Semi-automatic training auxiliary robot for court

Abstract

The utility model discloses a semi-automatic training auxiliary robot for a court, belongs to the technical field of robots, and aims to solve the problem that serving strength, speed and serving angle of an existing basketball serving device are difficult to adjust. Comprising a base plate, a ball picking device and a ball serving device, the ball picking device comprises a hollow frame body, a ball picking opening is formed in the front side of the hollow frame body, a ball picking roller is rotationally arranged at the top of the ball picking opening, a first racing brushless motor parallel to the ball picking roller is arranged on the rear side of the hollow frame body, and the upper end of a cambered surface shovel abuts against the first racing brushless motor; the lower end of the cambered surface shovel is bent forwards to the bottom of the ball picking opening, the ball serving device is rotationally arranged on the top plate, the ball serving device is provided with two second racing brushless motors and a third racing brushless motor, and an arc guide plate is arranged between the third racing brushless motor and one second racing brushless motor; according to the ball serving device, ball serving at different ball court point positions, different ball serving speeds and different ball serving angles can be achieved, and the training efficiency of athletes is remarkably improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and particularly relates to a semi-automatic training auxiliary robot for a stadium court. Background Art

[0002] Basketball is a confrontational sports activity participated by multiple people. It is popular all over the world because of its small venue, fast rhythm, intense confrontation and high appreciation. Currently, it is the second largest sports event after football.

[0003] Excellent athletes are inseparable from hard training. In basketball training, shooting is an important training item. In the past, shooting training was carried out by a basketball assistant serving the ball. One athlete needed to be equipped with one assistant, which increased the consumption of training labor. And after the athlete shoots, the assistant needs to pick up the ball to complete the second serve, resulting in low training efficiency.

[0004] The Chinese invention patent with the publication number of CN 117732029 A discloses a basketball serving machine for basketball teaching, which can be used to serve the ball to athletes during training. However, this serving machine can only be set under the basketball hoop and collect the basketballs falling from the basketball hoop, and does not have the function of picking up the bounced basketballs, nor can it realize serving at different positions on the court.

[0005] The Chinese invention patent with the publication number of CN 109011434 A discloses a basketball picking and serving device. This device can pick up the basketballs scattered on the court through a fetching arm and store them in its own storage box to realize serving at different positions. However, this application pulls the rack to slide through a semi-gear, relies on the spring's energy storage to fire the basketball, and the direction of the serving tube is fixed, making it difficult to adjust the serving force, speed and serving angle. Summary of the Utility Model

[0006] The purpose of the utility model is to provide a semi-automatic training auxiliary robot for a stadium court to solve the problem that the existing basketball serving devices are difficult to adjust the serving force, speed and serving angle. The technical solution adopted by the utility model is as follows:

[0007] A semi-automatic training auxiliary robot for a stadium court includes a chassis, a ball picking device and a serving device. A plurality of walking wheels are provided at the bottom of the chassis;

[0008] The ball-picking device includes a hollow frame body, which is arranged at the front part of the chassis. A ball-picking port is provided on the front side of the hollow frame body. A top plate is provided at the upper end of the hollow frame body, and an inner hole is provided on the top plate. Two inner connecting ears are provided on the front side of the hollow frame body, and the two inner connecting ears are respectively arranged on the left and right sides of the top of the ball-picking port. A ball-picking motor is provided on any one of the inner connecting ears. One end of the ball-picking roller is rotationally matched with the other inner connecting ear, and the other end of the ball-picking roller is connected to the output shaft of the ball-picking motor. The ball-picking roller is horizontally arranged. A first brushless motor for speed competition is provided at the rear side of the hollow frame body. The ball-picking roller and the first brushless motor for speed competition are parallel to each other front and back. The distance between the ball-picking roller and the first brushless motor for speed competition is adapted to the ball diameter. The opposite sides of the outer peripheries of the ball-picking roller and the first brushless motor for speed competition both rotate upward. An arc-shaped shovel is arranged inside the hollow frame body. The upper end of the arc-shaped shovel abuts against the first brushless motor for speed competition, and the lower end of the arc-shaped shovel bends forward to the bottom of the ball-picking port;

[0009] The ball-serving device includes an annular seat and a launching frame. The annular seat is rotatably arranged on the top plate. The inner hole of the annular seat is aligned with the inner hole of the top plate to form a ball hole. A driven gear ring is sleeved on the annular seat. A first steering motor is provided on one side of the top plate. A first driving gear is provided on the output shaft of the first steering motor, and the first driving gear meshes with the driven gear ring. Two second brushless motors for speed competition are provided on the annular seat, and the two second brushless motors for speed competition are respectively arranged on both sides of the ball hole. A third brushless motor for speed competition is provided at the top end of the launching frame. The third brushless motor for speed competition is axially parallel to the two second brushless motors for speed competition respectively. An arc-shaped guide plate is provided between the third brushless motor for speed competition and one of the second brushless motors for speed competition. The distance between the third brushless motor for speed competition and the other second brushless motor for speed competition is adapted to the ball diameter. The distance between the two second brushless motors for speed competition is adapted to the ball diameter. The opposite sides of the outer peripheries of the two second brushless motors for speed competition both rotate upward. The third brushless motor for speed competition rotates in the same direction as the second brushless motor for speed competition at the lower end of the arc-shaped guide plate;

[0010] The traveling wheels, the ball-picking motor, the first brushless motor for speed competition, the second brushless motors for speed competition, the third brushless motor for speed competition and the first steering motor are all connected to the industrial control computer in the court to establish signal transmission, and the industrial control computer is connected to the remote controller to establish signal transmission.

[0011] Further, a code disc and several distance sensors are provided on the chassis.

[0012] Further, the traveling wheels are AGV steering wheels.

[0013] Further, a storage battery is provided on the chassis, and the steering gears of several traveling wheels, the ball-picking motor, the first brushless motor for speed competition, the second brushless motors for speed competition, the third brushless motor for speed competition and the first steering motor are respectively electrically connected to the storage battery.

[0014] Further, the ball picking device further includes a barrier device, which includes a barrier roller. There are two outer connecting ears provided at the front of the hollow frame body. The two outer connecting ears are located outside the two inner connecting ears. A pitching motor is coaxially arranged on the two outer connecting ears. The rear ends of the two swing arms are respectively connected to the output shafts of the two pitching motors in a one-to-one correspondence. The front ends of the two swing arms are connected by a horizontal shaft. A barrier roller and a first driven pulley are rotatably arranged on the horizontal shaft. The barrier roller and the first driven pulley are connected. One side of the ball picking roller is coaxially connected with a first driving pulley. The first driving pulley and the first driven pulley are connected by a synchronous belt. The pitching motor is electrically connected to the storage battery.

[0015] Further, the ball picking device further includes an introducing device. Introducing devices are respectively arranged on the left and right sides of the arc-shaped shovel. The introducing device includes a rotatably arranged introducing vertical roller. A second driven pulley is provided at the lower end of the introducing vertical roller. An introducing motor is provided on the chassis. A second driving pulley is sleeved on the output shaft of the introducing motor. The second driving pulley and the second driving pulley are connected by a synchronous belt. The inner sides of the two introducing vertical rollers rotate backward. The introducing motor is electrically connected to the storage battery.

[0016] Further, two manipulator devices are arranged on the left and right at the rear of the chassis. The manipulator device includes a support, a lifting frame and an arm assembly. The arm assembly includes an arm connecting plate. A passive gear disk is rotatably arranged on the support. A second steering motor is connected to the support. A second driving gear is sleeved on the output shaft of the second steering motor. The second driving gear meshes with the passive gear disk. A lifting frame is provided on the passive gear disk. A vertically arranged lifting guide rail group is provided on the lifting frame. A lifting motor is provided at the top of the lifting frame. A third driving pulley is sleeved on the output shaft of the lifting motor. A lifting screw rod is rotatably arranged on one side of the lifting frame. A third driven pulley is sleeved at the top end of the lifting screw rod. The third driving pulley and the third driven pulley are connected by a synchronous belt. A lifting slider group is provided at one end of the arm connecting plate. The lifting slider group is slidably matched with the lifting guide rail group. The arm connecting plate is in threaded cooperation with the lifting screw rod;

[0017] A telescopic guide rail group is arranged along the longitudinal direction of the palm connecting plate. A telescopic slider group is provided on the horizontal telescopic plate. The telescopic slider group is slidably matched with the telescopic guide rail group. A rack structure is provided on one side of the horizontal telescopic plate. A telescopic motor is provided on the palm connecting plate. A telescopic gear is provided on the output shaft of the telescopic motor. The telescopic gear meshes with the rack structure. Two clamping guide rails and two clamping electric cylinders are arranged in parallel at the end of the horizontal telescopic plate far from the lifting frame. The piston rods of the two clamping electric cylinders are respectively connected to the two arc-shaped palms in a one-to-one correspondence. A clamping slider is provided on the arc-shaped palm. The clamping slider is slidably matched with the clamping guide rail. The two arc-shaped palms are close to or separated from the clamped object. The lifting motor, the telescopic motor and the two clamping electric cylinders are respectively electrically connected to the storage battery.

[0018] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0019] 1. The first racing brushless motor, the second racing brushless motor, and the third racing brushless motor are motors with a fixed inner shaft and a rotating outer shell. This application utilizes this characteristic to form friction wheels that can apply rotational tangential friction to the outside on the first racing brushless motor, the second racing brushless motor, and the third racing brushless motor. The walking wheels can be controlled through a remote control, and further, the movement of the robot described in this utility model can be controlled. When the robot moves, the arc-shaped shovel faces the scattered basketballs. When the lower arc surface of the arc-shaped shovel touches a basketball, the picking-up ball motor drives the rotating picking-up ball roller to apply friction to the basketball, enabling the basketball to be conveyed upward along the arc surface of the arc-shaped shovel. Under the friction of the first racing brushless motor and the picking-up ball roller, the basketball passes upward through the ball hole. The second racing brushless motor and the third racing brushless motor rotate to further apply friction to the basketball, enabling the basketball to be thrown along the arc-shaped guiding plate. The first steering motor can drive the annular seat to rotate through the first driving gear, and further, the orientation angle of the serving device can be adjusted. The rotational speeds and torques of the first racing brushless motor, the second racing brushless motor, and the third racing brushless motor can be preset or adjusted through a remote control. The steering of the first steering motor can be preset or adjusted through a remote control. Thus, the utility model integrates ball picking-up and serving, and can serve at different court positions, with different serving speeds and different serving angles, significantly improving the training efficiency of athletes. By adaptively changing the outer dimensions of each component, the utility model can also pick up and serve other balls.

[0020] 2. The clamping or separation of the two arc-shaped palms, and the meshing of the telescopic gear and the rack structure can achieve the horizontal telescoping of the two arc-shaped palms. The arm connecting plate and the lifting frame can achieve the lifting of the two arc-shaped palms through the cooperation of the lifting slider group, the lifting guide rail group, and the lifting screw. The horizontal rotation of the two arc-shaped palms can be achieved through the meshing of the second driving gear and the driven gear disc. When an athlete is exercising, replenishing water is essential, and items such as towels for wiping sweat are also indispensable. The mechanical hand device can clamp a water cup and temporarily place it on the chassis, or can also clamp items such as water cups and distribute them to the athlete when moving to the side of the athlete. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is an isometric view of the present utility model;

[0022] Figure 2 is an isometric view of another perspective of the present utility model;

[0023] Figure 3 is a schematic diagram of the cooperation between the ball picking-up device and the serving device;

[0024] Figure 4 is an isometric view of the ball picking-up device;

[0025] Figure 5 It is an isometric view of the ball-picking device from another perspective;

[0026] Figure 6 It is an isometric view of the ball-serving device;

[0027] Figure 7 It is an isometric view of the ball-serving device from another perspective;

[0028] Figure 8 It is an isometric view of the mechanical hand device;

[0029] Figure 9 It is an isometric view of the mechanical hand device from another perspective;

[0030] Figure 10 It is an isometric view of the arm assembly.

[0031] In the figure, 1. Chassis, 11. Traveling wheels, 2. Ball-picking device, 21. Hollow frame, 22. Top plate, 23. Arc-shaped shovel, 24. Ball-picking drum, 25. Ball-picking motor, 26. Outer connecting ear, 27. Inner connecting ear, 28. First driving gear, 29. First steering motor, 210. First brushless motor for speed racing, 3. Ball-serving device, 31. Ring seat, 32. Launching rack, 33. Third brushless motor for speed racing, 34. Driven gear ring, 35. Second brushless motor for speed racing, 36. Arc-shaped guide plate, 4. Mechanical hand device, 41. Support, 42. Second steering motor, 43. Second driving gear, 44. Passive gear disc, 45. Lifting frame, 46. Lifting guide rail group, 47. Lifting motor, 48. Third driving pulley, 49. Lifting screw, 410. Third driven pulley, 5. Introducing device, 51. Introducing vertical drum, 52. Second driven pulley, 53. Introducing motor, 54. Second driving pulley, 6. Fence device, 61. Fence drum, 62. Swing arm, 63. First driven pulley, 64. First driving pulley, 65. Pitching motor, 7. Arm assembly, 71. Arm connecting plate, 72. Telescopic motor, 73. Telescopic gear, 74. Clamping electric cylinder, 75. Clamping slider, 76. Arc-shaped palm, 77. Clamping guide rail, 78. Horizontal telescopic plate, 79. Telescopic slider group, 710. Telescopic guide rail group, 711. Lifting slider group, 712. Rack structure. Detailed implementation mode

[0032] To make the purpose, technical solution and advantages of the present invention clearer and more understandable, the present invention will be described below through specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are exemplary and not intended to limit the scope of the present invention. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0033] The connections mentioned in the present utility model are divided into fixed connections and detachable connections. The fixed connection is an inseparable connection, including but not limited to conventional fixed connection methods such as hemming connection, rivet connection, bonding connection, and welding connection. The detachable connection includes but not limited to conventional disassembly methods such as bolt connection, snap connection, pin connection, and hinge connection. When the specific connection method is not clearly defined, it is defaulted that at least one connection method can be found among the existing connection methods to achieve this function, and those skilled in the art can choose according to their needs. For example: welding connection is selected for the fixed connection, and bolt connection is selected for the detachable connection.

[0034] The following will further elaborate on the present utility model in conjunction with the attached drawings. The following embodiments are explanations of the present utility model, and the present utility model is not limited to the following embodiments.

[0035] Embodiment: As Figures 1 to 10 shown, a semi-automatic training assistance robot for a stadium includes a chassis 1, a ball picking device 2, and a serving device 3. A plurality of traveling wheels 11 are provided at the bottom of the chassis 1;

[0036] The ball picking device 2 includes a hollow frame body 21. The hollow frame body 21 is arranged at the front part of the chassis 1. A ball picking opening is formed on the front side of the hollow frame body 21. A top plate 22 is provided at the upper end of the hollow frame body 21. An inner hole is provided on the top plate 22. Two inner connecting ears 27 are provided on the front side of the hollow frame body 21. The two inner connecting ears 27 are respectively arranged on the left and right sides of the top of the ball picking opening. A ball picking motor 25 is provided on any one of the inner connecting ears 27. One end of a ball picking roller 24 is rotatably matched with the other inner connecting ear 27. The other end of the ball picking roller 24 is connected to the output shaft of the ball picking motor 25. The ball picking roller 24 is horizontally arranged. A first brushless speed motor 210 is provided at the rear side of the hollow frame body 21. The ball picking roller 24 and the first brushless speed motor 210 are parallel to each other front and back. The distance between the ball picking roller 24 and the first brushless speed motor 210 is adapted to the ball diameter. The outer peripheries of the ball picking roller 24 and the first brushless speed motor 210 are rotated upward on the opposite side. An arc-shaped shovel 23 is arranged inside the hollow frame body 21. The upper end of the arc-shaped shovel 23 abuts against the first brushless speed motor 210. The lower end of the arc-shaped shovel 23 bends forward to the bottom of the ball picking opening. The end of the arc-shaped shovel 23 facing the ball picking opening is an inwardly concave arc surface;

[0037] The serving device 3 includes an annular seat 31 and a launching rack 32. The annular seat 31 is rotatably arranged on the top plate 22. The inner hole of the annular seat 31 is aligned with the inner hole of the top plate 22 to form a ball hole. A driven gear ring 34 is sleeved on the annular seat 31. A first steering motor 29 is provided on one side of the top plate 22. A first driving gear 28 is provided on the output shaft of the first steering motor 29. The first driving gear 28 meshes with the driven gear ring 34. Two second brushless motors for speed racing 35 are provided on the annular seat 31. The two second brushless motors for speed racing 35 are respectively arranged on both sides of the ball hole. A third brushless motor for speed racing 33 is provided at the top end of the launching rack 32. The third brushless motor for speed racing 33 is axially parallel to the two second brushless motors for speed racing 35 respectively. An arc-shaped guide plate 36 is provided between the third brushless motor for speed racing 33 and one of the second brushless motors for speed racing 35. The distance between the third brushless motor for speed racing 33 and the other second brushless motor for speed racing 35 is adapted to the ball diameter. The distance between the two second brushless motors for speed racing 35 is adapted to the ball diameter. The opposite sides of the outer circumferences of the two second brushless motors for speed racing 35 rotate upward. The third brushless motor for speed racing 33 and the second brushless motor for speed racing 35 at the lower end of the arc-shaped guide plate 36 have the same rotation direction;

[0038] The traveling wheels 11, the ball-picking motor 25, the first brushless motor for speed racing 210, the second brushless motors for speed racing 35, the third brushless motor for speed racing 33 and the first steering motor 29 are all in signal transmission with the industrial control computer in the court, and the industrial control computer is in signal transmission with the remote controller.

[0039] The first racing brushless motor 210, the second racing brushless motor 35, and the third racing brushless motor 33 are n5045 brushless motors with a fixed inner shaft and a rotating outer shell. This application utilizes this characteristic to enable the first racing brushless motor 210, the second racing brushless motor 35, and the third racing brushless motor 33 to form friction wheels that can apply rotational tangential friction externally. The working of the driving wheels 11 can be controlled through a remote control, thereby controlling the movement of the robot described in this utility model. When the robot moves, the arc-shaped shovel 23 faces the scattered basketballs. When the lower arc surface of the arc-shaped shovel 23 touches a basketball, the picking motor 25 drives the rotating picking drum 24 to apply friction to the basketball, enabling the basketball to be conveyed upward along the arc surface of the arc-shaped shovel 23. Under the friction of the first racing brushless motor 210 and the picking drum 24, the basketball passes upward through the ball hole. The second racing brushless motor 35 and the third racing brushless motor 33 rotate to further apply friction to the basketball, enabling the basketball to be thrown along the arc-shaped guide plate 36. The first steering motor 29 can drive the annular seat 31 to rotate through the first driving gear 28, thereby adjusting the orientation angle of the serving device 3. The rotational speeds and torques of the first racing brushless motor 210, the second racing brushless motor 35, and the third racing brushless motor 33 can be preset or adjusted through a remote control. The steering of the first steering motor 29 can be preset or adjusted through a remote control, thereby realizing the functions of picking up and serving balls in this utility model, and enabling serving at different court positions, different serving speeds, and different serving angles, significantly improving the training efficiency of athletes. By adaptively changing the external dimensions of each component, this utility model can also pick up and serve other balls.

[0040] The chassis 1 is provided with an encoder and several distance sensors for positioning the robot on the court to prevent the robot from moving beyond the court range.

[0041] The driving wheels 11 are AGV steering wheels. Relying on the navigation and positioning functions of the AGV steering wheels, the moving speed and positioning accuracy of the robot in the court can be significantly improved, and the omnidirectional movement of the robot can be realized.

[0042] The chassis 11 is provided with a storage battery. The servos of several driving wheels 11, the picking motor 25, the first racing brushless motor 210, the second racing brushless motor 35, the third racing brushless motor 33, and the first steering motor 29 are respectively electrically connected to the storage battery. This utility model drives each electric component through the storage battery carried by itself, avoiding the entanglement caused by cable connection.

[0043] The ball picking device 2 further includes a barrier device 6. The barrier device 6 includes a barrier roller 61. Two outer connecting ears 26 are provided at the front part of the hollow frame body 21. The two outer connecting ears 26 are located outside the two inner connecting ears 27. A pitching motor 65 is coaxially arranged on the two outer connecting ears 26. The rear ends of the two swing arms 62 are respectively connected to the output shafts of the two pitching motors 65 in a one-to-one correspondence. The front ends of the two swing arms 62 are connected by a horizontal shaft. The barrier roller 61 and a first driven pulley 63 are rotatably arranged on the horizontal shaft. The barrier roller 61 is connected to the first driven pulley 63. One side of the ball picking roller 24 is coaxially connected with a first driving pulley 64. The first driving pulley 64 and the first driven pulley 63 are connected by a synchronous belt. The pitching motor 65 is electrically connected to the storage battery. Before picking up the ball, the two pitching motors 65 drive the barrier roller 61 to tilt up. When the basketball rolls onto the arc-shaped shovel 23, the two pitching motors 65 drive the barrier roller 61 to swing down, isolating the picked-up basketball to prevent the basketball from escaping, and can avoid misoperations during continuous ball picking. The rotation of the barrier roller 61 can also assist in pushing the basketball to move upward along the arc-shaped shovel 23 at the front side.

[0044] The ball picking device 2 further includes a guiding device 5. The guiding device 5 is respectively arranged on the left and right sides of the arc-shaped shovel 23. The guiding device 5 includes a rotatably arranged guiding vertical roller 51. A second driven pulley 52 is provided at the lower end of the guiding vertical roller 51. A guiding motor 53 is provided on the chassis 1. A second driving pulley 54 is sleeved on the output shaft of the guiding motor 53. The second driving pulley 54 and the second driving pulley 54 are connected by a synchronous belt. The inner sides of the two guiding vertical rollers 51 rotate backward. The guiding motor 53 is electrically connected to the storage battery. The guiding device 5 is used to guide the basketball at the ball picking opening to the arc-shaped shovel 23, and the rotating guiding vertical roller 51 applies frictional force to the basketball from both sides.

[0045] Two manipulator devices 4 are arranged on the left and right at the rear part of the chassis 1. The manipulator device 4 includes a support 41, a lifting frame 45 and an arm assembly 7. The arm assembly 7 includes an arm connecting plate 71. A passive gear disc 44 is rotatably arranged on the support 41. A second steering motor 42 is connected to the support 41. A second driving gear 43 is sleeved on the output shaft of the second steering motor 42. The second driving gear 43 meshes with the passive gear disc 44. A lifting frame 45 is provided on the passive gear disc 44. A vertical lifting guide rail group 46 is provided on the lifting frame 45. A lifting motor 47 is provided at the top of the lifting frame 45. A third driving pulley 48 is sleeved on the output shaft of the lifting motor 47. A lifting screw 49 is rotatably arranged on one side of the lifting frame 45. A third driven pulley 410 is sleeved at the top end of the lifting screw 49. The third driving pulley 48 and the third driven pulley 410 are connected by a synchronous belt. A lifting slider group 711 is provided at one end of the arm connecting plate 71. The lifting slider group 711 is slidably matched with the lifting guide rail group 46. The arm connecting plate 71 is in threaded cooperation with the lifting screw 49;

[0046] A telescopic guide rail group 710 is arranged along the longitudinal direction of the palm connecting plate. A telescopic slider group 79 is arranged on the horizontal telescopic plate 78. The telescopic slider group 79 is in sliding fit with the telescopic guide rail group 710. A rack structure 712 is arranged on one side of the horizontal telescopic plate 78. A telescopic motor 72 is arranged on the palm connecting plate. A telescopic gear 73 is arranged on the output shaft of the telescopic motor 72. The telescopic gear 73 is meshed with the rack structure 712. A clamping guide rail 77 and two clamping electric cylinders 74 are arranged in parallel at one end of the horizontal telescopic plate 78 far away from the lifting frame 45. The piston rods of the two clamping electric cylinders 74 are respectively connected to the two arc-shaped palms 76 in one-to-one correspondence. A clamping slider 75 is arranged on the arc-shaped palm 76. The clamping slider 75 is in sliding fit with the clamping guide rail 77. The two arc-shaped palms 76 are close to or separated from the clamped object. The lifting motor 47, the telescopic motor 72 and the two clamping electric cylinders 74 are respectively electrically connected to the storage battery.

[0047] The mechanical hand device 4 is used to distribute items such as water cups to athletes. The telescopic movement of the piston rods of the two clamping electric cylinders 74 can realize the clamping or separation of the two arc-shaped palms 76. The meshing of the telescopic gear 73 and the rack structure 712 can realize the horizontal telescopic movement of the two arc-shaped palms 76. The arm connecting plate 71 and the lifting frame 45 can realize the lifting of the two arc-shaped palms 76 through the cooperation of the lifting slider group 711, the lifting guide rail group 46 and the lifting screw rod 49. The horizontal rotation of the two arc-shaped palms 76 can be realized through the meshing of the second driving gear 43 and the driven gear disc 44. When athletes are exercising, replenishing water is essential, and items such as towels for wiping sweat are also indispensable. The mechanical hand device 4 can clamp the water cup and temporarily place it on the chassis 1, or can also clamp items such as water cups and distribute them to athletes when moving to the side of the athletes.

[0048] The above embodiments are only exemplary descriptions of the present invention and do not limit its protection scope. Those skilled in the art can also make partial changes to it. As long as it does not exceed the spiritual essence of the present invention, it is within the protection scope of the present invention.

Claims

1. A semi-automatic training assistance robot for a stadium, characterized in that: It includes a chassis (1), a ball picking device (2) and a ball serving device (3). A plurality of walking wheels (11) are provided at the bottom of the chassis (1); The ball picking device (2) includes a hollow frame body (21). The hollow frame body (21) is arranged at the front part of the chassis (1). A ball picking opening is formed on the front side of the hollow frame body (21). A top plate (22) is provided at the upper end of the hollow frame body (21). An inner hole is provided on the top plate (22). Two inner connecting ears (27) are provided on the front side of the hollow frame body (21). The two inner connecting ears (27) are respectively arranged on the left and right sides of the top of the ball picking opening. A ball picking motor (25) is provided on any one of the inner connecting ears (27). One end of the ball picking roller (24) is rotatably matched with the other inner connecting ear (27). The other end of the ball picking roller (24) is connected to the output shaft of the ball picking motor (25). The ball picking roller (24) is horizontally arranged. A first brushless motor for racing (210) is provided at the rear side of the hollow frame body (21). The ball picking roller (24) and the first brushless motor for racing (210) are parallel to each other front and back. The distance between the ball picking roller (24) and the first brushless motor for racing (210) is adapted to the ball diameter. The opposite sides of the peripheries of the ball picking roller (24) and the first brushless motor for racing (210) both rotate upward. An arc-shaped shovel (23) is arranged inside the hollow frame body (21). The upper end of the arc-shaped shovel (23) abuts against the first brushless motor for racing (210). The lower end of the arc-shaped shovel (23) bends forward to the bottom of the ball picking opening; The ball serving device (3) includes an annular seat (31) and a launching frame (32). The annular seat (31) is rotatably arranged on the top plate (22). The inner hole of the annular seat (31) is aligned with the inner hole of the top plate (22) to form a ball hole. A driven gear ring (34) is sleeved on the annular seat (31). A first steering motor (29) is provided on one side of the top plate (22). A first driving gear (28) is provided on the output shaft of the first steering motor (29). The first driving gear (28) meshes with the driven gear ring (34). Two second brushless motors for racing (35) are provided on the annular seat (31). The two second brushless motors for racing (35) are respectively arranged on both sides of the ball hole. A third brushless motor for racing (33) is provided at the top end of the launching frame (32). The third brushless motor for racing (33) is axially parallel to the two second brushless motors for racing (35) respectively. An arc-shaped guide plate (36) is arranged between the third brushless motor for racing (33) and one of the second brushless motors for racing (35). The distance between the third brushless motor for racing (33) and the other second brushless motor for racing (35) is adapted to the ball diameter. The distance between the two second brushless motors for racing (35) is adapted to the ball diameter. The opposite sides of the peripheries of the two second brushless motors for racing (35) both rotate upward. The rotation direction of the third brushless motor for racing (33) is the same as that of the second brushless motor for racing (35) at the lower end of the arc-shaped guide plate (36); The driving wheels (11), the ball-picking motor (25), the first racing brushless motor (210), the second racing brushless motor (35), the third racing brushless motor (33) and the first steering motor (29) are all in signal transmission with the industrial computer in the stadium, and the industrial computer is in signal transmission with the remote control.

2. The semi-automatic training assistance robot for a stadium according to claim 1, wherein: The chassis (1) is provided with a code disk and a plurality of distance sensors.

3. The semi-automatic training assistance robot for a stadium according to claim 2, wherein: The driving wheels (11) are AGV steering wheels.

4. The semi-automatic training assistance robot for a stadium according to claim 3, characterized in that: The chassis (1) is provided with a storage battery, and the servos of a plurality of driving wheels (11), the ball-picking motor (25), the first racing brushless motor (210), the second racing brushless motor (35), the third racing brushless motor (33) and the first steering motor (29) are respectively electrically connected to the storage battery.

5. The semi-automatic training assistance robot for a stadium according to claim 4, characterized in that: The ball-picking device (2) further includes a barrier device (6). The barrier device (6) includes a barrier roller (61). Two outer connecting ears (26) are provided at the front of the hollow frame body (21). The two outer connecting ears (26) are located outside the two inner connecting ears (27). A pitching motor (65) is coaxially arranged on the two outer connecting ears (26). The rear ends of the two swing arms (62) are respectively connected to the output shafts of the two pitching motors (65) in one-to-one correspondence. The front ends of the two swing arms (62) are connected by a horizontal shaft. The horizontal shaft is rotatably provided with a barrier roller (61) and a first driven pulley (63). The barrier roller (61) and the first driven pulley (63) are connected. One side of the ball-picking roller (24) is coaxially connected with a first driving pulley (64). The first driving pulley (64) and the first driven pulley (63) are connected by a synchronous belt. The pitching motor (65) is electrically connected to the storage battery.

6. The semi-automatic training assistance robot for a stadium according to claim 5, characterized in that: The ball-picking device (2) further includes a guiding device (5). Guiding devices (5) are respectively arranged on the left and right sides of the arc-shaped shovel (23). The guiding device (5) includes a rotatably arranged guiding vertical roller (51). A second driven pulley (52) is arranged at the lower end of the guiding vertical roller (51). An introducing motor (53) is provided on the chassis (1). A second driving pulley (54) is sleeved on the output shaft of the introducing motor (53). The second driving pulley (54) and the second driving pulley (54) are connected by a synchronous belt. The inner sides of the two guiding vertical rollers (51) rotate backward. The introducing motor (53) is electrically connected to the storage battery.

7. The semi-automatic training assistance robot for a stadium according to claim 6, characterized in that: On the left and right sides of the rear part of the chassis (1), there are two manipulator devices (4). The manipulator device (4) includes a support (41), a lifting frame (45), and an arm assembly (7). The arm assembly (7) includes an arm connecting plate (71). A passive gear disc (44) is rotatably arranged on the support (41). A second steering motor (42) is connected to the support (41). A second driving gear (43) is sleeved on the output shaft of the second steering motor (42). The second driving gear (43) meshes with the passive gear disc (44). The lifting frame (45) is arranged on the passive gear disc (44). A vertically arranged lifting guide rail group (46) is arranged on the lifting frame (45). A lifting motor (47) is arranged at the top of the lifting frame (45). A third driving pulley (48) is sleeved on the output shaft of the lifting motor (47). A lifting screw rod (49) is rotatably arranged on one side of the lifting frame (45). A third driven pulley (410) is sleeved on the top end of the lifting screw rod (49). The third driving pulley (48) and the third driven pulley (410) are connected by a synchronous belt. One end of the arm connecting plate (71) is provided with a lifting slider group (711). The lifting slider group (711) is slidably matched with the lifting guide rail group (46). The arm connecting plate (71) is in threaded cooperation with the lifting screw rod (49); A telescopic guide rail group (710) is arranged along the longitudinal direction of the palm connecting plate. A telescopic slider group (79) is arranged on the horizontal telescopic plate (78). The telescopic slider group (79) is slidably matched with the telescopic guide rail group (710). A rack structure (712) is arranged on one side of the horizontal telescopic plate (78). A telescopic motor (72) is arranged on the palm connecting plate. A telescopic gear (73) is arranged on the output shaft of the telescopic motor (72). The telescopic gear (73) meshes with the rack structure (712). A clamping guide rail (77) and two clamping electric cylinders (74) are arranged in parallel at the end of the horizontal telescopic plate (78) far from the lifting frame (45). The piston rods of the two clamping electric cylinders (74) are respectively connected to two arc-shaped palms (76) in one-to-one correspondence. A clamping slider (75) is arranged on the arc-shaped palm (76). The clamping slider (75) is slidably matched with the clamping guide rail (77). The two arc-shaped palms (76) are close to or separate from the clamped object. The lifting motor (47), the telescopic motor (72), and the two clamping electric cylinders (74) are respectively electrically connected to the storage battery.

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