CN106863328A - A kind of twin-stage round brush ball picking robot - Google Patents

A kind of twin-stage round brush ball picking robot Download PDF

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Publication number
CN106863328A
CN106863328A CN201710206604.5A CN201710206604A CN106863328A CN 106863328 A CN106863328 A CN 106863328A CN 201710206604 A CN201710206604 A CN 201710206604A CN 106863328 A CN106863328 A CN 106863328A
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CN
China
Prior art keywords
round brush
twin
picking robot
chassis
ball picking
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Pending
Application number
CN201710206604.5A
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Chinese (zh)
Inventor
江苏
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Southeast University
Original Assignee
Southeast University
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Publication date
Application filed by Southeast University filed Critical Southeast University
Priority to CN201710206604.5A priority Critical patent/CN106863328A/en
Publication of CN106863328A publication Critical patent/CN106863328A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a kind of twin-stage round brush ball picking robot, walking mechanism including chassis and on chassis, disposable box is provided with chassis, slope slide plate is provided with front of disposable box, it is arranged with one group of round brush on the slope slide plate in parallel, each round brush is driven by drive mechanism rotate respectively, and round brush is also associated with elevating mechanism.A kind of twin-stage round brush ball picking robot of the invention, in face of it is full tumble it is ball, the bead for taking ground can be swept by round brush;The size of base area face ball, can adjust height of the round brush apart from ground;Because round brush has certain pliability, can be by adjusting round brush highly, so as to sweep the bead for taking different-diameter simultaneously, due to using rolling brush mechanism, because round brush material cost is relatively low, and mechanism is easy, so whole machine is light, efficiency high, cost is relatively low, it is easy to promote and commercialization.

Description

A kind of twin-stage round brush ball picking robot
Technical field
The present invention relates to ball picking robot field, specifically a kind of twin-stage round brush ball picking robot.
Background technology
Existing ball picking robot mainly has following three kinds on the market:(1) application is similar to dust catcher principle air-draft-type Structure goes to collect, and (2) use the rolling type mechanism of similar this patent;(3) mechanism's crawl bead of hand type.
But existing ball picking robot there are problems that following:1) ball picking robot of air-draft-type needs powerful Power supply supports that whole equipment is complicated, heavy, and more inputs are needed in design and maintenance, relatively costly;2) rolling type picks up ball Robot can not pick up the ball of different-diameter, the ball limitednumber picked up;3) mechanism of hand type can only once capture one Or a small amount of ball, efficiency is low and with high costs.
The content of the invention
Goal of the invention:In order to overcome the deficiencies in the prior art, the present invention to provide a kind of twin-stage round brush and pick up ball machine device People.
Technical scheme:In order to solve the above technical problems, a kind of twin-stage round brush ball picking robot of the invention, including chassis and Walking mechanism on chassis, is provided with disposable box on chassis, and slope slide plate is provided with front of disposable box, and the slope is slided It is arranged with one group of round brush on plate in parallel, each round brush is driven by drive mechanism rotate respectively, and round brush is also associated with lift Structure.
Wherein, one-level round brush and two grades of round brush, one-level round brush and two grades of round brush difference are arranged with parallel on the slide plate of slope By motor-driven rotation, each motor is fixedly connected with elevating mechanism.
Wherein, lifting platform is respectively arranged with slope slide plate both sides, a screw mandrel is vertically provided with one of lifting platform, The screw mandrel upper end connection wire rod motor, lead screw motor is fixedly installed on an electric machine support, and the electric machine support lower end and chassis It is fixedly connected;Synchronization lifting mechanism is provided with another lifting platform.
Wherein, synchronization lifting mechanism includes the sliding rod rack being arranged on chassis, and litter is provided with the sliding rod rack, sliding Linear bearing is set on pole, and the linear bearing is connected with lifting platform.
Wherein, walking mechanism includes four road wheels, and each road wheel connects motor respectively, and each motor is distinguished It is connected with chassis by electric machine support.
Wherein, slide plate both sides in slope are provided with baffle plate.
Wherein, a diameter of 190mm-210mm of round brush, the round brush central shaft is the hollow pipe of duralumin material, outside the aluminum pipe Diameter 6-12mm, interior diameter 3-5mm, plant the hair of nylon rough lumber matter outside aluminum pipe, and the axial direction of hair is with circumferential root gap 2-3mm。
Wherein, 15-20 ° of the angle of inclination of slope slide plate.
Beneficial effect:A kind of twin-stage round brush ball picking robot of the invention, has the advantages that:
In face of it is full tumble it is ball, the bead for taking ground can be swept by round brush;The size of base area face ball, can be with Height of the regulation round brush apart from ground;Because round brush has certain pliability, can be by adjusting round brush highly, so that simultaneously The bead for taking different-diameter is swept, due to using rolling brush mechanism, because round brush material cost is relatively low, and mechanism is easy, so it is whole Machine is light, efficiency high, and cost is relatively low, it is easy to promote and commercialization.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention;
Fig. 2 is the right side structure partial schematic diagram in Fig. 1;
Fig. 3 is the left side structure partial schematic diagram in Fig. 1.
In figure, 1- trailing wheels;2- rear-wheel motor supports;3- rear-wheel motors;4- disposable boxes;5- chassis;6- front-wheels;7- front-wheels electricity Machine;Bis- grades of round brush motors of 8-;9- lead screw motors;10- electric machine supports;11- lead screw motor shaft couplings;12- screw mandrels;13- lifting platforms; 14- one-level round brush motors;15- electric machine supports;16- motor couplers;The 17- supports of bearing;18- one-level round brush;Bis- grades of rollings of 19- Brush;20- slopes slide plate;21- lifting platforms;22- linear bearings;23- slide bars;24- sliding rod racks;25- baffle plates.
Specific embodiment
The present invention is further described below in conjunction with the accompanying drawings.
A kind of twin-stage round brush ball picking robot as shown in Figure 1-Figure 3, including chassis 5 and the walking that is arranged on chassis 5 Mechanism, walking mechanism includes four road wheels, as shown in figure 1, including one group of trailing wheel 1 and front-wheel 6, each road wheel connects drive respectively Dynamic motor, as shown in figure 1, trailing wheel 1 connects rear-wheel motor 3 respectively, rear-wheel motor 3 is fixed on chassis 5 by rear-wheel motor support 2 On, front-wheel 7 connects preceding turbin generator 7 respectively, and each preceding turbin generator 7 is fixedly connected also by support with chassis.It is provided with chassis 5 Disposable box 4, the front of disposable box 4 is provided with slope slide plate 20,15-20 ° of the angle of inclination of slope slide plate.The both sides of slope slide plate 20 Baffle plate 25 is provided with, one group of round brush is arranged with parallel on slope slide plate 20, each round brush is driven by drive mechanism rotate respectively, And round brush is also associated with elevating mechanism.Specifically, as shown in figure 1, being arranged with one-level round brush 18 in parallel on slope slide plate 20 With two grades of round brush 19, one-level round brush 18 and two grades of round brush 19 connect motor-driven rotation by shaft coupling respectively, such as institute in Fig. 1 Show, one-level round brush 18 is connected by motor coupler 16 with one-level round brush motor 14, two grades of round brush 8 pass through shaft coupling (in figure not Show) it is connected with two grades of round brush motors 8, and one-level round brush motor 14 and two grades of round brush motors 8 are fixedly connected with elevating mechanism. The both sides of slope slide plate 20 are respectively arranged with lifting platform 13,21, and a screw mandrel 12, the silk are vertically provided with one of lifting platform 13 The upper end of bar 12 is fixedly installed on an electric machine support 10 by the connection wire rod motor 9 of lead screw motor shaft coupling 11, lead screw motor 9, And the lower end of electric machine support 10 is fixedly connected with chassis 5;Synchronization lifting mechanism is provided with another lifting platform 21.Synchronization lifting Mechanism includes the sliding rod rack 24 being arranged on chassis 5, and litter 23 is provided with the sliding rod rack 24, and straight line is set on litter 23 Bearing 22, the linear bearing 22 is connected with lifting platform 21.
Specifically, a diameter of 190mm-210mm of round brush, the round brush central shaft is the hollow pipe of duralumin material, the aluminum pipe Overall diameter 6-12mm, interior diameter 3-5mm, plant the hair of nylon rough lumber matter outside aluminum pipe, and the axial direction of hair is equal with circumferential root gap It is 2-3mm.
Twin-stage round brush ball picking robot of the invention, can coordinate vision system (can use existing vision system) to make With after starting robot, first according to the vision algorithm of vision system, robot can be according to current environment, road surface and spheroid Quantity and space size, selection one-level round brush 18 and two grades of velocities of rotation of round brush 19, the gait of march of road wheel and travelings Path.
(1) when road surface is rugged, the speed of each round brush is suitably increased by two grades of round brush motors 8 and one-level round brush motor 14 Degree, slows down the gait of march of vehicle;When road surface is gentle, road conditions are good, appropriate round brush speed is selected, while accelerating vehicle Gait of march.
(2) by vision algorithm, select to be cleaned from the most place of number of spheres first.According to advance contexture by self Path clean finish after.Visual scanning is carried out again, and the bead to omitting is cleaned again.Completed until cleaning.After completion, Robot returns to origin wait of setting out and manually takes disposable box 4 away.
(3) after spheroid size is judged, screw mandrel 12 can be driven to rotate by lead screw motor 9, so that lifting platform 13 is driven, 21 rise and fall, to adjust the distance of one-level round brush 18 and two grades of round brush 19 apart from slope slide plate 20.So as to take difference sweeping The bead of diameter.
The above is only the preferred embodiment of the present invention, it should be pointed out that:For the ordinary skill people of the art For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims (8)

1. a kind of twin-stage round brush ball picking robot, it is characterised in that:Walking mechanism including chassis and on chassis, on chassis On be provided with disposable box, slope slide plate is provided with front of disposable box, be arranged with one group of round brush on the slope slide plate in parallel, each rolling Brush is driven by drive mechanism rotate respectively, and round brush is also associated with elevating mechanism.
2. a kind of twin-stage round brush ball picking robot according to claim 1, it is characterised in that:Wherein, on the slide plate of slope Be arranged with one-level round brush and two grades of round brush in parallel, one-level round brush and two grades of round brush respectively by motor-driven rotation, each motor with Elevating mechanism is fixedly connected.
3. a kind of twin-stage round brush ball picking robot according to claim 2, it is characterised in that:Wherein, in slope slide plate two Side is respectively arranged with lifting platform, and a screw mandrel is vertically provided with one of lifting platform, the screw mandrel upper end connection wire rod motor, silk Bar motor is fixedly installed on an electric machine support, and the electric machine support lower end is fixedly connected with chassis;Set on another lifting platform It is equipped with synchronization lifting mechanism.
4. a kind of twin-stage round brush ball picking robot according to claim 3, it is characterised in that:Wherein, synchronization lifting mechanism Including the sliding rod rack being arranged on chassis, litter is provided with the sliding rod rack, linear bearing is set on litter, the linear axis Hold and be connected with lifting platform.
5. a kind of twin-stage round brush ball picking robot according to claim 1, it is characterised in that:Wherein, walking mechanism includes Four road wheels, each road wheel connects motor respectively, and each motor is connected by electric machine support with chassis respectively.
6. a kind of twin-stage round brush ball picking robot according to claim 1, it is characterised in that:Wherein, slope slide plate both sides It is provided with baffle plate.
7. a kind of twin-stage round brush ball picking robot according to claim 1, it is characterised in that:Wherein, round brush is a diameter of 190mm-210mm, the round brush central shaft for duralumin material hollow pipe, the aluminum pipe overall diameter 6-12mm, interior diameter 3-5mm, The hair of nylon rough lumber matter is planted in aluminum pipe outside, and the axial direction of hair is 2-3mm with circumferential root gap.
8. a kind of twin-stage round brush ball picking robot according to claim 1, it is characterised in that:Wherein, slope slide plate inclines 15-20 ° of rake angle.
CN201710206604.5A 2017-03-31 2017-03-31 A kind of twin-stage round brush ball picking robot Pending CN106863328A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710206604.5A CN106863328A (en) 2017-03-31 2017-03-31 A kind of twin-stage round brush ball picking robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710206604.5A CN106863328A (en) 2017-03-31 2017-03-31 A kind of twin-stage round brush ball picking robot

Publications (1)

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CN106863328A true CN106863328A (en) 2017-06-20

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107511839A (en) * 2017-09-28 2017-12-26 镇江玄润电气设备有限公司 Robot actions head suitable for carrying yielding product
CN108478104A (en) * 2018-05-24 2018-09-04 苏州伟可多电器有限公司 A kind of electric floor brush
CN110811430A (en) * 2019-10-30 2020-02-21 安徽省忆德工业刷制造有限公司 Cleaning brush device
CN112642118A (en) * 2021-01-19 2021-04-13 广东海洋大学 Can carry out sports training of adjusting according to spheroid size with picking up ball ware

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3989151A (en) * 1975-05-02 1976-11-02 Lawrence Peska Associates, Inc. Golf ball retriever
US20060068948A1 (en) * 2004-09-30 2006-03-30 Lloyd Mendoza Tennis ball collection, dispensing, and transport apparatus
CN200954081Y (en) * 2006-09-04 2007-10-03 周奇迪 Sweeping machine having walking wheel on garbage box
CN102010140A (en) * 2010-09-30 2011-04-13 东莞宏威数码机械有限公司 Lifting device of roller brush
CN204307293U (en) * 2014-12-16 2015-05-06 徐浩楠 Ping-pong ball collector
CN204709727U (en) * 2015-05-29 2015-10-21 济南大学 A kind of device automatically picking up tennis based on Bluetooth control
CN205574897U (en) * 2016-03-15 2016-09-14 昆山奥德鲁自动化技术有限公司 Steel ball loading attachment
KR101718743B1 (en) * 2016-06-30 2017-03-22 오복진 The collecting apparatus of ball

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3989151A (en) * 1975-05-02 1976-11-02 Lawrence Peska Associates, Inc. Golf ball retriever
US20060068948A1 (en) * 2004-09-30 2006-03-30 Lloyd Mendoza Tennis ball collection, dispensing, and transport apparatus
CN200954081Y (en) * 2006-09-04 2007-10-03 周奇迪 Sweeping machine having walking wheel on garbage box
CN102010140A (en) * 2010-09-30 2011-04-13 东莞宏威数码机械有限公司 Lifting device of roller brush
CN204307293U (en) * 2014-12-16 2015-05-06 徐浩楠 Ping-pong ball collector
CN204709727U (en) * 2015-05-29 2015-10-21 济南大学 A kind of device automatically picking up tennis based on Bluetooth control
CN205574897U (en) * 2016-03-15 2016-09-14 昆山奥德鲁自动化技术有限公司 Steel ball loading attachment
KR101718743B1 (en) * 2016-06-30 2017-03-22 오복진 The collecting apparatus of ball

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107511839A (en) * 2017-09-28 2017-12-26 镇江玄润电气设备有限公司 Robot actions head suitable for carrying yielding product
CN108478104A (en) * 2018-05-24 2018-09-04 苏州伟可多电器有限公司 A kind of electric floor brush
CN110811430A (en) * 2019-10-30 2020-02-21 安徽省忆德工业刷制造有限公司 Cleaning brush device
CN112642118A (en) * 2021-01-19 2021-04-13 广东海洋大学 Can carry out sports training of adjusting according to spheroid size with picking up ball ware
CN112642118B (en) * 2021-01-19 2021-09-17 广东海洋大学 Can carry out sports training of adjusting according to spheroid size with picking up ball ware

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Application publication date: 20170620