (12) is in transmission connection with the jaw motor (11). Each jaw gear (12) is connected with a jaw assembly. The jaw assembly includes a first rod (13) fixedly connected to the side of the jaw gear (12), a connecting rod (14) hinged to the first rod (13), and a jaw body (15) fixedly connected to one end of the connecting rod (14). One end of the connecting rod (14) is also hinged to a second rod (16), and one end of the second rod (16) is hinged to the jaw seat (10). The jaw motor (11) can drive the two jaw gears (12) to rotate in opposite directions, and further drive the first rod (13) to swing, so as to drive the two jaw bodies (15) to perform opening and closing actions to clamp or release the flagpole.

5. The football training assistant robot integrating the functions of placing flagpoles and serving / collecting balls, as claimed in claim 4, wherein: The number of the flagpole retracting and extending mechanisms is two, and they are respectively arranged on both sides inside the front end of the vehicle frame (1). A storage cylinder (2) is arranged in the inner direction and the rear direction of each flagpole retracting and extending mechanism.

6. The football training assistant robot integrating the functions of placing flagpoles and serving / collecting balls, as claimed in claim 1, wherein: A gantry (17) is installed at the rear end of the vehicle frame (1). The push arm mechanism includes a support shaft installed on the gantry (17), and a swing seat (18) rotatably installed on the support shaft. A swing arm motor (19) is installed at the top of the swing seat (18). A fixed gear (20) is coaxially and fixedly installed on the support shaft. The output shaft of the swing arm motor (19) is engaged with the fixed gear (20) through a driving gear (21). The swing arm motor (19) can drive the driving gear (21) to rotate, and then make the driving gear (21) move around the fixed gear (20) to realize the rotation of the swing seat (18). The swing seat (18) is fixedly connected to a push arm body (22), and a conveyor belt (23) capable of contacting and driving the sphere to move is arranged on the push arm body (22).

7. The football training assistant robot integrating the functions of placing flagpoles and serving and receiving balls according to claim 6, characterized in that: The launching frame (4) is connected to the front end of the gantry (17) and is connected to the vehicle frame (1) through a support column. A circular channel is provided in the middle of the launching frame (4), and a plurality of guide wheels (24) are arranged at intervals along the inner wall of the circular channel in a ring shape. One side of the guide wheel (24) extends into the circular channel to prevent the sphere from colliding with the launching frame (4) when being launched.

8. The football training assistance robot integrating the functions of placing flagpoles and serving and receiving balls, as claimed in claim 7, wherein: The serving track (3) is an arc track. A serving channel is formed between the gantry (17) and the launching frame (4), and baffles (25) are respectively arranged on both sides of the serving channel.

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