CN113144563A

CN113144563A - Rugby training service device

Info

Publication number: CN113144563A
Application number: CN202110408601.6A
Authority: CN
Inventors: 胡天林; 周恭喜; 欧阳童洁; 曹福青
Original assignee: Xiamen University
Current assignee: Xiamen University
Priority date: 2021-04-15
Filing date: 2021-04-15
Publication date: 2021-07-23

Abstract

Football training service device relates to the robot. Comprises a chassis unit, a clamping unit and a transmitting unit; the chassis unit comprises a chassis frame, an omnidirectional wheel and a first motor, wherein the omnidirectional wheel is driven by the first motor to finish advancing, retreating and steering; the clamping unit comprises a clamping module, a rotary driving module and a horizontal moving module, the transmitting unit comprises a transmitting module, a push power module and an angle adjusting module, auxiliary wheels are arranged on two sides of a transmitting frame of the transmitting module, two friction wheels with certain inclined included angles are arranged in front of the auxiliary wheels, the transmitting speed of a ball is changed by changing the inclination angle of the friction wheels and the speed, the push power module controls the push ball to advance through a cylinder, the angle adjusting module is in transmission through a screw rod, circular motion is changed into linear motion, the inclination angle of the transmitting unit is changed, and the transmitting height of the ball is adjusted. The whole structure can move in all directions, and the ball can be clamped and thrown. The running speed is fast, the efficiency is high, and the robot training competition robot is suitable for teaching experiments and the like.

Description

Rugby training service device

Technical Field

The invention relates to the field of robots, in particular to a football training and serving device which can finish clamping and launching a football, is movable in the whole structure and strong in autonomy.

Background

With the development of society, the living standard of people is gradually improved, the positive influence of sports on the living quality is increasingly emphasized, ball games occupy a part of the life of people, various ball games from ancient kickball to current football, basketball and rugby are loved by people, even form domestic and international games, become one of the standards for measuring the national sports standard, before participating in a game, athletes need to do a lot of exercises, but some projects need to be matched by a plurality of people, and the personal training is inconvenient. Along with the development of related technologies such as artificial intelligence technology and computer technology, more and more tools capable of replacing manpower are available. The same is true of the sporting event, and thus a variety of different exercise devices are in force.

Chinese patent CN201020272984.6 discloses a football serving device, which comprises a casing and a launching device arranged in the casing; the launching device at least comprises two rollers, the two rollers are arranged side by side at intervals, a ball launching channel is formed between the two rollers, and a ball sending sliding seat used for pushing the rugby to move towards the launching device is arranged behind the ball launching channel; and a driving mechanism for urging the roller to rotate is arranged for the roller; therefore, the launching device is arranged in the shell, the service channel is formed between the two rollers of the launching device, the ball sending sliding seat is arranged behind the service channel, the football is sent into the service channel by the ball sending sliding seat, and the two rollers rotate at high speed to rub the two sides of the football, so that the football rotates around the football to be launched out of the shell, and the automatic service function of the football is realized.

Chinese patent CN201920679423.9 discloses a football hook ball positioning service robot, wherein a ball bin is arranged at the front end of a frame, and two sides and the rear end of the ball bin are enclosed by ball bin fenders; the front end of the ball bin is provided with a bin gate turning plate, and a rotating shaft of the bin gate turning plate is connected with the frame through a hinge; the top of the ball bin is provided with a slidable ball pushing and cutting plate which is communicated with the ball conveying chute; a channel is arranged at the rear plate of the ball bin, and a launching rod of the ejection ball serving device penetrates through the channel to be inserted into the ball bin and is connected with the push-cut ball plate; wherein the bin gate flap, the push-cut ball plate and the launching rod of the ejection ball serving device are connected with the linkage mechanism to realize synchronous operation.

Disclosure of Invention

The invention aims to provide a football training service device which can finish clamping and launching a football, has a movable integral structure and strong autonomy and realizes football training.

The invention comprises a chassis unit, a clamping unit and a transmitting unit;

the chassis unit comprises a chassis frame, an omni wheel and a first motor; the number of the omnidirectional wheels is 4, the 4 omnidirectional wheels are uniformly distributed on the periphery of the chassis, and the first motor is connected with the omnidirectional wheels;

the clamping unit is arranged above the chassis unit and comprises a clamping module, a rotation driving module and a horizontal moving module; the upper ends of the aluminum strips on two sides of the rotary driving module are connected with the aluminum strips of the fixed clamping back plate, the clamping back plate is provided with a left gap track and a right gap track, two clamping flat plate extending ends of the clamping module are matched with the clamping back plate and move in gaps of the clamping back plate, the lower ends of the aluminum strips on two sides of the rotary driving module are fixed with a first main shaft, the first main shaft drives the rotary driving module to complete rotary motion, the aluminum strips on two sides of the horizontal moving module are matched with the first main shaft, and the horizontal moving module can drive the rotary driving module and the clamping module to complete horizontal motion;

the transmitting unit is arranged above the chassis unit and comprises a transmitting module, a push-jet power module and an angle adjusting module; the launching module comprises a launching frame, sliding rails with certain lengths are fixed on two sides of the inner side of the launching frame, the propelling power module comprises a propelling frame, two sliding blocks are fixed on two sides of the outer side of the propelling frame respectively and matched with the sliding rails of the launching module, the propelling power module propels balls to the launching module in a certain posture to complete launching actions of the balls, one end of a support of the angle adjusting module is connected to the lower end of the launching frame, the other end of the support is connected with a power block on a screw rod, a screw rod power device is fixed on a chassis, and the launching angle of the launching unit is adjusted through movement of the power block on the screw rod.

The clamping module finishes ball clamping action by moving two ball clamping flat plates in a gap track of a ball clamping rear plate, the power device is a first air cylinder, the ball clamping rear plate plays a role in controlling horizontal movement of the ball clamping flat plates and limiting horizontal movement range, the ball clamping flat plates are provided with curved surface ball clamping plates to adapt to curved surfaces of footballs, the rear ends of the ball clamping flat plates are provided with protruding sections which can control the ball clamping flat plates to move in the ball clamping rear plate, the protruding sections at the rear ends of one ball clamping flat plate are connected with the first air cylinder, and one ball clamping plate is matched with gaps of the ball clamping rear plate at different distances to initially adjust the gaps and adapt to the size of the footballs.

The power device of the rotary driving module is a second motor and a synchronous belt wheel, a large belt wheel is fixed on a first main shaft and serves as a driven wheel, a small belt wheel is fixed on the second motor and serves as a driving wheel, another wheel on the left upper side of the small belt wheel serves as a tension wheel, the pressure of a belt is controlled to enable the small belt wheel to keep normal work and not slip, the clamping frame rotates through belt transmission, the rotary driving module is provided with a limiting device and is divided into an upper limiting part and a lower limiting part, the upper limiting part is arranged on the horizontally moving frame, the lower limiting part is arranged on a chassis, and the clamping module is prevented from impacting other modules when rotating downwards.

The horizontal moving module comprises a gear, a rack, a third motor and a sliding block sliding rail, the rack is fixed on the chassis support, the gear is fixed on the third motor and meshed with the rack, the third motor drives the gear to rotate and move on the rack, and the clamping unit frame moves on the chassis sliding rail so as to drive the horizontal moving module frame to move.

When the horizontal movement module frame moves on the slide rail, guardrails can be arranged on two sides of the horizontal movement module frame, so that the horizontal movement module frame keeps vertical and also plays a role in supporting.

The launching module consists of two friction power wheels and two auxiliary normal wheels, and the propelling power module propels balls into the auxiliary normal wheels to stabilize the posture of the balls and then into the friction power wheels to finish the launching action of the balls; the motor of the friction power wheel is a high-speed motor, and the auxiliary normal position wheel is a low-speed motor; the distance of the friction power wheel is adjusted by a constant force spring.

A fluency strip is arranged below the frame of the launching module and assists the ball to slide in the frame.

The push-shooting power module is a U-shaped frame, two sliding blocks are respectively fixed on the outer sides of two sides of the frame and slide in the launch frame, a push ball baffle is fixed at the rear end of the U-shaped frame, a fixing plate at the bottom of the U-shaped frame is connected with the extending end of a second air cylinder, the second air cylinder is fixed on the launch frame, and the air cylinder provides power to enable the push-shooting power module to work.

The angle adjusting module comprises a power block, a fourth motor and a screw rod, the transmitting frame is connected with the power block through a support, the fourth motor rotates to drive the screw rod to rotate, the power block on the screw rod moves horizontally, and the position of the lower end of the support is changed, so that the transmitting angle of the transmitting unit is changed.

The chassis unit can also comprise a self-positioning module, the self-positioning module is arranged at the bottom of the chassis four-square frame structure, the self-positioning module comprises two driven wheels which are perpendicular to each other, and a gyroscope and an encoder which are used for positioning are arranged on the driven wheels.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention adopts the omnidirectional wheel, the whole structure can freely move to any direction, and the invention has the function of shock absorption, larger bearable force, strong environmental adaptability and practicability and can be suitable for different conditions;

2. the invention is provided with the self-positioning module, so that the position of the whole structure can be effectively determined;

3. the invention can clamp the football in a large range;

4. the invention can also finish the clamping and launching of other ball objects besides the football;

5. the clamping structure adopts the first cylinder to fix the object, the emitting part can adjust the angle by the lead screw, and the second cylinder pushes the object out, so that the ball body can be thrown out at different speeds, and the clamping structure is simple to operate, rapid and efficient;

6. the invention simultaneously comprises the functions of moving, clamping and launching, and can adapt to various working types and environments;

7. the invention has simple and clear visible mechanical structure, easy operation, high running speed and high efficiency, and can adapt to activities such as teaching experiments, robot training, competition and the like;

8. the invention has low cost, and can be produced in large batch and put into use.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a second schematic view of the overall structure of the present invention;

FIG. 3 is a schematic structural view of a chassis unit;

FIG. 4 is a schematic view of the connection between the omni wheel and the first motor;

FIG. 5 is a schematic structural diagram of a driven wheel module;

fig. 6 is a schematic structural view of the gripping unit;

FIG. 7 is a schematic structural diagram of the gripping module;

FIG. 8 is a schematic structural diagram of a rotation driving module;

FIG. 9 is a schematic structural diagram of a horizontal movement module;

FIG. 10 is a schematic diagram of a transmitting unit;

FIG. 11 is a schematic structural diagram of a transmitter module;

FIG. 12 is a schematic view of a friction power wheel;

FIG. 13 is a schematic structural diagram of a push-fire power module;

FIG. 14 is a schematic view of an auxiliary aligning wheel;

FIG. 15 is a complete schematic diagram of a transmitter unit;

FIG. 16 is a schematic structural diagram of an angle adjustment module;

FIG. 17 is a schematic structural diagram of the control platform clever and vision assembly box;

fig. 18 is a structural schematic diagram of chassis shock absorption.

Each of the labels in the figure is: a first motor 101, a motor base 102, an omnidirectional wheel 103, an omnidirectional wheel shaft 104, a coupling 105, a chassis frame 106, a self-positioning module 107, a spring 108, a shock-absorbing module short shaft 109, an aluminum pipe 110, an air cylinder 111, a first main shaft 112, a ball clamping rear plate 113, a ball clamping flat plate 114, a curved ball clamping plate 115, a first air cylinder 116, a second motor 117, a large belt wheel 118, a small belt wheel 119, a tensioning wheel 120, a third motor 121, a gear 122, a rack 123, a slide rail 124, an aluminum bar guardrail 125, an upper limiting aluminum bar 126, a lower limiting aluminum bar 127, a friction power wheel 128, an auxiliary alignment wheel 129, a fluency bar 130, a constant force spring 131, a friction wheel module short shaft 132, a high-speed motor 133, a launching module encoder 134, a friction wheel half casing 135, a ball pushing baffle 136, an aluminum bar slider connecting piece 137, a pushing fixing plate 138, an air cylinder 139, a second air cylinder 140, an angle adjusting support 141, a power block fixing piece 142, a screw rod 143, the device comprises a spring coupling 144, a launching frame 145, a football 146, a control platform magic assembly box 147, a vision mounting piece 148, a low-speed motor 149, a fixed clamping piece 150, a fourth motor 151, a bearing seat 152, a driven wheel 153, a self-positioning module encoder 154, a sliding block 155, an aluminum strip 156 and a stop block 157.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

As shown in fig. 1 to 18, the embodiment of the invention includes a chassis unit, a clamping unit, and a launching unit.

The chassis unit comprises a chassis frame 106, an omni wheel 103, a first motor 101, a self-positioning module 107 and an air cylinder 111.

A power supply and control suite (not shown in the figure) such as a battery and a circuit board is arranged on the chassis frame 106, and a self-positioning module 107 is arranged below the chassis frame; the battery is used for supplying power to the whole vehicle; each circuit board module is used for controlling the first motor 101, the second motor 117, the third motor 121, the fourth motor 151, the high-speed motor 133, the low-speed motor 149, the first air cylinder 116, the second air cylinder 140 and the self-positioning module 107; the self-positioning module 107 is used to determine and adjust the position of the vehicle.

As shown in fig. 3 and 4, there are 4 omnidirectional wheels 103, the omnidirectional wheels 103 are uniformly distributed around the chassis frame 106, the first motor 101 drives the omnidirectional wheels 103, so that the robot moves integrally, and the omnidirectional wheels 103 can move in different directions, so that the overall structure is flexible and easy to move; the embodiment adopts a four-wheel structure, so that the movement is more stable; specifically, the motor base 102 fixes the first motor 101 to the chassis frame 106, the coupling 105 connects the motor shaft and the omni wheel shaft 104, and the coupling jaws are fixed together with the coupling 105 with bolts.

As shown in fig. 3 and 5, the self-positioning module is disposed at the bottom of the chassis frame 106, the self-positioning module includes two driven wheels 153 perpendicular to each other, the self-positioning module 107 is fixed on the chassis frame 106 by fixing clips made of glass fiber materials, a gyroscope and an encoder 154 for positioning are mounted on the self-positioning module 107, the two driven wheels perpendicular to each other are respectively responsible for measuring an x axis and a y axis, the encoder calculates a path traveled according to rotation of the wheels, and an error value generated by the encoder is eliminated by returning a value of the gyroscope, so that a position where the robot is located is obtained, and positioning is performed.

As shown in fig. 1, the gas cylinder module comprises 4 gas cylinders 111 for supplying gas to the cylinders of the gripping unit and the launching unit; the gas cylinder 111 is fixed to the aluminum chassis frame 106.

As shown in fig. 1 and 6, the gripping unit is disposed above the chassis frame 106, and includes a gripping module, a rotation driving module, and a horizontal moving module.

As shown in fig. 6 and 7, the gripping module comprises a first air cylinder 116, a ball-gripping flat plate 114, a ball-gripping back plate 113, a curved ball-gripping plate 115 and a fixed aluminum strip; specifically, two dull and stereotyped 114 extension ends of pressing from both sides of getting the module with press from both sides ball backplate 113 cooperation, one end is pressing from both sides and is getting the backplate space in can freely removing, one end is fixed in the space that has the distance restriction, press from both sides ball backplate 113 and divide into two front and back boards, have middle big connection piece and the little connection piece in four corners between two front and back boards, connect the backplate thickness for the increase, the increase presss from both sides the removal area of contact of dull and stereotyped 114 extension end in the backplate space, and weight reduction, make and press from both sides the ball structure more stable.

As shown in fig. 6 and 7, the first cylinder 116 is fixed in the aluminum bar connected with the ball-clamping back plate 113 by bolts, the front section of the first cylinder piston rod is connected with the connecting plate at the extension end of the ball-clamping flat plate at the screw thread, and when the cylinder moves, the ball-clamping flat plate 114 can be driven to move; the ball clamping flat plate 114 is fixed with the curved surface ball clamping plate 115 through bolts, the curved surface ball clamping plate 115 completes ball clamping actions under the driving of the first air cylinder 116 along with the ball clamping flat plate 114, the air cylinders are adopted, control is simpler, the clamping speed can be controlled through air valves, the operation speed is high, and the efficiency is greatly improved.

As shown in fig. 6 and 8, the rotation driving module includes a second motor 117, a first main shaft 112, a large pulley 11, a small pulley 119, a tension pulley 120, and a fixed aluminum bar; specifically, a first main shaft 112 in the rotation driving module is connected with an aluminum strip of a fixed clamping back plate 113 by a flange; a large belt wheel 118 is fixed on the first main shaft 112 and serves as a driven wheel, and a small belt wheel 119 is driven by a second motor 117 to rotate and serves as a driving wheel; another wheel on the left upper side of the small belt wheel 119 is a tension wheel 120 for controlling the pressure of the belt to keep the belt to work normally without slipping, the second motor 117 rotates to drive the small belt wheel 119 to rotate, the small belt wheel 119 drives the large belt wheel 118 to rotate through the belt, the large belt wheel 118 is fixed on the first main shaft 112, the clamping module is also fixed on the first main shaft 112, and the clamping frame can be driven to rotate together.

As shown in fig. 1 and 6, the rotation driving module is provided with a limiting device, which is divided into an upper limiting part and a lower limiting part, wherein the upper limiting aluminum strip 126 is on the horizontally moving frame, and the lower limiting aluminum strip 127 is on the chassis, and is used for preventing the clamping module from impacting other modules when rotating downwards.

As shown in fig. 6 and 9, the horizontal movement module includes a third motor 121, a gear 122, a rack 123, a slide rail 124, and a fixed aluminum bar; specifically, the transmission mode of horizontal migration module is rack and pinion, rack 123 is fixed in on the top aluminium strip of chassis frame 106, gear 122 is fixed in on third motor 121 and meshes with rack 123, press from both sides and get the fine dull and stereotyped of glass of frame both sides aluminium strip below connection, it is fixed with the slider on the fine dull and stereotyped of glass, slider and slide rail cooperation, third motor 121 drives gear 122 and rotates, move on rack 123, press from both sides and get the unit frame and move on the chassis slide rail, thereby drive the removal of the frame of horizontal migration module, make the horizontal range who presss from both sides and get the ball wider, be convenient for adjusting the position, the spheroid is got to accurate clamp, adopt rack and pinion's structure, also can reduce the moment that the motor received, increase motor life, prevent that the motor from burning out.

As shown in fig. 6, when the frame of the horizontal movement module moves on the slide rail, there are aluminum bars 125 on both sides to keep the frame of the horizontal movement module vertical and also to support the frame.

As shown in fig. 1 and 15, the transmitting unit is disposed above the chassis, and includes a transmitting module, a push-fire power module, and an angle adjusting module.

As shown in fig. 10 to 15, the launching module is a substantially rectangular launching frame 145, and is composed of two friction power wheels 128, two auxiliary normal wheels 129, a fluency strip 130, a high-speed motor 133, a low-speed motor 149, a slide rail 124, and a fixed aluminum strip; specifically, the friction power wheel 128 is fixed on the high-speed motor 133 and positioned at the front end of the launching frame 145, the auxiliary normal position wheel 129 is fixed on the low-speed motor 149 and positioned at the rear of the friction power wheel, the propelling power module propels the football into the auxiliary normal position wheel 129 with slow speed, so that the posture of the football is stable, and then the football enters the friction power wheel 128 rotating at high speed to complete the launching action of the football.

As shown in fig. 11 and 12, the friction power wheel module comprises a friction power wheel 128, a constant force spring 131, a friction wheel module stub shaft 132, a high-speed motor 133, a transmitting module encoder 134, a friction wheel half-shell 135, a slide rail 124, a slider 155, a stopper 157 and a fixed aluminum strip; specifically, the high-speed motor 133 drives the friction power wheel 128 to rotate and is fixed in the friction wheel half-enclosure 135, the upper end of the friction wheel half-enclosure is provided with the transmitting module encoder 134, the transmitting module encoder 134 is used for measuring the angular displacement of the high-speed motor 133, the lower end of the friction wheel half-enclosure is provided with the sliding block 155, the sliding block 155 is fixed on the aluminum strip in a matching manner with the sliding rail 124, the end part of the sliding rail is fixed with the stop block 157 to prevent the friction power wheel module from derailing, the clamping pieces are arranged on two sides of the lower aluminum strip and fix the friction wheel module short shaft 132, the friction wheel module short shaft is sleeved with the constant force spring 131, the free end of the constant force spring bypasses the aluminum strip 156 to be connected with the lower part of the friction wheel half-enclosure 135, the load force is resisted through the constant force spring, the distance between the friction wheel power wheels when the football passes is adjusted, and the launch of the football is completed.

As shown in fig. 14, the auxiliary position-aligning wheel module includes an auxiliary position-aligning wheel 129, a low-speed motor 149, and a fixing clip 150; specifically, the auxiliary normal wheel 129 is mounted on a low-speed motor 149, the low-speed motor is mounted on a fixed clip 150, the fixed clip is connected with the rectangular launching frame, and the low-speed motor drives the auxiliary normal wheel to rotate at a low speed, so that the posture of a ball entering the launching frame is stable, and launching action is better completed.

As shown in fig. 10 and 11, a fluency strip 130 is provided below the launch frame 145 of the launch module to assist in the sliding of the ball within the frame. In fig. 10, the indicia 146 is a football.

As shown in fig. 13, the push-shooting power module is a substantially U-shaped push-shooting frame, and is composed of a push-ball baffle 136, an aluminum bar slider connecting piece 137, a push-shooting fixing plate 138, a cylinder fixing piece 139, a second cylinder 140, a slide rail 124, a slider 155, and a fixed aluminum bar; specifically, the rear end aluminum strip of the U-shaped frame and the ball pushing baffle 136 are fixed by bolts, the lower ends of the aluminum strips on two sides are fixed with aluminum strip sliding block connecting pieces 137, the lower ends of the aluminum strip sliding block connecting pieces are fixed with ejection fixing plates 138, two sliding blocks 155 are respectively fixed on two sides of the outer side of each connecting piece, and the sliding blocks 155 are matched with sliding rails 124 fixed on the inner side of the launching frame to complete the movement in the launching frame.

As shown in fig. 13, the lower end of the push-shooting fixing plate 138 is connected to the cylinder fixing member 139, the thread of the piston rod of the second cylinder 140 is connected to the cylinder fixing member 139, and the cylinder barrel of the second cylinder is fixed to the aluminum strip at the bottom of the shooting frame.

As shown in fig. 15 and 16, the angle adjusting module includes an angle adjusting support 141, a power block 142, a screw rod 143, a spring coupling 144, a fourth motor 151, a bearing seat 152, and a fixing aluminum bar; specifically, the launching frame 145 is connected with the power block 142 through an angle adjusting support 141, the angle adjusting support can rotate in a plane, the fourth motor 151 is fixed on the chassis through the motor base 102, the screw rod 143 is connected with the motor through a spring coupling 144, penetrates through the bearing seat 152 and is fixed on the chassis, the power block is matched with the screw rod, and when the fourth motor rotates, the screw rod is driven to rotate, so that the power block on the screw rod moves horizontally, the position of the lower end of the support is changed, and the launching angle of the launching unit is changed.

As shown in fig. 1 and 17, the control platform smart computing assembly box 147 is mounted on the chassis frame 106 through an aluminum strip for mounting the smart computing, so that the running status of the vehicle returns more accurately, a visual mounting plate 148 is arranged above the aluminum strip, a camera is mounted on the visual mounting plate 148, and the surrounding environment where the vehicle is located and the position of the judgment ball are determined visually.

As shown in fig. 4 and 18, the omni-directional wheel around the chassis is provided with a spring damping structure, the motor base 102 is fixed on a glass fiber plate through bolts, the glass fiber plate is fixed with two damping module short shafts 109 through two flanges, two springs 108 are installed between the glass fiber plate and the chassis aluminum strip, and the omni-directional wheel does not slip when passing through a bad road surface through the elastic force of the springs. In fig. 18, reference numeral 110 is an aluminum pipe.

In the embodiment, the internal structure is connected by bolts and nuts and welding, and some parts are fixed by clamping pieces for structure precision. In this embodiment, the length and width of the robot are both within 800mm, and within 1000mm when extended.

The working principle of the invention is as follows:

the clamping unit approaches the periphery of a ball to be clamped through the movement of the chassis frame 106, the gear is driven to move on the rack through the third motor 121, the position of the clamping frame is adjusted to be located above the ball to be clamped, the second motor 117 drives the small belt pulley to rotate, the clamping module is turned over for a certain angle through belt transmission, the first air cylinder 116 is opened, the ball is wrapped by the clamping structure, the air cylinder is contracted, the ball clamping action is completed, the ball is turned over again, and the ball is placed on the launching frame; the launching unit receives the balls transmitted by the clamping unit, drives the screw rod to rotate through the fourth motor 151, adjusts the angle of the launching frame, pushes the balls into the auxiliary aligning wheel through the second air cylinder 140, and enters the friction power wheel after the posture of the balls is adjusted, so that launching is completed.

Claims

1. The football training serving device is characterized by comprising a chassis unit, a clamping unit and a launching unit;

the clamping unit is arranged above the chassis unit and comprises a clamping module, a rotation driving module and a horizontal moving module; the upper ends of the aluminum strips on two sides of the rotary driving module are connected with the aluminum strips of the fixed clamping back plate, the clamping back plate is provided with a left gap track and a right gap track, the two clamping flat plate extending ends of the clamping module are matched with the clamping back plate and move in gaps of the clamping back plate, the lower ends of the aluminum strips on two sides of the rotary driving module are fixed with a first main shaft, the first main shaft drives the rotary driving module to complete rotary motion, the aluminum strips on two sides of the horizontal moving module are matched with the first main shaft, and the horizontal moving module drives the rotary driving module and the clamping module to complete horizontal motion;

the transmitting unit is arranged above the chassis unit and comprises a transmitting module, a push-jet power module and an angle adjusting module; the launching module comprises a launching frame, sliding rails with certain lengths are fixed on two sides of the inner side of the launching frame, the pushing power module comprises a pushing frame, two sliding blocks are fixed on two sides of the outer side of the pushing frame respectively and matched with the sliding rails of the launching module, the pushing power module pushes balls to the launching module in a certain posture to complete the launching action of the balls, one end of a support of the angle adjusting module is connected to the lower end of the launching frame, the other end of the support is connected with a power block on a screw rod, a screw rod power device is fixed on the chassis unit, and the launching angle of the launching unit is adjusted through the movement of the power block on the screw rod.

2. The apparatus as claimed in claim 1, wherein the gripping module is formed by two ball-gripping panels moving in the gap track of the ball-gripping back panel to perform the ball-gripping action, the power device is a first cylinder, the ball-gripping back panel is used for controlling the horizontal movement of the ball-gripping panels and limiting the horizontal movement range, the ball-gripping panels are provided with curved ball-gripping panels to adapt to the curved surface of the football, the rear ends of the ball-gripping panels are provided with protruding sections for controlling the movement of the ball-gripping panels in the ball-gripping back panel, the protruding section at the rear end of one ball-gripping panel is connected with the first cylinder, and one ball-gripping panel is matched with the gap of the ball-gripping back panel at different distances to initially adjust the gap to adapt to the size of the football.

3. The apparatus as claimed in claim 1, wherein the power device of the rotary driving module is a second motor and a synchronous pulley, a large pulley is fixed on the first main shaft as a driven pulley, a small pulley is fixed on the second motor as a driving pulley, another pulley is arranged on the left upper side of the small pulley as a tension pulley, the pressure of the belt is controlled to keep normal operation without slipping, the clamping frame is rotated by belt transmission, the rotary driving module is provided with a limiting device which is divided into an upper limiting part and a lower limiting part, the upper limiting part is arranged on the horizontally moving frame, the lower limiting part is arranged on the chassis, and the clamping module is prevented from impacting other modules when rotating downwards.

4. The apparatus as claimed in claim 1, wherein the horizontal movement module comprises a gear, a rack, a third motor and a slide rail, the rack is fixed on the chassis frame, the gear is fixed on the third motor and engaged with the rack, the third motor drives the gear to rotate and move on the rack, the clamping unit frame moves on the chassis rail, thereby driving the horizontal movement module frame to move.

5. The football training serving device as in claim 1, wherein the horizontal movement module frame is provided with guardrails at both sides when moving on the sliding rails, so that the horizontal movement module frame is kept vertical and also plays a role of support.

6. The football training serving device of claim 1, wherein the launching module is composed of two friction power wheels and two auxiliary alignment wheels, the propelling power module propels the football into the auxiliary alignment wheels to stabilize the posture of the football, and then the propelling module enters the friction power wheels to complete the launching action of the football; the motor of the friction power wheel is a high-speed motor, and the auxiliary normal position wheel is a low-speed motor; the distance of the friction power wheel is adjusted by a constant force spring.

7. The football training serving device of claim 1, wherein a fluency strip is provided below the frame of the launching module to assist in sliding the ball within the frame.

8. The apparatus as claimed in claim 1, wherein the propelling module is a U-shaped frame, two sliding blocks are fixed on the outer sides of the frame to slide inside the launching frame, a ball pushing baffle is fixed on the rear end of the U-shaped frame, a fixed plate at the bottom of the U-shaped frame is connected with the extending end of a second cylinder, the second cylinder is fixed on the launching frame, and the cylinder provides power to operate the propelling module.

9. The apparatus as claimed in claim 1, wherein the angle adjustment module comprises a power block, a fourth motor and a lead screw, the launching frame is connected to the power block through a support, the fourth motor rotates to drive the lead screw to rotate, the power block on the lead screw moves horizontally, the position of the lower end of the support changes, and the launching angle of the launching unit changes.

10. The football training service device as in claim 1, wherein the chassis unit further comprises a self-positioning module provided at a bottom of the chassis frame, the self-positioning module comprising two driven wheels perpendicular to each other, the driven wheels having a gyroscope and an encoder mounted thereon for positioning.