阅读说明：本技术 一种足球发射装置 (Football launching device ) 是由 张铮 向新 李佳阳 宋帅 张�成 李强 于 2021-06-04 设计创作，主要内容包括：本发明公开了一种足球发射装置,包括机架、储球装置、发球模块和支撑旋转装置,发球模块包括中间支架和安装在中间支架上的发球机构、俯仰机构及推球机构,中间支架通过支撑旋转装置安装在储球装置下方的机架上,发球机构包括发球支架和呈三角形安装在发球支架上的三个高速摩擦传送面,三个高速摩擦传送面构成喇叭形的发球通道,所述推球机构设于发球通道的入口端；推球机构用于将储球装置掉落到落球区的足球推入到发球通道的入口内,发球支架通过俯仰机构安装在中间支架上,通过俯仰机构调整发球通道的发射俯仰角度。本发明能够调整发球的速度、发球方向、发球俯仰角度以及发球的旋转方向,精准满足足球训练过程中不同的要求。(The invention discloses a football launching device, which comprises a frame, a ball storage device, a ball serving module and a supporting and rotating device, wherein the ball serving module comprises a middle support, a ball serving mechanism, a pitching mechanism and a ball pushing mechanism, the ball serving mechanism is arranged on the middle support, the middle support is arranged on the frame below the ball storage device through the supporting and rotating device, the ball serving mechanism comprises a ball serving support and three high-speed friction conveying surfaces which are arranged on the ball serving support in a triangular mode, the three high-speed friction conveying surfaces form a horn-shaped ball serving channel, and the ball pushing mechanism is arranged at the inlet end of the ball serving channel; the ball pushing mechanism is used for pushing the football which falls into the ball falling area of the ball storage device into the inlet of the ball serving channel, the ball serving support is arranged on the middle support through the pitching mechanism, and the pitching mechanism is used for adjusting the launching pitching angle of the ball serving channel. The invention can adjust the speed, direction, pitching angle and rotating direction of the serve, and meet different requirements in the football training process.)

1. A football launching device, characterized by: the football pitching machine comprises a rack, a football storage device, a pitching module and a supporting and rotating device, wherein the football storage device is arranged at the top of the rack and used for storing football and controlling the football to fall down singly; the pitching mechanism is arranged on the middle support, the pitching mechanism is arranged on the lower portion of the ball storage device, and the pitching mechanism is arranged on the middle support;

the ball pushing mechanism is arranged at the inlet end of the ball pushing channel, a ball falling area is arranged between the inlet end of the ball pushing channel and the ball pushing mechanism, and the ball falling area is positioned below a ball outlet at the bottom of the ball storage device; the ball pushing mechanism is used for pushing a football, which falls into a ball falling area, of the ball storage device into an inlet of the ball serving channel, the ball serving support is mounted on the middle support through the pitching mechanism, and the pitching angle of the ball serving channel is adjusted through the pitching mechanism.

2. A football launching device as claimed in claim 1, characterised in that: the ball pushing mechanism comprises two slide rails, a ball pushing plate, a ball pushing cylinder and a slide block, the two slide rails are fixedly installed on the ball serving supports on the two sides of the inlet of the ball serving channel, the ball pushing plate is installed on the two slide rails through the slide block, the ball pushing cylinder is fixed on the ball serving supports and is connected with the ball pushing plate, the ball pushing plate is driven by the ball pushing cylinder to move along the slide rails to complete ball pushing action, and a polished rod used for preventing a football from falling is arranged at the bottom of the ball pushing plate.

3. A football launching device as claimed in claim 2, wherein: every single move mechanism includes two vertical backup pads, two fixed bolster and pitching motor, and two fixed bolster are fixed in the middle of the support both sides, and two vertical backup pad middle parts are installed on the fixed bolster of corresponding side through the bearing respectively, are equipped with arc rack plate on the middle of every fixed bolster front side, and every vertical backup pad front side is equipped with a pitching motor, be equipped with one on pitching motor's the output shaft with corresponding side arc rack plate on arc rack plate go up the pitch gear of arc rack toothing, the support of serving is fixed in two vertical backup pads through the connecting piece.

4. A football launching device as claimed in claim 3, wherein: every be equipped with a deflector on the fixed stay board rear side intermediate support, be equipped with an arc guide slot on the deflector, longitudinal support board rear side is equipped with the traveller that extends to in the corresponding side arc guide slot.

5. A football launching device as claimed in claim 3, wherein: the ball pushing plate is provided with a ball pushing ring, the ball pushing ring is installed on the ball pushing plate through a two-dimensional translation device, the position of the ball pushing ring is adjusted through the two-dimensional translation device, the two-dimensional translation device comprises an intermediate plate, two transverse plates and two longitudinal plates, two ends of each transverse plate are respectively fixed in vertical waist holes formed in the ball pushing plate through bolts, the height of each transverse plate in each vertical waist hole is adjusted through the position of each transverse plate, one transverse plate is provided with a horizontal waist hole, one end of each longitudinal plate is installed in each horizontal waist hole through a bolt, the other end of each longitudinal plate is installed on the other transverse plate through a sliding groove, and the intermediate plate is fixed on the two longitudinal plates.

6. A football launching device as claimed in claim 3, wherein: the high-speed friction conveying surface comprises a belt supporting pipe, a driven belt pulley, a belt, a transmitting motor and a driving belt pulley, wherein the driving belt pulley and the driven belt pulley are respectively installed at two ends of the belt supporting pipe, the belt is installed on the two belt pulleys to form the friction conveying surface, the transmitting motor is connected with the driving belt pulley, and two sides of the belt supporting pipe are installed on the ball serving support through connecting pieces.

7. A football launching device as claimed in claim 6, wherein: the driven pulley passes through overspeed device tensioner and installs in belt stay tube one end, overspeed device tensioner includes tensioning end plate, tensioning slide and a plurality of bolt, driven pulley's shaft both ends are installed on a tensioning slide through the bearing respectively, and two tensioning slides are installed in belt stay tube one end through the sliding pair, the tensioning end plate is fixed at belt stay tube tip, and two tensioning slides link to each other with the tensioning end plate through a plurality of bolts respectively, move the bolt adjustment tensioning degree of distance adjustment belt between tensioning slide and the tensioning end plate through twisting, be equipped with the gliding groove of dodging of shaft that supplies driven pulley on the belt stay tube.

8. A football launching device as claimed in claim 1, characterised in that: the supporting and rotating device comprises a rotating disc, a rotating motor and a gear disc, the gear disc is fixed on the rack, an annular rack is arranged at the center of the gear disc, the middle of the rotating disc is installed on the rack through a bearing, the rotating motor is fixed at the eccentric position on the rotating disc, the rotating motor is an output shaft extending to the position of the gear disc, and a gear meshed with the annular rack on the gear disc is arranged on the output shaft of the rotating motor.

9. A football launching device as claimed in claim 1, characterised in that: the ball storage device comprises a ball storage hopper, a ball falling hopper and a ball discharging device, wherein the ball storage hopper is formed by fixedly connecting four side plates, the ball falling hopper comprises a large trapezoidal plate, a small trapezoidal plate and a steel bar which connects two side edges of the large trapezoidal plate and the small trapezoidal plate, the long bottom edge of the large trapezoidal plate and the long bottom edge of the small trapezoidal plate are respectively fixed at the bottoms of the front side plate and the rear side plate of the ball storage hopper, a ball discharging port is formed by the short bottom edge of the large trapezoidal plate and the steel bar, the large trapezoidal plate is located below, the middle part of the lower end of the large trapezoidal plate is provided with a mounting groove, the ball discharging device comprises a cross ball stirring fork, a stirring shaft and a ball discharging motor, the cross ball stirring fork is mounted in the mounting groove through a stirring shaft, the stirring shaft is connected with the power transmission of the ball discharging motor through gear engagement, and the ball discharging motor is mounted on the frame.

10. A football launching device as claimed in claim 1, characterised in that: the four-wheel chassis is convenient to walk and provided with four walking wheels and a walking motor for driving each walking wheel to walk.

Technical Field

The invention belongs to the field of machinery, relates to football training machinery, and particularly relates to a football launching device.

Background

Today at science and technology rapid development, football motion's rhythm also accelerates thereupon, also become higher to sportsman's technical requirement, the training each other between the traditional sportsman, the difference between the people of angle and dynamics control, it has been difficult to satisfy current high strength training, and current service robot, also only several fixed angle and dynamics, the service mode is too fixed, can not accomplish the service of all-round arbitrary dynamics, and the ball that sends does not take the rotation, just can't simulate the state on the real court just. The existing service robot has the advantages that the size of a ball outlet is fixed, one robot can only launch a football of one type specially, if various types are needed, multiple service robots are needed, the ball feeding mode is complicated, and the goal of feeding balls quickly, accurately and stably cannot be achieved.

Disclosure of Invention

The invention aims to provide a football launching device which can adjust force in all directions and can launch football with random rotation, and the football launching device can launch balls meeting various force in various directions required in football training, and solves the limitation problem of the fixed training mode of football players.

In order to solve the technical problems, the invention adopts the following technical scheme:

a football launching device, characterized by: the football pitching machine comprises a rack, a football storage device, a pitching module and a supporting and rotating device, wherein the football storage device is arranged at the top of the rack and used for storing football and controlling the football to fall down singly; the pitching mechanism is arranged on the middle support, the pitching mechanism is arranged on the lower portion of the ball storage device, and the pitching mechanism is arranged on the middle support;

the ball pushing mechanism is arranged at the inlet end of the ball pushing channel, a ball falling area is arranged between the inlet end of the ball pushing channel and the ball pushing mechanism, and the ball falling area is positioned below a ball outlet at the bottom of the ball storage device; the ball pushing mechanism is used for pushing a football, which falls into a ball falling area, of the ball storage device into an inlet of the ball serving channel, the ball serving support is mounted on the middle support through the pitching mechanism, and the pitching angle of the ball serving channel is adjusted through the pitching mechanism.

Further, the ball pushing mechanism comprises two slide rails, a ball pushing plate, a ball pushing cylinder and a slide block, the two slide rails are fixedly arranged on the ball serving supports on two sides of an inlet of the ball serving channel, the ball pushing plate is arranged on the two slide rails through the slide block, the ball pushing cylinder is fixed on the ball serving supports and is connected with the ball pushing plate, the ball pushing plate is driven by the ball pushing cylinder to move along the slide rails to complete ball pushing action, and a polished rod used for preventing a football from falling is arranged at the bottom of the ball pushing plate.

Furthermore, the pitching mechanism comprises two longitudinal supporting plates, two fixed supporting plates and a pitching motor, the two fixed supporting plates are fixed on two sides of the middle support, the middle parts of the two longitudinal supporting plates are respectively installed on the fixed supporting plates on the corresponding sides through bearings, an arc-shaped rack plate is arranged on the middle support on the front side of each fixed supporting plate, a pitching motor is arranged on the front side of each longitudinal supporting plate, a pitching gear meshed with an arc-shaped rack on the arc-shaped rack plate on the corresponding side is arranged on an output shaft of the pitching motor, and the service support is fixed on the two longitudinal supporting plates through a connecting piece.

Furthermore, each fixed support plate rear side middle support is provided with a guide plate, each guide plate is provided with an arc guide groove, and the rear side of the longitudinal support plate is provided with a sliding column extending into the corresponding side arc guide groove.

Further, push away and be equipped with on the ball board and push away the ball ring, push away the ball ring and install on pushing away the ball board through two-dimentional translation device, push away the position of ball ring through two-dimentional translation device adjustment, two horizontal boards and two vertical boards are drawn together to two-dimentional translation device, horizontal board both ends are respectively through the bolt fastening in locating the vertical waist hole on pushing away the ball board, through the position control height of horizontal board in vertical waist hole, are equipped with horizontal waist hole on one of them horizontal board, install in horizontal waist hole through the bolt to vertical board one end, and the other end passes through the spout and installs on another horizontal board, the intermediate lamella is fixed on two vertical boards.

Further, high-speed friction conveying face includes belt stay tube, driven pulley, belt, transmitting motor and drive pulley, drive pulley and driven pulley install respectively at belt stay tube both ends, the belt is installed and is formed the friction conveying face on two belt pulleys, transmitting motor links to each other with the drive pulley, belt stay tube both sides are passed through the connecting piece and are installed on the support of serving a ball.

Further, driven pulley passes through overspeed device tensioner and installs in belt stay pipe one end, overspeed device tensioner includes tensioning end plate, tensioning slide and a plurality of bolt, driven pulley's shaft both ends are installed on a tensioning slide through the bearing respectively, and two tensioning slides are installed in belt stay pipe one end through the sliding pair, the tensioning end plate is fixed at belt stay pipe tip, and two tensioning slides link to each other with the tensioning end plate through a plurality of bolts respectively, move bolt adjustment tensioning slide and tensioning end plate between apart from adjustment belt tensioning degree through twisting, be equipped with the gliding groove of dodging of shaft that supplies driven pulley on the belt stay pipe.

Further, support rotary device and include rolling disc, rotating electrical machines and toothed disc, the toothed disc is fixed in the frame, and toothed disc center department is equipped with annular rack, the rolling disc middle part is passed through the bearing and is installed in the frame, rotating electrical machines fixes eccentric department on the rolling disc, and rotating electrical machines is that the output shaft extends to toothed disc department, and is equipped with on rotating electrical machines's the output shaft with the toothed disc on the gear wheel gear of annular rack meshing.

Further, ball storage device is including storing up the ball fill, falling ball fill and play ball device, it is fixed continuous the constitution by four side boards to store up the ball fill, falling ball fill comprises big trapezoidal plate, little trapezoidal plate and the billet that links to each other big, little trapezoidal plate both sides limit, and big, little trapezoidal plate's long base is fixed respectively in the preceding of storing up the ball fill, back both sides board bottom, and the ball mouth is constituteed to big, little trapezoidal plate's short base and steel band, and wherein big trapezoidal plate is located the below, big trapezoidal plate lower extreme middle part is equipped with the mounting groove, it includes that the cross dials the ball fork, dials the axle and goes out the ball motor to go out the ball device, the cross is dialled the ball fork and is installed in the mounting groove through dialling the axle, dials the axle and passes through gear engagement and links to each other with a ball motor power transmission, it installs in the frame to go out the ball motor.

Furthermore, the bottom of the rack is provided with a four-wheel chassis convenient for walking, and the four-wheel chassis is provided with four walking wheels and a walking motor for driving each walking wheel to walk.

Compared with the prior art, the invention has the following advantages:

1. the three belts form a service passageway with an included angle of 120 degrees, and the service passageway is designed to form 1-degree taper, so that a ball inlet is slightly larger and a ball outlet is slightly smaller, and the service passageway is easier to enter balls. The gasket is installed in right angle steel and aluminium venturi tube junction, and it can change the size between the belt through the figure that changes the gasket to can select the football of different grade type to serve.

2. Belt speed size and velocity ratio all can change, and is the same when belt speed ratio, thereby can change the initial velocity of belt speed's size change football service, make the different distances of football flight. When the speed ratios of the belts are different, the speed of the three belts is changed, so that the football can be shot out of the service passage at an initial speed and can be spun in any direction, and a free ball in any direction at any distance can be formed.

3. A plurality of football can once be put into to the storage device, and the frequency that the football dropped can be controlled to the cooperation cross and dial the ball fork, and the cross is dialled the ball fork and can be controlled the football and fall one by one, prevents that a plurality of football from causing the storage device to block up.

4. The back push plate of the ball pushing mechanism is opposite to the launching channel, the four adjusting plates are arranged on the ball pushing plate and are matched with each other, the ball pushing ring can be opposite to the launching channel, the football is accurately filled into the launching channel, the ball pushing mechanism and the service channel are controlled to be matched in a coordinated mode, and when the ball is pushed into the service channel by the ball pushing mechanism, the service channel starts to work, so that unnecessary waste is reduced.

5. The supporting and rotating device is used for adjusting the horizontal direction of the launching channel, the rotating structure of the invention uses an inner meshing gear structure, the requirement on the rotating speed of the motor is low, the axle center distance of the inner meshing is smaller than that of the outer meshing, the requirement on the torsion force required during the rotation is lower, and the service life of the motor is delayed.

6. The pitching structure can adjust the vertical angle of the launching channel, and the angle adjusting mechanism of the invention uses gear linkage, which is different from other hydraulic devices of the invention. The support of an additional hydraulic system is not needed, the maintenance cost in the early stage and the later stage is low, the rotary motion can be carried out in a reciprocating mode, and the transportability is good.

Drawings

Fig. 1 is a schematic structural view of a soccer ball launching device according to the present invention.

Fig. 2 is a schematic structural view of the ball storage device of the present invention.

Fig. 3 is a schematic view of a service module of the present invention.

Fig. 4 is a schematic view of the serving mechanism of the present invention.

FIG. 5 is a schematic view of a single high speed friction conveying surface configuration of the present invention.

FIG. 6 is a schematic structural diagram of the pitching mechanism and the ball pushing mechanism according to the present invention.

FIG. 7 is a schematic structural diagram of a supporting and rotating device according to the present invention.

Fig. 8 is a schematic structural view of the four-wheel chassis of the present invention.

1-a rack, 2-a ball storage device, 201-a side plate, 202-a large trapezoidal plate, 203-a small trapezoidal plate, 204-a steel bar, 205-a mounting groove, 206-a cross ball-shifting fork, 207-a shifting shaft, 208-a ball-discharging motor, 209-a gear, 3-a ball-serving module, 4-a ball-serving mechanism, 41-a ball-serving bracket, 42-a high-speed friction conveying surface, 421-a belt supporting tube, 422-a driven pulley, 423-a belt, 424-a transmitting motor, 425-a driving pulley, 426-a tensioning end plate, 427-a tensioning slide seat, 428-a bolt, 429-an avoiding groove, 43-a connecting piece, 5-a pitching mechanism, 501-a longitudinal supporting plate, 502-a fixed supporting plate, 503-a pitching motor and 504-an arc-shaped rack plate, 505-arc rack, 506-guide plate, 507-arc guide groove, 508-sliding column, 6-ball pushing mechanism, 601-sliding rail, 602-ball pushing plate, 603-ball pushing cylinder, 604-sliding block, 605-polished rod, 606-ball pushing ring, 607-middle plate, 608-transverse plate, 609-longitudinal plate, 610-vertical waist hole, 611-horizontal waist hole, 7-supporting rotating device, 701-rotating disc, 702-rotating motor, 703-gear disc, 704-annular rack, 8-four-wheel chassis, 801-walking wheel, 802-walking motor, 9-football and 10-middle bracket.

Detailed Description

As shown in fig. 1 to 8, a football launching device comprises a frame 1, a football storage device 2, a football serving module 3 and a supporting and rotating device 7, wherein the frame 1 is formed by welding a vertical column square tube, a transverse square tube and a longitudinal square tube; the football storage device 2 is arranged at the top of the frame 1 and used for storing the football and controlling the football to fall down singly; the pitching module 3 comprises a middle bracket 10, and a pitching mechanism 4, a pitching mechanism 5 and a ball pushing mechanism 6 which are arranged on the middle bracket 10, wherein the middle bracket 10 is arranged on the rack 1 below the ball storage device 2 through a supporting and rotating device 7, and the launching direction of the pitching module 3 is adjusted through the supporting and rotating device 7; the machine frame 1 is arranged on a four-wheel chassis 8, and four traveling wheels 801 and a traveling motor 802 for driving each traveling wheel 801 to travel are arranged on the four-wheel chassis 8. The walking direction of the football launching device is controlled by the four-wheel chassis 8, the direction of the serve is controlled by the supporting and rotating device 7, and the pitching angle of the serve is controlled by the pitching mechanism 5.

As shown in fig. 3 and 4, the service mechanism 4 includes a service support 41 and three high-speed friction transfer surfaces 42 installed on the service support 41 in a triangular shape, the three high-speed friction transfer surfaces 42 form a horn-shaped service channel, the service mechanism 6 is disposed at an inlet end of the service channel, a ball drop area is disposed between the inlet end of the service channel and the service mechanism 6, and the ball drop area is located below a ball outlet at the bottom of the ball storage device 2; the ball pushing mechanism 6 is used for pushing the football which falls from the ball storage device 2 to the ball falling area into the inlet of the ball serving channel, the ball serving bracket 41 is installed on the middle bracket 10 through the pitching mechanism 5, and the pitching mechanism 5 is used for adjusting the launching pitching angle of the ball serving channel.

As shown in fig. 5, the high-speed friction transmission surface 42 includes a belt supporting tube 421, a driven pulley 422, a belt 423, a transmitting motor 424 and a driving pulley 425, the driving pulley 425 and the driven pulley 422 are respectively installed at two ends of the belt supporting tube 421, the belt 423 is sleeved on the driving pulley 425 and the driven pulley 422 to form a friction transmission surface, a motor shaft of the transmitting motor 424 is fixed on the belt supporting tube 421, and a housing of the transmitting motor 424 is fixed with an inner ring of the driving pulley 425 to form a structure similar to a hub motor. Both sides of the belt supporting tube 421 are mounted on the service bracket 41 through connectors. The speed of each high speed friction conveying surface 42 can be controlled by controlling the speed of the launch motor 424, and the direction of spin of the serve can be controlled by reducing the speed of the different high speed friction conveying surfaces 42, thereby achieving an arcuate trackball.

As shown in fig. 5, the driven pulley 422 is mounted at one end of the belt supporting pipe 421 by a tensioning device, the tensioning device includes a tensioning end plate 426, a tensioning slide 427 and a plurality of bolts 428, both ends of the axle of the driven pulley 422 are respectively mounted on one tensioning slide 427 by bearings, two tensioning slides 427 are mounted at one end of the belt supporting pipe 421 by a sliding pair, the tensioning end plate 426 is fixed at the end of the belt supporting pipe 421, the two tensioning slides 427 are respectively connected with the tensioning end plate 426 by a plurality of bolts 428, the tensioning degree of the belt 423 is adjusted by adjusting the distance between the tensioning slide 427 and the tensioning end plate 426 by screwing the bolts 428, and the belt supporting pipe 421 is provided with an escape groove 429 for sliding the axle of the driven pulley 422.

As a preferred embodiment, the three high-speed friction transmission surfaces 42 of the present invention are radially distributed to form a ball-serving channel in a trumpet shape, the inlet size of the ball-serving channel is larger than the diameter of the football, and the outlet size of the ball-serving channel is slightly smaller than the diameter of the football, so as to give a certain squeezing force to the football, so that the friction between the football and the high-speed friction transmission surfaces 42 is large enough, and the football can obtain a sufficient initial launching speed.

As shown in fig. 3 and 6, the ball pushing mechanism 6 includes two slide rails 601, a ball pushing plate 602, a ball pushing cylinder 603 and a slide block 604, the two slide rails 601 are fixedly mounted on the ball serving bracket 41 at both sides of the entrance of the ball serving channel, the ball pushing plate 602 is mounted on the two slide rails 601 through the slide block 604, the ball pushing cylinder 603 is fixed on the ball serving bracket 41 and connected with the ball pushing plate 602, the ball pushing plate 602 is driven by the ball pushing cylinder 603 to move along the slide rails 601 to complete a ball pushing action, and a polish rod 605 for preventing a soccer ball from falling is disposed at the bottom of the ball pushing plate 602.

As a modified example, a football-guiding hose may be provided between the ball outlet of the ball storage device 2 and the ball pushing plate 602.

As shown in fig. 6, in order to improve the adaptability of the ball pushing mechanism 6, a ball pushing ring 606 is provided on the ball pushing plate 602, the ball pushing ring 606 is mounted on the ball pushing plate 602 by a two-dimensional translation device, the position of the pushball ring 606 is adjusted by a two-dimensional translation device, comprising a middle plate 607, two transverse plates 608 and two longitudinal plates 609, two ends of the transverse plate 608 are respectively installed in a vertical waist hole 610 arranged on the ball pushing plate 602 through bolts, the height is adjusted through the position of the transverse plate 608 in the vertical waist hole 610, one transverse plate 608 is provided with a horizontal waist hole 611, one end of the longitudinal plate 609 is installed in the horizontal waist hole 611 through a bolt, the other end of the longitudinal plate 609 is installed on the other transverse plate 608 through a sliding groove, the middle plate 607 is fixed on the two longitudinal plates 609, the position of the middle plate 607 and the upper ball pushing ring 606 in the horizontal direction is adjusted by adjusting the position of the longitudinal plate 609 in the horizontal waist hole 611.

As shown in fig. 3 and 6, the pitching mechanism 5 comprises two longitudinal support plates 501, two fixed support plates 502 and a pitching motor 503, the two fixed support plates 502 are fixed on both sides of the middle support frame 10, the middle parts of the two longitudinal support plates 501 are respectively mounted on the fixed support plates 502 on the corresponding sides through bearings, an arc-shaped rack plate 504 is arranged on the middle support frame 10 on the front side of each fixed support plate 502, an arc-shaped rack 505 is arranged on the arc-shaped rack plate 504, a pitching motor 503 is arranged on the front side of each longitudinal support plate 501, an output shaft of the pitching motor 503 is provided with a pitching gear engaged with the arc-shaped rack 505 on the arc-shaped rack plate 504 on the corresponding side, the pitching support frame 41 is fixed on the two longitudinal support plates 501 through a connecting piece, the pitching motor 503 drives the pitching gear to engage with the arc-shaped rack 505 to rotate, so that the longitudinal support plates 501 rotate around the bearings, thereby adjusting the pitch angle of the longitudinal support plate 501 and thus the pitch angle of the service bracket 41.

In a preferred embodiment, in order to increase the stability of the pitching mechanism 5, a guide plate 506 is provided on the middle bracket 10 at the rear side of each fixed support plate 502, an arc-shaped guide groove 507 is provided on the guide plate 506, and a slide column 508 extending into the arc-shaped guide groove 507 at the rear side of the longitudinal support plate 501 is provided.

In order to reduce friction, the longitudinal support plate 501, the fixed support plate 502 and the guide plate 506 are made of carbon plates.

As shown in fig. 7, the supporting and rotating device 7 includes a rotating disk 701, a rotating electrical machine 702 and a gear disk 703, the gear disk 703 is fixed on the rack 1, an annular rack 704 with the center as the center of the circle is disposed on the gear disk 703, the middle of the rotating disk 701 is mounted on the rack 1 through a bearing, the rotating electrical machine 702 is fixed at the eccentric position on the rotating disk 701, the rotating electrical machine 702 is a gear whose output shaft extends to the gear disk 703, and a gear meshed with the annular rack 704 on the gear disk 703 is disposed on the output shaft of the rotating electrical machine 702.

As shown in fig. 2, the ball storage device 2 includes a ball storage bucket, a ball falling bucket and a ball discharging device, the ball storage bucket is formed by fixedly connecting four side plates 201, the ball falling bucket is formed by a large trapezoidal plate 202, a small trapezoidal plate 203 and a steel bar 204 connecting two sides of the large trapezoidal plate and the small trapezoidal plate, the long bottom edges of the large trapezoidal plate and the small trapezoidal plate are respectively fixed at the bottoms of the front side plate and the rear side plate of the ball storage bucket, the short bottom edges of the large trapezoidal plate and the small trapezoidal plate and the steel bar form a ball discharging port, wherein the large trapezoidal plate 202 is located below, the middle part of the lower end of the large trapezoidal plate 202 is provided with a mounting groove 205, the ball discharging device includes a cross ball poking fork 206, a poking shaft 207 and a ball discharging motor 208 (speed reducing motor), the cross ball poking fork 206 is mounted in the mounting groove 205 through a poking shaft 207, the poking shaft 207 is connected with the ball discharging motor 208 through a gear 209 in a power transmission manner, and the ball discharging motor 208 is mounted on the frame 1.

Briefly describing the use of the invention: in the standby state, the cross ball-poking fork 206 of the ball storage device 2 is just positioned on the cross section of the ball outlet, blocks the ball to prevent the ball from falling, and is in a blocking state.

When a plurality of football balls start serving, the ball discharging motor 208 acts in the ball storage device 2, the poking shaft 207 is driven to rotate by 90 degrees through the transmission of the gear 209, the cross ball poking fork 206 rotates by 90 degrees along with the poking shaft 207, and one football ball is released by the cross ball poking fork 206 every time the cross ball poking fork rotates and falls in front of the ball pushing plate 602 of the ball pushing mechanism 6.

The football falls from the ball storage device 2 through the hose on the polish rod 605 of the ball pushing mechanism 6, the two polish rods 605 support the football, the two polish rods 605 prevent the football from falling on the lower polish rod 605 to bounce off, when the football is stable, the ball pushing cylinder 603 acts to drive the ball pushing plate 602 to move forwards on the slide rail 601, the ball is pushed into the launching channel, the ball pushing process is realized, the ball pushing process is completed, the ball pushing cylinder 603 acts to drive the ball pushing plate 602 to move backwards, the ball pushing plate 602 resets, when the ball pushing ring 606 on the ball pushing plate 602 is not aligned with the ball serving channel or the football, the position of the ball pushing ring 606 is adjusted through the two-dimensional translation device to be aligned, specifically, the bolts in the corresponding horizontal waist holes 611 or the vertical waist holes 610 are loosened, the transverse plate 608 or the longitudinal plate 609 is moved, and the bolts are screwed again after the corresponding positions are reached.

The football is pushed into behind the income ball mouth of service passageway by putting board 602, and the belt rubs with the football, drives the football motion, and the service passageway of 120 degrees contained angles of mutual formation that three belt is constituteed, and the design forms the tapering that has 1 degree in addition, makes its income ball mouth slightly bigger, and the play ball mouth is slightly littleer for the friction of football and belt is more and more big, satisfies its required power and speed, in the twinkling of an eye of transmission, reaches the speed the same with the belt. In addition, the speed of the belt and the speed ratio of the belt can be changed, and when the speed ratio of the belt is the same, the initial speed of serving the football can be changed by changing the speed of the belt, so that the football can fly at different distances. When the speed ratios of the belts are different, the speed of the three belts is changed, so that the football can be shot out of the service passage at an initial speed and can be spun in any direction, and a free ball in any direction at any distance can be formed.

The working process of the pitching mechanism 5 is as follows: the pitching motor 503 on the inner side longitudinal supporting plate 501 rotates to drive the gear to rotate and is meshed with the arc-shaped rack 505 on the arc-shaped rack plate 504, and the arc-shaped rack plate 504 is fixed on the middle support 10, so that the pitching motor 503 can vertically pitch relative to the middle support 10 to drive the inner ball serving mechanism 4 to move, the rotating direction of the pitching motor 503 is adjusted to pitch the ball serving mechanism 4, and meanwhile, the sliding column 508 embedded in the guide plate 506 at the rear part slides in the opposite direction to slide, so that the stable pitching of the inner ball serving mechanism 4 is realized, and the ball serving mechanism 4 is placed to shake and vibrate.

Working process of the supporting and rotating device 7: the supporting and rotating device 7 rotates in the left and right directions for adjusting the transmitting module, when the left and right directions are adjusted, the rotating motor 702 on the rotating disc 701 rotates by a certain angle according to the adjustment amount input by a user, the gear on the rotating motor 702 is driven to be meshed with a fluted disc fixed on the rack 1 below, the rotation relative to the rack 1 occurs, and the rotating direction and the rotating angle of the rotating motor 702 are adjusted, so that the adjustment of the left and right directions and the adjustment of the rotating amount are completed.

The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.