Portable Fielding System

Abstract

The disclosed invention is drawn to a motorized fielding system capable of launching balls at a wide range of trajectories defined by its distance and orientation with respect to its yaw and pitch axes. This system comprises a chassis assembly; a motorized yaw mechanism comprising of a rotary table that can spin about a yaw axis; a motorized pitch mechanism comprising a launcher mounting plate that can be oriented along any one of a range of pitch angles, where the pitch mechanism further comprises a bottom side, a top side, and a plurality of attachment provisions to attach the pitch mechanism to the rotary table; a motorized ball launcher mechanism; a ball transport conduit; and a motorized ball feeder mechanism. The ball feeder mechanism, ball transport conduit, ball launcher mechanism, pitch mechanism, and yaw mechanism are arranged and physically coupled in a top-down order along a vertical stack.

Description

FIELD OF THE DISCLOSURE

The field of the disclosure is sports training aids and more specifically, a portable baseball and softball fielding apparatus.

BACKGROUND OF THE DISCLOSURE

A fielding system allows softball and baseball players to receive practice repetitions when no other players, coaches, or adults are available to practice with them. In softball and baseball, it is important to practice defensive ball fielding from different trajectories such as a ground ball, line drive, frozen rope, pop fly, hops, moonshot, bunt, Texas Leaguer, and more. Depending on how the player at bat hits the ball, the ball's trajectory and kinematics related to any ball spin, velocity, yaw, pitch angle, and distance can vary greatly. There are solutions in the market that address this problem. However, these systems on the market are very expensive, difficult to move around (lacking portability and compactness), require a power outlet to power the system, and most notably do not have motorized mechanisms to vary ball trajectories with respect to its yaw and pitch axes.

SUMMARY OF THE DISCLOSURE

The presently disclosed invention is drawn to a novel, motorized fielding system capable of launching balls at a wide range of trajectories defined by the intended distance and orientation with respect to its yaw and pitch axes as well as any possible ball spin. It is also designed to be more affordable, more portable, more compact, and, for battery-powered embodiments, substantially more convenient than anything previously available.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings are provided to facilitate understanding of the detailed description. It should be noted that the drawing figures may be in simplified form and might not be of a precise scale. About the disclosure herein, for purposes of convenience and clarity only, directional terms such as top, bottom, left, right, up, down, upright, over, above, below, beneath, rear, front, distal, and proximal are used for the accompanying drawings. Such directional terms should not be construed to limit the scope of the embodiment in any manner.

FIG. 1A shows an angled top-front view of an embodiment of the Portable Fielding System

FIG. 1B shows an angled top-rear view of an embodiment of the Portable Fielding System

FIG. 2A shows the right side of an embodiment of the Chassis Assembly

FIG. 2B shows the front of an embodiment of the Chassis Assembly

FIG. 2C shows the top of an embodiment of the Chassis Assembly

FIG. 2D shows an angled view of an embodiment of the Chassis Assembly

FIG. 3A shows a side A-A section view of an embodiment of the Yaw Mechanism

FIG. 3B shows a view orthogonal to the A-A section plane of an embodiment of the Yaw Mechanism

FIG. 3C shows the bottom of an embodiment of the Yaw Mechanism and an indication of the A-A section plane location

FIG. 3D shows an isometric bottom view of an embodiment of the Yaw Mechanism

FIG. 4 shows a detailed, close-up side A-A section view of an embodiment of the Yaw Mechanism

FIG. 5A shows a side view of an embodiment of the Pitch Mechanism

FIG. 5B shows a front view of an embodiment of the Pitch Mechanism

FIG. 5C shows a bottom view of an embodiment of the Pitch Mechanism

FIG. 5D shows an isometric top-front view of an embodiment of the Pitch Mechanism

FIG. 6 shows a close-up detailed isometric top-front view of an embodiment of the Pitch Mechanism

FIG. 7A shows a side B-B section view of the internal components of an embodiment of the Ball Launcher Mechanism in a ball-loaded state

FIG. 7B shows a front discharge barrel opening view of an embodiment of the Ball Launcher Mechanism

FIG. 7C shows the bottom view of an embodiment of the Ball Launcher Mechanism and an indication of the B-B section plane location

FIG. 7D shows an isometric top discharge barrel opening view of an embodiment of the Ball Launcher Mechanism

FIG. 8A shows the top of the hopper portion of an embodiment of the Ball Feeder Mechanism

FIG. 8B shows the side of the hopper and ball loading retainer of an embodiment of the Ball Feeder Mechanism and an indication of the C-C section plane location

FIG. 8C shows the ball loading retainer below the C-C section plane and the ball sweep brackets of an embodiment of the Ball Feeder Mechanism

FIG. 8D shows the upright side view of an embodiment of the Ball Feeder Mechanism

FIG. 9 shows an isometric view of an embodiment of the Ball Feeder Mechanism

FIG. 10 shows a detailed side C-C section view of an embodiment of the Ball Feeder Mechanism

FIG. 11A shows the user interface and display faceplate of an embodiment of the Control System Assembly

FIG. 11B shows the side view of an embodiment of the Control System Assembly

FIG. 11C shows the bottom of an embodiment of the Control System Assembly

FIG. 11D shows an isometric top faceplate view of an embodiment of the Control System Assembly

FIG. 12 shows an angled top-front view of an embodiment of the optional Ball Return Assembly of the Portable Fielding System

FIG. 13 shows an angled view of the lower portion of an embodiment of the Portable Fielding System

FIG. 14 shows the bottom of an embodiment of the Portable Fielding System

FIG. 15 shows a left-side view of the lower portion of an embodiment of the Portable Fielding System

DETAILED DESCRIPTION OF THE DISCLOSURE

I) Portable Fielding System (100)—Ref. FIGS. 1A-B, and 12

The present invention can launch softballs and/or baseballs at various ranges (distances) and speeds. This is accomplished using a 3-degree-of-freedom (3-DOF) approach, utilizing a plurality of components that can be controlled from a local or remote user interface. FIGS. 1A-B show the different views of the entire Portable Fielding System or PFS (100) which comprise the following components (“PFS components”): a Yaw Mechanism (120), a Pitch Mechanism (140), and a Ball Launcher Mechanism (160). The Ball Feeder Mechanism (180) with a BFM-to-BLM ball transport conduit (193) receives, holds, and feeds the softballs and/or baseballs to the Ball Launcher Mechanism (160). This ball transport conduit (193) may be made of elastic hose or netting material. To control each of these mechanisms, the Control System Assembly (200) enables the user to select pre-programmed ball launch trajectories and kinematics or pitch types as well as manually control the Yaw, Pitch, and Ball Launcher Mechanisms (120, 140, 160, respectively) to execute ball firing at a certain trajectory and ball kinematics. Embodiments of the Ball Launcher Mechanism (160) and Control System Assembly (200) allow users to control and execute ball motion with the desired ball launch speed and ball spin. A subset of these components (120, 180, 200) is directly attached to a Chassis Assembly (110) in an embodiment as arranged and shown in FIGS. 1A and 1B. An optional Ball Return Assembly (300), as shown in FIG. 12, facilitates the return of fielded balls back to the Ball Feeder Mechanism (180).

II) Chassis Assembly (110)—Ref. FIGS. 1A-B, 2A-D, and FIGS. 13-15

The Chassis Assembly or CA (110) is designed to directly or indirectly secure the components (120, 140, 160, 180, and 200) that enable control and operation of the PFS (100). An embodiment of the CA (110) frame is shown in FIGS. 2A-D and shown with parts of the system in FIGS. 1A-B and 13-15. The structural members of the CA (110) are made from T-Slot extrusion, wherein adjoining members may be linked by one or more of several methods comprising joining plates, brackets, T-Slot screw fasteners, bolt fasteners, rivets, adhesive, or welds. The T-Slot extrusions, plates, and brackets are preferably made from aluminum by 80/20 INC.®, but alternative embodiments can be made by other suppliers as well as other metals with high strength-to-mass ratio and reasonable unit cost.

The CA (110) is comprised of a plurality of T-Slot extrusion members that form three planar subframes (111a, 111b, and 111c). The rear subframe (111a) is substantially perpendicular to the ground plane when the PFS (100) is upright with all its wheels simultaneously resting on a surface. The two remaining subframes (111b and 111c) are preferably horizontal and parallel to each other at different elevations when the PFS (100) is in an upright position. Elevation in the context of this disclosure is the distance above a reference plane that all the wheels (113a and 113b) can be in simultaneous contact with; in practice, this reference plane would be the ground or a floor. Furthermore, the terms “below” and “after” when used to describe the PFS component attributes in this disclosure refer to a lower elevation and higher elevation, respectively.

The bottom subframe (111b) is attached to the bottom end or lowest elevation portion of the rear subframe (111a) while the top subframe (111c) is attached near the top end of the rear subframe (111a) as shown in FIGS. 2A, 2B, and 2D. Structural rigidity is enhanced by connecting a plurality of T-Slot members arranged as diagonal braces (112a and 112b) between the bottom subframe (111b) to the rear subframe (111a) and the top subframe (111c) to the rear subframe (111a), respectively as shown in FIGS. 2A and 2D.

An exemplary embodiment of the bottom subframe (111b) comprises a plurality of T-Slot extrusion members that form a quadrilateral profile at its outer extents (“outer extents of the bottom subframe”), as best shown in FIG. 14. In the preferred embodiment, the bottom subframe (111b) further comprises a pair of T-Slot extrusion members (“bottom subframe braces”) (118) spaced apart from each other by a finite distance and connect opposite sides or edges of the outer extents of the bottom subframe. The bottom subframe braces (118) serve to increase the rigidity of the bottom subframe and provide a mounting structure for the motor mounting plate (125) of the Yaw Mechanism (120) that will be discussed in the following section.

An embodiment of the Chassis Assembly (110) features a 3-wheel configuration that includes a front wheel (113a) attached to a member (114) extending from a front crossbar of the bottom subframe (111b) and a pair of rear wheels (113b) attached near the ends of the rear crossbar of the bottom subframe (111b). An embodiment of the present invention has three small high-strength metal L-shaped brackets (115) attached to the Chassis Assembly (110) as best shown in FIGS. 2A-C, to serve as the means to hold and allow free rotation of a plurality of clevis pins (one per L-bracket). Each clevis pin for each L-bracket (115) slides through a bore of wheel bearing housed in the center bore of each wheel (113a and 113b) to serve as the axle of each wheel. Each wheel (113a and 113b) is retained along each clevis pin by one or more retaining clips. An embodiment of the present invention allows one or more rear wheels (113b) to be locked to prevent movement of the PFS (100).

A handle (116) attached to the top, rear, and upper crossbar (117) helps the user transport the PFS (100). An end cap (not shown) is attached to each of the ends of a T-Slot member to provide a finished look and minimize the chance of injury against the sharp edges of a T-Slot member.

III) Yaw Mechanism (120)—Ref. FIGS. 1A-B, 3A-D, and 4

The Yaw Mechanism or YM (120) allows the Pitch Mechanism (140) and Ball Launcher Mechanism (160) to be positioned within a range of 0° to 180° about their yaw axis. The preferred embodiment of the YM (120) is best shown in FIGS. 3A-D and 4 and comprises a rotary table (121) that is fixed or mounted to a centrally-located driveshaft (122). The embodiment methods of fixing the rotary table (121) to the circular end of the driveshaft (122) can be adhesive or alternatively, by a threaded fastener (not shown) disposed through a hole in the rotary table (121) and mated to a threaded hole in the driveshaft. The driveshaft (122) may alternatively be splined at the portion that is fixed with the rotary table (121), with the rotary table having complementary cutouts (not shown) to receive the splined portion of the driveshaft. Another alternative embodiment of rotationally coupling the rotary table (121) to the circular end of the driveshaft (122) is a key (not shown) that resides in both a key seat or slot along a portion of the rotary table side of the driveshaft (122) and a keyway along a portion of the hole in the rotary table (121) used to accommodate the driveshaft.

The driveshaft (122) also passes through the bore of an inner race of a ball bearing (123), which allows for smooth rotation of the driveshaft. A drive motor (124) is fixed to a thin motor mounting plate (125). For the preferred embodiment of the present invention, this motor mounting plate (125) is parallel to the rotary table (121).

The driveshaft (122) is also disposed through a hole in the motor mounting plate (125) and the center borehole of a driveshaft pulley (126). Furthermore, the driveshaft (122) is rotationally fixed with and shares a common axis of rotation with the driveshaft pulley (126); this axis of rotation is the yaw axis of the rotary table (121). Embodiments of this driveshaft pulley (126) include a means of preventing the driveshaft pulley (126) from sliding off the driveshaft (122) by using a retaining clip (127) as best shown in FIGS. 3C-D, 4, 13, and 14. To rotationally couple the driveshaft pulley (126) with the driveshaft (122), a setscrew (135) is threaded through a hole on the side of the pulley as shown in FIGS. 3B and 3D. When the setscrew (135) is fully seated, its tip is in firm contact with the driveshaft (122). An alternative embodiment to rotationally couple the driveshaft pulley (126) to the driveshaft (122) is a key that resides in both a keyway along a portion of the borehole of the driveshaft pulley (126) and a key seat or slot (not shown) along a portion of the driveshaft's (122) surface. Another alternative embodiment to rotationally couple the pulley (126) to the driveshaft (122) is an interference fit between the mating surfaces of the driveshaft (122) and the center borehole of the driveshaft pulley (126).

Along the opposite side of the motor mounting plate (125) from where the driveshaft (122) is placed, is a drive motor or “yaw motor” (128) inside a motor enclosure (129) that is also attached to the motor mounting plate (125), as best shown in FIG. 4. An attachment embodiment of the yaw motor (128) and motor enclosure (129) to the motor mounting plate (125) is a notched depression (130) on the rotary table (121) facing side of the motor mounting plate and a protrusion from the yaw motor engaged to the notch depression. An alternative attachment embodiment of the yaw motor (128) and motor enclosure (129) to the motor mounting plate (125) is to have fasteners (not shown) secure the motor enclosure (129) to the motor mounting plate (125).

This motor enclosure (129) is not in contact with the rotary table (121), although clearances between the motor enclosure (129) may be small (e.g., <1 cm) to allow the Pitch Mechanism (140) and Ball Launcher Mechanism (160) to be mounted as low as possible to minimize the tip-over moment applied to the PFS' (100) every time a ball is launched. An output shaft (131) of the yaw motor (128) is disposed through and is rotationally fixed to the center borehole of the motor pulley (132). An embodiment of the motor pulley (132) includes a means of preventing the motor pulley (132) from sliding off the motor's output shaft (131) by using a retaining clip (133). To keep the motor pulley (132) fixed in rotation with the motor's output shaft (131), a setscrew (not shown) is threaded through a hole on the side of the motor pulley (132) and the tip of the setscrew is in firm contact with the output shaft (131). An alternative embodiment to rotationally couple the motor pulley (132) to the output shaft (131) is a key (not shown) that resides in both a keyway along a portion of the borehole of the motor pulley (132) and a key seat or slot along a portion of the output shaft's (131) surface. Another alternative embodiment to rotationally couple the motor pulley (132) to the output shaft (131) is an interference fit between the mating surfaces of the output shaft (131) and the center borehole of the motor pulley (132).

A belt (134) couples the two pullies (126 and 132) so that the torque generated from the yaw motor (128) can be transferred to the driveshaft (122) to spin the rotary table (121) and therefore the orientation of the Pitch (140) and Ball Launcher Mechanisms (160) about their yaw axis. The preferred material embodiment for the output shaft (131) and driveshaft (122) is a high-strength corrosion-resistant metal such as stainless steel. The preferred material embodiment for the rotary table (121) and motor mounting plate (125) is a high-strength-to-mass metal that is corrosion- resistant in the atmosphere like aluminum.

IV) Pitch Mechanism (140)—Ref. FIGS. 1A-B, 5A-D, and 6

The Pitch Mechanism or PM (140), as shown in FIGS. 1A-B, 5A-D, and 6, allows the Ball Launcher Mechanism (140) to position itself within a preferred range of 0° to 60° about its pitch axis. The preferred embodiment method to accomplish such motion comprises a power or lead screw linkage design. A lead screw (141) is driven by a “pitch motor” (142).

The pitch motor's output shaft (144) is connected to the lead screw (141) and a pair of sleeve portions (145) of the lead screw (141) wrapped around each distal end of the lead screw is held in place by a pair of sleeve bearings or bushings. The sleeve bearings each reside in or approximately within a bearing housing (146a and 146b) that each has an integrated mounting flange. These mounting flanges of the bearing housings (146a and 146b) are fastened to the rotary table (121) and make up two of a plurality of attachment provisions to attach the pitch mechanism to the rotary table. If the output shaft (144) and lead screw (141) are allowed degree-of-freedom along the thrust axis, a pair of retaining clips (159a and 159b) are placed at each end of the sleeve portions (145) to make sure the lead screw (141) is held stationary along this thrust axis as it is turned by the pitch motor (142).

The lead screw (141) is threaded through an ACME platform nut (148) such that as the lead screw (141) is turned by the pitch motor (142), the ACME nut (148) is linearly displaced relative along the lead screw (141). This ACME nut's (148) linear displacement actuates the linkage that governs the pitching axis of the launcher mounting plate (149). The downward-facing bottom side of the launcher mounting plate (149) is the side that faces the platform nut (148). The upward-facing top side of the launcher mounting plate (149) is the opposite side of the downward-facing bottom side of the launcher mounting plate; this top side is the side where the Ball Launcher Mechanism (160) is placed.

Fastened to the ACME nut (148) is a lead screw joint (150). A positioning arm (151) that helps translate the linear displacement of the ACME nut (148) into tilting kinematics of the launcher mounting plate (149), is connected on its lower end to the lead screw joint (150) by way of a clevis pin (152a) that runs through bores of both the positioning arm (151) and lead screw joint (150). A retaining clip (153a) is attached to the clevis pin (152a) to prevent the pin (152a) from backing out of the bores. The other or upper end of the positioning arm (151) is connected to a positioning arm joint (154) that comprises another clevis pin (152b) disposed through the bores of both the positioning arm (151) and positioning arm joint (154), where the pin (152b) is held in place by another retaining clip (153b). The positioning arm joint (154) in turn is fastened to the end of the launcher mounting plate (149) furthest from the pitch motor (142).

Near the end of the launcher mounting plate (149) opposite the positioning arm joint (154) are a pair of launcher rotation joints (155a and 155b) that are fastened to the distal ends of the launcher mounting plate (149). The launcher rotation joints (155a and 155b) have pin bores that define the launcher mounting plate's (149) axis of rotation. The launcher rotation joints (155a and 155b) are each attached to a fixed rotation joint (156a and 156b) by a pair of clevis pins (157a and 157b) each disposed through the bores of the launcher rotation joints (155a and 155b) and a pair of fixed rotation joints (156a and 156b), wherein the clevis pins (157a and 157b) are prevented from backing out of the bores by a pair of retaining clips (158a and 158b). The fixed rotation joints (156a and 156b) each identically have a flanged structure with fastener holes on the feet so that the fixed rotation joints (156a and 156b) are fastened to the rotary table (121) and make up the remaining attachment provisions to attach the PM (140) to the rotary table. The preferred material embodiment for the pitch motor output shaft (144), lead screw (141), sleeves (145), positioning arm (151), bearing housings (146a and 146b), all joints (150, 154, 155a, 155b, 156a, 156b), and all pins (152a, 152b, 157a, and 157b) of the PM (140) is a high-strength corrosion-resistant metal such as stainless steel. The preferred material embodiment of the launcher mounting plate (149) is a high-strength-to-mass metal that is corrosion-resistant in the atmosphere like aluminum.

V) Ball Launcher Mechanism (160)—Ref. FIGS. 1A-B and 7A-D

The Ball Launcher Mechanism or BLM (160) allows for either a softball or baseball (161) to be launched at various trajectories and speeds. This is accomplished by a spring-loaded mechanism that, after a coil spring (162) is sufficiently compressed, can apply sufficient force to the ball (161) to initiate a launch. The coil spring (162) is constrained on one end by a spring seat/guide (163) and a piston (164) on the other end. The preferred structural embodiment of the spring seat/guide (163) is one comprising an annular flange where one end of the coil spring (162) can engage. The body of the spring seat/guide (163) has a cylindrical or rod-like structure whose outer diameter is slightly smaller than the inner diameter of the coil spring (162) and the length of the spring seat (163) runs approximately as long as the fully compressed length of the coil spring (162). The cylindrical or rod-like shape of the spring seat/guide (163) helps stabilize the coil spring (162) from lateral deflections during spring compression and decompression.

The preferred embodiment of the piston (164) has gear teeth (164a) or top surface gear teeth on the upper piston skirt and a pawl gear (164b) on the bottom piston skirt. A gear (“sector gear”) (165), has gear teeth on approximately half of the sector gear's circumference, to engage the top surface gear teeth (164a). The sector gear (165) is attached to a shaft of a motor (“sector motor”) that is placed in an enclosure (166) that is in turn securely fastened to one side of a launcher housing (167) as shown in the preferred embodiment illustrated in FIG. 7D. The pawl gear (164b) in concert with a pawl (173), forms a rachet-like mechanism, wherein the pawl gear (164b) has sloped teeth that allow piston motion in the direction that compresses the coil spring (162) while preventing motion in the other direction when engaged to the pawl (173); this type of arrangement allows for locking the piston (164) at different compression lengths of the coil spring (162). A second motor (“pawl motor”) in its own enclosure (168) is securely fastened to one side of the launcher housing (167) as shown in FIG. 7D. The pawl motor is only meant to rotate the pawl (173) to engage/disengage the pawl gear (164b) to lock/unlock the piston (164), respectively, and allow the ball (161) to be discharged.

The sector gear (165) transfers torque from the sector motor to the top surface gear teeth (164a) to displace the piston (164) and compress the coil spring (162). This allows for the piston (164) to compress to various lengths and have variable force, depending on how far the ball (161) is to launch. After the spring (162) has been compressed to a certain length that corresponds to the user's desired ball trajectory distance, the pawl motor's output shaft (172) that is connected to the pawl (173) at its axis of rotation (172), will rotate counterclockwise, thereby releasing the coil spring (162), which in turn, exerts an ejection force on the ball (161) so that the ball (161) leaves the discharge barrel (169) of the BLM (160) at a certain velocity and momentum. Alternative embodiments (not shown) may have one or more motorized wheels protruding slightly from the inner walls of the discharge barrel (169) just before a ball is launched such that spin can be imparted onto the ball to produce a curved trajectory by way of the Magnus effect to emulate certain pitch types or trajectories from a bat.

The components described in this section are all housed within or on the launcher housing (167), which can be mounted to the launcher mounting plate (149) by fasteners disposed through the holes in the “feet” of the flanges (170) protruding from the corners of the launcher housing (167) as shown in FIG. 7C. Both the BLM (160) and launcher mounting plate (149) are mounted relatively low on the Chassis Assembly (110) as best shown in FIGS. 1A-B, so that the reaction tipping moment of the chassis is minimized when the ball (161) is launched.

The preferred embodiment of the launcher housing (167) is that it is made from two halves joined together as shown in FIG. 7D. The launcher housing (167) also has a cutout or feed port (171) for an elastic hose or net to pass balls (161) through. The feed port (171) can also be formed to have the sector gear (165) exposed to facilitate access during service and maintenance.

The preferred material embodiment for the gears in the BLM (164a, 164b, and 165), pawl (173), motor output shafts, and piston (164) is a high-strength corrosion-resistant metal such as stainless steel. The gear material is also wear- resistant and some lubricant can be applied between the mating surfaces of the gear teeth (164a, 164b, and 165) as well as the pawl (173). The preferred material embodiment of the coil spring (162) is spring steel, which has a long fatigue life.

VI) Ball Feeder Mechanism (180)—Ref. FIGS. 1A-B, 7D, 8A-D, 9, and 10

The Ball Feeder Mechanism or BFM (180), as shown in FIGS. 1A-B, 8A-D, 9, and 10, allow for the PFS (100) to receive and hold a supply of softballs and/or baseballs (161) and discharge them to a ball transport conduit (193) below the BFM (180) for loading into the BLM (160). The balls (161) are received into and stored in a hopper (181), which is mounted to a ball loading retainer (182) below it.

The disclosed embodiment of the hopper (181) is a semi-enclosed circular bin that has an open end at the top and an upper feeder plate (183) at the bottom with a preferably 90° pie-shaped cutout (184). This pie-shaped cutout (184) is sized to be a little larger than one ball (161) to allow only one ball (161) to pass through to the ball loading retainer (182) at a time. An embodiment of the upper feeder plate (183) may have a slightly graded plate topology that lowers slightly toward the pie-shaped cutout so that all balls (161) in the hopper (181) will eventually gravitate toward the pie-shaped cutout (184) during repeated ball launches.

The upper feeder plate (183) is between the hopper (181) and the ball loading retainer (182). The hopper (181) is integrated with the upper feeder plate (183). Both the hopper (181) and upper feeder plate (183) are rotationally fixed with the ball loading retainer (182) by a plurality of pegs (186a) as indicated in FIGS. 8A and 10, wherein the hopper pegs (186a) are periodically arranged at 90° arc intervals around the bottom radial extent of the hopper (181) onto peg holes at the same 90° arc intervals along the top annulus of the ball loading retainer (182).

The ball loading retainer (182) is placed on a base plate (185). A plurality of pegs (186b) periodically arranged at 90° arc intervals along the circumference of the base plate (185) is placed through the peg boreholes in the ball loading retainer (182) to prevent the ball loading retainer (182) from spinning as a ball sweep gate or bracket (187) rotates along the inner curved walls of the ball loading retainer (182).

In the shown embodiment of the ball loading retainer (182), a total of up to four balls (161) can be loaded at the same time. A ball sweep bracket's hub (188) is connected to a motor or “ball feeder motor” (189) by way of a driveshaft (190) connected to or integrated with the motor's output shaft. Extending out of the ball sweep bracket's hub (188), are preferably four arms that each connect to a ball sweep bracket (187) by way of a pair of pins or pegs (195) as shown in FIG. 10. A ball bearing (191) allows for smooth, low friction rotation of the driveshaft (190) and ball sweep bracket (187). When the ball feeder motor (189) spins, the ball sweep bracket (187) turns the balls (161) in the loading retainer (182), where it remains within the loading retainer (182) until a ball (161) encounters a preferably circular opening (192) through the base plate (185) that is larger than one ball as shown in FIGS. 8B-C. When that happens, gravitational force will pull the ball (161) out of the loading retainer (182) and through the opening (192) one ball at a time.

Once a ball (161) exits the ball loading retainer (182), gravity continues to pull the ball down a ball transport conduit (193). As shown in FIGS. 1A-B and 12, the ball transport conduit (193) is connected between the BFM (180) at its circular opening (192) and the BLM's feed port (171), as shown in FIG. 7D. This ball transport conduit (193) will always be in tension to allow ball(s) (161) not to get stuck inside. An embodiment of the ball transport conduit (193) has an internal surface that is slippery to prevent balls from getting stuck in the elastic hose and has an inner diameter that is preferably at least 10% larger than the diameter of the ball (161) the PFS (100) is designed for. The inner diameter of the ball transport conduit (193) is preferably less than or equal to the diameter of the feed port (171). Embodiments of the present invention have the BFM (180) mounted to the Chassis Assembly (110) by way of a plurality of fasteners, each disposed through one of a plurality of tabbed flanges (194) extending radially out from the base plate (185) and into one of a plurality of threaded holes on the Chassis Assembly (110), wherein each tabbed flange is preferably arranged at 90° arc intervals along the circumference of the base plate (185). FIGS. 1A-B, 8B-D, 9, and 10 show a preferred embodiment of four tabbed flanges (194) extending out from the base plate (185) at 90° arc intervals along the base plate's (185) circumference.

VII) Control System Assembly (200)—Ref. FIGS. 1A-B, 4, 5A, 6, 7A, 7D, 11A-D

The Control System Assembly or CSA (200) allows the user to control the PFS (100) locally. FIGS. 11A-D show an embodiment of the CSA (200) comprising an enclosure (201), faceplate (202) with labels or markings around the various buttons, knobs, switches, and digital (e.g., LCD) display (203). Embodiments of the PFS (100) can be readily used for pitching on top of fielding.

The CSA (200) also features a microcontroller circuit board (not shown) that interfaces with a plurality of pushbuttons (204) and rotary switches (205) to control the motors (128, 142, 189, sector motor in 166, and pawl motor in 168) on the various system mechanisms (120, 140, 160, and 180) to create and execute different pitch types, ball kinematics, and ball trajectories. A subset of the disclosed motors (128, 142, sector motor in 166, and pawl motor in 168) are preferably servomotors, which are rotary actuators that allow for precise control of angular position and incorporate a sensor (not shown) for position feedback. For a servomotor embodiment, the microcontroller uses the feedback sensor to precisely control the rotary position of the motor. Embodiments using other motor types and position sensors, or position sensing methods are possible as long as they enable users to possess proper control of the ball's trajectory.

Wires are used to join dedicated circuit ports of the microcontroller and the servomotors or motors and any position sensor so that the appropriate signal, signal duration, and delivered power can be communicated between the servomotors, sensor, and microcontroller. The CSA (200) and the motors (128, 142, 189, sector motor in its enclosure 166, and pawl motor in enclosure (168) are powered by a system battery (not shown) and may be housed inside or outside the enclosure (201), preferably lower on the chassis, but not so that the kinematic operation of the various system mechanisms (120, 140, 160, and 180) are interfered with. Embodiments of the system battery are rechargeable or disposable and replaceable.

In the preferred embodiment of the CSA (200), users can select from multiple different pre-programmed pitch types or ball launch trajectories at the push of a button (204). An embodiment of the CSA (200) allows users to create custom pitch types or ball launches (205), tag them with alphanumeric names and/or numbers using a soft or hard keypad or a plurality of buttons and knobs, and store them in the CSA's flash memory that can later be recalled and executed. Pre-programmed ball shooting trajectories comprise ground ball, line drive, frozen rope, pop fly, hops, moonshot, bunt, Texas Leaguer. Pitch types may comprise a fastball, cutter, cut fastball, screwball, slider, sinker, where some pitch types would require provisions in said BLM (160) to impact a spinning motion on the ball (161), as described earlier in Section V. Embodiments of the CSA have pre-programmed or user-definable programs or routines, where the programs execute a series of known or random pitch or ball launch trajectories, level of ball spin, and discharge barrel (169) exit velocities at a certain number of repetitions.

Embodiments of the present invention can allow users to set custom pitch types into one or more of the preset buttons (204). The CSA (200) features a digital screen (203) that displays the type of pitch that is currently selected, among other system-level information. The selections made with these controls (204 and 205) will be mapped to corresponding motor driver signals and coil spring (162) compression levels so that the intended speed and trajectory of the ball (161) are realized as best as possible. Alternative embodiments of the controls (204, 205) are not physical or hard controls but soft controls that are virtually rendered as graphical user interface widgets in the touchscreen display (203), where the preferred embodiment of the display is a capacitive touchscreen.

Embodiments of the present invention include a remote, wireless controller (not shown) of the various system mechanisms (120, 140, 160, and 180). Remote-control embodiments can emulate the control offerings of the local, chassis-mounted CSA (200) and be through a portable controller or a software application on a digital device (e.g., smartphone) with its portable power supply. Such embodiments will additionally require a means to map and encode the remote-control inputs into a signal that can be transmitted wirelessly, a wireless transmitter on the remote control, a wireless receiver on the local CSA (200), and a means to decode the incoming signal and decode the signals that will drive the various system mechanisms (120, 140, 160, and 180) in the manner intended. Alternative control embodiments comprise voice control or fielder gesture control by way of a video camera or system of video cameras connected to image processing circuitry with embedded logic to infer the desired pitch types, ball kinematics, or ball trajectories to execute.

An embodiment of the CSA's enclosure (201) also houses the system's battery, which will power all the system motors and electronics. Preferred material embodiments of the enclosure (201) are sheet metal or plastic. The enclosure (201) may comprise a plurality of vents (not shown) to prevent excessive heat build-up in the enclosure (201) due to power dissipation from the microcontroller and/or solar heating of the enclosure, At least one vent can be placed along or near the enclosure's (201) top surface and at least one other vent facet near the bottom of the enclosure's bottom surface to maximize cooling efficiency by natural convection means.

An embodiment of the PFS (100) has a video camera (not shown) powered either by a standalone or the system battery and mounted directly on the Chassis Assembly (110), on the enclosure (201), or inside the enclosure. If the video camera is placed in the enclosure (201), a hole in the enclosure where the video camera lens looks outward provides optical access. The video camera has built-in memory storage, preferably removable flash memory storage such as an SD or MicroSD card, to store recorded footage that can later be retrieved. An embodiment of the display (203) allows playback and control of the video camera-recorded content.

VIII) Ball Return System (300)—Ref. FIG. 12

FIG. 12 shows the optional Ball Return System (300), BRS, that helps users return fielded balls from some distance into a net and tube assembly that guides balls back into the hopper portion (181) of the BFM (180) with the aid of gravitational force. One of the key aspects is that the BRS (300) is not physically coupled with the PFS (100) so any displacement of the BRS (300) from ball-net interactions or environmental factors like a gust of wind will not perturb the PFS (100).

The BRS (300) comprises a pair of longitudinal members (301) that each connects to a front wheel (302) and a rear (303) wheel. A clevis pin is placed through the hub of each wheel and a hole is in the longitudinal member (301). The rear distal ends of the longitudinal members (301) are connected by a wheel plane lateral member (not shown). The preferred embodiment of the BRS (300) has a pair of small braces or triangular-shaped plates that each connect one distal end of the wheel plane lateral member to the rear distal end of the nearest longitudinal member. A pair of lower rear vertical members (304) each connects at one end to the rear distal end of each of the longitudinal members (301). For structural rigidity, a pair of diagonal braces (305) each connecting one of the lower rear vertical members (304) with the closest longitudinal member (301).

Near the top end of the lower rear vertical members (304) at approximately the height of the subframe (111c) of the Chassis Assembly (110) are a pair of front net attachment structures (306). The front net attachments (306) are angled such that they extend forward. Also near where the front net attachment structures (306) extend out from the lower rear vertical members (304) is where a pair of rear net attachment structures (307) extends rearward. A plurality of rear net attachment cross members (308-310) laterally connects the rear net attachment structures (307) to different points.

A portion of the lateral edges of the rear net (311) is connected to each of the rear net attachment structures (307). A pair of side nets (312) each connect to a front net attachment (306) and rear net attachment (307). The bottom end of each of the side nets (312) is connected to the lateral edges of the rear net (311). Each of the lateral edges of the front net (313) is connected to the front net attachment structures (306).

Connected to the bottom extent of all nets (311-313) is the entire annulus of an entrance (315) of a hopper loading tube (314). The entrance (315) of the hopper loading tube (314) has an angled cut. The bottom outlet end (316) of the hopper loading tube has a flat cut and is above the height of the hopper's (181) open end by an order of several ball diameters. One pair of structural links (317) that extends forward perpendicularly from one of the rear net attachment cross members (309) is connected to the outlet end (316) of the hopper loading tube (314) for stabilization of the hopper loading tube.

Embodiments of the hopper loading tube (314) may have a mechanism to retard the ball's speed into the hopper because high exit velocity may cause a sufficiently elastic collision with other balls (161) and bounce off the hopper (181) instead of being collected in the hopper. An energy-dissipating embodiment can be a ball-rolling channel lined with strands of fiber.

An embodiment of the BRS (300) has one or more wheel brakes to fix its position. Alternatively, to anchor the BRS (300) to the ground, an embodiment of the BRS has a plurality of ground stakes (318) that each applies a vertical downward force onto the longitudinal members (301) after an initial external force is applied down each of the stakes into the ground and top of each of the longitudinal members. An embodiment of the ground stake (318) is an “L” shaped profile, where one end comprises a pointed tip to penetrate the ground more easily. An alternative embodiment of the ground stake (318) has a horseshoe-like profile where both ends comprise a pointed tip.

The preferred embodiment of the BRS (300) has the front attachment structures (306) to a moderately lower height than the rear net attachment structures (307) so that users do not need to lob the ball (161) up as much to get the ball (161) into the BRS (300). However, the front net (313) needs to be high enough to capture a ball (161) that has bounced off the rear net (311). The exact relative differences in the front (313) and rear net (311) heights depend on the tension and elasticity of the nets. To reduce the chances of the ball (161) bouncing from any of the nets (311-313) and out of the BRS (300), the preferred embodiment is for the nets to have low tension and low elasticity, such as fabric type with examples comprising polyester rayon, dacron, acetate, or nylon. Each strand of the low tension net (311-313) should be relatively mass-dense to effectively dissipate the ball's kinetic energy with minimal elastic rebound and more promptly cause the returned ball (161) to fall through the hopper loading tube (314).

To increase the chances of the fielder throwing the ball (161) into the BRS (300), the splay angle of the front (306) and rear (307) net attachment structures are wide, preferably at least 20°. The preferred width range of the BRS (300) is one and a half times to ten times wider than the PFS (100). An appearance embodiment of the rear net (311) comprises a colored and/or reflective target to better stand out from the BRS's (300) surroundings.

Preferred material embodiments of the members and links (301, 304, 305, 308-310, and 317) comprise a high strength-to-weight ratio metal that is corrosion-resistant in the atmosphere, such as aluminum. The net attachment structures (306 and 307) are preferably made from a high strength-to-weight ratio metal that is corrosion-resistant in the atmosphere, such as aluminum, or wood. If the net attachment structures (306 and 307) are made from wood, the base end of each of the attachment structures slips into a metallic pole mount integrated near the top portion of the lower rear vertical member (304).

IX) Layout of Portable Fielding System (100)

The PFS (100) described in this disclosure has a novel layout of structures, motorized mechanisms, and other module(s) (previously called PFS components or components) comprising the earlier described CA (110), YM (120), PM (140), BLM (160), BFM (180), and CSA (200) which supports functionality to control and execute shooting a ball at a wide range of trajectories with respect to its yaw and pitch axes while also being relatively portable and easily transportable. The exemplary embodiment of the PFS (100) has a CA (110) as described earlier in Section II.

The PFS (100) has the BFM (180), ball transport conduit (193), BLM (160), PM (140), and YM (120) arranged and physically coupled in this top-down order along a vertical stack. The meaning of “top” in this vertical stack of the PFS (100) is the portion of the stack that is furthest from the wheels (113a and 113b) along the plane of the rear subframe (111a). The term “bottom” when describing this vertical stack of the PFS (100) signifies the portion of the stack closest to the wheels (113a and 113b). FIGS. 1A-B and 12 show the BFM (180) is mounted atop the top subframe portion (111c) of the CA (110) without any particular fasteners to couple the BFM and CA. It should be understood by those of ordinary skill in the art that the fastener through-holes for each of the tabbed flanges (194) of the BFM (180) allow the BFM to be coupled to the top subframe portion (111c) of the CA (110) with T-slot nuts, screws, bolts, nuts, rivets, or equivalent each driven through each hole of each tabbed flange and properly located fastener hole within the top subframe portion of the CA. Alternatively, adhesives or welds can be used to secure the BFM (180) to the top subframe portion (111c) of the CA (110). The ball transport conduit (193), BLM (160), PM (140), and at least some portion of the YM (120) are arranged as a vertical stack from the BFM (180) between the top subframe (111c) and bottom subframe (111b).

The motor mounting plate (125) of the YM (120) is attached to the bottom subframe (111b) of the CA (110). As depicted in the exemplary embodiment of the PFS (100) shown in FIGS. 13-15, the upward-facing surface (surface facing a higher elevation) of the motor mounting plate (125) is coupled to the bottom surface of the bottom subframe braces (118) while the rotary table (121) is above the plane of the bottom subframe (111b). Hence, the upward-facing surface of the motor mounting plate (125) is parallel, below in elevation to, and facing the downward-facing bottom side (side facing a lower elevation) of the rotary table (121).

Alternative embodiments may have the motor mounting plate (125) attached to the bottom subframe braces (118) in between and on the same plane as the bottom subframe (111b) or the bottom surface of the motor mounting plate may be mated to the top surface of the bottom subframe braces (118). The exemplary placement of the motor mounting plate (125) is placed below the plane of the bottom subframe (118b), to promote the lowest center of gravity to minimize tip-over tendencies of the PFS. The motor mounting plate (125) can be fixed to the CA (110) using fasteners like T-slot nuts, screws, washers, bolts, nuts, rivets (not shown), or an adhesive applied between the mating surfaces, or by welding.

The PM (140) is fastened to the upward-facing top side (side facing a higher elevation) of the rotary table (121) as shown in FIGS. 1A-B, 12, and 15. In the exemplary embodiment, the foot of each fixed rotation joint (156a and 156b) and the mounting flanges of the bearing housings (146a and 146b) of the PM (140) are attached to the upward-facing top side of the rotary table (121). No fasteners are shown in securing these attachment provisions 146a, 146b, 156a, and 156b) of the PM (140) to the rotary table (121), but FIGS. 1A-B, 50, 5D, 6, and 12 exhibit fastener through-holes for each foot of the fixed rotation joints to show that fastening by T-slot nuts, screws, bolts, nuts, rivets, or equivalents is possible. Alternatively, adhesives or welds can be used to secure the PM (140) to the rotary table (121).

As previously discussed in Section IV and shown in FIGS. 1A, 5A, 5B, 5D, 6, 12, and 15, the physical relation of the launcher mounting plate (149), the launcher rotation joints (155a and 155b), clevis pins (157a and 157b), the fixed rotation joint (156a and 156b), and the rotary table (121) allows the launcher mounting plate to have a range of pitch attitudes and orientations along the yaw axis. In the exemplary embodiment, it was mentioned the BLM (160) comprises the launcher housing (167) that further comprises a plurality of feet (170) at the bottom of the launcher housing with fastener through holes. No fasteners are shown in the drawings disposed through the holes of each foot (170), but those with ordinary skill in the art would recognize that fasteners like T-slot nuts, screws, bolts, nuts, rivets, or equivalent may be used to secure the BLM (160) to the launcher mounting plate (149). Alternatively, an adhesive may be applied between the bottom surface of each foot (170) and the appropriate location on the launcher mounting plate (149). Alternatively, the launcher housing (167) may be welded at the bottom to the launcher mounting plate (149).

The BLM (160) described in Section V and shown in FIGS. 1A, 7A, 7D, and 12 has a discharge barrel (169) that is orthogonal to the ball feed port (171). The opening of the ball feed port (171) facing away from the discharge barrel (169) is at the bottom end of the ball transport conduit (193). The top end of the ball transport conduit (193) is connected to the opening (192) of the ball loading retainer (182) of the BFM (180). Hence, gravitational force drives the downward motivation of a ball (161) from the BFM (180) through the ball transport conduit (193), the ball feed port (171), and the one end of the discharge barrel (169) where an external linear force and optionally spin within the BLM (160) may be imparted onto the ball. After an external linear force and optional spin within the BLM (160) is applied to the ball (161), the ball can exit the discharge barrel (169) at a trajectory determined by any possible ball spin as well as pitch angle and yaw orientation of the launcher mounting plate (149). Since the ball transport conduit (193) is elastic, the BLM (160) may be oriented without too much resistance.

The ball transport conduit (193) should also be internally reinforced to prevent crimping at certain relative positions between the BLM (160) and BFM (180) so that the ball (161) can traverse from the BFM to BLM without getting stuck. Approaches to help prevent crimping of the ball transport conduit (193) may include but are not limited to having a flexible thin-wire spring (not shown) run along the length of the conduit (193).

Many alterations and modifications may be made by those having ordinary skills in the art without departing from the spirit and scope of the embodiment. Therefore, it must be understood that the illustrated embodiment has been set forth only for example, and that it should not be taken as limiting the embodiment as defined by the following claims. For example, although the elements of a claim are set forth below in a certain combination, it must be expressly understood that the embodiment includes other combinations of fewer, more, or different elements, which are disclosed herein even when not initially claimed in such combinations.

80/20 INC. is a registered trademark of 80/20 Inc.

Claims

1. A portable fielding system comprising: a chassis assembly;a motorized yaw mechanism comprising a rotary table that can spin about a yaw axis;a motorized pitch mechanism;a motorized ball launcher mechanism;a ball transport conduit; anda motorized ball feeder mechanism;wherein: said rotary table comprises a downward-facing bottom side and an upward-facing top side;said ball feeder mechanism, said ball transport conduit, said ball launcher mechanism, said pitch mechanism, and said yaw mechanism are arranged and physically coupled in a top-down order along a vertical stack.

2. The system of claim 1 wherein said chassis assembly comprises: a bottom subframe, a rear subframe, and a top subframe each having an outer extent that forms a quadrilateral with four ends;wherein: said bottom subframe and said top subframe are parallel to each other and at different elevations;one of said four ends of said bottom subframe is attached to a bottom end of said rear subframe;one of said four ends of said top subframe is attached along a location along the rear subframe at an elevation higher than the bottom subframe.

3. The system as recited in claim 1: wherein: said ball feeder mechanism is capable of receiving, holding, and discharging one or a plurality of balls;said ball(s) are discharged from said ball feeder mechanism one ball at a time into said ball transport conduit.

4. The system as recited in claim 2, wherein said ball feeder mechanism is attached to the top subframe.

5. The system as recited in claim 1, wherein said ball launcher mechanism comprises: a discharge barrel; anda ball feed port with a receiving end connected to said ball transport conduit so one or a plurality of balls moving down the ball transport conduit can enter the ball feed port.

6. The system as recited in claim 5, wherein the opposite end of the receiving end of said ball feed port is the entrance to said discharge barrel.

7. The system as recited in claim 1: wherein: said pitch mechanism comprises a launcher mounting plate that can be oriented along any one of a range of pitch angles;said launcher mounting plate further comprises a bottom side and a top side.

8. The system as recited in claim 7, wherein said ball launcher mechanism is attached to the top side of the launcher mounting plate.

9. The system as recited in claim 2: wherein: said yaw mechanism further comprises a yaw motor and a motor mounting plate;said motor mounting plate comprises an upward-facing surface that is below and facing parallel to the bottom side of the rotary table;said yaw motor is fixed to said motor mounting plate;said motor mounting plate is attached to said bottom subframe.

10. The system as recited in claim 9: wherein: said yaw motor comprises an output shaft that is disposed through, is rotationally fixed, and shares a common axis of rotation with a motor pulley;said yaw mechanism further comprises a belt that is wrapped around said motor pulley and a driveshaft pulley;a driveshaft that is disposed through, is rotationally fixed, and shares a common axis of rotation with said driveshaft pulley that corresponds with the yaw axis of said rotary table;said driveshaft is rotationally coupled with said rotary table;said yaw motor can apply torque to said output shaft and rotate the rotary table about said yaw axis.

11. The system as recited in claim 10, wherein said pitch mechanism further comprises a plurality of attachment provisions to attach the pitch mechanism to the top side of said rotary table.

12. A portable fielding system comprising: a chassis assembly;a motorized yaw mechanism comprising a rotary table that can spin about a yaw axis;a motorized pitch mechanism; anda motorized ball launcher mechanism;wherein: said rotary table comprises a downward-facing bottom side and an upward-facing top side;said ball launcher mechanism, said pitch mechanism, and said yaw mechanism are arranged and physically coupled in a top-down order along a vertical stack.

13. The system of claim 12 wherein said chassis assembly comprises: a bottom subframe, a rear subframe, and a top subframe each having an outer extent that forms a quadrilateral with four ends;wherein: said bottom subframe and said top subframe are parallel to each other and at different elevations;one of said four ends of said bottom subframe is attached to a bottom end of said rear subframe;one of said four ends of said top subframe is attached along a location along the rear subframe at an elevation higher than the bottom subframe.

14. The system as recited in claim 12, wherein said ball launcher mechanism comprises: a discharge barrel; anda ball feed port with a receiving end capable of receiving one or a plurality of balls;wherein the opposite end of the receiving end of said ball feed port is the entrance to said discharge barrel.

15. The system as recited in claim 12: wherein: said pitch mechanism comprises a launcher mounting plate that can be oriented along any one of a range of pitch angles;said launcher mounting plate further comprises a bottom side and a top side.

16. The system as recited in claim 15, wherein said ball launcher mechanism is attached to the top side of the launcher mounting plate.

17. The system as recited in claim 13: wherein: said yaw mechanism further comprises a yaw motor and a motor mounting plate;said motor mounting plate comprises an upward-facing surface that is below and facing parallel to the bottom side of the rotary table;said yaw motor is fixed to said motor mounting plate;said motor mounting plate is attached to said bottom subframe.

18. The system as recited in claim 17: wherein: said yaw motor comprises an output shaft that is disposed through, is rotationally fixed, and shares a common axis of rotation with a motor pulley;said yaw mechanism further comprises a belt that is wrapped around said motor pulley and a driveshaft pulley;a driveshaft that is disposed through, is rotationally fixed, and shares a common axis of rotation with said driveshaft pulley that corresponds with the yaw axis of said rotary table;said driveshaft is rotationally coupled with said rotary table;said yaw motor can apply torque to said output shaft and rotate the rotary table about said yaw axis.

19. The system as recited in claim 18, wherein said pitch mechanism further comprises a plurality of attachment provisions to attach the pitch mechanism to the top side of said rotary table.

20. The system as recited in claim 12, wherein said control system assembly comprises: an enclosure;a powered display;a powered microcontroller circuit board that interfaces with a plurality of controls to power and control at least said yaw mechanism, said pitch mechanism, and said ball launcher mechanism so that a plurality of different pitch types, ball kinematics, and ball trajectories may be specified and executed; anda plurality of electrical wires used to join a plurality of circuit ports of said microcontroller to said yaw mechanism, said pitch mechanism, and said ball launcher mechanism.