CN109157813A - A kind of ball recycling machine people - Google Patents
A kind of ball recycling machine people Download PDFInfo
- Publication number
- CN109157813A CN109157813A CN201811175181.6A CN201811175181A CN109157813A CN 109157813 A CN109157813 A CN 109157813A CN 201811175181 A CN201811175181 A CN 201811175181A CN 109157813 A CN109157813 A CN 109157813A
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- gear
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- castor
- gear shaft
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- 238000004064 recycling Methods 0.000 title claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- 238000003384 imaging method Methods 0.000 claims abstract description 19
- 235000004443 Ricinus communis Nutrition 0.000 claims description 95
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 36
- 230000008878 coupling Effects 0.000 claims description 22
- 238000010168 coupling process Methods 0.000 claims description 22
- 238000005859 coupling reaction Methods 0.000 claims description 22
- 238000007789 sealing Methods 0.000 claims description 21
- 229910052742 iron Inorganic materials 0.000 claims description 17
- 239000003381 stabilizer Substances 0.000 claims description 13
- 238000004804 winding Methods 0.000 claims description 10
- 238000012856 packing Methods 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 238000012545 processing Methods 0.000 abstract description 11
- 230000033001 locomotion Effects 0.000 abstract description 9
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 25
- 230000000630 rising effect Effects 0.000 description 3
- 240000000528 Ricinus communis Species 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- 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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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Details Of Gearings (AREA)
- Gear Transmission (AREA)
Abstract
The invention discloses a kind of ball recycling machine people, including vehicle body, imaging sensor, collecting part, traveling member, vehicle frame, transmission parts, battery case, central processing unit；The vehicle body is fixed on vehicle frame, the imaging sensor is fixed on the front end of vehicle body, imaging sensor one end is equipped with central processing unit, image information is passed to central processing unit by imaging sensor, by the related data of central processing unit analysis sphere and the relative position of sphere and car body, and control traveling member movement, make robot with nearby principle to close by receipts ball, when robot will be close to by receipts ball, the image information returned according to imaging sensor real-time Transmission is calculated lead and sent in due course to motor and instructed by central processing unit, rotate counterclockwise the shaft of motor, upper impeller is driven under the action of gear-linked, lower impeller reversely rotates, so that ball is tumbled to rear collecting box, complete primary collect, the present invention is applied widely, promotional value is high.
Description
Technical field
The present invention relates to a kind of ball recycling machine people, belong to intelligent robot technology field.
Background technique
As the sporting power for having huge population-based, the number for participating in sports is very huge for China.Wherein, join
Be even more to occupy half of the country with the people of ball game, no matter men and women, old and young.From big-and-middle universities and colleges to sports team at different levels, to match, instruction
Experienced ball demand is also very huge.And after training, it is a troubling problem to ball recycling.Ball
Class quantity is more, and for most people by the way of manpower transport, this mode is time-consuming and laborious, moreover terminates in arduous training
Afterwards, rare people is able to maintain vigor, this will substantially reduce working efficiency again.Therefore, we are in line with efficient, practical, environmentally friendly, economical
Principle designs a intelligent robot that can carry out ball recycling automatically.But at present rarely have on the market recycle automatically it is ball
Machine, has then at high price, or excessively consumes energy.
Summary of the invention
The purpose of the present invention is to provide a kind of ball recycling machine people, robot of the present invention replaces manpower to pick up ball, reduces
Manpower burden, improves working efficiency.
Technical scheme is as follows: a kind of ball recycling machine people, which is characterized in that including vehicle body, imaging sensing
Device, collecting part, traveling member vehicle frame, transmission parts, battery case, control system；
The vehicle body is fixed on vehicle frame, and the imaging sensor is fixed on the front end of vehicle body, and imaging sensor one end is equipped with control
System processed；
The collecting part includes two fixed frames, upper impeller, lower impeller, collecting box；Upper leaf wheel includes a piece of above
Blade and upper impeller shaft, are respectively equipped with more than one tooth at the top of a piece of above blade, described a piece of above
The bottom of blade is respectively welded in impeller shaft, and the lower impeller includes a piece of above lower blade and lower impeller shaft, institute
It states and is respectively equipped with more than one tooth at the top of a piece of above lower blade, the bottom of a piece of above lower blade is welded respectively
It connects in lower impeller shaft, the collecting box includes oblique frame, preceding collecting box, rear collecting box, before the oblique frame is mounted on before collecting box
Portion, and the middle part of oblique frame is arc-shaped, and more than one door, the preceding collecting box are equipped between the preceding collecting box and rear collecting box
Bottom plate be inclined floor, and collecting box direction tilts backward, and time impeller install in the top two sides of described two fixed frames respectively
Connector, upper impeller connector, described two fixed frames are located at the two sides of upper impeller, lower impeller, and the both ends of upper impeller shaft point
Not Chuan Guo two fixed frames upper impeller connector, the both ends of lower impeller shaft be each passed through two fixed frames lower impeller connection
Device；
Before the battery case is fixed on collecting box, the battery case is connect by conducting wire with control system；
The transmission parts include motor, motor support base, gear box cover, gear-box support, gearbox seals circle, gear-box case
Body；The motor support base, gear-box support be mounted on impeller, lower impeller side fixed frame on, and gear-box support is located at
Above motor support base, the motor is mounted on motor support base, and the gear case body is fixed on gear-box support, gear-box
Cabinet connect by gearbox seals circle with gear box cover, the gear box cover shell equipped with outer end cap, the outer end cap and
Outer end cap sealing ring is equipped between gear box cover, the motor is connect by conducting wire with control system；
The traveling member includes two driving parts, three castor assemblies, two sprung parts；Three castor assemblies point
It is not fixed on the rear end of vehicle frame front end two sides and vehicle frame, described two driving parts pass through two sprung parts respectively and are mounted on
Vehicle frame two sides, and it is located at two fixed frame rears.
The gear case body include bevel gear wheel I, bevel pinion, circlip I, I, four gear shaft fixing support I of axle sleeve,
Two bearings I, bevel gear with axes at right angles I, bevel gear with axes at right angles II, shaft coupling I, bevel gear with axes at right angles III, two bearing II, shaft sleeve II, column
Gear I, gear shaft fixing support II, stud wheel III, bevel gear with axes at right angles IV, II, two stud wheel II of bevel gear wheel, more than one
Circlip II, bearing V, gear shaft III, gear shaft IV, I, two bearing III of shaft coupling, bearing IV, gear shaft I, gear shaft II,
Gear shaft V, gear shaft VI；
The wheel shaft I of the bevel gear wheel I passes through gear case body, and the place of passing through is equipped with bearing III, and the bevel gear wheel I is mounted on
Wheel shaft I passes through one end of the wheel shaft I of gear case body inner wall side, and the other end of the wheel shaft I passes through shaft coupling II and inferior lobe
The lower impeller shaft connection of wheel, the bevel gear wheel I engages with bevel pinion, set on the gear case body inner wall there are four gear
Shaft fixing support I, the gear shaft I pass through two gear shaft fixing supports I of gear case body inner wall one end, and gear shaft I
Bearing I is respectively equipped at two gear shaft fixing supports I, one end of the gear shaft I is equipped with fluting and keyway, described to open
Circlip I is installed, the bevel pinion is fitted to one end of gear shaft I, the gear shaft I by round key and keyway in slot
Axis between two gear shaft fixing supports I is equipped with axle sleeve I, and the other end of the gear shaft I is equipped with the shaft shoulder, the shaft shoulder
I side of gear shaft fixing support is abutted against, the other end of the shaft shoulder of the gear shaft I installs bevel gear with axes at right angles I, the gear shaft
II sequentially passes through two gear shaft fixing supports I of the gear case body inner wall other end, and gear shaft II passes through two gear shafts
Bearing II is respectively equipped at fixed bracket I, one end of the gear shaft II is equipped with the shaft shoulder, and orthogonal cone tooth is installed in one end of the shaft shoulder
Wheel III, the shaft shoulder abut one of gear shaft fixing support I, and gear shaft II stretches out on the axis of another gear shaft fixing support I
Equipped with shaft sleeve II, and the other end of gear shaft II is set there are two fluting and keyway, is respectively equipped with circlip II in two flutings,
The stud wheel I is mounted on the other end of gear shaft II by round key and keyway, on the inner sidewall above the gear case body
It is provided with the hole of upper, middle and lower three, one end of gear shaft III is located in the hole of the centre on the inner sidewall above gear case body, tooth
One end of wheel shaft IV pass through inner sidewall on lower section hole stretch out gear case body, the gear shaft III, gear shaft IV it is another
End has two flutings, and circlip II is respectively equipped in two flutings, and described two stud wheels II are pacified by bearing respectively
On gear shaft III, gear shaft IV, the inner wall of the other side above the gear case body is equipped with gear shaft fixing support
II, one end of the gear shaft V passes through gear shaft fixing support II, and is equipped with bearing V at the place of passing through, gear shaft V it is another
End is mounted in the hole of the top above gear case body on inner sidewall, and one end of gear shaft V is fixedly connected with stud wheel column tooth
Wheel III, the other end are fixedly connected with bevel gear with axes at right angles IV, and the wheel shaft II of the bevel gear wheel II passes through gear case body and passing through
Place is equipped with bearing III, and the bevel gear wheel II is mounted on wheel shaft II on the axis of gear case body inner wall side, and auger tooth
Wheel II is engaged with bevel gear with axes at right angles IV, and the stud wheel III is engaged with the stud wheel II on gear shaft III, the column on gear shaft III
Gear II is engaged with the stud wheel II on gear shaft IV, on the stud wheel II on the gear shaft IV and II other end of gear shaft
Stud wheel I engages, and the bevel gear with axes at right angles II is between bevel gear with axes at right angles III and bevel gear with axes at right angles I, and bevel gear with axes at right angles II
It being engaged respectively with bevel gear with axes at right angles I, bevel gear with axes at right angles III, the bevel gear with axes at right angles II is fixedly connected on one end of gear shaft VI,
The other end of the gear shaft VI passes through gear box cover, outer end cap, and sequentially passes through the inner casing of gear box cover, distinguishes at outer end cap
Equipped with bearing IV, the gear shaft VI passes through the output axis connection of shaft coupling I and motor after gear box cover.
The structure of described two driving parts is identical, and each driving part include wheel shaft, it is idle pulley flat key, inner end cap, small
Sealing ring, big end cap, large sealing packing ring, bearing VI, stator, rotor, 3 idle pulleys, central gear, idle pulley frame, wheel hub, hub end
Lid, tire, gear ring flat key, gear ring；The idle pulley frame is located at hub interior, and the center of the idle pulley frame is equipped with hole, and Kong Shangkai
There is keyway, the keyway on the idle pulley frame centre bore makes idle pulley frame be mounted on wheel shaft by the keyway cooperation on flat key and wheel shaft
On, the idle pulley frame is equipped with 3 protruding shafts, and the central gear is mounted on wheel shaft, 3 idle pulleys respectively with idle pulley frame
3 protruding shaft connections, 3 idle pulleys are engaged with the internal gear of gear ring and central gear respectively, and the outer ring of the gear ring is provided with 3
3 keyways of keyway, the outer ring of the gear ring are cooperated by the keyway on flat key and wheel hub inner ring, and the side of the gear ring is set
There is rotor, the rotor is mounted on wheel shaft by bearing, and the rotor is equipped with one or more rotating boss, and described one
Above rotating boss is connect with central gear respectively, and the side of the rotor is equipped with stator, and the stator is equipped with iron mandrel, iron
Mandrel is equipped with winding, and the winding in the iron mandrel is connect by conducting wire with battery case, and the iron mandrel of the stator passes through big
Big end cap is simultaneously stretched out in the middle part of end cap, and the place of passing through is equipped with bearing VI, and the wheel shaft sequentially passes through the iron mandrel of stator, big end cap
Middle part, the big end cap are mounted on wheel shaft one end, and the other side of the big end cap is equipped with small sealing ring, inner end cap, described interior
End cap is connect by small sealing ring with big end cap, and the big end cap is fixed on the side of wheel hub, and between big end cap and wheel hub
Equipped with large sealing packing ring, the wheel hub end housing is connect with the wheel hub other side, and the tire wraps up wheel hub, and tire is coaxial with wheel hub；
The structure of described two sprung parts is identical, and each sprung parts include commutator, upper yoke, push rod, column, transverse direction
Stabiliser bar, lower yoke, spherical plain bearing rod end, damper, spring, more than one ear；The iron mandrel of the column and stator
Connection, top, the bottom end side of the column are respectively equipped with ear, lower ear, and one end of upper two arms of yoke is mounted on vertical
On the upper ear of column, one end of two arms of the lower yoke is mounted on the lower ear of column, the other end of two arms of upper yoke
It is respectively equipped with hole, oscillating bearing is installed respectively in hole, the other end of two arms of lower yoke is respectively equipped with threaded hole, in threaded hole
Oscillating bearing is installed respectively, the upper and lower layer of the vehicle frame is respectively fixed with more than one ear, two arms of the upper yoke
The oscillating bearing of the other end, lower yoke the oscillating bearings of the other end of two arms connect respectively with ear, the transverse direction is steady
The both ends of fixed pole are respectively equipped with threaded hole, install oscillating bearing, and the oscillating bearing of stabilizer bar one end in threaded hole respectively
It is connect with column bottom, the ear connection of the lower layer of the oscillating bearing and vehicle frame of stabilizer bar one end, the lower part of the column
Equipped with lug, the both ends of the push rod have threaded hole, and oscillating bearing is respectively equipped in the threaded hole, push rod one end
The lug of the lower part of oscillating bearing and column connects, and the oscillating bearing of the push rod other end is connect with commutator, the commutator
The connection of the ear of the other end and vehicle frame, the bottom end of the commutator and one end of damper connect, the other end and vehicle of damper
The ear of frame connects, and is cased with spring on the damper；
The structure of three castor assemblies is identical, and each castor assembly includes that castor, foot wheel carrier, 4 movable pulleies, castors subtract
Shake device, spring I, spring II, castor column, castor support, castor crotch, castor ball；The castor column is fixed on vehicle frame
On, the top of the castor column is equipped with boss, and two sides are respectively equipped with a track, castor damper inside the castor column
One end connect with the boss of castor column top, the castor damper is equipped with spring I, spring II, and the spring I is located at
II outside of spring, the side of the foot wheel carrier are equipped with 4 support shafts and boss, and the other end of castor damper is mounted on foot wheel carrier
On the boss of side, 4 movable pulleies are separately mounted in 4 support shafts of foot wheel carrier side, the wheel of 4 movable pulleies
While be respectively equipped with groove, and the groove on 4 movable pulley wheel sides is engaged with the track of two sides in castor column, the foot wheel carrier it is another
Side is equipped with bracket, and the top of the castor is connected by the bracket of the other side of castor support and foot wheel carrier, and the castor is logical
It crosses castor crotch to connect with castor support, castor ball is equipped between the castor support and castor crotch.
Upper leaf wheel connector is identical as the structure of lower impeller connector, include connection cover, two connection cover bearings,
Two circlips III；Described two connection cover bearings are separately mounted on the inner wall at connection cover both ends, the connection cover both ends it is interior
Circlip preformed groove is respectively equipped on wall, described two circlips III are separately mounted to the circlip preformed groove on the inner wall of connection cover both ends
It is interior, and two circlips III are located on the outside of two connection cover bearings.
Working principle of the present invention is as follows:
Image information is passed to control system by way of scanning by imaging sensor, by the big of control system analysis sphere
The relative position of small, type, quantity and sphere and car body sends to battery case after control system analysis has resolved and instructs,
For battery case to the winding power on the stator core axis of two driving parts, winding, which generates magnetic field, makes stator movement, two drivings
The movement of the stator of component drives the central gear of two driving parts to rotate respectively, central gear drive idle pulley rotation, and 3
Idle pulley drives the rotation of idle pulley frame, and idle pulley frame band runner hub 70 moves, to make tire motion, make robot with nearby principle to
It is close by receipts ball, wherein the energization size that control system controls on the stator in two driving parts can realize the robot
It turns to；When robot will be close to by receipts ball, control system will be according to the image information of imaging sensor real-time Transmission back
It calculates lead and is sent in due course to motor and instructed, rotate counterclockwise the shaft of motor, the shaft of motor passes through shaft coupling I
Transmit torque counterclockwise to gear shaft VI, gear shaft VI drives bevel gear with axes at right angles II to rotate, and bevel gear with axes at right angles II is simultaneously and just
Bevel gear I, bevel gear with axes at right angles III is handed over to engage, bevel gear with axes at right angles I is rotated clockwise with movable gear shaft I, and gear shaft I drives small bevel gear
Wheel rotates clockwise, and bevel pinion drives bevel gear wheel I to rotate counterclockwise, and bevel gear wheel I drives its transmission shaft I to turn counterclockwise
Dynamic, transmission shaft I drives the lower impeller shaft of lower impeller to rotate counterclockwise by shaft coupling II, and lower impeller shaft is inverse to drive lower impeller
Hour hands rotation, meanwhile, bevel gear with axes at right angles III is rotated counterclockwise and is rotated counterclockwise with movable gear shaft II, and gear shaft II drives column tooth
Wheel I rotates counterclockwise, and stud wheel I drives stud wheel II to rotate clockwise, and the stud wheel II above it is driven to rotate counterclockwise,
Stud wheel II drives the stud wheel III of top to rotate clockwise, and stud wheel III drives bevel gear with axes at right angles IV to rotate clockwise, orthogonal
Bevel gear IV drives bevel gear wheel II to rotate clockwise, and bevel gear wheel II drives transmission shaft II to rotate clockwise, and transmission shaft II is logical
The upper impeller shaft rotation that shaft coupling II drives upper impeller is crossed, upper impeller shaft drives upper impeller to rotate clockwise, to join in gear
Under the action of dynamic, impeller, lower impeller are reversely rotated in driving, so that ball is contacting oblique frame and rising one section along the slopes of oblique frame
At present impeller is just screwed into suitable position to height, avoids lower impeller that ball is squeezed and launched away；When ball contact oblique frame and along
Slopes of oblique frame and when rising a bit of height, the lower impeller rotated counterclockwise will be contacted with sphere and force ball along slopes to
Top of the slope rolls, and when sphere will cross top of the slope and tumble to the other side on slope, the blade of the upper impeller rotated clockwise is caught
Sphere, sphere under upper impeller turning effort will be promoted certain altitude after finally along the back side of upper impeller adjacent blades tumble to
Afterwards in collecting box, the robot completes primary collect at this time.
The invention has the following advantages:
(1) design safety of the present invention is reliable, it can be achieved that ball collection task.
(2) present invention collection blade wheel structure is simple, practical.
(3) running gear of the invention is structurally reasonable, and efficiency is higher.
(4) each functional component of the invention can convert according to demand, applied widely, and promotional value is high.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is overall structure diagram inside the present invention；
Fig. 3 is in the present invention, the overall structure diagram of impeller and fixed frame connection；
Fig. 4 is the overall structure diagram of impeller in the present invention, lower impeller；
Fig. 5 is the overall structure diagram of collecting part of the present invention；
Fig. 6 is the structural schematic diagram of fixed frame of the present invention；
Fig. 7 is the attachment structure schematic diagram of transmission parts of the present invention, upper and lower impeller；
Fig. 8 is the attachment structure schematic diagram of fixed frame and transmission parts of the present invention；
Fig. 9 is the part drawing of gear-box support of the present invention；
Figure 10 is the external structure schematic diagram of transmission parts of the present invention；
Figure 11 is the structural schematic diagram of gear-box inner bin of the present invention；
Figure 12 is gear-box schematic diagram of internal structure of the present invention；
Figure 13 is the transmission schematic diagram of gear-box internal gear of the present invention；
Figure 14 is the position view of bearing III of the present invention；
Figure 15 is the connection schematic diagram of gear case body and gear box cover of the present invention；
Figure 16 is the connection schematic diagram of motor and gear case body of the present invention；
Figure 17 is the attachment structure schematic diagram of traveling member of the present invention；
Figure 18 is the structural schematic diagram of driving part of the present invention；
Figure 19 is the structural schematic diagram of sprung parts of the present invention；
Figure 20 is the structural schematic diagram of castor assembly of the present invention；
Figure 21 is the part drawing of column of the present invention；
Figure 22 is the part drawing of foot wheel carrier of the present invention；
Figure 23 is the structural schematic diagram of castor damper of the present invention；
Figure 24 is the structural schematic diagram of castor of the present invention；
Figure 25 is the connection schematic diagram of vehicle frame and castor assembly of the invention；
Figure 26 is the structural schematic diagram of castor ball of the invention；
Figure 27 is the structural schematic diagram of upper impeller connector of the invention；
Figure 28 is the attachment structure schematic diagram of column and stator of the invention；
Figure 29 is the schematic view of the mounting position of battery case of the invention；
Figure 30 is the installation cross-sectional view of gear shaft VI of the invention, bevel gear with axes at right angles II；
Figure 31 is transmission direction schematic diagram of the invention；
Each label in figure are as follows: impeller under 1- vehicle body, 2- driving part, 3- castor assembly, 4- imaging sensor, 5-, the upper impeller of 6-,
7- collecting box, 8- vehicle frame, 9- sprung parts, 10- transmission parts, 11- fixed frame, 12- commutator, the upper yoke of 13-, 14- push rod,
Yoke, 18- oscillating bearing, 19- damper, 20- spring, 21- motor, 22- motor under 15- column, 16- stabilizer bar, 17-
Impeller connector under support, 23- gear box cover, 24- gear-box support, 25- gearbox seals circle, 26-, 27- gear case body,
The upper impeller connector of 28-, 29- bevel gear wheel I, 30- bevel pinion, 31- circlip I, 32- axle sleeve I, 33- gear shaft fixing support
I, 34- bearing I, 35- bevel gear with axes at right angles I, 36- bevel gear with axes at right angles II, 37- shaft coupling I, 38- bevel gear with axes at right angles III, 39- bearing
II, 40- shaft sleeve II, 41- stud wheel I, 42- gear shaft fixing support II, 43- stud wheel III, 44- bevel gear wheel II, 45- column tooth
Take turns II, 46- circlip II, 47- bearing V, 48- gear shaft III, 49- gear shaft IV, 50- shaft coupling II, 51- castor, 52- castor
Frame, 53- movable pulley, 54- castor damper, 55- spring I, 56- spring II, 57- castor column, 58- wheel shaft, 59- idle pulley are flat
Key, 60- inner end cap, 61- small sealing ring, the big end cap of 62-, 63- large sealing packing ring, 64- bearing VI, 65- stator, 66- rotor, 67-
Idle pulley, 68- central gear, 69- idle pulley frame, -70- wheel hub, 71- wheel hub end housing, 72- tire, 73- gear ring flat key, 74- gear ring,
It is collected before impeller shaft, the oblique frame of 80-, 81- under 75- bevel gear with axes at right angles IV, 76- ear, 77- gear shaft I, the upper impeller shaft of 78-, 79-
Collecting box, 83- castor ball, 84- gear shaft II, 85- bearing III, 86- gear shaft V, 87- gear shaft VI, 88- after case, 82-
Bearing IV, 89- battery case, 90- connection cover, 91- connection cover bearing, 92- circlip III, 93- outer end cap, 94- outer end cap sealing ring.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
Embodiment 1: as shown in Fig. 1 ~ 29, this ball recycling machine people, including vehicle body 1, imaging sensor 4, collecting part,
Traveling member, vehicle frame 8, transmission parts 10, battery case 89, control system；
The vehicle body 1 is fixed on carriage 8, and the imaging sensor 4 is fixed on the front end of vehicle body 1, and 4 side of imaging sensor is set
There is control system, the control system is central processing unit；
The collecting part includes two fixed frames 11, upper impeller 6, lower impeller 5, collecting box 7；Upper leaf wheel 6 includes 3 on pieces
Blade and upper impeller shaft 78, the 3 on piece vane tip are respectively equipped with 18 teeth, and the bottom of 3 blades is respectively welded
In upper impeller shaft 78, the lower impeller 5 includes 3 lower blades and lower impeller shaft 79, and the top of 3 lower blades is set respectively
There are 18 teeth, the bottom of 3 lower blades is respectively welded in lower impeller shaft 79, and the collecting box 7 includes oblique frame 80, preceding receipts
Header 81, rear collecting box 82, the oblique frame 80 is mounted on preceding 81 front of collecting box, and the middle part of oblique frame 80 is arc-shaped, before described
It is equipped with 3 doors between collecting box 81 and rear collecting box 82, the bottom plate of the preceding collecting box 81 is inclined floor, and collecting box backward
Lower impeller connector 26, upper impeller connector 28, institute are installed in the inclination of 82 directions, the top two sides of described two fixed frames 11 respectively
The two sides that two fixed frames 11 are located at upper impeller 6, lower impeller 5 are stated, and the both ends of upper impeller shaft 78 are each passed through two fixed frames
11 upper impeller connector 28, the both ends of lower impeller shaft 79 are each passed through the lower impeller connector 26 of two fixed frames 11；
Before the battery case 89 is fixed on collecting box 81, the battery case 89 is connect by conducting wire with central processing unit；
The transmission parts 10 include motor 21, motor support base 22, gear box cover 23, gear-box support 24, gearbox seals circle
25, gear case body 27；The motor support base 22, gear-box support 24 are mounted on the fixed frame of impeller 6,5 side of lower impeller
On 11, and gear-box support 24 is located at 22 top of motor support base, and the motor 21 is mounted on motor support base 22, the gear-box
Cabinet 27 is fixed on gear-box support 24, and gear case body 27 is connect by gearbox seals circle 25 with gear box cover 23, institute
23 shell of gear box cover is stated equipped with outer end cap 93, outer end cap sealing ring is equipped between the outer end cap 93 and gear box cover 23
94, the motor 21 is connect by conducting wire with central processing unit；
The traveling member includes two sprung parts 9 of castor assembly 3, two of driving part 2, three；Three castors are total
The rear end for being respectively welded at 8 front end two sides of vehicle frame and vehicle frame 8 at 3, described two driving parts 2 pass through two suspended portions respectively
Part 9 is mounted on 8 two sides of vehicle frame, and is located at two 11 rears of fixed frame；
The gear case body 27 is fixed including I 32, four bevel gear wheel I 29, bevel pinion 30, circlip I 31, axle sleeve gear shafts
I 33, two bearings I 34 of bracket, bevel gear with axes at right angles I 35, bevel gear with axes at right angles II 36, shaft coupling I 37, bevel gear with axes at right angles III 38, two
It is a bearing II 39, shaft sleeve II 40, stud wheel I 41, gear shaft fixing support II 42, stud wheel III 43, bevel gear with axes at right angles IV 75, big
IV 49, two stud wheel II 45,6 of bevel gear II 44, two circlip II 46, bearing V 47, gear shaft III 48, gear shaft shaft couplings
Device II 50, two bearings III 85, bearing IV 88, gear shaft I 77, gear shaft II 84, gear shaft V 86, gear shafts VI 87；
The wheel shaft I of the bevel gear wheel I 29 passes through gear case body 27, and the place of passing through is equipped with bearing III 85, the bevel gear wheel I
29 are mounted on wheel shaft I across one end of the wheel shaft I of 27 inner wall side of gear case body, and the other end of the wheel shaft I passes through shaft coupling
Device II 50 is connect with the lower impeller shaft 79 of lower impeller 5, and the bevel gear wheel I 29 is engaged with bevel pinion 30, the gear-box case
It is set on 27 inner wall of body there are four gear shaft fixing support I 33, the gear shaft I 77 passes through the two of 27 inner wall one end of gear case body
A gear shaft fixing support I 33, and gear shaft I 77 passes through and is respectively equipped with bearing I 34, institute at two gear shaft fixing supports I 33
The one end for stating gear shaft I 77 is equipped with fluting and keyway, installs circlip I 31 in the fluting, the bevel pinion 30 passes through round key
Be fixedly mounted on one end of gear shaft I 77 with keyway cooperation, the gear shaft I 77 be located at two gear shaft fixing supports I 33 it
Between axis be equipped with axle sleeve I 32, the other end of the gear shaft I 77 is equipped with the shaft shoulder, and the shaft shoulder abuts against the fixed branch of gear shaft
The other end of I 33 side of frame, the shaft shoulder of the gear shaft I 77 installs bevel gear with axes at right angles I 35, and the gear shaft II 84 sequentially passes through
Two gear shaft fixing supports I 33 of the 27 inner wall other end of gear case body, and gear shaft II 84 passes through two gear shafts and fixes
Bearing II 39 is respectively equipped at bracket I 33, one end of the gear shaft II 84 is equipped with the shaft shoulder, and orthogonal cone is installed in one end of the shaft shoulder
Gear III 38, the shaft shoulder abut one of gear shaft fixing support I 33, and gear shaft II 84 stretches out another gear shaft fixing support
I 33 axis is equipped with shaft sleeve II 40, and the other end of gear shaft II 84 is set there are two fluting and keyway, and two flutings are interior to be set respectively
There is circlip II 46, the stud wheel I 41 is mounted on the other end of gear shaft II 84, the gear case body by round key and keyway
The hole of upper, middle and lower three is provided on the inner sidewall of 27 tops, one end of gear shaft III 48 is located at the inside of 27 top of gear case body
In the hole of centre on wall, gear case body 27 is stretched out in the hole that one end of gear shaft IV 49 passes through the lower section on inner sidewall, described
Gear shaft III 48, gear shaft IV 49 the other end have two flutings, and be respectively equipped with circlip II 46, institute in two flutings
It states two stud wheels II 45 and gear shaft III 48 is mounted on, on gear shaft IV 49 by bearing respectively, on the gear case body 27
The inner wall of the other side of side is equipped with gear shaft fixing support II 42, and one end of the gear shaft V 86 passes through the fixed branch of gear shaft
Frame II 42, and it is equipped with bearing V 47 at the place of passing through, the other end of gear shaft V 86 is mounted on 27 top inner sidewall of gear case body
On top hole in, and one end of gear shaft V 86 is fixedly connected with stud wheel III 43, the other end is fixedly connected with bevel gear with axes at right angles
IV 75, the wheel shaft II of the bevel gear wheel II 44 passes through gear case body 27 and is equipped with bearing III 85, the auger at the place of passing through
Gear II 44 is mounted on wheel shaft II on the axis of 27 inner wall side of gear case body, and bevel gear wheel II 44 and bevel gear with axes at right angles
IV 75 engagements, the wheel shaft II are connect by shaft coupling II 50 with the upper impeller shaft 78 of upper impeller 6, the stud wheel III 43 and tooth
Stud wheel II 45 on wheel shaft III 48 engages, the stud wheel II 45 on stud wheel II 45 and gear shaft IV 49 on gear shaft III 48
It engages, the stud wheel II 45 on the gear shaft IV 49 is engaged with the stud wheel I 41 on II 84 other end of gear shaft, described orthogonal
Bevel gear II 36 between bevel gear with axes at right angles III 38 and bevel gear with axes at right angles I 35, and bevel gear with axes at right angles II 36 respectively with orthogonal cone
Gear I 35, bevel gear with axes at right angles III 38 engage, and the bevel gear with axes at right angles II 36 is fixedly connected on one end of gear shaft VI 87, described
The other end of gear shaft VI 87 passes through gear box cover 23, outer end cap 93, and sequentially passes through the inner casing of gear box cover 23, outer end cap 93
Place is respectively equipped with bearing IV 88, and the gear shaft VI 87 passes through the output of shaft coupling I 37 and motor 21 after gear box cover 23
Axis connection；
The structure of described two driving parts 2 is identical, and each driving part 2 includes wheel shaft 58, idle pulley flat key 59, inner end cap
60, small sealing ring 61, big end cap 62, large sealing packing ring 63, bearing VI 64, stator 65, rotor 66,3 idle pulleys 67, central gear
68, idle pulley frame 69, wheel hub 70, wheel hub end housing 71, tire 72, gear ring flat key 73, gear ring 74；The idle pulley frame 69 is located at wheel hub 70
The center of inside, the idle pulley frame 69 is equipped with hole, and keyway is provided on hole, and the keyway on 69 centre bore of idle pulley frame passes through
Keyway cooperation on flat key 59 and wheel shaft 58 is mounted on idle pulley frame 69 on wheel shaft 58, and the idle pulley frame 69 is equipped with 3 protruding shafts,
The central gear 68 is mounted on wheel shaft 58, and 3 idle pulleys 67 are connect with 3 protruding shafts of idle pulley frame 69 respectively, and described 3
Idle pulley 67 is engaged with the internal gear of gear ring 74 and central gear 68 respectively, and the outer ring of the gear ring 74 is provided with 3 keyways, the tooth
3 keyways of the outer ring of circle 74 are cooperated by the keyway on flat key and 70 inner ring of wheel hub, and the side of the gear ring 74 is equipped with rotor
66, the rotor 66 is mounted on wheel shaft 58 by bearing, and the rotor 66 is equipped with 3 rotating boss, and 3 rotations are convex
Platform is connect with central gear 68 respectively, and the side of the rotor 66 is equipped with stator 65, and the stator 65 is equipped with iron mandrel, iron mandrel
It is equipped with winding, the winding in the iron mandrel is connect by conducting wire with battery case 89, and the iron mandrel of the stator 65 passes through big
Big end cap 62 is simultaneously stretched out in the middle part of end cap 62, and the place of passing through is equipped with bearing VI 64, and the wheel shaft 58 sequentially passes through the iron of stator 65
Mandrel, 62 middle part of big end cap, the big end cap 62 are mounted on 58 one end of wheel shaft, and the other side of the big end cap 62 is equipped with small close
Seal 61, inner end cap 60, the inner end cap 60 are connect by small sealing ring 61 with big end cap 62, and the big end cap 62 is fixed on wheel
On the side of hub 70, and it is equipped with large sealing packing ring 63 between big end cap 62 and wheel hub 70, the wheel hub end housing 71 and wheel hub 70 are another
Side connection, the tire 72 wrap up wheel hub 70, and tire 72 and wheel hub 70 are coaxial；
The structure of described two sprung parts 9 is identical, and each sprung parts 9 include commutator 12, upper yoke 13, push rod 14,
Column 15, stabilizer bar 16, lower yoke 17, oscillating bearing 18, damper 19,20,7 76, spring；The column 15 with it is fixed
The iron core axis connection of son 65, top, the bottom end side of the column 15 are respectively equipped with ear, lower ear, the upper yoke 13 two
One end of arm is mounted on the upper ear of column 15, and one end of two arms of the lower yoke 17 is mounted on the lower ear of column 15,
The other end of two arms of upper yoke 13 is respectively equipped with hole, installs oscillating bearing 18 in hole respectively, two arms of lower yoke 17
The other end is respectively equipped with threaded hole, installs oscillating bearing 18 in threaded hole respectively, and the upper and lower layer of the vehicle frame 8 is respectively welded 7
A ear 76, the oscillating bearing 18 of the other end of two arms of the upper yoke 13, the other end of two arms of lower yoke 17
Oscillating bearing 18 is connect with ear 76 respectively, and the both ends of the stabilizer bar 16 are respectively equipped with threaded hole, difference in threaded hole
Oscillating bearing 18 is installed, and the oscillating bearing 18 of 16 one end of stabilizer bar is connect with 15 bottom of column, stabilizer bar 16 1
The oscillating bearing 18 at end is connect with the ear 76 of the lower layer of vehicle frame 8, and the lower part of the column 15 is equipped with lug, the push rod 14
Both ends have threaded hole, are respectively equipped with oscillating bearing 18 in the threaded hole, the oscillating bearing 18 of 14 one end of push rod and vertical
The lug of the lower part of column 15 connects, and the oscillating bearing 18 of 14 other end of push rod is connect with commutator 12, the commutator 12 it is another
One end is connect with the ear 76 of vehicle frame 8, and the bottom end of the commutator 12 is connect with one end of damper 19, damper 19 it is another
End is connect with the ear 76 of vehicle frame 8, is cased with spring 20 on the damper 19；
The structure of three castor assemblies 3 is identical, and each castor assembly 3 includes 52,4 castor 51, foot wheel carrier movable pulleies
53, castor damper 54, spring I 55, spring II 56, castor column 57, castor support 78, castor crotch 79, castor ball 83；
The castor column 57 is fixed on carriage 8, and the top of the castor column 57 is equipped with boss, 57 inside two of castor column
Side is respectively equipped with a track, and one end of castor damper 54 is connect with the boss on 57 top of castor column, the castor damping
Device 54 is equipped with spring I 55, spring II 56, and the spring I 55 is located at II 56 outside of spring, and the side of the foot wheel carrier 52 is equipped with
4 support shafts and boss, the other end of castor damper 54 are mounted on the boss of 52 side of foot wheel carrier, 4 movable pulleies
53 are separately mounted in 4 support shafts of 52 side of foot wheel carrier, and the wheel side of 4 movable pulleies 53 is respectively equipped with groove, and 4
The groove that movable pulley 53 takes turns side is engaged with the track of two sides in castor column 57, and the other side of the foot wheel carrier 52 is equipped with bracket,
The top of the castor 51 is connect by castor support 78 with the bracket of the other side of foot wheel carrier 52, and the castor 51 passes through castor
Crotch 79 is connect with castor support 78, and castor ball 83 is equipped between the castor support 78 and castor crotch 79；
Upper leaf wheel connector 28 is identical as the structure of lower impeller connector 26, includes 90, two connection cover axis of connection cover
Hold 91, two circlips III 92；Described two connection cover bearings 91 are separately mounted on the inner wall at 90 both ends of connection cover, the connection
Circlip preformed groove is respectively equipped on the inner wall at 90 both ends of lid, described two circlips III 92 are separately mounted to 90 both ends inner wall of connection cover
On circlip preformed groove in, and two circlips III 92 are located at the outside of two connection cover bearings 91.
The minimum point of the oblique frame 80 is 15mm away from the distance on ground, is less than table tennis diameter 20mm, the lower impeller 5
Blade is arc-shaped when moving, and the distance between arc of the motion profile and oblique frame 80 is 20mm, less than the diameter 40mm of table tennis,
The effective radius of the blade movement of the lower impeller 5 is 365mm, and the effective radius of the blade of upper impeller 6 is 570mm, is all larger than
Basketball diameter 246mm, the lower impeller 5,6 vane tip of upper impeller tooth and tooth between gap be 20mm, be less than table tennis
Bulb diameter 40mm, therefore the ball recycling machine people can be recycled diameter and be in 40mm to ball between 246mm.
The course of work of the present embodiment is as follows: image information is passed to center by way of scanning by imaging sensor 4
Processor works as centre by size, type, quantity and the sphere of central processing unit analysis sphere and the relative position of car body
Reason device analysis sends to battery case 89 after having resolved and instructs, and battery case 89 is in 65 iron mandrel of stator of two driving parts 2
Winding power, winding, which generates magnetic field, moves stator 65, and the movement of the stator 65 of two driving parts 2 drives two drivings respectively
The central gear 68 of component 2 rotates, and central gear 68 drives 3 idle pulleys 67 to rotate, and 3 idle pulleys 67 drive idle pulley frame 69 to rotate,
Idle pulley frame 69 is moved with runner hub 70, so that tire 72 be made to move.
Make robot with nearby principle to close by receipts ball, wherein central processing unit controls in two driving parts 2
Energization size on stator 65 can realize the steering of the robot；When robot will be close to by receipts ball, central processing unit will
It calculates lead according to the image information that 4 real-time Transmission of imaging sensor is returned and is sent in due course to motor 21 and instruct, make electricity
The shaft of machine 21 rotates counterclockwise, and the shaft of motor 21 transmits torque counterclockwise, tooth to gear shaft VI 87 by shaft coupling I 37
Wheel shaft VI 87 drive bevel gear with axes at right angles II 36 rotate, bevel gear with axes at right angles II 36 simultaneously with bevel gear with axes at right angles I 35, bevel gear with axes at right angles III
38 engagements, I 35 band movable gear shaft I 77 of bevel gear with axes at right angles rotate clockwise, and gear shaft I 77 drives bevel pinion 30 to turn clockwise
Dynamic, bevel pinion 30 drives bevel gear wheel I 29 to rotate counterclockwise, and bevel gear wheel I 29 drives its transmission shaft I to rotate counterclockwise, and passes
Moving axis I drives the lower impeller shaft 79 of lower impeller 5 to rotate counterclockwise by shaft coupling II 50, and lower impeller shaft 79 is to drive lower impeller
5 rotate counterclockwise, meanwhile, bevel gear with axes at right angles III 38 is rotated counterclockwise and is rotated counterclockwise with movable gear shaft II 84, gear shaft II
84 drive stud wheels I 41 rotate counterclockwise, and stud wheel I 41 drives stud wheel II 45 to rotate clockwise, and drives the column above it
Gear II 45 rotates counterclockwise, and stud wheel II 45 drives the stud wheel III 43 of top to rotate clockwise, and stud wheel III 43 drives just
Bevel gear IV 75 is handed over to rotate clockwise, bevel gear with axes at right angles IV 75 drives bevel gear wheel II 44 to rotate clockwise, bevel gear wheel II 44
Transmission shaft II is driven to rotate clockwise, transmission shaft II drives the upper impeller shaft 78 of upper impeller 6 to rotate by shaft coupling II 50, upper leaf
Wheel shaft 78 drives upper impeller 6 to rotate clockwise, so that impeller 6, lower impeller 5 reversely revolve in driving under the action of gear-linked
Turn, so that ball is in the oblique frame 80 of contact and along one section of height of the slopes of oblique frame 80 rising, impeller 5 is just screwed into suitable position at present,
Avoid lower impeller 5 that ball is squeezed and launched away；When ball contacts oblique frame 80 and along the slopes of oblique frame 80 and rises a bit of height
When spending, the lower impeller 5 rotated counterclockwise will contact with sphere and ball is forced to roll along slopes to top of the slope, when sphere will be crossed
Top of the slope and when tumbling to the other side on slope, the blade of the upper impeller 6 rotated clockwise catches sphere, and sphere is rotated in upper impeller 6
It finally tumbles along the back side of upper 6 adjacent blades of impeller to rear collecting box 82 after certain altitude will be promoted under effect, at this time should
Robot completes primary collect.
The steering of the driving part 2 that is rotatably assorted of the castor 51 of the castor assembly 3, and castor 51 and castor column 57 are sent out
Raw sliding opposite up and down, castor damper 54 hinder it is this it is opposite slide and absorb castor 51 vibrated from ground bring, play
The effect of damping, castor damper 54 adjusts the ground connection power of wheel by adjusting the up and down motion of castor 51, so that each wheel fills
Divide and ground face contact.
When driving part 2 is offset up, this, which offsets up, moves up column 15, and push rod 14 shows as pushing up, bar
Part is pressurized, and damper 19 shows as tension；When driving part 2 is when offseting downward, this offset downward forces column 15 to move down,
Push rod 14 shows as pushing down on, and rod piece tension, damper 19 shows as being pressurized；Lower yoke 17 and upper yoke 13 are responsible for column
15 is fixed, forces its up and down motion, and stabilizer bar 16 is fixed by column 15, avoids column 15 around own axis.
Above in conjunction with attached drawing, the embodiment of the present invention is explained in detail, but the present invention is not limited to above-mentioned
Embodiment within the knowledge of a person skilled in the art can also be before not departing from present inventive concept
Put that various changes can be made.
Claims (4)
1. a kind of ball recycling machine people, which is characterized in that including vehicle body (1), imaging sensor (4), collecting part, travel section
Part, vehicle frame (8), transmission parts (10), battery case (89), control system；
The vehicle body (1) is fixed on vehicle frame (8), and the imaging sensor (4) is fixed on the front end of vehicle body (1), imaging sensing
Device (4) side is equipped with control system；
The collecting part includes two fixed frames (11), upper impeller (6), lower impeller (5), collecting box (7)；Upper leaf wheel
(6) include a piece of above blade and upper impeller shaft (78), be respectively equipped at the top of a piece of above blade one with
On tooth, the bottom of a piece of above blade is respectively welded on impeller shaft (78), and the lower impeller (5) includes one
More than piece lower blade and lower impeller shaft (79) are respectively equipped with more than one tooth at the top of a piece of above lower blade,
The bottom of a piece of above lower blade is respectively welded on lower impeller shaft (79), the collecting box (7) include oblique frame (80),
Preceding collecting box (81), rear collecting box (82), the oblique frame (80) are mounted on preceding collecting box (81) front, and the tiltedly middle part of frame (80)
It is arc-shaped, more than one door is equipped between the preceding collecting box (81) and rear collecting box (82), the preceding collecting box (81)
Bottom plate is inclined floor, and collecting box (82) direction tilts backward, and the top two sides of described two fixed frames (11) are installed respectively
Lower impeller connector (26), upper impeller connector (28), described two fixed frames (11) are located at upper impeller (6), lower impeller (5)
Two sides, and the both ends of upper impeller shaft (78) are each passed through the upper impeller connector (28) of two fixed frames (11), lower impeller shaft
(79) both ends are each passed through the lower impeller connector (26) of two fixed frames (11)；
The battery case (89) is fixed on preceding collecting box (81), and the battery case (89) is connect by conducting wire with control system；
The transmission parts (10) include motor (21), motor support base (22), gear box cover (23), gear-box support (24), tooth
Roller box sealing ring (25), gear case body (27)；The motor support base (22), gear-box support (24) be mounted on impeller (6),
On the fixed frame (11) of lower impeller (5) side, and gear-box support (24) is located above motor support base (22), the motor (21)
It is mounted on motor support base (22), the gear case body (27) is fixed on gear-box support (24), gear case body (27)
It being connect by gearbox seals circle (25) with gear box cover (23), gear box cover (23) shell is equipped with outer end cap (93),
Outer end cap sealing ring (94) are equipped between the outer end cap (93) and gear box cover (23), conducting wire is passed through by the motor (21)
It is connect with control system；
The traveling member includes two driving parts (2), three castor assemblies (3), two sprung parts (9)；Described three
Castor assembly (3) is separately fixed at the rear end of vehicle frame (8) front end two sides and vehicle frame (8), and described two driving parts (2) are respectively
Vehicle frame (8) two sides are mounted on by two sprung parts (9), and are located at two fixed frame (11) rears.
2. ball recycling machine people according to claim 1, it is characterised in that: the gear case body (27) includes auger
Gear I (29), bevel pinion (30), circlip I (31), axle sleeve I (32), four gear shaft fixing supports I (33), two bearings I
(34), bevel gear with axes at right angles I (35), bevel gear with axes at right angles II (36), shaft coupling I (37), bevel gear with axes at right angles III (38), two bearings II
(39), shaft sleeve II (40), stud wheel I (41), gear shaft fixing support II (42), stud wheel III (43), bevel gear with axes at right angles IV
(75), bevel gear wheel II (44), two stud wheels II (45), more than one circlip II (46), bearing V (47), gear shaft III
(48), gear shaft IV (49), two shaft couplings II (50), two bearings III (85), bearing IV (88), gear shaft I (77), gear
Axis II (84), gear shaft V (86), gear shaft VI (87)；
The wheel shaft I of the bevel gear wheel I (29) passes through gear case body (27), and the place of passing through is equipped with bearing III (85), described big
Bevel gear I (29) be mounted on wheel shaft I across gear case body (27) inner wall side wheel shaft I one end, the wheel shaft I it is another
End is connect by shaft coupling II (50) with the lower impeller shaft (79) of lower impeller (5), the bevel gear wheel I (29) and bevel pinion
(30) it engages, sets that there are four gear shaft fixing support I (33), the gear shafts I (77) on gear case body (27) inner wall
Two gear shaft fixing supports I (33) across gear case body (27) inner wall one end, and gear shaft I (77) passes through two gears
Bearing I (34) is respectively equipped at shaft fixing support I (33), one end of the gear shaft I (77) is equipped with fluting and keyway, described to open
Circlip I (31) are installed in slot, the bevel pinion (30) is fixedly mounted on the one of gear shaft I (77) by round key and keyway cooperation
End, the gear shaft I (77) are located at the axis between bevel pinion (30) and shaft fixing support I (33) equipped with axle sleeve I (32), institute
The other end for stating gear shaft I (77) is equipped with the shaft shoulder, and the shaft shoulder abuts against gear shaft fixing support I (33) side, the gear
The other end of the shaft shoulder of axis I (77) installs bevel gear with axes at right angles I (35), and the gear shaft II (84) sequentially passes through gear case body
(27) two gear shaft fixing supports I (33) of the inner wall other end, and gear shaft II (84) passes through two gear shaft fixing supports I
(33) bearing II (39) is respectively equipped at, one end of the gear shaft II (84) is equipped with the shaft shoulder, and one end installation of the shaft shoulder is orthogonal
Bevel gear III (38), the shaft shoulder abut one of gear shaft fixing support I (33), and gear shaft II (84) stretches out another gear shaft
The axis of fixed bracket I (33) is equipped with shaft sleeve II (40), and the other end of gear shaft II (84) is set there are two fluting and keyway, and two
Circlip II (46) is respectively equipped in a fluting, the stud wheel I (41) is mounted on gear shaft II (84) by round key and keyway
The other end is provided with the hole of upper, middle and lower three, one end of gear shaft III (48) on the inner sidewall above the gear case body (27)
In the hole of centre on the inner sidewall above gear case body (27), one end of gear shaft IV (49) is passed through on inner sidewall
Gear case body (27) are stretched out in the hole of lower section, the gear shaft III (48), gear shaft IV (49) the other end have two
Fluting, and it is respectively equipped with circlip II (46) in two flutings, described two stud wheels II (45) are mounted on tooth by bearing respectively
On wheel shaft III (48), gear shaft IV (49), the inner wall of the other side above the gear case body (27) is solid equipped with gear shaft
Fixed rack II (42), one end of the gear shaft V (86) passes through gear shaft fixing support II (42), and is equipped with axis at the place of passing through
V (47) are held, the other end of gear shaft V (86) is mounted in the hole of the top above gear case body (27) on inner sidewall, and
One end of gear shaft V (86) is fixedly connected with stud wheel III (43), the other end is fixedly connected with bevel gear with axes at right angles IV (75), described big
The wheel shaft II of bevel gear II (44) passes through gear case body (27) and is equipped with bearing III (85), the bevel gear wheel II at the place of passing through
(44) wheel shaft II is mounted on the axis of gear case body (27) inner wall side, and bevel gear wheel II (44) and bevel gear with axes at right angles
IV (75) engagement, the wheel shaft II are connect by shaft coupling II (50) with the upper impeller shaft (78) of upper impeller (6), the stud wheel
III (43) are engaged with the stud wheel II (45) on gear shaft III (48), stud wheel II (45) and gear shaft on gear shaft III (48)
Stud wheel II (45) on IV (49) engages, and the stud wheel II (45) and gear shaft II (84) on the gear shaft IV (49) are another
Stud wheel I (41) engagement on end, the bevel gear with axes at right angles II (36) are located at bevel gear with axes at right angles III (38) and bevel gear with axes at right angles I
(35) between, and bevel gear with axes at right angles II (36) is engaged with bevel gear with axes at right angles I (35), bevel gear with axes at right angles III (38) respectively, it is described just
Bevel gear II (36) are handed over to be fixedly connected on one end of gear shaft VI (87), the other end of the gear shaft VI (87) passes through gear-box
(23), outer end cap (93) are covered, and sequentially pass through the inner casing of gear box cover (23), outer end cap is respectively equipped with bearing IV at (93)
(88), the gear shaft VI (87) passes through the output axis connection that gear box cover (23) pass through shaft coupling I (37) and motor (21) afterwards.
3. ball recycling machine people according to claim 1, it is characterised in that: the structure of described two driving parts (2)
It is identical, and each driving part (2) includes wheel shaft (58), idle pulley flat key (59), inner end cap (60), small sealing ring (61), big end
It covers (62), large sealing packing ring (63), bearing VI (64), stator (65), rotor (66), 3 idle pulleys (67), central gear (68), lazy
Wheel carrier (69), wheel hub (70), wheel hub end housing (71), tire (72), gear ring flat key (73), gear ring (74)；The idle pulley frame (69)
Internal positioned at wheel hub (70), the center of the idle pulley frame (69) is equipped with hole, and keyway is provided on hole, idle pulley frame (69) center
Being cooperated by the keyway on flat key (59) and wheel shaft (58) for keyway on hole is mounted on idle pulley frame (69) on wheel shaft (58), institute
Idle pulley frame (69) are stated equipped with 3 protruding shafts, the central gear (68) is mounted on wheel shaft (58), 3 idle pulleys (67) point
It is not connect with 3 protruding shafts of idle pulley frame (69), 3 idle pulleys (67) internal gear and central gear with gear ring (74) respectively
(68) engage, the outer ring of the gear ring (74) is provided with 3 keyways, 3 keyways of the outer ring of the gear ring (74) by flat key with
Keyway cooperation on wheel hub (70) inner ring, the side of the gear ring (74) are equipped with rotor (66), and the rotor (66) passes through bearing
It is mounted on wheel shaft (58), the rotor (66) is equipped with one or more rotating boss, described one or more rotating boss
It being connect respectively with central gear (68), the side of the rotor (66) is equipped with stator (65), and the stator (65) is equipped with iron mandrel,
Iron mandrel is equipped with winding, and the winding in the iron mandrel is connect by conducting wire with battery case (89), the iron of the stator (65)
Mandrel passes through the middle part of big end cap (62) and stretches out big end cap (62), and the place of passing through is equipped with bearing VI (64), the wheel shaft (58)
Iron mandrel, big end cap (62) middle part of stator (65) are sequentially passed through, the other side of the big end cap (62) is equipped with small sealing ring
(61), inner end cap (60), the inner end cap (60) are connect by small sealing ring (61) with big end cap (62), the big end cap (62)
It is fixed on the side of wheel hub (70), and is equipped with large sealing packing ring (63) between big end cap (62) and wheel hub (70), the hub end
Lid (71) is connect with wheel hub (70) other side, and the tire (72) wraps up wheel hub (70), and tire (72) and wheel hub (70) are coaxial；
The structure of described two sprung parts (9) is identical, and each sprung parts (9) include commutator (12), upper yoke (13),
Push rod (14), column (15), stabilizer bar (16), lower yoke (17), oscillating bearing (18), damper (19), spring (20),
More than one ear (76)；The iron core axis connection of the column (15) and stator (65), top, the bottom end of the column (15)
Side is respectively equipped with ear, lower ear, and one end of upper (13) two arms of yoke is mounted on the upper ear of column (15), under described
One end of two arms of yoke (17) is mounted on the lower ear of column (15), and the other end of two arms of upper yoke (13) is set respectively
There is threaded hole, installed respectively in threaded hole oscillating bearing (18), the other end of two arms of lower yoke (17) is respectively equipped with screw thread
Hole is installed oscillating bearing (18) respectively in threaded hole, and the upper and lower layer of the vehicle frame (8) is respectively fixed with more than one ear
(76), the other end of the oscillating bearing (18) of the other end of two arms of the upper yoke (13), two arms of lower yoke (17)
Oscillating bearing (18) connect respectively with ear (76), the both ends of the stabilizer bar (16) are respectively equipped with threaded hole, screw thread
It is installed respectively in hole oscillating bearing (18), and the oscillating bearing (18) of stabilizer bar (16) one end and column (15) bottom connect
It connects, the oscillating bearing (18) of stabilizer bar (16) one end is connect with the ear (76) of the lower layer of vehicle frame (8), the column (15)
Lower part be equipped with lug, the both ends of the push rod (14) have threaded hole, are respectively equipped with oscillating bearing in the threaded hole
(18), the oscillating bearing (18) of push rod (14) one end is connect with the lug of the lower part of column (15), the pass of push rod (14) other end
Bearings (18) are connect with commutator (12), and the other end of the commutator (12) is connect with the ear (76) of vehicle frame (8), described
The bottom end of commutator (12) is connect with one end of damper (19), the other end of damper (19) and the ear (76) of vehicle frame (8)
It connects, is cased with spring (20) on the damper (19)；
The structure of three castor assemblies (3) is identical, and each castor assembly (3) includes castor (51), foot wheel carrier (52), 4
A movable pulley (53), castor damper (54), spring I (55), spring II (56), castor column (57), castor support (78), foot
Take turns crotch (79), castor ball (83)；The castor column (57) is fixed on vehicle frame (8), the top of the castor column (57)
End is equipped with boss, and the internal two sides of the castor column (57) are respectively equipped with a track, one end of castor damper (54) and foot
The boss connection on column (57) top is taken turns, the castor damper (54) is equipped with spring I (55), spring II (56), the bullet
Spring I (55) is located on the outside of spring II (56), and the side of the foot wheel carrier (52) is equipped with 4 support shafts and boss, castor damper
(54) the other end is mounted on the boss of foot wheel carrier (52) side, and 4 movable pulleies (53) are separately mounted to foot wheel carrier
(52) in 4 support shafts of side, the wheel side of 4 movable pulleies (53) is respectively equipped with groove, and 4 movable pulleies (53) take turns side
Groove engaged with the track of castor column (57) interior two sides, the other side of the foot wheel carrier (52) is equipped with bracket, the castor
(51) top is connect by castor support (78) with the bracket of the other side of foot wheel carrier (52), and the castor (51) passes through castor
Crotch (79) is connect with castor support (78), and castor ball is equipped between the castor support (78) and castor crotch (79)
(83).
4. ball recycling machine people according to claim 1, it is characterised in that: upper leaf wheel connector (28) and inferior lobe
The structure for taking turns connector (26) is identical, includes connection cover (90), two connection cover bearings (91), two circlips III (92)；Institute
It states two connection cover bearings (91) to be separately mounted on the inner wall at connection cover (90) both ends, the inner wall at connection cover (90) both ends
On be respectively equipped with circlip preformed groove, the circlip that described two circlips III (92) are separately mounted on the inner wall of connection cover (90) both ends is pre-
It stays in slot, and two circlips III (92) are located on the outside of two connection cover bearings (91).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811175181.6A CN109157813B (en) | 2018-10-10 | 2018-10-10 | Ball recovery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811175181.6A CN109157813B (en) | 2018-10-10 | 2018-10-10 | Ball recovery robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109157813A true CN109157813A (en) | 2019-01-08 |
| CN109157813B CN109157813B (en) | 2023-11-21 |
Family
ID=64877780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811175181.6A Active CN109157813B (en) | 2018-10-10 | 2018-10-10 | Ball recovery robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109157813B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109999439A (en) * | 2019-04-09 | 2019-07-12 | 重庆文理学院 | Tennis robot for picking up |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101703834A (en) * | 2009-11-11 | 2010-05-12 | 昆明鼎承机械有限公司 | Automatic-feeding system of golf balls for practice court |
| US20100261557A1 (en) * | 2009-04-08 | 2010-10-14 | Shoot-A-Way, Inc. | System and method for improving a basketball player's shooting |
| CN106581966A (en) * | 2017-02-16 | 2017-04-26 | 蔡圣弘 | Table tennis ball picking device and automatic photographing device based on same |
| US20180085616A1 (en) * | 2016-09-26 | 2018-03-29 | Antonio Massato MAKIYAMA | Apparatus for Motor Rehabilitation of Upper and Lower Limbs |
-
2018
- 2018-10-10 CN CN201811175181.6A patent/CN109157813B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100261557A1 (en) * | 2009-04-08 | 2010-10-14 | Shoot-A-Way, Inc. | System and method for improving a basketball player's shooting |
| CN101703834A (en) * | 2009-11-11 | 2010-05-12 | 昆明鼎承机械有限公司 | Automatic-feeding system of golf balls for practice court |
| US20180085616A1 (en) * | 2016-09-26 | 2018-03-29 | Antonio Massato MAKIYAMA | Apparatus for Motor Rehabilitation of Upper and Lower Limbs |
| CN106581966A (en) * | 2017-02-16 | 2017-04-26 | 蔡圣弘 | Table tennis ball picking device and automatic photographing device based on same |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109999439A (en) * | 2019-04-09 | 2019-07-12 | 重庆文理学院 | Tennis robot for picking up |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109157813B (en) | 2023-11-21 |
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Inventor after: Deng Qiangguo Inventor after: Zhang Yixiao Inventor after: Lin Yundong Inventor after: Wang Junjie Inventor before: Zhang Yixiao Inventor before: Deng Qiangguo Inventor before: Lin Yundong Inventor before: Wang Junjie |
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