CN106863328A - A kind of twin-stage round brush ball picking robot - Google Patents
A kind of twin-stage round brush ball picking robot Download PDFInfo
- 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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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators 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
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.
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)
| Publication Number | Publication Date |
|---|---|
| CN106863328A true CN106863328A (en) | 2017-06-20 |
Family
ID=59159688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710206604.5A Pending CN106863328A (en) | 2017-03-31 | 2017-03-31 | A kind of twin-stage round brush ball picking robot |
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| Country | Link |
|---|---|
| CN (1) | CN106863328A (en) |
Cited By (4)
| 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)
| 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 |
-
2017
- 2017-03-31 CN CN201710206604.5A patent/CN106863328A/en active Pending
Patent Citations (8)
| 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)
| 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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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170620 |