Ball output posture adjusting mechanism

Abstract

The utility model provides a ball outlet posture adjusting mechanism which comprises a machine shell provided with a ball outlet channel used for outputting table tennis balls; the first driving assembly is used for driving the table tennis ball to rotate in the first direction; the second driving assembly is used for driving the table tennis ball to rotate in the second direction; the third driving assembly is used for driving the table tennis ball to rotate in the third direction; the included angle between any two of the first direction, the second direction and the third direction is (0 degree, 180 degrees). Angular velocities in different directions can be applied to table tennis balls passing through the ball outlet channel through the first driving assembly, the second driving assembly and the third driving assembly, and the table tennis ball outlet speed, the angular velocity magnitude and the angular velocity direction are adjusted through superposition of the angular velocities in the three different directions. Therefore, the lateral rotation posture of the table tennis in the actual table tennis training process can be better simulated.

Description

Technical Field

[0001] This application belongs to the field of training equipment technology, and more specifically, relates to a ball release posture adjustment mechanism. Background Technology

[0002] To simulate the spin of a ping-pong ball during its actual motion, existing ball-serving machines apply angular momentum to the ping-pong ball before it leaves the machine, thus enabling the ball to acquire a sidespin angular velocity.

[0003] The attitude adjustment mechanism of a ball serving machine usually has a side spin drive component on the left and right sides of the ping-pong ball to simulate topspin and backspin. In actual ping-pong, there may be other directions of side spin, such as topspin and backspin. The attitude adjustment mechanism also needs to set up a rotation mechanism to control the rotation of the side spin drive component to adjust the direction of side spin. The ball serving machine cannot simulate ping-pong balls with different directions of side spin very well. Utility Model Content

[0004] The purpose of this application is to provide a ball-launching posture adjustment mechanism to solve the technical problem in the prior art that ball-launching machines cannot well simulate ping-pong balls with different directions of side spin.

[0005] To achieve the above objectives, the technical solution adopted in this application is: to provide a ball release posture adjustment mechanism, comprising:

[0006] The casing is equipped with a ball-ejection channel for outputting ping-pong balls;

[0007] A first drive assembly is used to drive the ping-pong ball to rotate in a first direction, and the first drive assembly is mounted on the housing;

[0008] The second drive assembly is used to drive the ping-pong ball to rotate in a second direction, and the second drive assembly is mounted on the housing;

[0009] A third drive assembly is used to drive the ping-pong ball to rotate in a third direction, and the third drive assembly is mounted on the housing;

[0010] The first drive component, the second drive component, and the third drive component are located on the ball outlet channel, and the angle between any two of the first direction, the second direction, and the third direction is (0°, 180°).

[0011] The first, second, and third drive components can apply angular velocities in different directions to the ping-pong ball passing through the ball release channel. By superimposing the angular velocities in three different directions, the speed, magnitude, and direction of the ping-pong ball when it is released can be adjusted. Since all three drive components input angular velocities to the ping-pong ball, the same control method can be easily used, which helps to improve the stability of the ping-pong ball's landing point and better simulate the side spin posture of the ping-pong ball during actual ping-pong training.

[0012] In one embodiment, the first drive assembly includes a first roller and a first motor for driving the first roller to rotate. The first motor is mounted on the housing, and the shaft of the first motor is connected to the first roller. One side of the first roller extends into the ball outlet channel.

[0013] The second drive assembly includes a second roller and a second motor for driving the second roller to rotate. The second motor is mounted on the housing, and the shaft of the second motor is connected to the second roller. One side of the second roller extends into the ball outlet channel.

[0014] The third drive assembly includes a third roller and a third motor for driving the third roller to rotate. The third motor is mounted on the housing, and the shaft of the third motor is connected to the third roller. One side of the third roller extends into the ball outlet channel.

[0015] By employing the aforementioned technical means, the magnitudes of the three angular velocities can be controlled separately.

[0016] In one embodiment, the axes of the first roller, the second roller, and the third roller are perpendicular to the axis of the ball outlet channel.

[0017] By employing the aforementioned technical means, the linear velocity direction of the first, second, and third rollers in contact with the ping-pong ball can be aligned, which helps reduce wear.

[0018] In one embodiment, the ball outlet channel includes an input section and an output section, the output section being a straight section, and the first roller, the second roller, and the third roller are mounted on the output section.

[0019] By adopting the above-mentioned technical means, it is possible to reduce the collision between the ball and the ball's trajectory during a table tennis serve.

[0020] In one embodiment, the outer periphery of the first roller, the second roller, and the third roller is provided with an arc-shaped groove.

[0021] By employing the aforementioned technical means, it is beneficial to reduce the slippage of the ping-pong ball and improve the control accuracy of the ping-pong ball's posture.

[0022] In one embodiment, the first roller, the second roller, and the third roller are arranged in a circular array around the axis of the ball outlet channel; or, any two of the first direction, the second direction, and the third direction form a 120° angle; and / or,

[0023] The axis of the first roller is set horizontally.

[0024] By employing the aforementioned technical means, it is beneficial to maintain the stability of the ping-pong ball as it passes between the first, second, and third rollers, making it easier to control.

[0025] In one embodiment, a first adjustment seat supporting the first motor is mounted on the housing; and / or, a second adjustment seat supporting the second motor is mounted on the housing, and a third adjustment seat supporting the third motor is mounted on the housing.

[0026] By employing the aforementioned technical means, the positions of the first motor, the second motor, or the third motor can be easily adjusted to better match the position of the ping-pong ball.

[0027] In one embodiment, the ball release posture adjustment mechanism further includes a fourth drive component for adjusting the pitch angle of the housing and a mounting base for supporting the fourth drive component. The housing is hinged to the mounting base, the fourth drive component is installed in the mounting base, and the rotating shaft of the fourth drive component is connected to the housing.

[0028] By employing the aforementioned technical means, the pitch angle of the serve can be controlled.

[0029] In one embodiment, the fourth drive assembly includes a first gear and a fourth motor for driving the first gear to rotate. The fourth motor is mounted on the mounting base, and the shaft of the fourth motor is connected to the first gear. The housing is provided with a gear plate that meshes with the first gear.

[0030] By employing the aforementioned technical means, the pitch angle of the serve can be adjusted conveniently, quickly, and accurately.

[0031] In one embodiment, the ball release posture adjustment mechanism further includes a fifth drive component for adjusting the swing angle of the mounting base and a support base for supporting the fifth drive component. The mounting base is rotatably mounted on the support base, and the rotating shaft of the fifth drive component is connected to the mounting base.

[0032] By employing the aforementioned techniques, it is possible to control the deflection angle of the serve.

[0033] In one embodiment, the fifth drive assembly includes a second gear and a fifth motor for driving the second gear to rotate. The fifth motor is mounted on the support base, and the shaft of the fifth motor is connected to the second gear. A third gear that meshes with the second gear is mounted on the support base.

[0034] By employing the aforementioned technical means, the deflection angle of the serve can be adjusted conveniently, quickly, and accurately. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a three-dimensional structural diagram of the ball-launching machine provided in an embodiment of this application;

[0037] Figure 2 A three-dimensional structural schematic diagram of the ball release posture adjustment mechanism provided in the embodiments of this application;

[0038] Figure 3 A cross-sectional structural schematic diagram of the ball release posture adjustment mechanism provided in the embodiments of this application;

[0039] Figure 4 This is a schematic diagram of the internal structure of the ball release posture adjustment mechanism provided in the embodiments of this application;

[0040] Figure 5 This is a schematic diagram of the first roller, second roller, and third roller used to adjust the posture of a ping-pong ball according to an embodiment of this application.

[0041] The following are the labeling elements in the figure:

[0042] 100. Ball release posture adjustment mechanism; 200. Ball delivery mechanism; 300. Table tennis ball;

[0043] 10. Housing; 101. Ball outlet channel; 1011. Input section; 1012. Output section;

[0044] 20. First drive assembly; 21. First roller; 211. Arc groove; 22. First motor;

[0045] 30. Second drive assembly; 31. Second roller; 32. Second motor;

[0046] 40. Third drive assembly; 41. Third roller; 42. Third motor;

[0047] 50. Fourth drive assembly; 51. First gear; 52. Fourth motor; 53. Gear disc; 54. Mounting base;

[0048] 60. Fifth drive assembly; 61. Second gear; 62. Fifth motor; 63. Third gear; 64. Support base. Detailed Implementation

[0049] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0050] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0051] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0053] In traditional ball-serving machines, when a rotating mechanism drives two side-spin drive components to adjust the side-spin angle, a flexible cable is used to connect the two rotating drive components for easy circuit layout. If the flexible cable is placed inside the machine housing, it is prone to wear, entanglement, or even breakage when the rotating mechanism adjusts the side-spin angle. If the flexible cable is placed outside the machine housing, its swing amplitude is large, which can also cause wear and stretching, affecting angle adjustment and the safety of the flexible cable.

[0054] Please refer to the following: Figures 1 to 5The ball-launching posture adjustment mechanism provided in this application embodiment will now be described. The ball-launching posture adjustment mechanism 100 includes a housing 10, a first drive assembly 20, a second drive assembly 30, and a third drive assembly 40. The first drive assembly 20, the second drive assembly 30, and the third drive assembly 40 are mounted on the housing 10. The housing 10 is provided with a ball-launching channel 101 for outputting a ping-pong ball 300. The first drive assembly 20 is used to drive the ping-pong ball 300 to rotate along a first direction S1, the second drive assembly 30 is used to drive the ping-pong ball 300 to rotate along a second direction S2, and the third drive assembly 40 is used to drive the ping-pong ball 300 to rotate along a third direction S3. The first drive assembly 20, the second drive assembly 30, and the third drive assembly 40 are located on the ball-launching channel 101, and the included angle between any two of the first direction S1, the second direction S2, and the third direction S3 is (0°, 180°).

[0055] It should be noted that the first direction S, the second direction S2, and the third direction S3 are vectors. The angle between any two of the first direction S1, the second direction S2, and the third direction S3 is (0°, 180°), meaning that the first direction S1, the second direction S2, and the third direction S3 are three different directions. This allows the first drive component 20, the second drive component 30, and the third drive component 40 to provide the ping-pong ball 300 with angular velocities in three directions respectively when the ping-pong ball 300 is output along the ball outlet channel 101. Figure 5 (The three angular velocities W1, W2, and W3 are in opposite directions). By combining the effects of these three vector angular velocities, the speed, direction, and magnitude of the final angular velocity of the ping-pong ball at launch can be adjusted. This allows for control of the ball's sidespin in various directions, better simulating the sidespin of a real ping-pong ball during its motion. The sidespin of the ping-pong ball refers to its rotation at a certain angular velocity during its movement.

[0056] Compared to existing methods that use two drive wheels to control the spin angular velocity and adjust the spin direction by rotating the two drive wheels, the technical solution of this application does not require controlling the housing 10 to rotate around the ball outlet channel 101. It only requires controlling the rotational speed of three sets of drive components. These three drive components can use the same structure, making control simpler, simplifying the structure, and reducing the precision requirements of the drive components. Furthermore, using three drive components reduces wear on the ping-pong ball and helps improve the stability of the ping-pong ball 300 during serves, increasing the consistency of the ball's landing point. During the sidespin angle adjustment process, the three drive components do not need to rotate around the ball outlet channel 101. This means that the connecting lines of the three drive components do not need to rotate during sidespin angle adjustment, avoiding cable wear or tangling, facilitating cable internal installation, and eliminating cable interference with sidespin angle adjustment.

[0057] In this embodiment, the ball release posture adjustment mechanism 100 can apply angular velocities in different directions to the ping-pong ball 300 passing through the ball release channel 101 through the first drive component 20, the second drive component 30, and the third drive component 40, thereby adjusting the speed, angular velocity direction, and magnitude of the ping-pong ball 300 when it is released. For example, it can realize the topspin, backspin, left spin, or right spin of the ping-pong ball 300, so as to better simulate the side spin posture of the ping-pong ball 300 during actual ping-pong ball 300 training and improve the consistency of the landing point.

[0058] In one embodiment of this application, please refer to Figures 2 to 5 The first drive assembly 20 includes a first roller 21 and a first motor 22 for driving the first roller 21 to rotate. The first motor 22 is mounted on the housing 10, and the shaft of the first motor 22 is connected to the first roller 21. One side of the first roller 21 extends into the ball outlet channel 101. The second drive assembly 30 includes a second roller 31 and a second motor 32 for driving the second roller 31 to rotate. The second motor 32 is mounted on the housing 10, and the shaft of the second motor 32 is connected to the second roller 31. One side of the second roller 31 extends into the ball outlet channel 101. The third drive assembly 40 includes a third roller 41 and a third motor 42 for driving the third roller 41 to rotate. The third motor 42 is mounted on the housing 10, and the shaft of the third motor 42 is connected to the third roller 41. One side of the third roller 41 extends into the ball outlet channel 101. The first roller 21 is used to drive the ping-pong ball 300 to rotate along the first direction S1. The angular velocity W1 of the first roller 21 is opposite to the angular velocity generated by its action on the ping-pong ball 300 (i.e., the direction of W1 is opposite to S1). By using the first motor 22 to drive the first roller 21 to rotate, when the first roller 21 contacts the ping-pong ball 300, it can cause the ping-pong ball 300 to spin sideways. The second roller 31 is used to drive the ping-pong ball to rotate along the second direction S2. The angular velocity W2 of the second roller 31 is opposite to the angular velocity generated by its action on the ping-pong ball 300 (i.e., the direction of W2 is opposite to S1). The direction of the second roller 31 is opposite to that of S2. The second roller 31 is driven to rotate by the second motor 32. When the second roller 31 contacts the ping-pong ball 300, it causes the ping-pong ball 300 to spin sideways. The third roller 41 is used to drive the ping-pong ball 300 to rotate along the third direction S3. The angular velocity W3 of the third roller 41 is opposite to the angular velocity generated by its action on the ping-pong ball 300 (i.e., the direction of W3 is opposite to S3). The third roller 41 is driven to rotate by the third motor 42. When the third roller 41 contacts the ping-pong ball 300, it causes the ping-pong ball 300 to spin sideways. The first motor 22, the second motor 32, and the third motor 42 can all be the same motor, and the first roller 21, the second roller 31, and the third roller 41 can all be the same roller. This helps to reduce costs, simplify control, and improve the stability of the serve.

[0059] Specifically, one side of the first roller 21 extends into the ball outlet channel 101, one side of the second roller 31 extends into the ball outlet channel 101, and one side of the third roller 41 extends into the ball outlet channel 101. In this way, when the ping-pong ball 300 passes through the first roller 21, the second roller 31, and the third roller 41, they can come into contact with each other, so that friction can be used to rotate the ping-pong ball 300 and achieve a corresponding angular velocity.

[0060] Optionally, a first adjustment seat 23 is installed on the housing 10, and a first motor 22 is installed on the first adjustment seat 23. The first adjustment seat 23 can adjust the height of the first motor 22 so as to adjust the size of the first roller 21 extending into the ball outlet channel 101.

[0061] Optionally, a second adjustment seat 33 is installed on the housing 10, and a second motor 32 is installed on the second adjustment seat 33. The second adjustment seat 33 can adjust the height of the second motor 32 so as to adjust the size of the second roller 31 extending into the ball outlet channel 101.

[0062] Optionally, a third adjustment seat 43 is installed on the housing 10, and a third motor 42 is installed on the third adjustment seat 43. The third adjustment seat 43 can adjust the height of the third motor 42 so as to adjust the size of the third roller 41 extending into the ball outlet channel 101.

[0063] Of course, in other embodiments of this application, the first adjusting seat 23, the second adjusting seat 33 and the third adjusting seat 43 may also be two-axis or three-axis adjusting seats to facilitate the adjustment of the corresponding roller positions.

[0064] In one embodiment of this application, please refer to Figures 2 to 4 The axes of the first roller 21, the second roller 31, and the third roller 41 are perpendicular to the axis of the ball outlet channel 101. This ensures that the linear velocity direction of the ping-pong ball 300 when it sidespins at the point of contact with the first roller 21, the second roller 31, and the third roller 41 is parallel to the axis of the ball outlet channel 101, facilitating control of the linear velocity of the ping-pong ball 300. Specifically, the linear velocity directions of the first roller 21, the second roller 31, and the third roller 41 when they contact the ping-pong ball 300 are the same. This allows for convenient control of the ball's release speed.

[0065] In one embodiment of this application, please refer to Figures 2 to 4 The ball-ejection channel 101 includes an input section 1011 and an output section 1012. The output section 1012 is a straight section, and the first roller 21, the second roller 31, and the third roller 41 are installed in the output section 1012. This helps to maintain the stability of the ball's trajectory speed and reduce the collision between the ball and the ball-ejection channel 101.

[0066] In one embodiment of this application, please refer to Figures 1 to 3 The outer periphery of the first roller 21, the second roller 31, and the third roller 41 is provided with arc-shaped grooves 211. The arc-shaped grooves 211 can be adapted to the outer surface of the ping-pong ball 300 to increase the contact area between the first roller 21, the second roller 31, and the third roller 41 and the ping-pong ball 300, thereby increasing the friction and achieving the side spin angular velocity more quickly.

[0067] In one embodiment of this application, please refer to Figures 2 to 5 The first roller 21, the second roller 31, and the third roller 41 are arranged in a circular array around the axis of the ball outlet channel 101. That is, S1, S2, and S3 are located on the axial plane of the ball outlet channel 101, and the angle between them is 120°. This facilitates the adjustment of the angular velocity of the ping-pong ball 300, making control simpler, and the pressure distribution on the ping-pong ball 300 is even when it passes between the first roller 21, the second roller 31, and the third roller 41, which can prevent the ping-pong ball 300 from colliding with the ball outlet channel 101.

[0068] In one embodiment of this application, please refer to Figures 2 to 5 The axis of the first roller 21 is set horizontally. This facilitates the calculation of angular velocity and simplifies the control algorithm. When the first roller 21, the second roller 31, and the third roller 41 are arranged in a circular array, the second roller 31 and the third roller 41 are symmetrically distributed on the left and right sides of the ping-pong ball 300. This allows the coordinates to be constructed using horizontal and vertical lines, and the angular velocity to be calculated, which helps to simplify the control process.

[0069] In one embodiment of this application, please refer to Figures 2 to 4 The ball release posture adjustment mechanism 100 also includes a fourth drive assembly 50 for adjusting the pitch angle of the housing 10 and a mounting base 54 supporting the fourth drive assembly 50. The housing 10 is hinged to the mounting base 54, the fourth drive assembly 50 is installed inside the mounting base 54, and the rotation shaft of the fourth drive assembly 50 is connected to the housing 10. By using the fourth drive assembly 50, the pitch angle of the housing 10 can be adjusted, thereby controlling the pitch angle of the ping-pong ball 300 when it is released.

[0070] In one embodiment of this application, please refer to Figures 2 to 4 The fourth drive assembly 50 includes a first gear 51 and a fourth motor 52 for driving the first gear 51 to rotate. The fourth motor 52 is mounted on the mounting base 54, and the shaft of the fourth motor 52 is connected to the first gear 51. The housing 10 is provided with a gear plate 53 that meshes with the first gear 51. By meshing the gear plate 53 with the first gear 51, the pitch angle of the housing 10 can be easily and accurately controlled, so as to simulate the serve posture at different pitch angles.

[0071] In one embodiment of this application, please refer to Figures 2 to 4 The ball-launching posture adjustment mechanism 100 also includes a fifth drive component 60 for adjusting the swing angle of the mounting base 54 and a support base 64 for supporting the fifth drive component 60. The mounting base 54 is rotatably mounted on the support base 64, and the rotation shaft of the fifth drive component 60 is connected to the mounting base 54. By using the fifth drive component 60, the left and right deflection angles of the mounting base 54 can be driven, so as to simulate ball-launching postures with different left and right deflection angles.

[0072] In one embodiment of this application, please refer to Figures 2 to 4 The fifth drive assembly 60 includes a second gear 61 and a fifth motor 62 for driving the second gear 61 to rotate. The fifth motor 62 is mounted on a support base 64, and the shaft of the fifth motor 62 is connected to the second gear 61. A third gear 63 that meshes with the second gear 61 is mounted on the mounting base 54. By meshing the third gear 63 with the second gear 61, the deflection angle of the housing 10 can be easily and precisely controlled, so as to simulate the serving posture of different deflection angles.

[0073] Please see Figure 1 As shown, this application provides a ball-serving machine, which includes a ball-feeding mechanism 200 and a ball-launching posture adjustment mechanism 100. The ball-launching posture adjustment mechanism 100 is mounted on the ball-feeding mechanism 200, which feeds ping-pong balls 300 one by one into the ball-launching posture adjustment mechanism 100. The ball-launching posture adjustment mechanism 100 is used to adjust the ball's launch direction, speed, and spin speed and direction. This allows for a better simulation of the ball's serving posture during actual ping-pong training, making it more realistic and helping to improve training efficiency.

[0074] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A ball release posture adjustment mechanism, characterized in that, include: The casing is equipped with a ball-ejection channel for outputting ping-pong balls; A first drive assembly is used to drive the ping-pong ball to rotate in a first direction, and the first drive assembly is mounted on the housing; The second drive assembly is used to drive the ping-pong ball to rotate in a second direction, and the second drive assembly is mounted on the housing; A third drive assembly is used to drive the ping-pong ball to rotate in a third direction, and the third drive assembly is mounted on the housing; The first drive component, the second drive component, and the third drive component are located on the ball outlet channel, and the angle between any two of the first direction, the second direction, and the third direction is (0°, 180°).

2. The ball release posture adjustment mechanism as described in claim 1, characterized in that: The first drive assembly includes a first roller and a first motor for driving the first roller to rotate. The first motor is mounted on the housing, and the shaft of the first motor is connected to the first roller. One side of the first roller extends into the ball outlet channel. The second drive assembly includes a second roller and a second motor for driving the second roller to rotate. The second motor is mounted on the housing, and the shaft of the second motor is connected to the second roller. One side of the second roller extends into the ball outlet channel. The third drive assembly includes a third roller and a third motor for driving the third roller to rotate. The third motor is mounted on the housing, and the shaft of the third motor is connected to the third roller. One side of the third roller extends into the ball outlet channel.

3. The ball release posture adjustment mechanism as described in claim 2, characterized in that: The axes of the first roller, the second roller, and the third roller are perpendicular to the axis of the ball outlet channel; and / or, The first roller, the second roller, and the third roller are arranged in a circular array around the axis of the ball outlet channel; or, any two of the first direction, the second direction, and the third direction form a 120° angle; and / or, The axis of the first roller is set horizontally.

4. The ball release posture adjustment mechanism as described in claim 2, characterized in that: The ball outlet channel includes an input section and an output section. The output section is a straight section, and the first roller, the second roller, and the third roller are installed in the output section.

5. The ball release posture adjustment mechanism as described in claim 2, characterized in that: The outer periphery of the first roller, the second roller and the third roller is provided with an arc-shaped groove.

6. The ball release posture adjustment mechanism as described in claim 2, characterized in that: The housing is equipped with a first adjustment seat to support the first motor; and / or, the housing is equipped with a second adjustment seat to support the second motor, and the housing is equipped with a third adjustment seat to support the third motor.

7. The ball release posture adjustment mechanism as described in any one of claims 1 to 6, characterized in that: The ball release attitude adjustment mechanism further includes a fourth drive component for adjusting the pitch angle of the housing and a mounting base for supporting the fourth drive component. The housing is hinged to the mounting base, the fourth drive component is installed in the mounting base, and the rotating shaft of the fourth drive component is connected to the housing.

8. The ball release posture adjustment mechanism as described in claim 7, characterized in that: The fourth drive assembly includes a first gear and a fourth motor for driving the first gear to rotate. The fourth motor is mounted on the mounting base, and the shaft of the fourth motor is connected to the first gear. The housing is provided with a gear plate that meshes with the first gear.

9. The ball release posture adjustment mechanism as described in claim 7, characterized in that: The ball release posture adjustment mechanism further includes a fifth drive component for adjusting the swing angle of the mounting base and a support base for supporting the fifth drive component. The mounting base is rotatably mounted on the support base, and the rotating shaft of the fifth drive component is connected to the mounting base.

10. The ball release posture adjustment mechanism as described in claim 9, characterized in that: The fifth drive assembly includes a second gear and a fifth motor for driving the second gear to rotate. The fifth motor is mounted on the support base, and the shaft of the fifth motor is connected to the second gear. A third gear that meshes with the second gear is mounted on the support base.

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