CN107998641B - Intelligent table tennis service robot with automatic ball picking function - Google Patents
Intelligent table tennis service robot with automatic ball picking function Download PDFInfo
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- CN107998641B CN107998641B CN201810062337.3A CN201810062337A CN107998641B CN 107998641 B CN107998641 B CN 107998641B CN 201810062337 A CN201810062337 A CN 201810062337A CN 107998641 B CN107998641 B CN 107998641B
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- collecting chamber
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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
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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
- 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
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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
- 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
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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
- A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
- A63B2102/16—Table tennis
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- 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
Abstract
The invention relates to an intelligent table tennis ball serving machine with an automatic ball picking function, which comprises a machine base, a ball storage box, a conveying mechanism, an adjusting mechanism, a transmitting mechanism, at least three brackets arranged below the machine base, a fixing mechanism, a ball picking mechanism and a transmitting mechanism.
Description
Technical Field
The invention relates to the field of sports equipment, in particular to an intelligent table tennis ball serving machine with an automatic ball picking function.
Background
Table tennis service robot is a requisite entertainment and training tool for many bowling gyms and bowling-mate families. The automatic table tennis service robot is suitable for society, schools, families and professional training venues. The service robot can serve balls with various properties, can be used for entertainment and body building, is suitable for professional training, and has high cost performance.
However, the existing table tennis service robot still has some defects when in use, for example, after the existing table tennis service robot sends out balls, users play the balls back, although some table tennis tables are provided with ball collecting nets for blocking the scattered balls, some table tennis balls still cannot enter the ball collecting nets and fall on the ground around the table tennis tables, at this time, people are required to manually pick up scattered table tennis balls and replace the scattered table tennis balls in a ball storage box of the service robot so as to realize the process of circulating service.
Disclosure of Invention
The invention aims to solve the technical problems that: in order to overcome the defects of the prior art, an intelligent table tennis service robot with an automatic ball picking function is provided.
The technical scheme adopted for solving the technical problems is as follows: the intelligent table tennis ball serving machine with the automatic ball picking function comprises a machine base, a ball storage box, a conveying mechanism, an adjusting mechanism, a transmitting mechanism, at least three brackets arranged below the machine base, a fixing mechanism, a ball picking mechanism and a transmission mechanism, wherein the fixing mechanism is arranged in the machine base, a first opening is arranged on the bottom surface of the machine base, the ball picking mechanism is arranged below the machine base, the ball picking mechanism is arranged between the brackets, the ball picking mechanism is arranged on the fixing mechanism through the first opening, the transmission mechanism is arranged in the machine base, and the transmission mechanism is arranged between the ball picking mechanism and the ball storage box;
the fixing mechanism comprises a retraction assembly and a fixing assembly, the fixing assembly is arranged below the retraction assembly, the retraction assembly is in transmission connection with the fixing assembly, and the retraction assembly drives the fixing assembly to move up and down;
the fixing assembly comprises a first motor, a driving disc, a fixing disc and at least two fixing units, wherein the fixing disc is horizontally arranged, a supporting rod is arranged below the retraction assembly, the fixing disc is connected with the retraction assembly through the supporting rod, the driving disc is parallel to the fixing disc, the first motor is vertically downwards arranged below the retraction assembly, the circle center of the driving disc is connected with the output shaft of the first motor, the driving disc is positioned between the fixing disc and the first motor, the driving disc and the fixing disc are coaxially arranged, the top surface of the driving disc is provided with limiting grooves, the limiting grooves are circular arc-shaped, extend along the circumferential direction of the top surface of the driving disc and gradually approach the circle center of the driving disc, the limiting grooves are uniformly arranged along the circumferential direction of the circle center of the driving disc, the driving disc is in transmission connection with the fixing units, the fixing units are uniformly arranged along the circumferential direction of the circle center of the fixing disc, and the fixing units are respectively in one-to-one correspondence with the limiting grooves;
the fixing unit comprises a driving block, a connecting block and a clamping block, wherein the middle part of the connecting block is hinged with the fixing disc, a limiting block is arranged on the driving block and is positioned in a limiting groove, the limiting block is in sliding connection with the limiting groove, one end of the connecting block is hinged with the driving block, and the clamping block is arranged at the other end of the connecting block;
the ball picking mechanism comprises a fastening block, a ball collecting chamber, an air pump, a second motor, a sealing plate and a ball suction cover, wherein the ball collecting chamber is arranged below the fastening block, the air pump is arranged in the ball collecting chamber, a second opening is formed in the top surface of the ball collecting chamber, the second motor and the sealing plate are both arranged in the ball collecting chamber, the second motor is vertically upwards arranged, the sealing plate is horizontally arranged between the top surfaces of the second motor and the ball collecting chamber, an output shaft of the second motor is connected with the far center of the sealing plate, the sealing plate is abutted against the top surface of the ball collecting chamber, the sealing plate is positioned on one side of the second opening, the sealing plate is matched with the second opening, the ball suction cover is arranged below the ball collecting chamber, a plurality of ball suction pipes are vertically arranged in the ball suction cover, the ball suction pipes are uniformly distributed in the ball suction cover, the outer part of the ball suction cover is communicated with the inside the ball collecting chamber through the ball suction pipes, a moving wheel and a fifth motor are arranged at the bottom of the ball collecting chamber, the fifth motor drives the moving wheel to rotate, the fastening block is arranged below the fastening block, the fastening block is uniformly arranged between the fastening blocks and the fastening blocks, the fastening blocks are respectively and the fastening blocks are respectively fixedly arranged in the fastening grooves respectively;
the transmission mechanism comprises a transmission pipe, a third motor and a screw rod, wherein the transmission pipe is vertically arranged in the machine base, the bottom end of the transmission pipe stretches into the ball collecting chamber through a second opening of the ball collecting chamber, the top end of the transmission pipe stretches into the ball storage box through the bottom of the ball storage box, the screw rod is vertically arranged, the screw rod is positioned in the transmission pipe, the third motor is vertically downwards arranged in the ball storage box, and the third motor is in transmission connection with the screw rod;
and a locating mechanism is also arranged in the machine base.
As the preference, in order to save the occupation to the frame inner space, receive and release the subassembly and include fixed block, sliding block, expansion bracket, hinge piece, receive and release board and cylinder, the level is equipped with the backup pad in the frame, fixed plate and sliding block all set up in the below of backup pad, fixed block and backup pad fixed connection, sliding block and backup pad sliding connection, the vertical setting of expansion bracket, the both ends at the top of expansion bracket are articulated with fixed block and sliding block respectively, the hinge piece has two, the both ends of the bottom of expansion bracket are articulated with two hinge pieces respectively, receive and release board level setting is in the below of hinge piece, two hinge pieces all with receive and release board sliding connection, the cylinder level setting is in the below of backup pad, the output shaft and the sliding block fixed connection of cylinder, first motor and branch all are connected with the bottom surface of receive and release board.
As the preference, in order to be convenient for the transmission of more table tennis, be equipped with push mechanism in the ball collecting chamber, push mechanism sets up the one end of keeping away from the screw rod in the ball collecting chamber, push mechanism includes fourth motor, lead screw, slider and push plate, the lead screw level sets up, fourth motor and lead screw transmission are connected, be equipped with the screw hole on the slider, the lead screw passes the slider through the screw hole, lead screw and slider threaded connection, the top surface level of ball collecting chamber is equipped with the spout, the top of slider is located the spout, slider and spout matching and sliding connection, the push plate vertical setting is in the below of slider, the plane and the screw rod at push plate place are parallel, the plane and the lead screw that the push plate place are perpendicular.
Preferably, in order to prevent the table tennis in the ball collecting chamber from falling downwards from the ball suction pipe, a sealing cover is covered at the pipe orifice of the top end of the ball suction pipe, and the sealing cover is hinged with the ball collecting chamber.
Preferably, the clamping block is hemispherical in shape for facilitating sliding of the clamping block into the fixing groove.
Preferably, in order to enhance the clamping effect, the surface of the clamping block is provided with a rubber pad.
Preferably, in order to realize the intellectualization of picking up the ball mechanism and seek the position, seek a mechanism and include ultrasonic ranging appearance and PLC, ultrasonic ranging appearance and fifth motor all are connected with the PLC electricity.
Preferably, in order to facilitate the fixing mechanism to fix the ball picking mechanism, two infrared transmitters are respectively arranged on two sides of the upper portion of the ball collecting chamber, two infrared receivers are arranged below the base and are respectively and correspondingly arranged right above the two infrared transmitters, and the infrared transmitters and the infrared receivers are electrically connected with the PLC.
Preferably, in order to protect the table tennis, the conveying mechanism comprises a driving disc, a plurality of ball grooves are uniformly formed in the periphery of the driving disc, the ball grooves are spherical, the inner diameter of each ball groove is larger than the standard diameter of the table tennis, and arc-shaped chamfer angles are formed in the notch of each ball groove.
Preferably, in order to improve the sliding stability of the sliding block, the sliding groove is a dovetail groove.
The intelligent table tennis service robot with the automatic ball picking function has the advantages that firstly, the ball picking mechanism is fixed below the machine base through the fixing mechanism, when a ball is required to be picked, the fixing mechanism works to enable the ball picking mechanism to be separated from the machine base, then, the ball picking mechanism sucks the table tennis on the ground into the ball picking mechanism while moving along the ground, collection of the table tennis on the ground is achieved, the ball picking mechanism returns below the machine base, the ball picking mechanism is fixed below the machine base again through the fixing mechanism, butt joint of the ball picking mechanism and the transmission mechanism is achieved, then, the table tennis in the ball picking mechanism is transmitted into the ball storage box of the service robot through the transmission mechanism, and further, the cyclic ball service process can be achieved.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a schematic structural view of an intelligent table tennis service robot with an automatic ball picking function according to the present invention.
Fig. 2 is a schematic diagram showing a connection structure between a fastening block and a fixing assembly of the intelligent table tennis service robot with an automatic ball picking function.
Fig. 3 is a schematic structural view of a fixing assembly of an intelligent table tennis service robot with an automatic ball picking function according to the present invention.
Fig. 4 is a schematic structural view of a ball picking mechanism of an intelligent table tennis service robot with an automatic ball picking function according to the present invention.
Fig. 5 is a schematic structural view of a retractable assembly of an intelligent table tennis service robot with an automatic ball picking function according to the present invention.
In the figure: 1. the device comprises a base, a storage tank, a conveying mechanism, a regulating mechanism, a transmitting mechanism, a bracket, a first motor, a driving disk, a fixed disk, a driving block, a connecting block, a clamping block, a fastening block, a ball collecting chamber, a gas pump, a second motor, a sealing plate, a ball suction cover, a ball suction pipe, a moving wheel, a conveying pipe, a third motor, a screw, a fixed block, a sliding block, a telescopic bracket, a hinging block, a telescopic plate, a sealing cover and a pushing plate.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
As shown in fig. 1, an intelligent table tennis ball serving machine with an automatic ball picking function comprises a machine base 1, a ball storage box 2, a conveying mechanism 3, an adjusting mechanism 4, a transmitting mechanism 5, at least three brackets 6 arranged below the machine base 1, a fixing mechanism, a ball picking mechanism and a transmission mechanism, wherein the fixing mechanism is arranged in the machine base 1, a first opening is formed in the bottom surface of the machine base 1, the ball picking mechanism is arranged below the machine base 1, the ball picking mechanism is arranged between the brackets 6, the ball picking mechanism is arranged on the fixing mechanism through the first opening, the transmission mechanism is arranged in the machine base 1, and the transmission mechanism is arranged between the ball picking mechanism and the ball storage box 2;
firstly, the ball picking mechanism is fixed below the machine base 1 through the fixing mechanism, when a ball is required to be picked, the fixing mechanism works to separate the ball picking mechanism from the machine base 1, then, the ball picking mechanism sucks the table tennis on the ground into the ball picking mechanism while moving along the ground, so that the collection of the table tennis on the ground is realized, then, the ball picking mechanism returns to the lower part of the machine base 1, the ball picking mechanism is fixed below the machine base 1 again through the fixing mechanism, the butt joint of the ball picking mechanism and the transmission mechanism is realized, and then, the table tennis in the ball picking mechanism is transmitted into the ball storage box 2 of the ball dispenser through the transmission mechanism, so that the process of circulating ball serving can be realized.
The fixing mechanism comprises a retraction assembly and a fixing assembly, the fixing assembly is arranged below the retraction assembly, the retraction assembly is in transmission connection with the fixing assembly, and the retraction assembly drives the fixing assembly to move up and down;
as shown in fig. 2-3, the fixing assembly comprises a first motor 7, a driving disc 8, a fixing disc 9 and at least two fixing units, the fixing disc 9 is horizontally arranged, a supporting rod is arranged below the retraction assembly, the fixing disc 9 is connected with the retraction assembly through the supporting rod, the driving disc 8 is parallel to the fixing disc 9, the first motor 7 is vertically downwards arranged below the retraction assembly, the circle center of the driving disc 8 is connected with an output shaft of the first motor 7, the driving disc 8 is positioned between the fixing disc 9 and the first motor 7, the driving disc 8 and the fixing disc 9 are coaxially arranged, the top surface of the driving disc 8 is provided with limiting grooves, the limiting grooves are arc-shaped, extend along the circumference of the top surface of the driving disc 8 and are gradually close to the circle center of the driving disc 8, the limiting grooves are uniformly arranged along the circumference of the circle center of the driving disc 8, the driving disc 8 is in transmission connection with the fixing units, the fixing units are uniformly arranged along the circumference of the circle center of the fixing disc 9, and the fixing units are respectively corresponding to the limiting grooves one by one;
the fixing unit comprises a driving block 10, a connecting block 11 and a clamping block 12, wherein the middle part of the connecting block 11 is hinged with the fixing disc 9, a limiting block is arranged on the driving block 10 and is positioned in a limiting groove, the limiting block is in sliding connection with the limiting groove, one end of the connecting block 11 is hinged with the driving block 10, and the clamping block 12 is arranged at the other end of the connecting block 11;
when the first motor 7 is started, the first motor 7 drives the driving disc 8 to rotate, so that the driving block 10 moves towards the position close to the center of the driving disc 8, and then the connecting block 11 is driven to rotate along the fixed disc 9, so that the clamping block 12 is opened.
As shown in fig. 4, the ball picking mechanism comprises a fastening block 13, a ball collecting chamber 14, an air pump 15, a second motor 16, a sealing plate 17 and a ball suction cover 18, wherein the ball collecting chamber 14 is arranged below the fastening block 13, the air pump 15 is arranged in the ball collecting chamber 14, a second opening is arranged on the top surface of the ball collecting chamber 14, the second motor 16 and the sealing plate 17 are both arranged in the ball collecting chamber 14, the second motor 16 is vertically upwards arranged, the sealing plate 17 is horizontally arranged between the second motor 16 and the top surface of the ball collecting chamber 14, an output shaft of the second motor 16 is connected with the far away center of the sealing plate 17, the sealing plate 17 is abutted against the top surface of the ball collecting chamber 14, the sealing plate 17 is positioned on one side of the second opening, the sealing plate 17 is matched with the second opening, the ball suction cover 18 is arranged below the ball collecting chamber 14, a plurality of ball suction pipes 19 are vertically arranged in the ball suction cover 18, the ball suction cover 18 is uniformly distributed in the ball suction cover 18, the outer part of the ball suction cover 18 is vertically and fixedly connected with the ball collecting chamber 14 through the fastening blocks 13, the five clamping grooves 20 are respectively arranged in the disc 13 and the disc 13, and the disc 13 are fixedly connected with the disc 13 respectively, and the disc 13 are fixedly arranged in the disc 13 respectively, and the disc 13 is fixedly connected with the disc 13 and the disc 13 is fixedly arranged in the disc 13;
firstly, after the ball collecting chamber 14 is separated from the base 1, the second motor 16 drives the sealing plate 17 to rotate, so that the second opening can be closed, the ball collecting chamber 14 is in a sealed environment, then, when the air pump 15 works, table tennis balls on the ground are sucked into the ball collecting chamber 14 through the ball suction pipe 19, and meanwhile, the fifth motor drives the moving wheel 20 to rotate, so that the ball collecting chamber 14 can move while collecting the table tennis balls, and therefore the table tennis balls on the ground are collected into the ball collecting chamber 14.
As shown in fig. 1, the transmission mechanism comprises a transmission pipe 21, a third motor 22 and a screw 23, wherein the transmission pipe 21 is vertically arranged in the base 1, the bottom end of the transmission pipe 21 stretches into the ball collecting chamber 14 through a second opening of the ball collecting chamber 14, the top end of the transmission pipe 21 stretches into the ball storage tank 2 through the bottom of the ball storage tank 2, the screw 23 is vertically arranged, the screw 23 is positioned in the transmission pipe 21, the third motor 22 is vertically downwards arranged in the ball storage tank 2, and the third motor 22 is in transmission connection with the screw 23;
after the table tennis balls are collected in the ball collecting chamber 14, the third motor 22 is started to drive the screw rod 23 to rotate, and the screw rod 23 sequentially and upwards transfers the table tennis balls along the transfer pipe 21 while rotating until the table tennis balls are transferred into the ball storage box 2 one by one.
And a locating mechanism is also arranged in the machine base 1.
As shown in fig. 5, the retraction assembly comprises a fixed block 24, a sliding block 25, a telescopic frame 26, a hinging block 27, a retraction plate 28 and an air cylinder 29, wherein the support plate is horizontally arranged in the machine base 1, the fixed plate and the sliding block 25 are both arranged below the support plate, the fixed block 24 is fixedly connected with the support plate, the sliding block 25 is in sliding connection with the support plate, the telescopic frame 26 is vertically arranged, two ends of the top of the telescopic frame 26 are respectively hinged with the fixed block 24 and the sliding block 25, the hinging block 27 is two, two ends of the bottom of the telescopic frame 26 are respectively hinged with the two hinging blocks 27, the retraction plate 28 is horizontally arranged below the hinging block 27, the two hinging blocks 27 are both in sliding connection with the retraction plate 28, the air cylinder 29 is horizontally arranged below the support plate, an output shaft of the air cylinder 29 is fixedly connected with the sliding block 25, the first motor 7 and the supporting rod are both connected with the bottom surface of the retraction plate 28, the air cylinder 29 drives the sliding block 25 to slide in a direction close to or far away from the fixed block 24, the telescopic frame 26 is enabled to be stretched or stretched, the retraction plate 26 can be further stretched or stretched down, and the retraction assembly can be further stretched down, and the retraction assembly can be driven to be further stretched down, and the retraction assembly can be further shortened, and the retraction assembly can be retracted and retracted by the retraction assembly can be further shortened.
As shown in fig. 4, a pushing mechanism is disposed in the ball collecting chamber 14, the pushing mechanism is disposed at one end of the ball collecting chamber 14 far away from the screw 23, the pushing mechanism includes a fourth motor 30, a screw rod 31, a sliding block 32 and a pushing plate 33, the screw rod 31 is disposed horizontally, the fourth motor 30 is in transmission connection with the screw rod 31, a threaded hole is disposed on the sliding block 32, the screw rod 31 passes through the sliding block 32 via the threaded hole, the screw rod 31 is in threaded connection with the sliding block 32, a sliding groove is horizontally disposed on the top surface of the ball collecting chamber 14, the top of the sliding block 32 is disposed in the sliding groove, the sliding block 32 is matched with the sliding groove and in sliding connection, the pushing plate 33 is vertically disposed below the sliding block 32, a plane where the pushing plate 33 is disposed is parallel to the screw rod 23, and is perpendicular to the screw rod 31, when the screw rod 23 transmits a ball upwards, a table tennis ball in one side of the ball collecting chamber 14 far away from the screw rod 23 cannot be transmitted upwards due to the fact that the sliding block is far away from the screw rod 23, the sliding groove 32 is driven by the fourth motor 30 is started, the fourth motor 30 is driven to rotate, the sliding groove 32 is driven by the sliding groove 32, and the sliding groove is more is driven by the sliding groove 32, and the sliding plate 33 is moved horizontally along the sliding groove, and the sliding plate 23 is more than the sliding plate 23.
As shown in fig. 4, the pipe orifice at the top end of the ball suction pipe 19 is covered with a sealing cover 34, the sealing cover 34 is hinged with the ball collecting chamber 14, in fact, a torsion spring is arranged at the hinge of the sealing cover 34 and the ball collecting chamber 14, so that when a table tennis ball enters the ball collecting chamber 14 along the ball suction pipe 19, the sealing cover 34 can be rotated towards the inside of the ball collecting chamber 14 and cannot be rotated towards the outside of the ball collecting chamber 14, and the table tennis ball in the ball collecting chamber 14 is prevented from falling downwards from the ball suction pipe 19.
As shown in fig. 2, the clamping block 12 is hemispherical in shape.
Preferably, in order to enhance the clamping effect, a rubber pad is disposed on the surface of the clamping block 12, and the rubber has a larger friction coefficient, so that the friction force between the clamping block 12 and the fastening block 13 can be increased, and the fastening block 13 is prevented from shaking, thereby enhancing the clamping effect.
Preferably, in order to realize the intellectualization of picking up the ball mechanism and seek the position, seek a mechanism and include ultrasonic ranging appearance and PLC, ultrasonic ranging appearance and fifth motor all are connected with the PLC electricity. In fact, the locating mechanism is used for searching the ball picking mechanism in an ultrasonic locating mode, the ultrasonic wave mainly locates objects through reflection type distance measurement, the distance between the objects and the ball picking mechanism is calculated through triangular locating similar to bats, in the ball picking mechanism, the ultrasonic distance meter is used for locating the ball picking mechanism, position data of the ball picking mechanism are fed back to the PLC, the PLC sends out relevant control instructions to the fifth motor, and the action of the fifth motor is controlled, so that the automatic return function of the ball picking mechanism is achieved; in fact, the device is also equipped with a steering mechanism for controlling the direction of advance of the mobile wheel 20, so as to provide a better auxiliary function for the quick search of the machine base 1 by the ball picking mechanism.
As shown in fig. 1, two infrared transmitters are respectively disposed on two sides above the ball collecting chamber 14, two infrared receivers are disposed below the base 1, the two infrared receivers are respectively disposed right above the two infrared transmitters, and the infrared transmitters and the infrared receivers are electrically connected with the PLC. When the ball collecting chamber 14 moves to the lower part of the machine base 1, only when the infrared receivers at two sides can receive signals transmitted by the corresponding infrared transmitters, the fastening block 13 at the top of the ball collecting chamber 14 just corresponds to the fixing mechanism, and at the moment, the PLC controls the fifth motor to stop working, so that the ball collecting chamber 14 is kept motionless, and the fixing mechanism is waited to fix the ball collecting chamber, so that the fixing mechanism is convenient to fix the ball collecting mechanism. In fact, the two infrared transmitters and the two infrared receivers are two groups of independent infrared signal receiving and transmitting devices, and in operation, the signals of the infrared transmitters and the infrared receivers are in one-to-one correspondence, and the two groups of receiving and transmitting devices are not interfered with each other.
As shown in fig. 1, the conveying mechanism 3 comprises a driving disc, a plurality of ball grooves are uniformly formed in the periphery of the driving disc, the ball grooves are spherical, the inner diameter of each ball groove is larger than the standard diameter of a table tennis ball, and arc-shaped chamfer angles are formed in the notch of each ball groove. When the table tennis in the ball storage box 2 falls into the conveying mechanism 3, the table tennis can enter the ball grooves one by one correspondingly, then the table tennis can be transferred along with the rotation of the driving disc, namely, the table tennis can enter the next mechanism, and arc-shaped chamfer angles are arranged at the notch of the ball grooves, so that the table tennis is mainly prevented from being crushed by the vertex angles of the notch, and the equipment can be prevented from being blocked.
Preferably, the sliding groove is a dovetail groove in order to improve the sliding stability of the slider 32.
Firstly, the ball picking mechanism is fixed below the machine base 1 through the fixing mechanism, when a ball is required to be picked, the collecting and releasing assembly works, the ball picking mechanism moves downwards until the ball picking mechanism abuts against the ground, at the same time, the fixing assembly works, the clamping block 12 is far away from the fastening block 13, the ball picking mechanism is separated from the machine base 1, at the same time, the ball picking mechanism is also separated from the transmission mechanism, at the same time, the second opening is closed, then the ball picking mechanism operates, the ball picking mechanism moves along the ground and sucks the table tennis on the ground into the ball picking mechanism, collection of the table tennis on the ground is achieved, then the ball picking mechanism returns to the lower side of the machine base 1, the ball picking mechanism is fixed below the machine base 1 again through the fixing assembly, meanwhile, the second opening is opened, the ball picking mechanism is abutted with the transmission mechanism through the collecting and releasing assembly, then the ball picking mechanism is transmitted into the ball storage box 2 of the ball dispenser through the transmission mechanism, the process of circulating ball serving can be achieved, compared with the manual ball picking mode, the labor is reduced, the entertainment machine has high practicality and the training effect is improved, and the service life is improved.
Compared with the prior art, this intelligent table tennis service robot with automatic ball picking function, at first, the ball picking mechanism is fixed in frame 1 below through fixed establishment, when needs are picked up the ball, fixed establishment work, make ball picking mechanism and frame 1 separation, afterwards, the ball picking mechanism is in moving along ground, inhale the table tennis on ground and pick up in the ball picking mechanism, realized collecting ground table tennis, afterwards, the ball picking mechanism returns to frame 1 below, fix the ball picking mechanism in frame 1's below again by fixed establishment, and realize the butt joint of ball picking mechanism and transport mechanism, then, the process of sending out balls with the transmission mechanism will be picked up in the ball storage tank 2 of service robot, and then can realize the circulation, compare with the mode of manual ball picking up, this mode labour saving and time saving, user's intensity of labour is reduced, make the experience sense of training or amusement activity better, thereby the practicality and the convenience of service robot have been strengthened.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (8)
1. The intelligent table tennis ball serving machine with the automatic ball picking function comprises a machine base (1), a ball storage box (2), a conveying mechanism (3), an adjusting mechanism (4), a transmitting mechanism (5) and at least three brackets (6) arranged below the machine base (1), and is characterized by further comprising a fixing mechanism, a ball picking mechanism and a transmission mechanism, wherein the fixing mechanism is arranged in the machine base (1), a first opening is arranged on the bottom surface of the machine base (1), the ball picking mechanism is arranged below the machine base (1), the ball picking mechanism is arranged among the brackets (6), the ball picking mechanism is arranged on the fixing mechanism through the first opening, the transmission mechanism is arranged in the machine base (1), and the transmission mechanism is arranged between the ball picking mechanism and the ball storage box (2);
the fixing mechanism comprises a retraction assembly and a fixing assembly, the fixing assembly is arranged below the retraction assembly, the retraction assembly is in transmission connection with the fixing assembly, and the retraction assembly drives the fixing assembly to move up and down;
the fixing assembly comprises a first motor (7), a driving disc (8), a fixing disc (9) and at least two fixing units, wherein the fixing disc (9) is horizontally arranged, a supporting rod is arranged below the retraction assembly, the fixing disc (9) is connected with the retraction assembly through the supporting rod, the driving disc (8) is parallel to the fixing disc (9), the first motor (7) is vertically downwards arranged below the retraction assembly, the circle center of the driving disc (8) is connected with the output shaft of the first motor (7), the driving disc (8) is positioned between the fixing disc (9) and the first motor (7), the driving disc (8) and the fixing disc (9) are coaxially arranged, the top surface of the driving disc (8) is provided with a plurality of limit grooves, the limit grooves extend along the circumference of the top surface of the driving disc (8) and are gradually close to the circle center of the driving disc (8), the limit grooves are uniformly arranged along the circumference of the circle center of the driving disc (8), the driving disc (8) and the fixing units are uniformly connected with the circle centers in a one-to-one mode, and the fixing units are uniformly arranged along the circle centers of the circle center of the driving disc (9 respectively;
the fixing unit comprises a driving block (10), a connecting block (11) and a clamping block (12), wherein the middle part of the connecting block (11) is hinged with the fixing disc (9), a limiting block is arranged on the driving block (10) and is positioned in a limiting groove, the limiting block is in sliding connection with the limiting groove, one end of the connecting block (11) is hinged with the driving block (10), and the clamping block (12) is arranged at the other end of the connecting block (11);
the ball picking mechanism comprises a fastening block (13), a ball collecting chamber (14), an air pump (15), a second motor (16), a sealing plate (17) and a ball sucking cover (18), wherein the ball collecting chamber (14) is arranged below the fastening block (13), the air pump (15) is arranged in the ball collecting chamber (14), a second opening is formed in the top surface of the ball collecting chamber (14), the second motor (16) and the sealing plate (17) are both arranged in the ball collecting chamber (14), the second motor (16) is vertically upwards arranged, the sealing plate (17) is horizontally arranged between the top surfaces of the second motor (16) and the ball collecting chamber (14), an output shaft of the second motor (16) is connected with the far away center of the sealing plate (17), the sealing plate (17) is abutted against the top surface of the ball collecting chamber (14), the sealing plate (17) is positioned on one side of the second opening, the sealing plate (17) is matched with the second opening, the ball sucking cover (18) is arranged below the ball collecting chamber (14), the ball sucking covers (19) are uniformly distributed in the ball sucking covers (19) and are respectively arranged in the ball sucking covers (14), and the ball sucking covers (19) are uniformly distributed in the ball sucking pipes (19) and the ball sucking pipes (19; a sealing cover (34) is covered at the pipe orifice at the top end of the ball suction pipe (19), and the sealing cover (34) is hinged with the ball collecting chamber (14); the bottom of the ball collecting chamber (14) is provided with a moving wheel (20) and a fifth motor, the fifth motor drives the moving wheel (20) to rotate, the fastening blocks (13) are arranged below the fixed disc (9), the fastening blocks (13) are positioned between the connecting blocks (11), the outer wall of each fastening block (13) is uniformly provided with a plurality of fixed grooves, each clamping block (12) is respectively matched with each fixed groove, and each clamping block (12) is respectively positioned in each fixed groove;
the conveying mechanism comprises a conveying pipe (21), a third motor (22) and a screw rod (23), wherein the conveying pipe (21) is vertically arranged in the machine base (1), the bottom end of the conveying pipe (21) stretches into the ball collecting chamber (14) through a second opening of the ball collecting chamber (14), the top end of the conveying pipe (21) stretches into the ball storage tank (2) through the bottom of the ball storage tank (2), the screw rod (23) is vertically arranged, the screw rod (23) is positioned in the conveying pipe (21), the third motor (22) is vertically downwards arranged in the ball storage tank (2), and the third motor (22) is in transmission connection with the screw rod (23);
a locating mechanism is also arranged in the machine base (1); the locating mechanism comprises an ultrasonic distance meter and a PLC, and the ultrasonic distance meter and a fifth motor are electrically connected with the PLC.
2. The intelligent table tennis service robot with automatic ball picking function according to claim 1, wherein the collecting and releasing assembly comprises a fixed block (24), a sliding block (25), a telescopic bracket (26), a hinging block (27), a collecting and releasing plate (28) and an air cylinder (29), wherein a supporting plate is horizontally arranged in the machine base (1), the fixed block and the sliding block (25) are both arranged below the supporting plate, the fixed block (24) is fixedly connected with the supporting plate, the sliding block (25) is in sliding connection with the supporting plate, the telescopic bracket (26) is vertically arranged, two ends of the top of the telescopic bracket (26) are hinged with the fixed block (24) and the sliding block (25) respectively, two ends of the bottom of the telescopic bracket (26) are hinged with the two hinging blocks (27) respectively, the collecting and releasing plate (28) is horizontally arranged below the hinging block (27), the two hinging blocks (27) are both in sliding connection with the collecting and releasing plate (28), the air cylinder (29) is horizontally arranged below the supporting plate (29), and the output shaft (29) is horizontally arranged below the supporting plate (29) and is connected with the first supporting rod (7) and the second supporting rod (7).
3. The intelligent table tennis service robot with automatic ball picking function according to claim 1, wherein a pushing mechanism is arranged in the ball collecting chamber (14), the pushing mechanism is arranged at one end, far away from the screw rod (23), of the ball collecting chamber (14, the pushing mechanism comprises a fourth motor (30), a screw rod (31), a sliding block (32) and a pushing plate (33), the screw rod (31) is horizontally arranged, the fourth motor (30) is in transmission connection with the screw rod (31), a threaded hole is formed in the sliding block (32), the screw rod (31) penetrates through the sliding block (32) through the threaded hole, the screw rod (31) is in threaded connection with the sliding block (32), a sliding groove is horizontally formed in the top surface of the ball collecting chamber (14), the top of the sliding block (32) is located in the sliding groove, the sliding block (32) is matched with the sliding groove and is in sliding connection, the pushing plate (33) is vertically arranged below the sliding block (32), the plane where the pushing plate (33) is located is parallel to the screw rod (23), and the plane where the pushing plate (33) is located is perpendicular to the screw rod (31).
4. Intelligent table tennis service robot with automatic ball picking function according to claim 1, characterized in that the clamping block (12) is hemispherical in shape.
5. The intelligent table tennis service robot with automatic ball picking function according to claim 4, wherein a rubber pad is provided on the surface of the clamping block (12).
6. The intelligent table tennis ball serving machine with the automatic ball picking function according to claim 1, wherein two infrared transmitters are respectively arranged on two sides above the ball collecting chamber (14), two infrared receivers are respectively arranged below the base (1) and are respectively and correspondingly arranged right above the two infrared transmitters, and the infrared transmitters and the infrared receivers are electrically connected with the PLC.
7. The intelligent table tennis ball serving machine with the automatic ball picking function according to claim 1, wherein the conveying mechanism (3) comprises a driving disc, a plurality of ball grooves are uniformly formed in the periphery of the driving disc, the ball grooves are spherical, the inner diameter of each ball groove is larger than the standard diameter of a table tennis ball, and arc-shaped chamfers are formed in the notch of each ball groove.
8. The intelligent table tennis service robot with automatic ball picking function according to claim 3, wherein the chute is a dovetail groove.
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| CN201810062337.3A CN107998641B (en) | 2018-01-23 | 2018-01-23 | Intelligent table tennis service robot with automatic ball picking function |
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| CN201810062337.3A CN107998641B (en) | 2018-01-23 | 2018-01-23 | Intelligent table tennis service robot with automatic ball picking function |
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| CN107998641B true CN107998641B (en) | 2023-07-21 |
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Families Citing this family (6)
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| CN108654023B (en) * | 2018-07-13 | 2023-04-21 | 大连理工大学 | Novel collecting and classifying ball picking robot and using method thereof |
| CN109550213A (en) * | 2018-12-07 | 2019-04-02 | 河北地质大学 | A kind of mobile automatic launch support equipment of tennis training |
| CN109731313B (en) * | 2019-03-08 | 2023-06-02 | 牛颖东 | Baseball service robot |
| CN110917602A (en) * | 2019-12-28 | 2020-03-27 | 缙云皮新电子科技有限公司 | Ball dispenser based on voice control |
| CN111359173A (en) * | 2020-04-14 | 2020-07-03 | 高琦 | Ball picking machine |
| CN112973053A (en) * | 2021-04-16 | 2021-06-18 | 魏守昌 | Gripping type ball picking device for ball training |
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