Multi-dimensional ball serving robot

Abstract

A multi-dimensional serving robot relates to the technical field of robots and comprises a chassis used for supporting a robot body and a power system comprising a plurality of moving wheels mounted on the chassis. The magazine is arranged on the chassis and is used for accommodating a ball body; the ball serving mechanism comprises a driving plate arranged in the magazine and used for driving balls, a conveying link connected with the driving plate and a launching pipe connected with the conveying link, and a single-shot limiting mechanism is arranged at the position to be launched in the launching pipe and used for abutting against the balls before the balls are launched; therefore, the sphere can be launched at the same initial position every time. According to the utility model, the single-shot limiting mechanism is arranged in the shooting tube, so that each ball can be shot at the same initial position, the shooting precision and consistency are obviously improved, and the flexible adjustment of the shooting direction and the elevation angle can be realized, therefore, the shooting adaptability is obviously improved, and diversified training requirements are met.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially points to a kind of multi-dimensional ball launching robot. BACKGROUND

[0002] In modern sports training, especially ball games, such as tennis, football, etc., the application of ball launching robots is increasingly widespread. These robots simulate the ball launching action in actual competition to provide training for athletes to improve their reaction speed and ball hitting skills. Traditional ball launching robots mostly use simple mechanical structures to launch balls at fixed angles and forces, lacking precision control and adaptability. With the development of technology, some ball launching robots have begun to integrate more complex mechanical structures and control systems to achieve more precise ball launching control.

[0003] In these ball launching robots, the launching mechanism is a core component that directly affects the accuracy and reliability of ball launching. Traditional launching mechanisms usually use fixed or simple mechanical limiting methods, which have certain limitations when launching balls. For example, due to the inconsistency of the contact position between the ball and the launching mechanism, it can cause deviations in launching angle and force, thereby affecting the accuracy of ball launching. In addition, traditional mechanisms may cause the ball position to deviate when continuously launching due to the continuous propulsion and friction of the ball, further reducing the accuracy of ball launching. SUMMARY

[0004] The utility model aims at providing a kind of multi-dimensional ball launching robot to solve the problem of ball position deviation and insufficient launching accuracy of traditional ball launching robot when continuously launching.

[0005] To solve the above technical problems, the utility model adopts the following technical scheme: a kind of multi-dimensional ball launching robot, comprising:

[0006] A chassis for supporting the robot body,

[0007] A power system comprising a plurality of mobile wheels mounted on the chassis;

[0008] A cartridge arranged on the chassis and used for accommodating balls;

[0009] A ball launching mechanism comprising a dial arranged in the cartridge and used for pushing the balls, a conveying link connected to the dial, and a launching tube connected to the conveying link, wherein a single-shot limiting mechanism is arranged at a position to be launched in the launching tube, and the single-shot limiting mechanism is used to abut against the ball before launching to ensure that the ball is launched at the same initial position each time.

[0010] Preferably, the two sides of the launching tube are further provided with friction wheels respectively, and the ball can contact the friction wheels after abutting against the limiting spring sheet to accelerate the rotation of the ball and improve the launching speed.

[0011] Preferably, the single-shot limiting mechanism comprises a limiting elastic sheet, which is installed at the bottom of the launching tube through a torsion spring, the top end of the limiting elastic sheet can extend into the launching tube upward under the action of the torsion spring, and the ball can push against the limiting elastic sheet when the launching is driven by the dial to make the limiting elastic sheet be pressed and turned over to release the limitation.

[0012] More preferably, the conveying link comprises a lower conveying link arranged in the chassis and connected with the dial, a support cylinder fixedly connected with the lower conveying link, and an upper conveying link rotatably arranged at the top end of the support cylinder, and the launching tube is connected with the upper conveying link.

[0013] More preferably, the upper conveying link is installed on a rotating ring at the top end of the support cylinder, and the rotating ring is drivingly connected with a main motor through chain transmission, so as to drive the upper conveying link and the launching tube to rotate, thereby changing the launching horizontal orientation.

[0014] More preferably, the upper conveying link is arranged in an arc shape.

[0015] More preferably, a bracket is further installed on the rotating ring, and a pitch motor is arranged on the bracket, the pitch motor is connected with the launching tube, the launching tube is rotatably connected with the upper conveying link, and the pitch motor is used to drive the launching tube to swing up and down to realize the adjustment of the launching pitch angle.

[0016] Compared with the prior art, the single-shot limiting mechanism is arranged in the launching tube to ensure that each ball is launched at the same initial position, and the precision and consistency of the ball launching are significantly improved. Moreover, the single-shot limiting mechanism abuts against the ball before the ball is launched, the launching error caused by the inconsistent positions of the balls is reduced, and the stability of the ball launching process is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 It is a schematic view of the overall structure in the embodiment;

[0018] Fig. 2 It is a schematic view of the ball launching mechanism in the embodiment;

[0019] Fig. 3 It is a schematic view of the plane structure of the ball launching mechanism in the embodiment.

[0020] In the drawings:

[0021] 1 - chassis 2 - moving wheel 3 - dial

[0022] 4 - launching tube 5 - limiting elastic sheet 6 - lower conveying link

[0023] 7 - support cylinder 8 - upper conveying link 9 - cartridge

[0024] 10——Pitch motor 11——Swivel 12——Friction wheel

[0025] 13——Barrel. DETAILED DESCRIPTION

[0026] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to embodiments and drawings. The contents mentioned in the embodiments are not intended to limit the present invention.

[0027] It should be noted in advance that, in this utility model, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connected," and "fixed" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances. Furthermore, in this utility model, unless otherwise expressly specified or limited, a first feature "above" or "below" a second feature may include direct contact between the first and second features, or may include contact between the first and second features not being in direct contact but through another feature between them.

[0028] like Figs. 1 to 3 As shown, the multi-dimensional serving robot comprises:

[0029] Chassis 1, used to support the robot body,

[0030] A power system comprising a plurality of moving wheels 2 mounted on a chassis 1;

[0031] a magazine 9, provided on the chassis 1 and used to accommodate the sphere;

[0032] The ball launching mechanism includes a dial 3 arranged in the magazine 9 and used to move the ball, a conveying link connecting the dial 3 and a launch tube 4 connected to the conveying link. A single-shot limit mechanism is provided at the to-be-launched position in the launch tube 4. The single-shot limit mechanism is used to support the ball before it is launched to ensure that the ball is launched at the same initial position each time.

[0033] The above-mentioned single-shot limit mechanism includes a limit spring 5, which is installed at the bottom of the launch tube 4 via a torsion spring. The top of the limit spring 5 can extend upward into the launch tube 4 under the action of the torsion spring. The dial 3 is connected to a ball-launching motor for driving rotation. When the ball is launched by the force of the dial 3, it can push against the limit spring 5, causing the limit spring 5 to be pressed and flipped to release the limit. This mechanism ensures that the ball can smoothly enter the launch tube 4, reducing the possibility of mechanical failure and jamming. The use of the limit spring 5 and the torsion spring in combination achieves precise positioning of the ball before launch, ensuring the consistency and repeatability of each launch.

[0034] The two sides of the launching tube 4 are also respectively provided with friction wheels 12, and the ball can contact the friction wheels 12 after being pushed against the limiting elastic sheet 5, so as to accelerate the rotation of the ball to improve the launching speed. The front end of the launching tube 4 can be connected with a barrel 13 to provide a stable initial launching movement path for the ball.

[0035] The moving wheel 2 can be a commonly used Mecanum wheel in the prior art, and the moving and steering mode of the moving wheel 2 can also adopt a common form in the prior art. Since the application point of the present application is not in this aspect, it will not be described in detail, which does not affect the implementation of the present application by those skilled in the art.

[0036] The conveying link in the embodiment includes a lower conveying link 6 arranged in the chassis 1 and connected with the dial 3, a support cylinder 7 fixedly connected with the lower conveying link, an upper conveying link 8 rotatably arranged at the top end of the support cylinder 7, and the launching tube 4 connected with the upper conveying link 8. The design of the lower conveying link 6 and the upper conveying link 8 realizes the stable conveying of the ball from the dial 3 to the launching tube 4, and improves the efficiency and reliability of the ball conveying.

[0037] The upper conveying link 8 is installed on a rotating ring 11 at the top end of the support cylinder 7, and the rotating ring 11 is drivingly connected with a main motor through chain transmission, so as to drive the upper conveying link 8 and the launching tube 4 to rotate, thereby realizing the synchronous rotation of the upper conveying link 8 and the launching tube 4, facilitating the rapid change of the launching direction, and improving the adaptability of the robot to different sites and targets. The upper conveying link 8 is arranged in an arc shape.

[0038] In addition, a bracket is installed on the rotating ring 11, and a pitch motor 10 is arranged on the bracket. The pitch motor 10 is connected with the launching tube 4, and the launching tube 4 is rotatably connected with the upper conveying link 8. The pitch motor 10 is used to drive the launching tube 4 to swing up and down to adjust the launching pitch angle. In the embodiment, a video transmission module can also be arranged on the top of the bracket, so that the robot can transmit video information in real time, thereby enhancing the observation and environmental perception ability of the robot.

[0039] The ball launching process of the multi-dimensional ball launching robot provided by the above embodiment is as follows:

[0040] Firstly, the ball is placed in the magazine 9, and the dial 3 starts to continuously rotate to successively push the balls into the conveying link. The balls are continuously accumulated in the conveying link until the ball at the front end is moved to the position to be launched and is blocked by the limiting elastic sheet 5, so as to realize the positioning of the ball. Before launching, the main motor drives the rotating ring 9 and the upper conveying link 8 to rotate to adjust the horizontal direction of the launching tube 4, and the pitch motor 10 drives the launching tube 4 to swing up and down to adjust the launching pitch angle, so as to adapt to different ball launching height requirements.

[0041] In the ball launching stage, the dial 3 continues to rotate and drive, and the ball in the cartridge 9 is pushed to make all the balls in the conveying link receive the thrust force and move, and the frontmost ball overcomes the force of the torsion spring on the limiting spring sheet 5, pushes against the limiting spring sheet 5 to release the limiting of the ball, and then immediately receives the contact action of the friction wheel 12 to accelerate the rotating speed, and is launched from the launching tube 4.

[0042] After the ball is launched, the limiting spring sheet 5 is reset under the action of the torsion spring and returns to the initial state, ready for the positioning of the next ball, and the launching tube 4 and the upper conveying link 8 remain in the current position without the need for adjustment of the direction and the elevation, and wait for the next ball launching instruction. The subsequent balls enter the launching tube 4 in turn according to the above process and are launched in turn to realize continuous ball launching. Through the above process, the multi-dimensional ball launching robot can realize accurate, efficient and stable ball launching operation, meet the needs of different training scenes, and provide flexible angle adjustment capability to adapt to the changing game environment.

[0043] The multi-dimensional ball launching robot provided by the utility model realizes accurate, efficient and stable ball launching operation, meets the needs of different training scenes, and provides flexible angle adjustment capability to adapt to the changing game environment.

[0044] In order to make those skilled in the art more conveniently understand the improvements of the utility model relative to the prior art, some drawings and descriptions of the utility model have been simplified, and the above embodiment is a preferred implementation scheme of the utility model, in addition to this, the utility model can also be implemented in other ways, and any obvious replacement does not deviate from the technical scheme concept and is within the protection scope of the utility model.

Claims

1. A multidimensional serving robot, characterized in that, The utility model relates to a robot shooting device, including: A chassis (1) for supporting the robot body, A power system including a plurality of mobile wheels (2) mounted on the chassis (1); A cartridge (9) provided on the chassis (1) and used for containing balls; A ball launching mechanism including a dial (3) provided in the cartridge (9) and used for pushing the balls, a conveying link connected to the dial (3), and a launching tube (4) connected to the conveying link, a single-shot limiting mechanism being provided at a position to be launched in the launching tube (4), the single-shot limiting mechanism being used for abutting against the ball before the ball is launched to ensure that the ball is launched at the same initial position each time.

2. The multi-dimensional serve bot of claim 1, wherein: The single-shot limiting mechanism includes a limiting spring (5) mounted at the bottom of the launching tube (4) through a torsion spring, the top end of the limiting spring (5) being capable of extending upward into the launching tube (4) under the action of the torsion spring, and the ball being capable of pushing against the limiting spring (5) when the ball is launched by the force of the dial (3) to make the limiting spring (5) be pressed and turned over to release the limiting.

3. The multi-dimensional serve bot of claim 1, wherein: Friction wheels (12) are further provided on both sides of the launching tube (4), the ball being capable of contacting the friction wheels (12) after pushing against the limiting spring (5) to accelerate the rotation of the ball and improve the launching speed.

4. The multi-dimensional serve bot of claim 1, wherein: The conveying link includes a lower conveying link (6) provided in the chassis (1) and connected to the dial (3), a support cylinder (7) fixedly connected to the lower conveying link, and an upper conveying link (8) rotatably provided at the top end of the support cylinder (7), the launching tube (4) being connected to the upper conveying link (8).

5. The multi-dimensional serve bot of claim 4, wherein: The upper conveying link (8) is mounted on a rotating ring (11) at the top end of the support cylinder (7), the rotating ring (11) being drivingly connected to a main motor through chain transmission to drive the upper conveying link (8) and the launching tube (4) to rotate, thereby changing the launching horizontal orientation.

6. The multi-dimensional serve bot of claim 5, wherein: The upper conveying link (8) is arranged in an arc shape.

7. The multi-dimensional serve bot of claim 6, wherein: A bracket is further mounted on the rotating ring (11), a pitch motor (10) being provided on the bracket, the pitch motor (10) being connected to the launching tube (4), the launching tube (4) being rotatably connected to the upper conveying link (8), and the pitch motor (10) being used for driving the launching tube (4) to swing up and down to adjust the launching pitch angle.

Images