阅读说明：本技术 一种可控、全向的高尔夫球发射系统 (Controllable omnidirectional golf ball launching system ) 是由 张准 王君泽 陈晓添 冯袁赋 邬涛 费王杰 于 2021-06-21 设计创作，主要内容包括：本发明公开了一种可控、全向的高尔夫球发射系统,包括底盘以及可全向移动的高尔夫球发射云台；当高尔夫球被推至预置位置时,通过预置摩擦轮对高尔夫球的挤压,使高尔夫球停止在预置位置；此时高尔夫球触碰到微动开关,则视为该高尔夫球可发射；当用户需要发射高尔夫球时,通过遥控器控制第六电机转动,驱动预置摩擦轮将处于预置位置的高尔夫球滚入第一摩擦轮和第二摩擦轮之间,用户开启第四电机和第五电机后,第一摩擦轮逆时针旋转,第二摩擦轮顺时针旋转,从而使触碰到第一摩擦轮和第二摩擦轮的高尔夫球射出,同时拨爪恢复旋转,预置下一颗高尔夫球。本发明能稳定射速,减小发射散步,通过调整电机角度以达到360度无死角发射高尔夫球的目的。(The invention discloses a controllable and omnidirectional golf ball launching system, which comprises a chassis and a golf ball launching cradle head capable of moving in an omnidirectional manner; when the golf ball is pushed to the preset position, the golf ball is stopped at the preset position by the extrusion of the preset friction wheel to the golf ball; when the golf ball touches the micro switch, the golf ball can be shot; when a user needs to launch a golf ball, the sixth motor is controlled to rotate through the remote controller, the preset friction wheel is driven to roll the golf ball at the preset position between the first friction wheel and the second friction wheel, after the user starts the fourth motor and the fifth motor, the first friction wheel rotates anticlockwise, the second friction wheel rotates clockwise, and therefore the golf ball which touches the first friction wheel and the second friction wheel is shot out, the shifting claw returns to rotate at the same time, and the next golf ball is preset. The invention can stabilize the shooting speed, reduce the shooting walking and achieve the purpose of shooting the golf ball at 360 degrees without dead angles by adjusting the angle of the motor.)

1. A controllable and omnidirectional golf ball launching system is characterized by comprising a chassis and a golf ball launching cradle head capable of moving in an omnidirectional manner;

the chassis comprises a yaw axis driving mechanism and a ball poking mechanism; the yaw axis driving mechanism comprises a yaw axis driving module and a yaw axis bracket; the ball poking mechanism comprises a ball poking disc, a ball poking disc support and a 90-degree bend;

the yaw axis driving module is arranged on a yaw axis bracket, the ball-poking disc bracket is fixed on the yaw axis bracket, and the ball-poking disc is arranged on the ball-poking disc bracket;

the yaw axis driving module comprises a first motor, a synchronous wheel and a conductive slip ring; the first motor is connected with a golf ball launching cradle head capable of moving in all directions through a synchronizing wheel in a transmission way; the conductive slip ring is connected with the golf ball launching cradle head, the conductive slip ring rotates along with the rotation of the golf ball launching cradle head, and an inner ring line and an outer ring line in the conductive slip ring are stably connected in the rotation process of the golf ball launching cradle head;

the ball poking disc is used for poking the golf balls stored in the ball bin to the golf ball launching cradle head; the ball poking disc is connected with the conductive slip ring through a 90-degree bend; the ball poking disc comprises a poking claw which is used for poking the golf ball and a second motor which provides driving force for the poking claw;

the golf ball launching cradle head comprises a pitch shaft driving mechanism and a launching device;

the pitch shaft driving mechanism comprises a curve link, a third motor responsible for pitch shaft transmission and a crossed roller bearing responsible for omnidirectional movement of the golf ball launching head; the crossed roller bearing is driven by a synchronizing wheel to move in an omnidirectional manner, the third motor is arranged on a curve link, the curve link is connected with the crossed roller bearing, and the curve link is connected with golf balls sent from a chassis;

the transmitting device comprises a transmitting bracket, an emergent tube, a first friction wheel, a second friction wheel, a preset friction wheel, a fourth motor, a fifth motor, a sixth motor and a microswitch;

the emergent tube, the first friction wheel, the second friction wheel, the preset friction wheel, the fourth motor, the fifth motor and the sixth motor are arranged on the launching bracket, the first friction wheel and the second friction wheel are symmetrically arranged on two sides of the emergent tube and are close to the front end of the emergent tube, the fourth motor provides power for the first friction wheel, the fifth motor provides power for the second friction wheel, and the sixth motor provides power for the preset friction wheel; the rear end of the emergent tube is connected with a curve link; the rear end of the emergent tube is a preset position of the golf ball; the microswitch is arranged on the emergent pipe pipeline below the preset position;

when the golf ball is pushed to a preset position by the ball pushing plate through a 90-degree bend, a conductive slip ring and a bend link, the golf ball is extruded by the preset friction wheel to stop at the preset position; when the golf ball touches the microswitch and the microswitch is triggered to stop the rotating of the pusher dog, the golf ball is shot; when a user needs to launch a golf ball, the sixth motor is controlled to rotate through the remote controller, the preset friction wheel is driven to roll the golf ball at the preset position between the first friction wheel and the second friction wheel, after the user starts the fourth motor and the fifth motor, the first friction wheel rotates anticlockwise, the second friction wheel rotates clockwise, and therefore the golf ball which touches the first friction wheel and the second friction wheel is shot out, the shifting claw returns to rotate at the same time, and the next golf ball is preset.

2. The controllable, omnidirectional golf ball launching system of claim 1, wherein the first friction wheel and the second friction wheel are of arcuate design, such that the friction surface that contacts the golf ball is arcuate with a radius that matches the size of the golf ball.

3. The controllable, omnidirectional golf ball launching system of claim 1, wherein the fourth motor is disposed below the first friction wheel and the fifth motor is disposed below the second friction wheel.

4. The controllable, omnidirectional golf ball launching system of claim 1, wherein the power cord of the golf ball launching cradle head is disposed on an inner ring of the conductive slip ring and the signal cord is disposed on an outer ring of the conductive slip ring.

5. The controllable, omnidirectional golf ball launching system of claim 1, wherein the yaw axis support, the kick plate support, and the launch support are aluminum alloy supports.

6. The controllable, omnidirectional golf ball launching system of claim 1, wherein the first motor and the third motor are robosmaster GM6020 motors, the fourth motor and the fifth motor are robosmaster M3508 dc deceleration motors, and the sixth motor is robosmaster M2006P 36 dc brushless deceleration motor.

Technical Field

The invention relates to the technical field of golf ball launching, in particular to a controllable and omnidirectional golf ball launching system.

Background

Golf, a sport game, named the transliteration of GOLF, is commonly called the small white ball, a sport that integrates the enjoyment of natural enjoyment, physical exercise, and play.

People usually practice alone before preparing to play golf in order to better use golf for exercise and enjoy golf, so that people obtain better ball feeling before playing golf, but the individual practice often needs to be repeated to take a ball in a ball frame, so that much time is wasted during the individual practice, and thus golf ball launching devices are available in the market.

At present, most of existing holder structure devices for launching golf balls adopt fixed support frames, and the holder structure devices are relatively stable, but the launched golf balls can be launched towards one direction only, and the holder structure devices are not flexible enough and can not launch the golf balls in multiple directions.

In addition, most golf ball launching devices do not solve the preset problem of golf balls, i.e., control golf balls to be fixed at a pre-launch position for standby before launching, and when a person sends a launch signal, the golf balls are launched at a stable launch speed; in the golf ball launching system which does not solve the preset problem, most of golf balls are propelled to launch the friction wheel by the power of the ball-driving plate, and the problems of large launching dispersion, uneven launching speed and the like exist.

Disclosure of Invention

In view of the above, in order to solve the above problems in the prior art, the present invention provides a controllable and omnidirectional golf ball launching system, which realizes controllable and omnidirectional launching.

The invention solves the problems through the following technical means:

a controllable omnidirectional golf ball launching system comprises a chassis and an omnidirectional movable golf ball launching cradle head;

the chassis comprises a yaw axis driving mechanism and a ball poking mechanism; the yaw axis driving mechanism comprises a yaw axis driving module and a yaw axis bracket; the ball poking mechanism comprises a ball poking disc, a ball poking disc support and a 90-degree bend;

the yaw axis driving module is arranged on a yaw axis bracket, the ball-poking disc bracket is fixed on the yaw axis bracket, and the ball-poking disc is arranged on the ball-poking disc bracket;

the yaw axis driving module comprises a first motor, a synchronous wheel and a conductive slip ring; the first motor is connected with a golf ball launching cradle head capable of moving in all directions through a synchronizing wheel in a transmission way; the conductive slip ring is connected with the golf ball launching cradle head, the conductive slip ring rotates along with the rotation of the golf ball launching cradle head, and an inner ring line and an outer ring line in the conductive slip ring are stably connected in the rotation process of the golf ball launching cradle head;

the ball poking disc is used for poking the golf balls stored in the ball bin to the golf ball launching cradle head; the ball poking disc is connected with the conductive slip ring through a 90-degree bend; the ball poking disc comprises a poking claw which is used for poking the golf ball and a second motor which provides driving force for the poking claw;

the golf ball launching cradle head comprises a pitch shaft driving mechanism and a launching device;

the pitch shaft driving mechanism comprises a curve link, a third motor responsible for pitch shaft transmission and a crossed roller bearing responsible for omnidirectional movement of the golf ball launching head; the crossed roller bearing is driven by a synchronizing wheel to move in an omnidirectional manner, the third motor is arranged on a curve link, the curve link is connected with the crossed roller bearing, and the curve link is connected with golf balls sent from a chassis;

the transmitting device comprises a transmitting bracket, an emergent tube, a first friction wheel, a second friction wheel, a preset friction wheel, a fourth motor, a fifth motor, a sixth motor and a microswitch;

the emergent tube, the first friction wheel, the second friction wheel, the preset friction wheel, the fourth motor, the fifth motor and the sixth motor are arranged on the launching bracket, the first friction wheel and the second friction wheel are symmetrically arranged on two sides of the emergent tube and are close to the front end of the emergent tube, the fourth motor provides power for the first friction wheel, the fifth motor provides power for the second friction wheel, and the sixth motor provides power for the preset friction wheel; the rear end of the emergent tube is connected with a curve link; the rear end of the emergent tube is a preset position of the golf ball; the microswitch is arranged on the emergent pipe pipeline below the preset position;

when the golf ball is pushed to a preset position by the ball pushing plate through a 90-degree bend, a conductive slip ring and a bend link, the golf ball is extruded by the preset friction wheel to stop at the preset position; when the golf ball touches the microswitch and the microswitch is triggered to stop the rotating of the pusher dog, the golf ball is shot; when a user needs to launch a golf ball, the sixth motor is controlled to rotate through the remote controller, the preset friction wheel is driven to roll the golf ball at the preset position between the first friction wheel and the second friction wheel, after the user starts the fourth motor and the fifth motor, the first friction wheel rotates anticlockwise, the second friction wheel rotates clockwise, and therefore the golf ball which touches the first friction wheel and the second friction wheel is shot out, the shifting claw returns to rotate at the same time, and the next golf ball is preset.

Furthermore, the first friction wheel and the second friction wheel are designed in an arc shape, namely, the friction surface contacted with the golf ball is in an arc shape, and the radius of the arc is matched with the size of the golf ball.

Further, a fourth motor is disposed below the first friction wheel, and a fifth motor is disposed below the second friction wheel.

Furthermore, the power line of the golf ball launching cradle head is arranged on the inner ring of the conductive slip ring, and the signal line is arranged on the outer ring of the conductive slip ring.

Furthermore, the yaw shaft bracket, the ball-poking disc bracket and the launching bracket are aluminum alloy brackets.

Further, the first motor and the third motor adopt a robosmaster GM6020 motor, the fourth motor and the fifth motor adopt a robosmaster M3508 speed reduction direct current motor, and the sixth motor adopts a robosmaster M2006P 36 direct current brushless speed reduction motor.

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

the invention can stabilize the shooting speed, reduce the shooting walking, meet the requirements of users on omnidirectional shooting, and achieve the purpose of shooting golf balls at 360 degrees without dead angles by adjusting the angle of the motor without moving the chassis. The requirement of controllable transmission is well met, and the scheme that the micro switch is matched with the friction wheel for limiting can achieve hundreds of times without leakage. The user only needs to determine the transmitting direction through remote sensing on the remote controller and send a transmitting instruction.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of the construction of a controllable, omnidirectional golf ball launching system of the present invention;

FIG. 2 is a schematic view of a partial (ball-striking mechanism) configuration of the present invention;

FIG. 3 is a schematic view of the partial (yaw axis drive module) configuration of the present invention;

FIG. 4 is a schematic view of a partial (pitch axis drive mechanism) configuration of the present invention;

FIG. 5 is a front view of a portion (emitting device) of the present invention;

FIG. 6 is a rear view of a portion (emitting device) of the present invention;

FIG. 7 is a cross-sectional view of a portion (emitting device) of the present invention;

FIG. 8 is a perspective view of a portion (emitting device) of the present invention;

FIG. 9 is a schematic view of the pitch shaft drive mechanism and the firing mechanism connection of the present invention.

1. A ball-poking mechanism; 11. a ball poking disc; 111. a pusher dog; 112. a second motor; 12. a ball-poking plate bracket; 13; a 90 degree bend; 2. a yaw axis drive mechanism; 21. a yaw axis drive module; 211. a first motor; 212. a synchronizing wheel; 213. a conductive slip ring; 22. yaw axis support; 3. a pitch shaft drive mechanism; 31. a curve link, 32, a third motor; 33. a crossed roller bearing; 4. a transmitting device; 40. a first friction wheel; 41. a fourth motor; 42. an exit tube; 43. a microswitch; 44. a fifth motor; 45. a second friction wheel; 46. a launch cradle; 47. presetting a friction wheel; 48. a sixth motor; 49. and (4) presetting the position.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work based on the embodiments of the present invention belong to the protection scope of the present invention.

As shown in fig. 1-9, the present invention provides a controllable, omnidirectional golf ball launching system, which includes a chassis and an omnidirectional movable golf ball launching cradle head.

The chassis comprises a yaw axis driving mechanism 2 and a ball poking mechanism 1; the yaw axis drive mechanism 2 includes a yaw axis drive module 21 and a yaw axis carrier 22; the ball-poking mechanism 1 comprises a ball-poking disc 11, a ball-poking disc support 12 and a 90-degree bend 13.

The yaw axis driving module 21 is arranged on a yaw axis bracket 22, the ball-driving plate bracket 12 is fixed on the yaw axis bracket 22, and the ball-driving plate 11 is arranged on the ball-driving plate bracket 12; the yaw axis support 22 and the kick-off plate support 12 are aluminum alloy supports.

The yaw axis drive module 21 comprises a first motor 211, a synchronizing wheel 212 and a conductive slip ring 213; the first motor 211 provides power for the drive of the Yaw axis, the first motor 211 adopts a RoboMaster GM6020 motor, and the first motor 211 is in drive connection with the golf ball launching cradle head capable of moving in all directions through a synchronizing wheel 212; in order to realize the omnidirectional movement of the golf ball launching cradle head, the key point is to solve the winding problem of the power line and the signal line when the golf ball launching cradle head rotates completely, the invention adopts the rotating conductive slip ring 213, the conductive slip ring 213 is connected with the golf ball launching cradle head, the conductive slip ring 213 rotates along with the rotation of the golf ball launching cradle head, the power line of the golf ball launching cradle head is arranged in the inner ring of the conductive slip ring 213, and the signal line is arranged in the outer ring of the conductive slip ring 213; the inner ring line and the outer ring line in the conductive slip ring 213 are stably connected in the rotation process of the golf ball launching cradle head.

The ball poking disc 11 is used for poking the golf balls stored in the ball bin to the golf ball launching cradle head; the ball poking disc 11 is connected with the conductive slip ring 213 through a 90-degree bend 13; the striking plate includes a finger 111 for striking a golf ball and a second motor 112 for providing a driving force to the finger 111.

The golf ball launching head includes a pitch axis drive mechanism 3 and a launching device 4.

The pitch shaft driving mechanism 3 comprises a curve link 31, a third motor 32 responsible for transmission of the pitch shaft and a crossed roller bearing 33 responsible for omnidirectional movement of the golf ball launching head; the third motor 32 is a RoboMaster GM6020 motor, the crossed roller bearing 33 is driven by the synchronizing wheel 212 to move in all directions, the third motor 32 is arranged on the curve link 31, the curve link 31 is connected with the crossed roller bearing 33, and the curve link 31 is connected with the golf balls sent from the chassis.

The emitting device comprises an emitting bracket 46, an emitting tube 42, a first friction wheel 40, a second friction wheel 45, a preset friction wheel 47, a fourth motor 41, a fifth motor 44, a sixth motor 48 and a microswitch 43; the launch support 46 is an aluminum alloy support.

The emergent tube 42, the first friction wheel 40, the second friction wheel 45, the preset friction wheel 47, the fourth motor 41, the fifth motor 44 and the sixth motor 48 are arranged on the emission bracket 46, the first friction wheel 40 and the second friction wheel 45 are symmetrically arranged on two sides of the emergent tube 42 and close to the front end of the emergent tube 42, the fourth motor 41 provides power for the first friction wheel 40, the fifth motor 44 provides power for the second friction wheel 45, and the sixth motor 48 provides power for the preset friction wheel 47; the fourth motor 41 is arranged below the first friction wheel 40, and the fifth motor 44 is arranged below the second friction wheel 45; the rear end of the emergent tube 42 is connected with the curve link 31; the rear end of the exit tube 42 is a golf ball preset position 49; the microswitch 43 is arranged on the exit tube 42 duct below the preset position 49.

The fourth motor 41 and the fifth motor 44 are robosmaster M3508 deceleration dc motors, and the sixth motor 48 is a robosmaster M2006P 36 dc brushless deceleration motor.

When the golf ball is pushed to the preset position 49 by the ball pulling plate through the 90-degree bend 13, the conductive slip ring 213 and the bend link 31, the golf ball is stopped at the preset position 49 by the extrusion of the preset friction wheel 47 to the golf ball; at this time, the golf ball touches the micro switch 43, and the micro switch 43 is triggered to stop the rotation of the finger, so that the golf ball is regarded as being shot.

When a user needs to launch a golf ball, the sixth motor 48 is controlled to rotate through the remote controller, the preset friction wheel 47 is driven to roll the golf ball at the preset position 49 between the first friction wheel 40 and the second friction wheel 45, after the user turns on the fourth motor 41 and the fifth motor 44, the first friction wheel 40 rotates anticlockwise, the second friction wheel 45 rotates clockwise, and therefore the golf ball which touches the first friction wheel 40 and the second friction wheel 45 is shot, meanwhile, the rotating of the pusher dog is recovered, and the next golf ball is preset.

The user can perform the function of adjusting the ball launching speed by adjusting the rotation speeds of the fourth motor 41 and the fifth motor 44.

In order to optimize the launch trajectory and reduce the horizontal and vertical steps of the golf ball being launched, the first friction wheel 40 and the second friction wheel 45 are designed to have an arc shape, i.e., the friction surface contacting the golf ball is arc-shaped, and the radius of the arc is matched with the size of the golf ball, so that the motion trajectory of the golf ball can be more stabilized.

The invention can stabilize the shooting speed, reduce the shooting walking, meet the requirements of users on omnidirectional shooting, and achieve the purpose of shooting golf balls at 360 degrees without dead angles by adjusting the angle of the motor without moving the chassis. The requirement of controllable transmission is well met, and the scheme that the micro switch is matched with the friction wheel for limiting can achieve hundreds of times without leakage. The user only needs to determine the transmitting direction through remote sensing on the remote controller and send a transmitting instruction.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.