CN107982893A - A kind of service robot with pingpong collection and ball-collecting disk choke preventing function - Google Patents
A kind of service robot with pingpong collection and ball-collecting disk choke preventing function Download PDFInfo
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- CN107982893A CN107982893A CN201810062343.9A CN201810062343A CN107982893A CN 107982893 A CN107982893 A CN 107982893A CN 201810062343 A CN201810062343 A CN 201810062343A CN 107982893 A CN107982893 A CN 107982893A
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- ball
- collecting disk
- main body
- connecting rod
- motor
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices 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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/025—Installations continuously collecting balls from the playing areas, e.g. by gravity, with conveyor belts
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B67/00—Sporting games or accessories therefor, not provided for in groups A63B1/00 - A63B65/00
- A63B67/04—Table games physically beneficial for the human body, modelled on outdoor sports, e.g. table tennis
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/025—Installations continuously collecting balls from the playing areas, e.g. by gravity, with conveyor belts
- A63B2047/028—Installations continuously collecting balls from the playing areas, e.g. by gravity, with conveyor belts pneumatic ball transport
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/62—Plastics recycling; Rubber recycling
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of service robot with pingpong collection and ball-collecting disk choke preventing function, including main body, movable pulley, service mouth, ball-collecting disk and goal tube, further include loose mechanism and recovering mechanism, loose mechanism includes first lantern ring and two shaking assemblies, recovering mechanism includes wobble component and transmission assembly, and transmission assembly includes control unit and push unit.In the service robot with pingpong collection and ball-collecting disk choke preventing function, pass through loose mechanism, the table tennis inside ball-collecting disk can be caused to shake, easy to drop from the inside of ball-collecting disk, prevent the outlet of ball-collecting disk to be blocked, pass through recovering mechanism, the scope of absorption can be adjusted, easy to absorb the table tennis of ground everywhere, and the table tennis of collection is delivered in ball-collecting disk automatically, reduce the workload for picking up ball of people, improve the practicality of table tenning ball servicing machine.
Description
Technical field
The present invention relates to sports equipment field, more particularly to a kind of hair with pingpong collection and ball-collecting disk choke preventing function
Ball machine.
Background technology
Sports equipment refers to the general name of various apparatuses, equipment and articles for use used in athletics sports match and exercise.
Table tenning ball servicing machine is also a kind of common sports equipment, table tenning ball servicing machine be suitable for society, school, family,
Professional training venue, the ball that service robot can send out property various, can be not only used for entertainment body-building, and be suitable for professional training.But table tennis
Pang ball service robot still comes with some shortcomings during actual use, for example service robot, in service, table tennis may incite somebody to action
The opening of ball-collecting disk blocks, and causes service robot not work normally, and driving lever disturbance table tennis can be carried inside existing service robot
Dredged, but the driving lever inside the ball-collecting disk installed also likely to be present failure, so that cause the opening for blocking ball-collecting disk, and
And once there is blockage problem, maintenance will be highly difficult, in addition, service robot after ball is distributed, be required for artificially manually picking up it is scattered
The table tennis to fall to the ground, so adds the workload for picking up ball of people, and existing service robot does not possess automatic recycling table tennis
The function of ball, practicality be not high.
The content of the invention
The technical problem to be solved in the present invention is：It is a kind of with table tennis receipts in order to overcome the deficiencies of the prior art and provide
The service robot of collection and ball-collecting disk choke preventing function.
The technical solution adopted by the present invention to solve the technical problems is：One kind is anti-blocking with pingpong collection and ball-collecting disk
The service robot of function, including main body, movable pulley, service mouth, ball-collecting disk and goal tube, further include loose mechanism and recovering mechanism,
The loose mechanism is arranged on the top of main body, and the recovering mechanism is arranged on the inside of main body；
The loose mechanism includes first lantern ring and two shaking assemblies, and the first set ring set is located on ball-collecting disk, and two
A shaking assembly is separately positioned on the both sides of first lantern ring, and the shaking assembly is sequentially connected with first lantern ring；
The shaking assembly includes the first motor, the first turntable, the second turntable, connecting rod, second lantern ring and spring, described
First motor is vertically provided at the top of main body, and first motor and the first turntable are sequentially connected, first turntable it is upper
Side is equipped with several hemispherical projections, and each protrusion is circumferentially uniformly distributed along the center of circle of the first turntable, and second turntable is horizontal
The top of the first turntable is arranged on, the lower section of second turntable is equipped with several hemispherical concave blocks, and each concave block is along second turn
The center of circle of disk is circumferentially uniformly distributed, and the protrusion is corresponded and is mutually matched with concave block, the raised wheel with the second turntable
Face is against the connecting rod is vertically arranged, and the connecting rod is cuboid, the bottom of the connecting rod and the top of the second turntable
Connection, the top of the connecting rod is connected with first lantern ring, and second lantern ring is set in connecting rod, second lantern ring and
Connecting rod is slidably connected, and second lantern ring is fixed on the top of main body, and the spring is vertically arranged, and the spring has two,
Two springs are separately positioned on the both sides of connecting rod, and second lantern ring is connected by spring with the second turntable；
The recovering mechanism includes wobble component and transmission assembly；
The transmission assembly includes control unit and push unit, and described control unit is arranged on the side of push unit；
Described control unit includes drive chamber, screen plate, the 3rd motor, runner, first connecting rod, second connecting rod and push plate,
The drive chamber is horizontally set on the inside of main body, and the push plate is vertically provided at the inside of drive chamber, the push plate and driving
The inner wall of the inner wall matching of room, the push plate and drive chamber is slidably connected, and the 3rd motor is horizontally set on the interior of drive chamber
Portion, the 3rd motor are connected with runner, and one end of the first connecting rod and the remote circle centre position of runner are hinged, and described first connects
The other end of bar and one end of second connecting rod are hinged, and the other end of the second connecting rod is connected with push plate, the second connecting rod water
Flat to set, the screen plate has two, and two screen plates are inclined at the both sides up and down of the inner wall of drive chamber, two sieves respectively
The distance between both ends of inner wall of remote drive chamber of plate are selected to be less than be connected with the inner wall of drive chamber the two of two screen plates
The distance between end；
The push unit includes the 4th motor, delivery pipe, screw rod and inclined tube, and the delivery pipe is vertically arranged, the drive
The side of the side of the remote push plate of dynamic room and the lower section of delivery pipe connects, and the 4th motor is vertically provided under delivery pipe
Side, the screw rod are vertically provided at the inside of delivery pipe, and the 4th motor is connected with screw drive, and the inclined tube is tilted and set
Put, the side connection of one end of the inclined tube and the top of delivery pipe, the other end of the inclined tube is arranged on the top of ball-collecting disk.
Preferably, in order to control suction nozzle to stretch out the inside of main body, reciprocally swinging expands suction ball scope, the wobble component
Including the second motor, driving wheel, rotating bar, casing, cylinder and suction nozzle, second motor is vertically provided at the inside of main body,
Second motor and driving wheel are sequentially connected, and the cylinder is horizontally set on the inside of main body, the cylinder and main body it is interior
Portion is hinged, and the gas bar of the cylinder is connected with suction nozzle, and the suction nozzle is vertically provided at the lower section of gas bar, and described sleeve pipe is set in gas
On cylinder, one end and the casing of the rotating bar are hinged, and the other end of the rotating bar and the remote circle centre position of driving wheel are hinged.
Preferably, in order to which table tennis to be sent into the inside of drive chamber, the inside of the main body is additionally provided with connecting tube, described
One end of connecting tube is connected with suction nozzle, and the other end of the connecting tube is connected with drive chamber, and the other end of the connecting tube is set
Between push plate and screen plate.
Preferably, the inside of ball-collecting disk is rolled into for the ease of table tennis, one end of the close ball-collecting disk of the inclined tube
It is less than height of the one end apart from main body of the close delivery pipe of inclined tube apart from the height of main body.
Preferably, in order to provide power, the table tennis on ground is picked up, the top of the drive chamber is equipped with air pump,
One end of the air pump is arranged between push plate and screen plate, and the other end of the air pump is arranged on the top of main body.
Preferably, in order to prevent ball-collecting disk vertical tremor when, table tennis drops below ball-collecting disk, the ball-collecting disk
Bellows is equipped between goal tube, the lower section of the ball-collecting disk is connected by the top of bellows and goal tube
Preferably, in order to observe the position where the table tennis on ground, the main body is equipped with camera.
Preferably, in order to make the accurate permanent work of the first motor, first motor is servomotor.
Preferably, in order to be internally provided with PLC, the loose mechanism and recycling by PLC control devices, the main body
Mechanism is electrically connected with PLC.
Preferably, in order to carry out signal transmission, so that remote control equipment, the main body is internally provided with antenna.
The invention has the advantages that should have in the service robot of pingpong collection and ball-collecting disk choke preventing function, by dredging
Loose mechanism, can cause the table tennis inside ball-collecting disk to shake, and easy to drop from the inside of ball-collecting disk, prevent the outlet of ball-collecting disk
It is blocked, compared with the existing driving lever by inside ball-collecting disk stirs the anti-blocking mode of table tennis, avoids driving lever failure and lead
Cause to block the outlet of ball-collecting disk, reduce maintenance difficulty, by the way of exterior vibration ball-collecting disk, blocking-proof result is more convenient,
Reliably, by recovering mechanism, the scope of absorption can be adjusted, easy to absorb the table tennis of ground everywhere, and will be collected automatically
Table tennis be delivered in ball-collecting disk, during conveying, enable to table tennis to rise one by one successively, prevent multiple table tennises
Delivery pipe is blocked when ball rises at the same time, compared with existing service robot, reduces the workload for picking up ball of people, more easily just
Victory, improves the practicality of table tenning ball servicing machine.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structure diagram of the service robot with pingpong collection and ball-collecting disk choke preventing function of the present invention；
Fig. 2 is that the structure of the shaking assembly of the service robot with pingpong collection and ball-collecting disk choke preventing function of the present invention is shown
It is intended to；
Fig. 3 is that the structure of the wobble component of the service robot with pingpong collection and ball-collecting disk choke preventing function of the present invention is shown
It is intended to；
Fig. 4 is that the structure of the control unit of the service robot with pingpong collection and ball-collecting disk choke preventing function of the present invention is shown
It is intended to；
Fig. 5 is that the structure of the push unit of the service robot with pingpong collection and ball-collecting disk choke preventing function of the present invention is shown
It is intended to；
In figure：1. main body, 2. movable pulleys, 3. service mouths, 4. ball-collecting disks, 5. goal tubes, 6. first motors, 7. first turns
Disk, 8. second turntables, 9. connecting rods, 10. first lantern rings, 11. second lantern rings, 12. springs, 13. second motors, 14. driving wheels,
15. rotating bar, 16. casings, 17. cylinders, 18. suction nozzles, 19. connecting tubes, 20. drive chamber, 21. screen plates, 22. the 3rd motors,
23. runner, 24. first connecting rods, 25. second connecting rods, 26. push plates, 27. delivery pipes, 28. the 4th motors, 29. screw rods, 30. is oblique
Pipe.
Embodiment
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 composition related to the present invention.
As shown in Figure 1, a kind of service robot with pingpong collection and ball-collecting disk choke preventing function, including main body 1, movable pulley
2nd, service mouth 3, ball-collecting disk 4 and goal tube 5, further include loose mechanism and recovering mechanism, the loose mechanism is arranged on main body 1
Top, the recovering mechanism are arranged on the inside of main body 1；
By loose mechanism, the table tennis inside ball-collecting disk 4 can be caused to shake, easy to drop from the inside of ball-collecting disk 4,
Prevent the outlet of ball-collecting disk 4 to be blocked, the anti-blocking mode phase of table tennis is stirred with the existing driving lever by inside ball-collecting disk 4
Than avoiding the outlet that driving lever failure causes to block ball-collecting disk 4, maintenance difficulty being reduced, using the side of exterior vibration ball-collecting disk 4
Formula, blocking-proof result is more convenient, reliable, by recovering mechanism, the scope of absorption can be adjusted, easy to absorb the table tennis of ground everywhere
Pang ball, and the table tennis of collection is delivered in ball-collecting disk 4 automatically, during conveying, enable to table tennis successively
Rise one by one, prevent from blocking delivery pipe 27 when multiple tablees tennis from rising at the same time, compared with existing service robot, reduce people's
The workload of ball is picked up, it is more easily convenient, improve the practicality of table tenning ball servicing machine.
The loose mechanism includes first lantern ring 10 and two shaking assemblies, and first lantern ring 10 is set in ball-collecting disk 4
On, two shaking assemblies are separately positioned on the both sides of first lantern ring 10, and the shaking assembly is sequentially connected with first lantern ring 10；
As shown in Fig. 2, the shaking assembly includes the first motor 6, the first turntable 7, the second turntable 8, connecting rod 9, second
The lantern ring 11 and spring 12, first motor 6 are vertically provided at the top of main body 1, and first motor 6 is passed with the first turntable 7
Dynamic connection, the top of first turntable 7 are equipped with several hemispherical projections, and each raised center of circle along the first turntable 7 is circumferential
It is uniformly distributed, second turntable 8 is horizontally set on the top of the first turntable 7, and the lower section of second turntable 8 is equipped with several
Hemispherical concave block, each concave block are circumferentially uniformly distributed along the center of circle of the second turntable 8, described raised to be corresponded with concave block and mutually
Matching, it is described it is raised with the wheel face of the second turntable 8 against the connecting rod 9 is vertically arranged, and the connecting rod 9 is cuboid, institute
The bottom for stating connecting rod 9 is connected with the top of the second turntable 8, and the top of the connecting rod 9 is connected with first lantern ring 10, and described
Two lantern rings 11 are set in connecting rod 9, and second lantern ring 11 is slidably connected with connecting rod 9, and second lantern ring 11 is fixed on
The top of main body 1, the spring 12 is vertically arranged, and the spring 12 has two, and two springs 12 are separately positioned on connecting rod 9
Both sides, second lantern ring 11 are connected by spring 12 with the second turntable 8；
When it is found that the outlet of the lower section of ball-collecting disk 4 is blocked by table tennis, PLC, PLC are transmitted signals to by remote controler
The first motor 6 is controlled to start, the first motor 6 drives the first turntable 7 to rotate, when the protrusion on the first turntable 7 and the second turntable 8
When wheel face contacts, the second turntable 8 is moved up by promotion, while spring 12 is compressed, and the second turntable 8 drives first by connecting rod 9
The lantern ring 10 moves up, and first lantern ring 10 drives ball-collecting disk 4 to move up, when the protrusion on the first turntable 7 is contacted with the concave block of the second turntable 8
When, spring 12 is no longer compressed, and starts to extend, and spring 12 drives the second turntable 8 to move down, and the second turntable 8 is driven by connecting rod 9
First lantern ring 10 moves down, and first lantern ring 10 drives ball-collecting disk 4 to move down, therefore the first motor 6 can cause ball-collecting disk in rotation process
4 vertical tremors, pass through the vibrations of ball-collecting disk 4 so that the table tennis vibrations inside ball-collecting disk 4, therefore it is stuck in the lower section of ball-collecting disk 4
The table tennis ball position of outlet can change, and easy to drop from the inside of ball-collecting disk 4, prevent the outlet of ball-collecting disk 4 to be blocked, with
The existing driving lever by inside ball-collecting disk 4 stirs the anti-blocking mode of table tennis and compares, and avoiding driving lever failure causes to block collection
The outlet of ball disk 4, reduces maintenance difficulty, and by the way of exterior vibration ball-collecting disk 4, blocking-proof result is more convenient, reliable.
The recovering mechanism includes wobble component and transmission assembly；
As illustrated in figures 4-5, the transmission assembly includes control unit and push unit, and described control unit is arranged on push
The side of unit；
Described control unit includes drive chamber 20, screen plate 21, the 3rd motor 22, runner 23, the company of first connecting rod 24, second
Bar 25 and push plate 26, the drive chamber 20 are horizontally set on the inside of main body 1, and the push plate 26 is vertically provided at drive chamber 20
Inside, the push plate 26 are matched with the inner wall of drive chamber 20, and the push plate 26 and the inner wall of drive chamber 20 are slidably connected, and described
Three motors 22 are horizontally set on the inside of drive chamber 20, and the 3rd motor 22 is connected with runner 23, the first connecting rod 24
One end and the remote circle centre position of runner 23 are hinged, and one end of the other end and second connecting rod 25 of the first connecting rod 24 is hinged, institute
The other end for stating second connecting rod 25 is connected with push plate 26, and the second connecting rod 25 is horizontally disposed, and the screen plate 21 has two, and two
A screen plate 21 is inclined at the both sides up and down of the inner wall of drive chamber 20 respectively, the remote drive chamber 20 of two screen plates 21
The distance between both ends of inner wall are less than the distance between both ends being connected with the inner wall of drive chamber 20 of two screen plates 21；
The push unit includes the 4th motor 28, delivery pipe 27, screw rod 29 and inclined tube 30, and the delivery pipe 27 is vertically set
Put, the side of the remote push plate 26 of the drive chamber 20 is connected with the side of the lower section of delivery pipe 27, and the 4th motor 28 is perpendicular
To the lower section for being arranged on delivery pipe 27, the screw rod 29 is vertically provided at the inside of delivery pipe 27, the 4th motor 28 and spiral shell
Bar 29 is sequentially connected, and the inclined tube 30 is obliquely installed, and one end of the inclined tube 30 is connected with the side of the top of delivery pipe 27, institute
The other end for stating inclined tube 30 is arranged on the top of ball-collecting disk 4.
When needing to make table tennis serially enter in ball-collecting disk 4, the 3rd motor 22 is controlled to start by PLC, the 3rd electricity
Machine 22 drives runner 23 to rotate, and runner 23 drives first connecting rod 24 to rotate, and first connecting rod 24 drives second connecting rod 25 to move horizontally,
When table tennis enters the inside of drive chamber 20, second connecting rod 25 drives push plate 26 to move right, and push plate 26 drives table tennis
The inside of delivery pipe 27 is entered by two screen plates 21, since the circular hole formed between two screen plates 21 only can be successively
By a table tennis, therefore table tennis can be serially entered in delivery pipe 27, and at this time, the 4th motor 28 starts, screw rod 29 with
Rotation, screw rod 29 during rotation, one by one by table tennis be sent into inclined tube 30 in, table tennis rolls down to collection by inclined tube 30
In ball disk 4, compared with existing service robot, by transmission assembly, the table tennis of collection can be delivered to ball-collecting disk 4 automatically
In, during conveying, enable to table tennis to rise one by one successively, prevent from blocking conveying when multiple tablees tennis from rising at the same time
Pipe 27, it is relatively reliable.
As shown in figure 3, the wobble component includes the second motor 13, driving wheel 14, rotating bar 15, casing 16, cylinder 17
With suction nozzle 18, second motor 13 is vertically provided at the inside of main body 1, and second motor 13 connects with the transmission of driving wheel 14
Connect, the cylinder 17 is horizontally set on the inside of main body 1, and the cylinder 17 and the inside of main body 1 are hinged, the gas of the cylinder 17
Bar is connected with suction nozzle 18, and the suction nozzle 18 is vertically provided at the lower section of gas bar, and described sleeve pipe 16 is set on cylinder 17, described turn
One end of lever 15 is hinged with casing 16, and the other end of the rotating bar 15 is hinged with the remote circle centre position of driving wheel 14.
When needing the table tennis to ground to be collected, PLC, the second electricity of PLC controls are transmitted signals to by remote controler
Machine 13 starts, and the second motor 13 drives driving wheel 14 to rotate, and driving wheel 14 drives rotating bar 15 to rotate, and rotating bar 15 drives casing
Rotate, while casing can give 17 1 active forces of cylinder so that cylinder 17 is around the hinged place of the inside with main body 1 toward physical pendulum
It is dynamic, the length of the gas bar by controlling cylinder 17 so that suction nozzle 18 stretches out the inside of main body 1, and reciprocally swinging is scattered ground
Table tennis is adsorbed, by swinging and the length change of gas bar, can adjust the scope of absorption, easy to absorb ground everywhere
Table tennis, compared with existing service robot, by wobble component, can collect the table tennis of ground everywhere automatically, reduce people
The workload for picking up ball, more easily it is convenient.
Preferably, in order to which table tennis to be sent into the inside of drive chamber 20, the inside of the main body 1 is additionally provided with connecting tube
19, one end of the connecting tube 19 is connected with suction nozzle 18, and the other end of the connecting tube 19 is connected with drive chamber 20, the connection
The other end of pipe 19 is arranged between push plate 26 and screen plate 21.
Preferably, the inside of ball-collecting disk 4 is rolled into for the ease of table tennis, the close ball-collecting disk 4 of the inclined tube 30
One end is less than height of the one end apart from main body 1 of the close delivery pipe 27 of inclined tube 30 apart from the height of main body 1.
Preferably, in order to provide power, the table tennis on ground is picked up, the top of the drive chamber 20 is equipped with gas
Pump, one end of the air pump are arranged between push plate 26 and screen plate 21, and the other end of the air pump is arranged on the upper of main body 1
Side.
Preferably, in order to prevent 4 vertical tremor of ball-collecting disk when, table tennis drops from the lower section of ball-collecting disk 4, the collection ball
Bellows is equipped between disk 4 and goal tube 5, the lower section of the ball-collecting disk 4 is connected by bellows with the top of goal tube 5
Preferably, in order to observe the position where the table tennis on ground, the main body 1 is equipped with camera.
Preferably, in order to make the 6 accurate permanent work of the first motor, first motor 6 is servomotor.
Preferably, in order to by PLC control devices, the main body 1 is internally provided with PLC, the loose mechanism and returns
Mechanism is received to be electrically connected with PLC.
Preferably, in order to carry out signal transmission, so that remote control equipment, the main body 1 is internally provided with antenna.
By shaking assembly, ball-collecting disk 4 can be controlled to shake, so that the table tennis vibrations inside ball-collecting disk 4, therefore
Being stuck in the table tennis ball position of the outlet of the lower section of ball-collecting disk 4 can change, and easy to drop from the inside of ball-collecting disk 4, prevent collection ball
The outlet of disk 4 is blocked, and compared with the existing driving lever by inside ball-collecting disk 4 stirs the anti-blocking mode of table tennis, avoids
Driving lever failure causes the outlet for blocking ball-collecting disk 4, reduces maintenance difficulty, by the way of exterior vibration ball-collecting disk 4, anti-blocking effect
Fruit is more convenient, reliable, by wobble component, can adjust the scope of absorption, and existing easy to absorb the table tennis of ground everywhere
Some service robots are compared, and reduce the workload for picking up ball of people, more easily convenient, by transmission assembly, can automatically by
The table tennis of collection is delivered in ball-collecting disk 4, during conveying, is enabled to table tennis to rise one by one successively, is prevented more
Delivery pipe 27 is blocked when a table tennis rises at the same time.
Compared with prior art, should have in the service robot of pingpong collection and ball-collecting disk choke preventing function, and pass through loosening machine
Structure, can cause the table tennis inside ball-collecting disk 4 to shake, easy to drop from the inside of ball-collecting disk 4, prevent the outlet of ball-collecting disk 4
It is blocked, compared with the existing driving lever by inside ball-collecting disk 4 stirs the anti-blocking mode of table tennis, avoids driving lever failure and lead
The outlet of blocking ball-collecting disk 4 is caused, reduces maintenance difficulty, by the way of exterior vibration ball-collecting disk 4, blocking-proof result is more just
It is prompt, reliable, by recovering mechanism, the scope of absorption can be adjusted, easy to absorb the table tennis of ground everywhere, and will be received automatically
The table tennis of collection is delivered in ball-collecting disk 4, during conveying, is enabled to table tennis to rise one by one successively, is prevented multiple
Delivery pipe 27 is blocked when table tennis rises at the same time, compared with existing service robot, reduces the workload for picking up ball of people, more
It is easily convenient, improve the practicality of table tenning ball servicing machine.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment
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 scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.
Claims (10)
1. a kind of service robot with pingpong collection and ball-collecting disk choke preventing function, including main body (1), movable pulley (2), service mouth
(3), ball-collecting disk (4) and goal tube (5), it is characterised in that further include loose mechanism and recovering mechanism, the loose mechanism is set
In the top of main body (1), the recovering mechanism is arranged on the inside of main body (1)；
The loose mechanism includes first lantern ring (10) and two shaking assemblies, and first lantern ring (10) is set in ball-collecting disk
(4) on, two shaking assemblies are separately positioned on the both sides of first lantern ring (10), and the shaking assembly is driven with first lantern ring (10)
Connection；
The shaking assembly includes the first motor (6), the first turntable (7), the second turntable (8), connecting rod (9), second lantern ring
(11) and spring (12), first motor (6) is vertically provided at the top of main body (1), first motor (6) with first turn
Disk (7) is sequentially connected, and the top of first turntable (7) is equipped with several hemispherical projections, each raised along the first turntable (7)
The center of circle be circumferentially uniformly distributed, second turntable (8) is horizontally set on the top of the first turntable (7), second turntable (8)
Lower section be equipped with several hemispherical concave blocks, each concave block is circumferentially uniformly distributed along the center of circle of the second turntable (8), it is described it is raised with
Concave block is corresponded and is mutually matched, it is described it is raised with the wheel face of the second turntable (8) against, the connecting rod (9) is vertically arranged,
The connecting rod (9) is cuboid, and the bottom of the connecting rod (9) is connected with the top of the second turntable (8), the connecting rod
(9) top is connected with first lantern ring (10), and second lantern ring (11) is set in connecting rod (9), second lantern ring
(11) it is slidably connected with connecting rod (9), second lantern ring (11) is fixed on the top of main body (1), and the spring (12) is vertical
Set, the spring (12) there are two, and two springs (12) are separately positioned on the both sides of connecting rod (9), second lantern ring
(11) it is connected by spring (12) with the second turntable (8)；
The recovering mechanism includes wobble component and transmission assembly；
The transmission assembly includes control unit and push unit, and described control unit is arranged on the side of push unit；
Described control unit include drive chamber (20), screen plate (21), the 3rd motor (22), runner (23), first connecting rod (24),
Second connecting rod (25) and push plate (26), the drive chamber (20) are horizontally set on the inside of main body (1), and the push plate (26) is vertical
The inside of drive chamber (20) is arranged on, the push plate (26) matches with the inner wall of drive chamber (20), the push plate (26) and driving
The inner wall of room (20) is slidably connected, and the 3rd motor (22) is horizontally set on the inside of drive chamber (20), the 3rd motor
(22) it is connected with runner (23), one end of the first connecting rod (24) and the remote circle centre position of runner (23) are hinged, and described first
The other end of connecting rod (24) and one end of second connecting rod (25) are hinged, and the other end and the push plate (26) of the second connecting rod (25) connect
Connect, the second connecting rod (25) is horizontally disposed, and the screen plate (21) there are two, and two screen plates (21) are inclined at respectively
The both sides up and down of the inner wall of drive chamber (20), between the both ends of the inner wall of the remote drive chamber (20) of two screen plates (21) away from
The distance between both ends being connected with the inner wall of drive chamber (20) from less than two screen plates (21)；
The push unit includes the 4th motor (28), delivery pipe (27), screw rod (29) and inclined tube (30), the delivery pipe (27)
Vertically arranged, the side of the remote push plate (26) of the drive chamber (20) is connected with the side of the lower section of delivery pipe (27), described
4th motor (28) is vertically provided at the lower section of delivery pipe (27), and the screw rod (29) is vertically provided at the interior of delivery pipe (27)
Portion, the 4th motor (28) are sequentially connected with screw rod (29), and the inclined tube (30) is obliquely installed, one end of the inclined tube (30)
It is connected with the side of the top of delivery pipe (27), the other end of the inclined tube (30) is arranged on the top of ball-collecting disk (4).
2. the service robot with pingpong collection and ball-collecting disk choke preventing function as claimed in claim 1, it is characterised in that described
Wobble component includes the second motor (13), driving wheel (14), rotating bar (15), casing (16), cylinder (17) and suction nozzle (18), institute
The inside that the second motor (13) is vertically provided at main body (1) is stated, second motor (13) is sequentially connected with driving wheel (14), institute
The inside that cylinder (17) is horizontally set on main body (1) is stated, the cylinder (17) and the inside of main body (1) are hinged, the cylinder
(17) gas bar is connected with suction nozzle (18), and the suction nozzle (18) is vertically provided at the lower section of gas bar, and described sleeve pipe (16) is set in
On cylinder (17), one end of the rotating bar (15) and casing (16) are hinged, the other end and driving wheel of the rotating bar (15)
(14) remote circle centre position is hinged.
3. the service robot with pingpong collection and ball-collecting disk choke preventing function as claimed in claim 2, it is characterised in that described
The inside of main body (1) is additionally provided with connecting tube (19), and one end of the connecting tube (19) is connected with suction nozzle (18), the connecting tube
(19) the other end is connected with drive chamber (20), and the other end of the connecting tube (19) is arranged on push plate (26) and screen plate (21)
Between.
4. the service robot with pingpong collection and ball-collecting disk choke preventing function as claimed in claim 1, it is characterised in that described
One end of the close ball-collecting disk (4) of inclined tube (30) is less than the close delivery pipe (27) of inclined tube (30) apart from the height of main body (1)
Height of the one end apart from main body (1).
5. the service robot with pingpong collection and ball-collecting disk choke preventing function as claimed in claim 1, it is characterised in that described
The top of drive chamber (20) is equipped with air pump, and one end of the air pump is arranged between push plate (26) and screen plate (21), the gas
The other end of pump is arranged on the top of main body (1).
6. the service robot with pingpong collection and ball-collecting disk choke preventing function as claimed in claim 1, it is characterised in that described
Bellows is equipped between ball-collecting disk (4) and goal tube (5), the lower section of the ball-collecting disk (4) passes through bellows and goal tube (5)
Top connects.
7. the service robot with pingpong collection and ball-collecting disk choke preventing function as claimed in claim 1, it is characterised in that described
Main body (1) is equipped with camera.
8. the service robot with pingpong collection and ball-collecting disk choke preventing function as claimed in claim 1, it is characterised in that described
First motor (6) is servomotor.
9. the service robot with pingpong collection and ball-collecting disk choke preventing function as claimed in claim 1, it is characterised in that described
Main body (1) is internally provided with PLC, and the loose mechanism and recovering mechanism are electrically connected with PLC.
10. the service robot with pingpong collection and ball-collecting disk choke preventing function as claimed in claim 1, it is characterised in that institute
That states main body (1) is internally provided with antenna.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810062343.9A CN107982893B (en) | 2018-01-23 | 2018-01-23 | Service robot with table tennis collection and ball collecting disc anti-blocking function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810062343.9A CN107982893B (en) | 2018-01-23 | 2018-01-23 | Service robot with table tennis collection and ball collecting disc anti-blocking function |
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| CN107982893A true CN107982893A (en) | 2018-05-04 |
| CN107982893B CN107982893B (en) | 2023-07-14 |
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| CN108553848A (en) * | 2018-07-11 | 2018-09-21 | 沈阳体育学院 | A kind of shuttlecock training automatic spherical pig receiving device |
| CN108786067A (en) * | 2018-06-07 | 2018-11-13 | 南昌大学 | A kind of tennis transmitting robot |
| CN109999442A (en) * | 2019-05-18 | 2019-07-12 | 裘友凤 | A kind of table tennis balls collecting equipment |
| CN109999440A (en) * | 2019-04-10 | 2019-07-12 | 何文炳 | A kind of ball recyclable device of Modern Physical Education |
| CN112974300A (en) * | 2021-04-10 | 2021-06-18 | 沈问娟 | Full-automatic table tennis detection device |
| CN115177935A (en) * | 2022-07-12 | 2022-10-14 | 牧童集团(广东)实业有限公司 | Anti-blocking device of ball suction machine |
| CN116196598A (en) * | 2023-03-30 | 2023-06-02 | 付饶 | Single-motor portable multifunctional tennis service robot |
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| CN109999440A (en) * | 2019-04-10 | 2019-07-12 | 何文炳 | A kind of ball recyclable device of Modern Physical Education |
| CN109999442A (en) * | 2019-05-18 | 2019-07-12 | 裘友凤 | A kind of table tennis balls collecting equipment |
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| CN116196598A (en) * | 2023-03-30 | 2023-06-02 | 付饶 | Single-motor portable multifunctional tennis service robot |
| CN116196598B (en) * | 2023-03-30 | 2024-09-03 | 付饶 | Single-motor portable multifunctional tennis service robot |
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