CN107952221B

CN107952221B - Shuttlecock picking machine

Info

Publication number: CN107952221B
Application number: CN201711067355.2A
Authority: CN
Inventors: 杨帆; 麦智斌; 钱佳忠; 奚鑫; 石志伟; 翟强; 石松泉; 宣东
Original assignee: Zhejiang Deepcode Robot Co ltd
Current assignee: Zhejiang Deepcode Robot Co ltd
Priority date: 2017-11-03
Filing date: 2017-11-03
Publication date: 2022-10-04
Anticipated expiration: 2037-11-03
Also published as: CN107952221A

Abstract

The invention discloses a badminton picking and distributing machine, which comprises a mobile platform, a badminton picking device, a badminton arranging and supplying device, a badminton serving device, a probe and a controller, wherein the badminton picking device, the badminton arranging and supplying device, the badminton serving device, the probe and the controller are arranged on the mobile platform; the ball picking device, the ball arranging and supplying device and the ball serving device are sequentially butted and are respectively connected with the controller, and the probe is connected with the controller; the ball picking device comprises a ball collecting hopper, a conveyor belt and a ball sweeping mechanism; the ball sweeping mechanism is positioned at the front side of the ball collecting hopper, and the conveying belt is positioned between the ball sweeping mechanism and the ball collecting hopper; the ball sweeping mechanism comprises a ball sweeping roller; the ball sweeping roller comprises a roller shaft and a plurality of ball sweeping plates connected to the outer peripheral wall of the roller shaft; the badminton sweeping plates are made of sponge, and an opening formed between every two adjacent badminton sweeping plates is larger than the height of the badminton; the front end of the conveyor belt is positioned below the ball sweeping roller and is close to the ground, and the rear end of the conveyor belt is connected with an opening of the ball collecting hopper; the minimum distance between the ball sweeping roller and the ground is smaller than the tail radius of the badminton. The badminton picking and dispatching machine can realize the functions of fully-automatic badminton picking, sorting, dispatching and the like.

Description

Shuttlecock picking machine

Technical Field

The invention relates to the field of sports equipment, in particular to a badminton picking and sending machine.

Background

Badminton is a sports event, and is more and more popular because of its simple easy to learn, easy to get on hand and have interest and antagonism, however, the badminton collection work scattered in the place becomes the biggest problem. At present, a badminton ball picking machine is composed of a moving frame, a ball sweeping mechanism and a ball collecting frame, wherein the ball sweeping mechanism and the ball collecting frame are arranged on the moving frame. When the ball picking-up device works, the balls are conveniently transferred through the movable frame, and the balls are automatically picked up into the ball collecting frame through the ball sweeping mechanism. Although this machine can follow to a certain extent and improve and pick up ball efficiency, reduces sportsman's ball intensity of picking up, at the during operation, need have a people to make a round trip to promote to the machine, with the machine push away the place that has the badminton, just can pick up the badminton automatically, pick up ball efficiency and also received the restriction. In addition, the serve also needs manual control, and the degree of intellectualization is not high.

In order to solve the problems, the scheme is developed accordingly.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide the badminton picking and delivering machine which can realize full-automatic badminton picking, tidying and delivering.

In order to achieve the purpose, the technical scheme of the invention is as follows: a badminton pick-up and dispatch machine comprises a mobile platform, a badminton pick-up device, a badminton arranging and supplying device, a badminton dispatch device, a probe and a controller, wherein the badminton pick-up device, the badminton arranging and supplying device, the badminton dispatch device, the probe and the controller are arranged on the mobile platform; the ball picking device, the ball arranging and supplying device and the ball serving device are sequentially butted; the probe is connected with the controller, and the controller is respectively connected with the ball picking device, the ball arranging and supplying device and the ball serving device; the ball picking device comprises a ball collecting hopper with an opening at the upper end, a conveying belt and a ball sweeping mechanism; the ball sweeping mechanism is positioned on the front side of the ball collecting hopper, and the conveying belt is positioned between the ball sweeping mechanism and the ball collecting hopper; the ball sweeping mechanism comprises a ball sweeping roller horizontally supported at the front end of the moving platform; the ball sweeping roller comprises a roller shaft and a plurality of ball sweeping plates which are connected to the outer peripheral wall of the roller shaft at equal angles; the badminton sweeping plates are made of sponge, and an opening formed between every two adjacent badminton sweeping plates is larger than the height of the badminton; the front end of the conveyor belt is positioned below the ball sweeping roller and is close to the ground, and the rear end of the conveyor belt is connected with the opening of the ball collecting hopper; the minimum distance between the ball sweeping roller and the ground is smaller than the tail radius of the shuttlecock.

Furthermore, the ball arranging and supplying device comprises a support, two vertical guide plates, two baffle plates, a ball picking mechanism, two extrusion rollers with opposite rotation directions and a conveying belt; the ball collecting hopper is arranged at the top of the bracket; the two vertical guide plates are oppositely arranged below the ball collecting hopper, and a ball falling channel with an upper end inlet in butt joint with a lower end outlet of the ball collecting hopper is formed between the two vertical guide plates; the width of the falling ball channel is between the diameter of the tail of the badminton and the height of the badminton; the two baffles are blocked at the two ends of the ball falling channel in the length direction; the two squeezing rollers are arranged at the outlet of the lower end of the ball falling channel and extend along the length direction of the ball falling channel; the conveying belt is arranged below the two extrusion rollers; the ball picking mechanism is arranged on the outer side of the baffle and comprises a ball picking motor and a ball picking rod; the ball picking motor is fixed on the outer side of the baffle, and the ball picking rod is arranged on the ball picking motor; a vertical hole is formed in the position, corresponding to the ball picking rod, of the baffle; the ball picking rod can swing upwards and reset under the driving of the ball picking motor, and can extend into the ball falling channel from the vertical hole during upward swing to pick the badminton clamped at the inlet at the upper end of the ball falling channel.

Furthermore, the ball picking mechanisms are provided with two groups, and the two groups of ball picking mechanisms are respectively and correspondingly arranged on the outer sides of the two baffle plates.

Furthermore, the ball picking mechanism also comprises a rotating seat, a sliding block and a telescopic driving member; the rotating seat is arranged on an output shaft of the ball picking motor; the sliding block is fixed on the rotating seat; the ball picking rod is in sliding fit with the sliding block and can do axial telescopic movement relative to the sliding block under the drive of the telescopic driving member.

Further, the telescopic driving member comprises a telescopic motor and a gear; the telescopic motor is fixed on the rotating seat; the ball picking rod is formed by connecting a rack positioned on one side and a sliding rail positioned on the other side back to back; the sliding rail is in sliding fit with the sliding block; the gear is arranged on an output shaft of the telescopic motor and meshed with the rack.

Furthermore, the ball serving device comprises a base, a ball serving hopper, a turnover conveying system, a ball serving platform, two ball serving wheels and two ball serving motors; the serving platform is arranged at the top of the base; the two service wheels are pivoted on the service platform side by side, and the two service motors are respectively connected with and drive the two service wheels; the serving bucket is arranged on the serving platform and is positioned on one side between the two serving wheels; the turnover conveying system is arranged at the bottom between the ball serving bucket and the two ball serving wheels.

After adopting the technical scheme, compared with the prior art, the invention has the following advantages: the badminton picking and dispatching machine can realize full-automatic badminton picking, sorting and dispatching, does not need to be pushed back and forth manually during working, and is convenient to operate and high in intelligent degree.

Drawings

Fig. 1 is a schematic structural view of the present invention.

FIG. 2 is a schematic view of another angle of the present invention (after the ball-picking device is removed).

Fig. 3 is a schematic view of the structure of the ball pick lever in a normal state.

Fig. 4 is a schematic view showing a structure in which the ball-picking lever swings a ball upwardly.

Fig. 5 is a schematic view of the structure of the picker shaft when axially retracted.

Fig. 6 is a schematic structural view of the ball-picking lever rotated to a normal angle.

Figure 7 is a schematic view of a shuttlecock in a horizontal position and a vertical position.

FIG. 8 is a schematic view of a shuttlecock in a longitudinal position.

FIG. 9 is a schematic view of the structure of the ball picking mechanism of the present invention.

FIG. 10 is a schematic structural view of a shuttlecock.

Shown in the figure: 1. the badminton conveying device comprises a moving platform 2, a badminton picking device 21, a badminton collecting hopper 22, a conveying belt 23, a badminton sweeping roller 231, a roller shaft 232, a badminton sweeping plate 24, a hanging plate 25, a motor 3, a badminton tidying and supplying device 31, a support 32, a squeezing roller 33, a vertical guide plate 34, a baffle 35, a badminton picking mechanism 351, a badminton picking motor 352, a badminton picking rod 3521, a rack 3522, a sliding rail 353, a vertical hole 354, a rotating seat 355, a sliding block 356, a telescopic motor 357, a gear 36, a belt 37, a badminton falling channel 38, a conveying channel 39, a sensor 4, a badminton serving device 41, a base 42, a badminton serving hopper 43, a turnover conveying system 44, a badminton serving platform 45, a badminton serving wheel 46, a badminton serving motor 5, a badminton 51, a horizontal badminton 52, a vertical badminton 53, a vertical badminton 6, a probe 7, a controller 8, a traveling wheel W, a width D1 of the badminton falling channel, a tail diameter D2 of a badminton, a head diameter H of the badminton, and a height of the badminton.

Detailed Description

The invention is explained in more detail below with reference to the figures and examples.

As shown in fig. 1 and 2: a shuttlecock picking and delivering machine comprises a moving platform 1, and a shuttlecock picking device 2, a shuttlecock sorting and supplying device 3, a shuttlecock delivering device 4, a probe 6 and a controller 7 which are arranged on the moving platform 1. The ball picking device 2, the ball arranging and supplying device 3 and the ball serving device 4 are in butt joint in sequence. The ball picking device 2 is used for picking up balls and conveying the balls to the ball sorting and supplying device 3, the ball sorting and supplying device 3 conveys the sorted balls one by one into the ball serving device 4, and finally the shuttlecocks are excited by the ball serving device 4. The probe 6 is connected with the controller 7 and used for positioning the shuttlecocks on the ground and transmitting signals to the controller 7. The controller 7 is respectively connected with the ball picking device 2, the ball arranging and supplying device 3 and the ball serving device 4 and is used for controlling the devices to work cooperatively. The mobile platform 1 is provided with a traveling wheel 8, the direction of the traveling wheel 8 is controlled by the controller 7, and then the direction of the whole mobile platform 1 is controlled by the controller 7, and the technology is conventional and is not described again. The controller 7 can adopt a conventional single chip microcomputer or PLC.

The ball picking device 2 comprises a ball collecting bucket 21 with an opening at the upper end, a conveyor belt 22 and a ball sweeping mechanism. The ball sweeping mechanism is positioned at the front side of the ball collecting hopper 21, and the conveyor belt 22 is positioned between the ball sweeping mechanism and the ball collecting hopper 21. The ball sweeping mechanism comprises a ball sweeping roller 23. The ball sweeping roller 23 is horizontally supported at the front end of the moving platform 1 and is driven to rotate by a motor 25. The ball sweeping roller 23 comprises a roller shaft 231 and a plurality of ball sweeping plates 232 which are connected to the outer peripheral wall of the roller shaft 231 at equal angles, wherein the roller shaft 231 is connected with the motor 25 and controlled by the controller 7, the roller shaft 231 drives the ball sweeping plates 232 to rotate, and then shuttlecocks are swept onto the conveyor belt 22. The ball-sweeping board 232 is made of sponge. The board 232 design of sweeping the football shirt is made by the sponge, because the frictional force of sponge is big, and the drive power that provides when contacting with the badminton is also big, when sweeping the high-speed rotation of board 232, in case just can provide a great drive power with the badminton contact, sweep the badminton to conveyer belt 22 on, fast, and because the texture is soft, can not have any damage to the badminton.

The opening formed between two adjacent ball sweeping plates 232 is larger than the height of the shuttlecock, so that the shuttlecock in any state can be swept between the two ball sweeping plates 232. The front end of the conveyor belt 22 is positioned below the ball sweeping roller 23 and is close to the ground, and the rear end is connected with the opening of the ball collecting hopper 21. The minimum distance between the ball sweeping roller 23 and the ground is smaller than the tail radius of the shuttlecock. By the design, the shuttlecocks on the shuttlecock sweeping plate 232 can reach the shuttlecocks on the ground when the shuttlecock sweeping roller 23 rotates, and meanwhile, enough thrust is provided for sweeping the shuttlecocks onto the conveyor belt 22. When the ball sweeping roller 23 rotates at a high speed, the ball sweeping plate 232 contacts with the shuttlecocks on the ground, the shuttlecocks are swept to the conveyor belt 22, and then the shuttlecocks are fed into the ball collecting hopper 21 through the conveyor belt 22, so that the automatic shuttlecock picking operation is realized.

In the present embodiment, the number of the ball-sweeping plates 232 is preferably four. In other embodiments, the number of the ball sweeping plates 232 may be any number greater than two, and is not limited. In specific operation, the speed of picking up the balls is determined by the rotation speed of the ball sweeping roller 23 and the number of the ball sweeping plates 232 on the ball sweeping roller 23. Hanging plates 24 are provided on the surface of the conveyor belt 22 at intervals in the longitudinal direction. The shuttlecocks can be hung on the conveyor belt 22 through the hanging plate 24, so that the stability of conveying the shuttlecocks by the conveyor belt 22 is improved.

The ball picking device 2 has the working principle that: when picking up the badminton, the controller 7 controls the badminton sweeping roller 23 in the badminton sweeping mechanism to rotate at a high speed so as to sweep the badminton onto the conveyor belt 22, and then the badminton is conveyed into the badminton collecting hopper 21 through the conveyor belt 22, thereby completing the badminton picking work.

The ball arranging and supplying device 3 specifically comprises a support 31, two vertical guide plates 33, two baffle plates 34, a ball picking mechanism 35, two extrusion rollers 32 with opposite rotation directions and a conveying belt. The support 31 is fixed on the mobile platform 1, and the ball collecting hopper 21 is installed at the top of the support 31 and used for receiving balls. The two vertical guide plates 33 are oppositely arranged below the ball collecting hopper 21, and a ball falling channel 37 is formed between the two vertical guide plates 33. The inlet at the upper end of the ball falling channel 37 is in butt joint with the outlet at the lower end of the ball collecting hopper 21, and the shuttlecocks in the ball collecting hopper 21 can fall into the ball falling channel 37. The two baffles 34 are stopped at both ends of the ball falling passage 37 in the longitudinal direction. In specific implementation, the baffle 34 extends upwards and blocks two ends of the ball collecting hopper 21. Two squeezing rollers 32 are installed at the lower end outlet of the ball drop passage 37 and extend along the length direction of the ball drop passage 37. The distance between the two squeezing rollers 32 is between the diameter D2 of the head of the badminton and the diameter D1 of the tail of the badminton. When the shuttlecock falls between the two squeeze rollers 32, the shuttlecock is pressed down out of the shuttlecock dropping passage 37 as the squeeze rollers 32 rotate.

The conveyor belt is mounted below two squeeze rollers 32. The conveyer belt comprises two symmetrically arranged closed transmission belts 36, and a conveying channel 38 capable of clamping the shuttlecocks to advance is formed between the two belts 36. The feed channel 38 extends along the length of the press roll 32. The front end of the transfer passage 38 has a ball drop opening (actually present, but not shown) which vertically corresponds to a ball hopper 42 in the ball dispenser 4. The shuttlecocks falling from the falling path 37 fall onto the conveying path 38 and are further conveyed forward through the conveying path 38, and finally fall from the falling port into the serving hopper 42 of the serving device 4.

As shown in fig. 7 and 10: the width W of the falling ball channel, namely the distance between the two vertical guide plates 33, is between the tail diameter D1 of the badminton and the height H of the badminton. Preferably, the width W of the ball falling channel is slightly larger than the tail diameter D1 of the badminton, and specifically may be 1.1 to 1.3 times of the tail diameter D1 of the badminton. By limiting the width W of the ball falling channel, the shuttlecocks 51 in the transverse state (the axis of which is perpendicular to the plate surface of the vertical guide plate 33, see fig. 7 for details) are blocked at the upper end inlet of the ball falling channel 37 and cannot enter the ball falling channel 37, and only the shuttlecocks 53 in the longitudinal state and the shuttlecocks 52 in the vertical state (the two states are normal states and the axis of which is parallel to the plate surface of the vertical guide plate 33, see fig. 8 for details) can smoothly enter the ball falling channel 37, and simultaneously, the shuttlecocks can only pass through the width direction of the ball falling channel 37 at each time, so that one shuttlecock can be ensured to orderly fall between the two squeezing rollers 32 in the normal state, and then be smoothly extruded out one by the squeezing rollers 32 one by one under the ball falling channel 37 in an orderly manner, and the situation that the squeezing rollers 32, namely the lower end of the ball falling channel 37 is blocked, which influences the normal operation of the ball supply outlet is thoroughly avoided.

As shown in fig. 9: the ball picking mechanism 35 is attached to the outside of the apron 34, and includes a ball picking motor 351 and a ball picking lever 352. The ball-picking motor 351 is fixed to the outside of the barrier 34, and the ball-picking lever 352 is attached to the ball-picking motor 351. The retainer 34 is provided with a vertical hole 353 at a position corresponding to the ball-picking lever 352. The ball picking rod 352 can swing upwards and return under the driving of the ball picking motor 351, and the track left by the swing is parallel to the plate surface of the vertical guide plate 33. When swinging upwards, the ball raising rod 352 can extend into the ball falling channel 37 from the vertical hole 353 to raise the shuttlecock clamped at the inlet of the upper end of the ball falling channel 37 upwards, so that the state of the shuttlecock is adjusted, and the shuttlecock is adjusted from a horizontal state to a vertical or vertical normal state to smoothly enter the ball falling channel 37.

The ball picking mechanisms 35 are provided with two groups, and the two groups of ball picking mechanisms 35 are respectively and correspondingly arranged on the outer sides of the two baffles 34. In order to increase the ball picking range, in practice, the ball picking lever 352 extends to the farthest end in the ball falling passage 37 near the middle position in the length direction of the ball falling passage 37.

The ball picking mechanism 35 further includes a rotary holder 354, a slider 355, and a telescopic driving member. The rotary base 354 is mounted on an output shaft of the ball picking motor 351 and can rotate synchronously with the output shaft. The slider 355 is fixed to the rotary base 354. The shaft 352 is slidably fitted to the slider 355 and is axially movable relative to the slider 355 by a telescopic driving means. In this embodiment, the telescopic driving means comprises a telescopic motor 356 and a gear 357. The extension motor 356 is fixed to the rotary base 354. In one embodiment, the telescopic motor 356 may be directly embedded into the rotating base 354 to save space and protect the telescopic motor 356. The ball picking rod 352 is formed by connecting a rack 3521 on one side and a slide rail 3522 on the other side back to back. A slide rail 3522 is slidably engaged with the slide block 355. A gear 357 is mounted on the output shaft of the telescopic motor 356 and engages with the rack 3521. The gear 357 can rotate forward and backward under the driving of the telescopic motor 356, and the gear 357 can rotate forward and backward to drive the rack 3521 engaged with the gear to axially extend and retract, so that the whole club 352 can axially extend and retract. Normally, the ball pick lever 352 is in a vertically downward state, and the upper end is fitted on the slider 355.

The ball picking operation of the ball picking rod 352 can be specifically divided into the following four steps:

the method comprises the following steps: the ball picking rod 352 swings the ball picking up upwards under the action of the ball picking motor 351 (see fig. 4 for details);

step two: the ball picking rod 352 is axially retracted under the action of a telescopic motor 356 (see fig. 5 for details);

step three: the ball picking rod 352 is rotated to a normal angle (vertically downward, see fig. 6 for details) by the ball picking motor 351;

step four: the ball picking rod 352 is axially extended and reset under the action of a telescopic motor 356 (see fig. 3 for details).

Through the four steps, the ball picking rod 352 does not swing downwards to reset in the original way after the ball picking is finished, but resets through three action curves of axial retraction, angle resetting and axial extension, so that the defect that the ball picking rod 352 directly swings downwards to reset and is easily clamped on a badminton pile can be thoroughly overcome, and the stable and reliable operation of the device is ensured.

In addition, the ball arranging and feeding device 3 further comprises a plurality of sensors 39, and the sensors 39 are mounted on the bracket 31 or on the inner side of the baffle 34 extending downwards, corresponding to the area between the ball falling channel 37 and the conveying belt, and are used for detecting whether the shuttlecocks fall or not. The sensor 39 is connected with the controller 7, and the controller 7 is connected with the ball picking motor 351 and the telescopic motor 356 and is used for controlling the start and stop of the motors 25. When the sensor 39 does not detect the falling of the shuttlecock for a certain time (for example, set to 3 seconds), it indicates that there is a possibility of the shuttlecock being stuck at the entrance of the upper end of the falling path 37. At this time, the controller 7 controls the ball picking motor 351 and the telescopic motor 356 to start, and controls the ball picking rod 352 to pick the ball for several times, so as to solve the problem of blockage of the shuttlecock. In specific implementation, the controller 7 can adopt a conventional single chip microcomputer or a PLC.

Above structural design's reason ball confession football shirt 3, through two vertical baffle 33 deuterogamies in order to choose football shirt mechanism 35, can arrange out one in an orderly manner with mixed and disorderly badminton in batches to with head state down supply service robot 4, manage football shirt efficiently, and can not block, the complete machine operation is reliable and stable, the energy consumption is low.

The service device 4 comprises a base 41, a service hopper 42, a turnover conveying system 43, a service platform 44, two service wheels 45 and two service motors 46. A serving platform 44 is mounted on top of the base 41. Two service wheels 45 are pivoted on the service platform 44 side by side, and two service motors 46 are respectively connected with and drive the two service wheels 45. The serving bucket 42 is mounted on a serving platform 44, which is located on one side intermediate two serving wheels 45. The overturning and conveying system 43 is installed at the bottom between the serving bucket 42 and the two serving wheels 45, and can overturn the shuttlecocks, thereby minimizing the serving strength loss of the serving wheels 45 and enhancing the serving distance of the shuttlecocks. In particular embodiments, the inversion transport system 43 employs an enclosed drive belt 36, and the belt 36 is driven by a motor 25. After the shuttlecocks fall into the serving hopper 42 of the serving device 4, the shuttlecocks are conveyed between the two serving wheels 45 by the overturning conveying system 43 and then excited by the reverse rotation of the two serving wheels 45.

When the badminton picking and sending machine works, the position of the badminton 5 is firstly positioned by the probe 6, and a position signal of the badminton 5 is transmitted to the controller. And then the controller processes the signals after receiving the signals and controls the moving platform 1 to walk to the position of the badminton 5. And finally, the ball picking device 2, the ball arranging and supplying device 3 and the ball serving device 4 are controlled to work cooperatively, so that the purposes of automatically picking balls, arranging balls and serving balls are achieved. The badminton picking device can directly run on the ground to move the badminton without manually pushing the badminton back and forth, is convenient to operate and has high badminton picking efficiency.

In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the contents described in the specification.

Claims

1. The utility model provides a machine is picked up to badminton which characterized in that: comprises a mobile platform, a ball picking device, a ball arranging and supplying device, a ball serving device, a probe and a controller, wherein the ball picking device, the ball arranging and supplying device, the ball serving device, the probe and the controller are arranged on the mobile platform; the ball picking device, the ball arranging and supplying device and the ball serving device are sequentially butted; the controller is respectively connected with the ball picking device, the ball arranging and supplying device and the ball serving device; the ball picking device comprises a ball collecting hopper with an opening at the upper end, a conveying belt and a ball sweeping mechanism; the ball sweeping mechanism is positioned on the front side of the ball collecting hopper, and the conveying belt is positioned between the ball sweeping mechanism and the ball collecting hopper; the ball sweeping mechanism comprises a ball sweeping roller horizontally supported at the front end of the moving platform; the ball sweeping roller comprises a roller shaft and a plurality of ball sweeping plates which are connected to the outer peripheral wall of the roller shaft at equal angles; the badminton sweeping plates are made of sponge, and an opening formed between every two adjacent badminton sweeping plates is larger than the height of the badminton; the front end of the conveying belt is positioned below the ball sweeping roller and is close to the ground, and the rear end of the conveying belt is connected with an opening of the ball collecting hopper; the minimum distance between the ball sweeping roller and the ground is smaller than the tail radius of the shuttlecock;

the ball arranging and supplying device comprises a bracket, two vertical guide plates, two baffle plates, a ball picking mechanism, two extrusion rollers with opposite rotation directions and a conveying belt; the ball collecting hopper is arranged at the top of the bracket; the two vertical guide plates are oppositely arranged below the ball collecting hopper, and a ball falling channel with an upper end inlet in butt joint with a lower end outlet of the ball collecting hopper is formed between the two vertical guide plates; the width of the falling ball channel is between the diameter of the tail of the badminton and the height of the badminton; the two baffles are blocked at the two ends of the ball falling channel in the length direction; the two squeezing rollers are arranged at the outlet at the lower end of the ball falling channel and extend along the length direction of the ball falling channel; the conveying belt is arranged below the two extrusion rollers; the ball picking mechanism is arranged on the outer side of the baffle and comprises a ball picking motor and a ball picking rod; the ball picking motor is fixed on the outer side of the baffle, and the ball picking rod is arranged on the ball picking motor; a vertical hole is formed in the position, corresponding to the ball picking rod, of the baffle; the badminton picking rod can swing upwards and reset under the driving of the badminton picking motor, and can extend into the badminton falling channel from the vertical hole to pick the badminton clamped at the inlet at the upper end of the badminton falling channel when swinging upwards;

the ball picking mechanism further comprises a rotary seat, a sliding block and a telescopic driving member; the rotating seat is arranged on an output shaft of the ball picking motor; the sliding block is fixed on the rotating seat; the ball picking rod is in sliding fit with the sliding block and can do axial telescopic movement relative to the sliding block under the drive of the telescopic driving member;

the telescopic driving component comprises a telescopic motor and a gear; the telescopic motor is fixed on the rotating seat; the ball picking rod is formed by connecting a rack positioned on one side and a sliding rail positioned on the other side back to back; the sliding rail is in sliding fit with the sliding block; the gear is arranged on an output shaft of the telescopic motor and is meshed with the rack;

the ball picking action of the ball picking mechanism comprises the following steps:

the method comprises the following steps: the ball picking rod swings the ball picking upwards under the action of the ball picking motor;

step two: the ball picking rod axially retracts under the action of the telescopic motor;

step three: the ball picking rod rotates to an angle under a normal state under the action of a ball picking motor;

step four: the ball picking rod axially extends out and resets under the action of the telescopic motor.

2. The shuttlecock picking machine as claimed in claim 1, wherein: the ball picking mechanisms are two groups and are respectively and correspondingly arranged on the outer sides of the two baffle plates.

3. The shuttlecock picking machine as claimed in claim 1, wherein: the ball serving device comprises a base, a ball serving hopper, a turnover conveying system, a ball serving platform, two ball serving wheels and two ball serving motors; the serving platform is arranged at the top of the base; the two service wheels are pivoted on the service platform side by side, and the two service motors are respectively connected with and drive the two service wheels; the serving hopper is arranged on the serving platform and is positioned on one side between the two serving wheels; the turnover conveying system is arranged at the bottom between the ball serving bucket and the two ball serving wheels.