CN107224711B - A kind of ball picking robot with different ball classification features based on Internet of Things - Google Patents

A kind of ball picking robot with different ball classification features based on Internet of Things Download PDF

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Publication number
CN107224711B
CN107224711B CN201710641289.9A CN201710641289A CN107224711B CN 107224711 B CN107224711 B CN 107224711B CN 201710641289 A CN201710641289 A CN 201710641289A CN 107224711 B CN107224711 B CN 107224711B
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China
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main
classification
ball
box
shell
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CN201710641289.9A
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CN107224711A (en
Inventor
陈丽专
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Jiaxing Meizhi Environmental Protection Technology Co., Ltd
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Quanzhou City Quangang Zhiyuan Trading Co Ltd
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Priority to CN201710641289.9A priority Critical patent/CN107224711B/en
Publication of CN107224711A publication Critical patent/CN107224711A/en
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    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B47/00Devices for handling or treating balls, e.g. for holding or carrying balls
    • A63B47/02Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
    • A63B47/021Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B47/00Devices for handling or treating balls, e.g. for holding or carrying balls
    • A63B47/02Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
    • A63B47/025Installations continuously collecting balls from the playing areas, e.g. by gravity, with conveyor belts

Abstract

What the present invention relates to a kind of based on Internet of Things has the ball picking robot of different ball classification features, including main body, carrying mechanism, mobile mechanism, collecting mechanism, sorting mechanism, classification box, Zhong Kong mechanisms and camera, collecting mechanism includes moving assembly and closing assembly, carrying mechanism includes shell, collecting box, angular adjustment component and lifting assembly, sorting mechanism includes control assembly and shaking component, control assembly includes third motor, third drive shaft and roller, and it includes fixed block, first connecting rod, second connecting rod, utility box and classification layer to shake component.In the ball picking robot with different ball classification features based on Internet of Things, pass through collecting mechanism, various different types of balls of ground can rapidly be merged concentration, various ball is transported to designated position by carrying mechanism, pass through sorting mechanism, can different balls be carried out Fast Classification to collect, by these mechanisms, improve the practicability of robot.

Description

A kind of ball picking robot with different ball classification features based on Internet of Things
Technical field
It is the present invention relates to robot field, more particularly to a kind of that picking up for different ball classification features is had based on Internet of Things Ball robot.
Background technology
The large-scale movement place of production can concentrate multinomial ball game, during the motion, usually have ball to fall to other ground It is very arduous frequently to pick up ball work in this way for field officer in side.
Although at present there are also the robot for picking up ball, still there are many problems in these robots, for example, Present many robots be all gripper one by one pick up ball, such ball picking-up efficiency is low, and this ball picking robot only It can carry out picking up ball, the excessive or too small ball of diameter for a kind of spherical shape, this robot, which can not just be picked up, to be come, and this Kind robot does not have the function of multiclass ball categorised collection, these all greatly reduce the practicability of robot.
Invention content
The technical problem to be solved by the present invention is to:For overcome the deficiencies in the prior art, it provides a kind of based on Internet of Things Ball picking robot with different ball classification features.
The technical solution adopted by the present invention to solve the technical problems is:It is a kind of that ball point of difference is had based on Internet of Things The ball picking robot of class function, including main body, carrying mechanism, mobile mechanism, collecting mechanism, sorting mechanism, classification box, middle control machine Structure and camera, the mobile mechanism are arranged in the lower section of main body, and the classification box is arranged in the side of main body, the middle control machine Structure and camera are arranged at the top of main body, and the carrying mechanism, collecting mechanism and sorting mechanism are arranged at the interior of main body Portion, the collecting mechanism are arranged in the side of carrying mechanism, the sorting mechanism be arranged the other side of carrying mechanism and with point Class box is connected to, and the carrying mechanism, collecting mechanism and sorting mechanism are electrically connected with Zhong Kong mechanisms;
The collecting mechanism includes moving assembly and the first closing assembly, and the moving assembly and the first closing assembly are driven Connection, the moving assembly include the first driving unit and mobile bar, and first driving unit is arranged in the inside of main body, institute It includes first motor, the first drive shaft and first gear to state the first driving unit, and the first motor is arranged in the inside of main body, The first motor is sequentially connected by the first drive shaft and first gear, and the mobile bar is horizontally set under first gear The top of side, the mobile bar is equipped with several driven tooths engaged with first gear;
First closing assembly includes fixed plate and two closed cells, and the fixed plate is vertically provided at the interior of main body Portion, the fixed plate are internally provided with groove, and the mobile bar is connected with the side of fixed plate, and two closed cells are about fixation The horizontal center line axis of plate is symmetrical, and the closed cell includes closure plate, movable pulley and electromagnet, and the closure plate level is set It sets, one end of the closure plate is connected with movable pulley, and the movable pulley slides in groove, and the electromagnet is vertically provided at pair On the one end for the closure plate answered and close to another closure plate, the electromagnet is arranged in the inside of fixed plate;
When needing to be collected sphere, robot is moved to the direction of ball at this time, and after reaching purpose, first is electric at this time Machine reversion starts, and first gear rotates counterclockwise therewith, because mobile bar is horizontally set on the lower section of first gear, mobile bar Top is equipped with several driven tooths engaged with first gear, therefore mobile bar is stretched from the inside of main body with the first closing assembly Go out, because fixed plate is internally provided with groove, one end of closure plate is connected with movable pulley, and movable pulley slides in groove, electromagnetism Iron is vertically provided on one end of corresponding closure plate and close to another closure plate, and electromagnet is arranged in the inside of fixed plate, Therefore the movement of movable pulley can be controlled by changing the polarity of electromagnet, drive closure plate to be opened or closed by movable pulley It closes, after closure plate stretches out body interior, is opened, sphere is shrouded behind two pieces of closure plate inside, be closed plate closing, this When first motor rotate forward, mobile bar drives closure plate to be moved to body interior, and closure plate is rolled to the inside of collecting box with ball. By this collecting mode, can all kinds of balls quickly be carried out to ball and carry out mixed collection, and worked as and encounter the ball that raft is scattered Can also disposable collecting, crawl one-to-one compared with other ball picking robots is collected, collection efficiency higher, for the later stage point Class is prepared.
The carrying mechanism includes shell, collecting box, angular adjustment component and lifting assembly, and the shell is arranged in main body Inside and one end of shell and the inner wall of main body it is hinged, the collecting box is arranged in the lower section of shell, and the shell passes through liter Part of coming down to a lower group is sequentially connected with collecting box, and the side of the collecting box is equipped with pick out bulb road, and the lifting assembly is arranged in angle tune The lower section of component is saved, the lifting assembly is sequentially connected with angular adjustment component;
The lifting assembly includes the second driving unit and lifting unit, and second driving unit is arranged in shell Portion, second driving unit include the second motor, the second drive shaft and second gear, and second motor is arranged in shell Inside, second drive shaft is vertically arranged, and second motor is sequentially connected by the second drive shaft and second gear;
The lifting unit includes bar shaped gear, movable block and expansion bracket, and the bar shaped gear is horizontally set on the second tooth The side of wheel, the bar shaped gear are engaged with second gear, and the expansion bracket is vertically arranged, and the both ends on the upside of the expansion bracket are equal The one end being arranged on the upside of the inside of shell, the expansion bracket is hinged with movable block, and the movable block is connected with bar shaped gear, institute The inside that the other end on the upside of expansion bracket is articulated with shell is stated, the both ends on the downside of the expansion bracket are connected and are being collected with collecting box Sliding above case;
The angular adjustment component includes cylinder, output shaft, sliding shoe and fixed frame, and the fixed frame is arranged in shell Side and top positioned at hinged place, the cylinder are arranged in the inside of main body, the sliding shoe fixed frame internal slide, The output shaft is horizontally disposed, and the cylinder is sequentially connected by output shaft and sliding shoe;
When needing all kinds of balls in collecting box being transported to utility box, the second electric motor starting at this time, second gear is therewith Rotation because bar shaped gear is horizontally set on the side of second gear, bar shaped gear is engaged with second gear, therefore bar shaped gear to It moves left, because expansion bracket is vertically arranged, one end on the upside of expansion bracket is hinged with movable block, and movable block is connected with bar shaped gear, The other end on the upside of expansion bracket is articulated with the inside of shell, and the both ends on the downside of expansion bracket are connected with collecting box and above collecting box Sliding, is moved straight up when bar shaped gear is moved to the left expansion bracket, is driven collecting box to be moved to the inside of main body from below, is arrived When reaching suitable position, cylinder starts at this time, because cylinder is sequentially connected by output shaft and sliding shoe, shell is arranged in master The inside of body and the inner wall of one end of shell and main body are hinged, and fixed frame is arranged in the side of shell and positioned at shell and main body Inner wall is hinged the top at place, and sliding shoe is in the internal slide of fixed frame, therefore cylinder is by controlling the movement of output shaft, to change The angle of shell, shell drive collecting box angulation change, collecting box to tilt, and pick out bulb road position is relatively low, and pick out bulb road is beaten at this time It opens, all kinds of balls are slipped to from collecting box in utility box.
The sorting mechanism includes control assembly and shakes component, and the control assembly is sequentially connected with component is shaken;
The control assembly includes third motor, third drive shaft and roller, and the third motor is arranged in main body Portion, the third drive shaft is vertically arranged, and the roller is vertically arranged, and the whole body of the roller is equipped with guide groove, and the guide groove is received Tail is connected, and the guide groove is obliquely installed on the periphery of roller, and the third motor passes through third drive shaft and drum drive Connection;
The shaking component include fixed block, first connecting rod, second connecting rod, utility box and several classification layers, it is described solid Determine block to be arranged in the inside of main body and positioned at the side of roller, the first connecting rod is horizontally disposed, one end of the first connecting rod Hinged with fixed block, the other end of the first connecting rod slides in the guide groove of roller, and the second connecting rod is vertically arranged, described Utility box is connected by second connecting rod with first connecting rod, and each layer of classifying uniformly is arranged in utility box successively from top to bottom Portion, the utility box are connected to classification box.
When needing to classify to all kinds of balls, third electric motor starting, roller rotate therewith at this time, because fixed block is arranged In the inside of main body and positioned at the side of roller, first connecting rod is horizontally disposed, and one end of first connecting rod and fixed block are hinged, and first The other end of connecting rod slides in the guide groove of roller, therefore first connecting rod is swung up and down around fixed block, and because second connecting rod is perpendicular To setting, utility box is connected by second connecting rod with first connecting rod, therefore utility box also begins to swing up and down, because being set on classification layer There are several trepannings, each opening diameter classified on layer is sequentially reduced from top to bottom, therefore all kinds of balls are when utility box shakes, diameter Small ball is fallen at first, most in can realize that different size of ball is classified, avoid artificially check identification sort out so that it is all kinds of Ball classification when more convenient and efficient.
Preferably, in order to make door close can be automatically closed after goal, when ball is into fashionable, ball is contacted with door close, Give door close one active force, because the upper end of door close and the top for collecting chamber interior wall are hinged, therefore door close rotating opening, together When second spring be squeezed contraction, after ball enters collecting box, second spring no longer stress, from contraction state restore become It is long, while door close being driven to turn to original position.The other side of the collecting box is equipped with the second closing assembly, second closed group Part includes locating piece, second spring and door close, and the upper end of the door close and the top for collecting chamber interior wall are hinged, the positioning Block is arranged in the top for collecting chamber interior wall, and the second spring is horizontally disposed, and the locating piece is driven by spring and door close Connection.
Preferably, collecting ball to allow the robot to automatically move, the mobile mechanism includes the 4th motor, the Four drive shafts and movable pulley, the 4th motor are arranged in the inside of main body, and the movable pulley is arranged in the lower section of main body, described 4th motor is sequentially connected by the 4th drive shaft and movable pulley.
Preferably, for different ball of classifying, utility box shakes, therefore all kinds of balls inside utility box are also shaking, because Several trepannings are equipped with for classification layer, each opening diameter classified on layer is sequentially reduced from top to bottom, therefore all kinds of of different sizes Ball stay in respectively in corresponding classification layer, wait to be collected.The classification layer is equipped with several trepannings, layer of respectively classifying On opening diameter be sequentially reduced from top to bottom.
Preferably, in order to adjust the distance between two pieces of closure plates, prevent motional collision from damaging, between two blocks of electromagnet Equipped with the first spring, the telescopic direction of first spring is consistent with the moving direction of electromagnet.
Preferably, the Zhong Kong mechanisms include display interface, control button, status indicator lamp and PLC, display circle Face, control button and status indicator lamp are electrically connected with PLC.
Preferably, more convenient in order to be operated in display interface, the display interface is touch display screen.
Preferably, working in order to remote-controlled robot, the main body is internally provided with antenna, the antenna and PLC Electrical connection.
Preferably, door close rotation is excessive in order to prevent so that door close is opened, and ball is fallen, the closure The lower end of door is equipped with protrusion, and the protrusion is contradicted with door close, and the protrusion is arranged in the lower section of the opening of collecting box.
Preferably, in order to detect all kinds of ball present positions, convenient to prepare for follow-up work, the inside of the main body is set There are pyroscan, the pyroscan to be electrically connected with Zhong Kong mechanisms.
The invention has the advantages that be somebody's turn to do in the ball picking robot with different ball classification features based on Internet of Things, By collecting mechanism, various different types of balls of ground can rapidly be merged concentration, by carrying mechanism by a variety of balls Class is transported to designated position, by sorting mechanism, can different balls be carried out Fast Classification and collected, with other ball picking robots It compares, ball picking-up efficiency higher, and the function of being provided with different ball classification substantially increases robot by these mechanisms Practicability.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural representation of the ball picking robot with different ball classification features based on Internet of Things of the present invention Figure;
Fig. 2 is the collecting mechanism of the ball picking robot with different ball classification features based on Internet of Things of the present invention Structural schematic diagram;
Fig. 3 is the carrying mechanism of the ball picking robot with different ball classification features based on Internet of Things of the present invention Structural schematic diagram;
Fig. 4 is the sorting mechanism of the ball picking robot with different ball classification features based on Internet of Things of the present invention Structural schematic diagram;
Fig. 5 is the Zhong Kong mechanisms of the ball picking robot with different ball classification features based on Internet of Things of the present invention Structural schematic diagram;
In figure:1. main body, 2. carrying mechanisms, 3. mobile mechanisms, 4. collecting mechanisms, 5. classification boxes, 6. Zhong Kong mechanisms, 7. take the photograph Picture head, 8. first motors, 9. first gears, 10. mobile bars, 11. fixed plates, 12. closure plates, 13. movable pulleies, 14. electromagnet, 15. the first spring, 16. collecting boxs, 17. pick out bulb road, 18. door closes, 19. second springs, 20. locating pieces, 21. expansion brackets, 22. shell, 23. second motors, 24. second gears, 25. bar shaped gears, 26. movable blocks, 27. cylinders, 28. output shafts, 29. is solid Determine frame, 30. sliding shoes, 31. third motors, 32. rollers, 33. fixed blocks, 34. first connecting rods, 35. second connecting rods, 36. classification Case, 37. classification layers, 38. display interfaces, 39. control buttons, 40. status indicator lamps.
Specific implementation mode
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant to the invention.
As Figure 1-Figure 5, a kind of ball picking robot with different ball classification features based on Internet of Things, including master Body 1, carrying mechanism 2, mobile mechanism 3, collecting mechanism 4, sorting mechanism, classification box 5, Zhong Kong mechanisms 6 and camera 7, the shifting Motivation structure 3 is arranged in the lower section of main body 1, and the classification box 5 is arranged in the side of main body 1, the Zhong Kong mechanisms 6 and camera 7 It is arranged at the top of main body 1, the carrying mechanism 2, collecting mechanism 4 and sorting mechanism are arranged at the inside of main body 1, described Collecting mechanism 4 is arranged in the side of carrying mechanism 2, the sorting mechanism be arranged the other side of carrying mechanism 2 and with classification box 5 Connection, the carrying mechanism 2, collecting mechanism 4 and sorting mechanism are electrically connected with Zhong Kong mechanisms 6;
The collecting mechanism 4 includes moving assembly and the first closing assembly, and the moving assembly and the first closing assembly pass Dynamic connection, the moving assembly include the first driving unit and mobile bar 10, and first driving unit is arranged in main body 1 Portion, first driving unit include first motor 8, the first drive shaft and first gear 9, and the first motor 8 is arranged in master The inside of body 1, the first motor 8 are sequentially connected by the first drive shaft and first gear 9, and the mobile bar 10 is horizontally disposed In the lower section of first gear 9, the top of the mobile bar 10 is equipped with several driven tooths engaged with first gear 9;
First closing assembly includes fixed plate 11 and two closed cells, and the fixed plate 11 is vertically provided at main body 1 inside, the fixed plate 11 are internally provided with groove, and the mobile bar 10 is connected with the side of fixed plate 11, two closures Unit is symmetrical about the horizontal center line axis of fixed plate 11, and the closed cell includes closure plate 12, movable pulley 13 and electromagnet 14, the closure plate 12 is horizontally disposed, and one end of the closure plate 12 is connected with movable pulley 13, and the movable pulley 13 is in groove Sliding, the electromagnet 14 are vertically provided on one end of corresponding closure plate 12 and close to another closure plate 12, the electricity Magnet 14 is arranged in the inside of fixed plate 11;
When needing to be collected sphere, robot is moved to the direction of ball at this time, and after reaching purpose, first is electric at this time The reversion of machine 8 starts, and first gear 9 rotates counterclockwise therewith, because mobile bar 10 is horizontally set on the lower section of first gear 9, moves The top of lever 10 is equipped with several driven tooths for being engaged with first gear 9, thus mobile bar 10 from the inside of main body 1 with first Closing assembly stretches out, because fixed plate 11 is internally provided with groove, one end of closure plate 12 is connected with movable pulley 13, movable pulley 13 It is slided in groove, electromagnet 14 is vertically provided on one end of corresponding closure plate 12 and close to another closure plate 12, electricity Magnet 14 is arranged in the inside of fixed plate 11, therefore can control the movement of movable pulley 13 by changing the polarity of electromagnet 14, leads to Crossing movable pulley 13 drives closure plate 12 to be opened or be closed, and after closure plate 12 stretches out 1 inside of main body, is opened, will Sphere shrouds behind two pieces of 12 inside of closure plate, and closure plate 12 is closed, and first motor 8 rotates forward at this time, and mobile bar 10, which drives, to be closed For plate 12 to moving inside main body 1, closure plate 12 is rolled to the inside of collecting box 16 with ball.It, can be with by this collecting mode All kinds of balls quickly are carried out to ball and carry out mixed collections, and when encounter ball that raft is scattered can also disposable collecting, compared with The one-to-one crawl of other ball picking robots is collected, and collection efficiency higher is prepared for later stage classification.
The carrying mechanism 2 includes shell 22, collecting box 16, angular adjustment component and lifting assembly, and the shell 22 is set It sets and is hinged in the inside of main body 1 and one end of shell 22 and the inner wall of main body 1, the collecting box 16 is arranged under shell 22 Side, the shell 22 are sequentially connected by lifting assembly and collecting box 16, and the side of the collecting box 16 is equipped with pick out bulb road 17, The lifting assembly is arranged in the lower section of angular adjustment component, and the lifting assembly is sequentially connected with angular adjustment component;
The lifting assembly includes the second driving unit and lifting unit, and second driving unit is arranged in shell 22 Inside, second driving unit include the second motor 23, the second drive shaft and second gear 24, and second motor 23 is arranged In the inside of shell 22, second drive shaft is vertically arranged, and second motor 23 passes through the second drive shaft and second gear 24 are sequentially connected;
The lifting unit includes bar shaped gear 25, movable block 26 and expansion bracket 21, and the bar shaped gear 25 is horizontally disposed In the side of second gear 24, the bar shaped gear 25 is engaged with second gear 24, and the expansion bracket 21 is vertically arranged, described to stretch The both ends of 21 upside of contracting frame are arranged at the inside of shell 22, and one end of 21 upside of the expansion bracket and movable block 26 are hinged, institute It states movable block 26 with bar shaped gear 25 to be connected, the other end of 21 upside of the expansion bracket is articulated with the inside of shell 22, described to stretch The both ends of 21 downside of contracting frame are connected with collecting box 16 and are slided above collecting box 16;
The angular adjustment component includes cylinder 27, output shaft 28, sliding shoe 30 and fixed frame 29, and the fixed frame 29 is set The top in the side of shell 22 and the place that is hinged positioned at the inner wall of shell 22 and main body 1 is set, the cylinder 27 is arranged in main body 1 Inside, the sliding shoe 30 is in the internal slide of fixed frame 29, and the output shaft 28 is horizontally disposed, and the cylinder 27 is by defeated Shaft 28 is sequentially connected with sliding shoe 30;
When needing all kinds of balls in collecting box 16 being transported to utility box 36, the second motor 23 starts at this time, the second tooth Wheel 23 rotates therewith, because bar shaped gear 25 is horizontally set on the side of second gear 24, bar shaped gear 25 and second gear 24 Engagement, therefore bar shaped gear 24 is moved to the left, because expansion bracket 21 is vertically arranged, one end of 21 upside of expansion bracket is cut with scissors with movable block 26 It connects, movable block 26 is connected with bar shaped gear 25, and the other end of the upside of expansion bracket 21 is articulated with the inside of shell 22, under expansion bracket 21 The both ends of side be connected with collecting box 16 and above collecting box 16 slide, when bar shaped gear 24 be moved to the left expansion bracket 21 vertically to Upper movement drives collecting box 16 to be moved to the inside of main body 1 from below, and to when reaching suitable position, cylinder 27 starts at this time, Because cylinder 27 is sequentially connected by output shaft 28 and sliding shoe 30, one in the inside of main body 1 and shell 22 is arranged in shell 22 End and the inner wall of main body 1 are hinged, and fixed frame 29 is arranged in the side of shell 22 and positioned at the top of hinged place, and sliding shoe 30 is solid Determine the internal slide of frame 29, therefore cylinder 27, by the movement of control output shaft 28, to change the angle of shell 22, shell 22 drives 16 angulation change of collecting box, collecting box 16 tilt, 17 position of pick out bulb road is relatively low, at this time pick out bulb road 17 open, all kinds of balls from It is slipped in collecting box 16 in utility box 36.
The sorting mechanism includes control assembly and shakes component, and the control assembly is sequentially connected with component is shaken;
The control assembly includes third motor 31, third drive shaft and roller 32, and the third motor 31 is arranged in master The inside of body 1, the third drive shaft is vertically arranged, and the roller 32 is vertically arranged, and the whole body of the roller 32 is equipped with guide groove, The guide groove ending is connected, and the guide groove is obliquely installed on the periphery of roller 32, and the third motor 31 is driven by third Moving axis is sequentially connected with roller 32;
The shaking component includes fixed block 33, first connecting rod 34, second connecting rod 35, utility box 36 and several classification layers 37, the fixed block 33 is arranged in the inside of main body 1 and positioned at the side of roller 32, and the first connecting rod 34 is horizontally disposed, institute The one end for stating first connecting rod 34 is hinged with fixed block 33, and the other end of the first connecting rod 34 slides in the guide groove of roller 32, The second connecting rod 35 is vertically arranged, and the utility box 36 is connected by second connecting rod 35 with first connecting rod 34, each layer 37 of classifying Uniformly it is arranged successively from top to bottom in the inside of utility box 36, the utility box 36 is connected to classification box 5.
When needing to classify to all kinds of balls, third motor 31 starts at this time, and roller 32 rotates therewith, because of fixed block 33 are arranged in the inside of main body 1 and positioned at the side of roller 32, and first connecting rod 34 is horizontally disposed, one end of first connecting rod 34 with it is solid It is hinged to determine block 33, the other end of first connecting rod 34 slides in the guide groove of roller 32, therefore first connecting rod 34 is on fixed block 33 Lower swing, but because second connecting rod 35 is vertically arranged, utility box 36 is connected by second connecting rod 35 with first connecting rod 34, therefore classify Case 36 also begins to swing up and down, because classification layer 37 is equipped with several trepannings, each opening diameter classified on layer 37 is from upper past Under be sequentially reduced, therefore all kinds of balls, when utility box 36 shakes, the small ball of diameter is fallen at first, most in can realize it is different size of Ball is classified, and avoids artificially checking that identification is sorted out so that more convenient and efficient when all kinds of ball classification.
Preferably, in order to make door close 18 can be automatically closed after goal, when ball is into fashionable, ball connects with door close 18 It touches, gives 18 1 active forces of door close, because the upper end of door close 18 and the top of 16 inner wall of collecting box are hinged, therefore door close 18 Rotating opening, while second spring 19 is squeezed contraction, after ball enters collecting box 16, the no longer stress of second spring 19, Restore elongated from contraction state, while door close 18 being driven to turn to original position.The other side of the collecting box 16 is closed equipped with second Seaming element, second closing assembly include locating piece 20, second spring 19 and door close 18, the upper end of the door close 18 with The top of 16 inner wall of collecting box is hinged, and the locating piece 20 is arranged in the top of 16 inner wall of collecting box, 19 water of the second spring Flat setting, the locating piece 20 are sequentially connected by spring and door close 18.
Preferably, in order to allow the robot to automatically move collect ball, the mobile mechanism 3 include the 4th motor, 4th drive shaft and movable pulley, the 4th motor are arranged in the inside of main body 1, and the movable pulley is arranged in the lower section of main body 1, 4th motor is sequentially connected by the 4th drive shaft and movable pulley.
Preferably, for different ball of classifying, utility box 36 shakes, therefore all kinds of balls inside utility box 36 are also shaking Dynamic, because classification layer 37 is equipped with several trepannings, each opening diameter classified on layer 37 is sequentially reduced from top to bottom, therefore all kinds of Ball of different sizes is stayed in respectively in corresponding classification layer, is waited to be collected.The classification layer 37 is opened equipped with several Hole, each opening diameter classified on layer 37 are sequentially reduced from top to bottom.
Preferably, in order to adjust the distance between two pieces of closure plates 12, prevent motional collision from damaging, two blocks of electromagnet 14 Between be equipped with the first spring 15, the telescopic direction of first spring 15 is consistent with the moving direction of electromagnet 14.
Preferably, the Zhong Kong mechanisms 6 include display interface 38, control button 39, status indicator lamp 40 and PLC, institute Display interface 38, control button 39 and status indicator lamp 40 is stated to be electrically connected with PLC.
Preferably, more convenient in order to be operated in display interface, the display interface 38 is touch display screen.
Preferably, working in order to remote-controlled robot, the main body 1 is internally provided with antenna, the antenna and PLC Electrical connection.
Preferably, door close 18 rotates excessively in order to prevent so that door close 18 is opened, and ball is fallen, described The lower end of door close 18 is equipped with protrusion, and the protrusion is contradicted with door close 18, and the opening in collecting box 16 is arranged in the protrusion Lower section.
Preferably, in order to detect all kinds of ball present positions, convenient to prepare for follow-up work, the inside of the main body 1 Equipped with pyroscan, the pyroscan is electrically connected with Zhong Kong mechanisms 6.
Compared with prior art, should pass through based in the ball picking robot with different ball classification features of Internet of Things Various different types of balls of ground can rapidly be merged concentration by collecting mechanism 4, by carrying mechanism 2 by various ball It is transported to designated position, by sorting mechanism, can different balls Fast Classification be subjected to and collected, with other ball picking robot phases Than, ball picking-up efficiency higher, and the function of being provided with different ball classification substantially increases robot by these mechanisms Practicability.
It is enlightenment with above-mentioned desirable embodiment according to the present invention, through the above description, relevant staff is complete Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention Property range is not limited to the contents of the specification, it is necessary to determine its technical scope according to right.

Claims (10)

1. a kind of ball picking robot with different ball classification features based on Internet of Things, which is characterized in that including main body (1), carrying mechanism (2), mobile mechanism (3), collecting mechanism (4), sorting mechanism, classification box (5), Zhong Kong mechanisms (6) and camera shooting Head (7), in the lower section of main body (1), the classification box (5) is arranged in the side of main body (1), institute for mobile mechanism (3) setting Shu Zhongkong mechanisms (6) and camera (7) are arranged at the top of main body (1), the carrying mechanism (2), collecting mechanism (4) and point Class mechanism is arranged at the inside of main body (1), and the collecting mechanism (4) is arranged in the side of carrying mechanism (2), the classifier Structure, which is arranged, be connected in the other side of carrying mechanism (2) and with classification box (5), the carrying mechanism (2), collecting mechanism (4) and is divided Class mechanism is electrically connected with Zhong Kong mechanisms (6);
The collecting mechanism (4) includes moving assembly and the first closing assembly, and the moving assembly and the first closing assembly are driven Connection, the moving assembly include the first driving unit and mobile bar (10), and first driving unit is arranged in main body (1) Inside, first driving unit include first motor (8), the first drive shaft and first gear (9), the first motor (8) Inside in main body (1) is set, and the first motor (8) is sequentially connected by the first drive shaft and first gear (9), the shifting Lever (10) is horizontally set on the lower section of first gear (9), and the top of the mobile bar (10) is equipped with several and first gear (9) driven tooth engaged;
First closing assembly includes fixed plate (11) and two closed cells, and the fixed plate (11) is vertically provided at main body (1) inside, the fixed plate (11) are internally provided with groove, and the mobile bar (10) is connected with the side of fixed plate (11), Two closed cells are symmetrical about the horizontal center line axis of fixed plate (11), and the closed cell includes closure plate (12), sliding (13) and electromagnet (14) are taken turns, the closure plate (12) is horizontally disposed, one end and movable pulley (13) phase of the closure plate (12) Even, the movable pulley (13) is slided in groove, and the electromagnet (14) is vertically provided at one end of corresponding closure plate (12) Another upper and close closure plate (12), inside of electromagnet (14) setting in fixed plate (11);
The carrying mechanism (2) includes shell (22), collecting box (16), angular adjustment component and lifting assembly, the shell (22) setting is hinged in the inside of main body (1) and one end of shell (22) and the inner wall of main body (1), collecting box (16) setting Lower section in shell (22), the shell (22) are sequentially connected by lifting assembly and collecting box (16), the collecting box (16) Side be equipped with pick out bulb road (17), the lifting assembly is arranged at the lower section of angular adjustment component, the lifting assembly and angle Adjusting part is spent to be sequentially connected;
The lifting assembly includes the second driving unit and lifting unit, and second driving unit is arranged in the interior of shell (22) Portion, second driving unit include the second motor (23), the second drive shaft and second gear (24), second motor (23) Inside in shell (22) is set, second drive shaft is vertically arranged, second motor (23) by the second drive shaft with Second gear (24) is sequentially connected;
The lifting unit includes bar shaped gear (25), movable block (26) and expansion bracket (21), and the bar shaped gear (25) is horizontal Side in second gear (24) is set, and the bar shaped gear (25) is engaged with second gear (24), and the expansion bracket (21) is perpendicular To setting, the both ends on the upside of the expansion bracket (21) are arranged at the inside of shell (22), and one on the upside of the expansion bracket (21) End is hinged with movable block (26), and the movable block (26) is connected with bar shaped gear (25), another on the upside of the expansion bracket (21) End is articulated with the inside of shell (22), and the both ends on the downside of the expansion bracket (21) are connected with collecting box (16) and in collecting box (16) It slides top;
The angular adjustment component includes cylinder (27), output shaft (28), sliding shoe (30) and fixed frame (29), the fixed frame (29) setting is in the side of shell (22) and the top at the place that is hinged positioned at the inner wall of shell (22) and main body (1), the cylinder (27) it is arranged in the inside of main body (1), the sliding shoe (30) is in the internal slide of fixed frame (29), output shaft (28) water Flat setting, the cylinder (27) are sequentially connected by output shaft (28) and sliding shoe (30);
The sorting mechanism includes control assembly and shakes component, and the control assembly is sequentially connected with component is shaken;
The control assembly includes third motor (31), third drive shaft and roller (32), and third motor (31) setting exists The inside of main body (1), the third drive shaft is vertically arranged, and the roller (32) is vertically arranged, the whole body of the roller (32) Equipped with guide groove, the guide groove ending is connected, and the guide groove is obliquely installed on the periphery of roller (32), the third motor (31) it is sequentially connected by third drive shaft and roller (32);
The shaking component includes fixed block (33), first connecting rod (34), second connecting rod (35), utility box (36) and several points Class layer (37), fixed block (33) setting is in the inside of main body (1) and positioned at the side of roller (32), the first connecting rod (34) it is horizontally disposed with, one end of the first connecting rod (34) and fixed block (33) are hinged, the other end of the first connecting rod (34) The sliding in the guide groove of roller (32), the second connecting rod (35) is vertically arranged, and the utility box (36) passes through second connecting rod (35) it is connected with first connecting rod (34), layer (37) of respectively classifying is uniform successively from top to bottom to be arranged in the inside of utility box (36), The utility box (36) is connected to classification box (5).
2. the ball picking robot with different ball classification features based on Internet of Things, feature exist as described in claim 1 In the other side of the collecting box (16) is equipped with the second closing assembly, and second closing assembly includes locating piece (20), second Spring (19) and door close (18), the upper end of the door close (18) is hinged with the top of collecting box (16) inner wall, the positioning Block (20) setting is in the top of collecting box (16) inner wall, and the second spring (19) is horizontally disposed, and the locating piece (20) passes through Spring is sequentially connected with door close (18).
3. the ball picking robot with different ball classification features based on Internet of Things, feature exist as described in claim 1 In the mobile mechanism (3) includes the 4th motor, the 4th drive shaft and movable pulley, and the 4th motor is arranged in main body (1) Inside, the movable pulley setting are connected in the lower section of main body (1), the 4th motor by the 4th drive shaft and movable pulley transmission It connects.
4. the ball picking robot with different ball classification features based on Internet of Things, feature exist as described in claim 1 In the classification layer (37) is equipped with several trepannings, and the opening diameter respectively classified on layer (37) is sequentially reduced from top to bottom.
5. the ball picking robot with different ball classification features based on Internet of Things, feature exist as described in claim 1 In equipped with the first spring (15), telescopic direction and the electromagnet (14) of first spring (15) between two pieces of electromagnet (14) Moving direction it is consistent.
6. the ball picking robot with different ball classification features based on Internet of Things, feature exist as described in claim 1 In the Zhong Kong mechanisms (6) include display interface (38), control button (39), status indicator lamp (40) and PLC, the display Interface (38), control button (39) and status indicator lamp (40) are electrically connected with PLC.
7. the ball picking robot with different ball classification features based on Internet of Things, feature exist as claimed in claim 6 In the display interface (38) is touch display screen.
8. the ball picking robot with different ball classification features based on Internet of Things, feature exist as described in claim 1 In the main body (1) is internally provided with antenna, and the antenna is electrically connected with PLC.
9. the ball picking robot with different ball classification features based on Internet of Things, feature exist as claimed in claim 2 In the lower end of the door close (18) is equipped with protrusion, and the protrusion is contradicted with door close (18), and the protrusion is arranged in collecting box (16) lower section of opening.
10. the ball picking robot with different ball classification features based on Internet of Things, feature exist as described in claim 1 In the main body (1) is internally provided with pyroscan, and the pyroscan is electrically connected with Zhong Kong mechanisms (6).
CN201710641289.9A 2017-07-31 2017-07-31 A kind of ball picking robot with different ball classification features based on Internet of Things Active CN107224711B (en)

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