CN109807855A - A kind of ball picking robot and its control method - Google Patents
A kind of ball picking robot and its control method Download PDFInfo
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- CN109807855A CN109807855A CN201910261658.0A CN201910261658A CN109807855A CN 109807855 A CN109807855 A CN 109807855A CN 201910261658 A CN201910261658 A CN 201910261658A CN 109807855 A CN109807855 A CN 109807855A
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Abstract
The present invention provides a kind of ball picking robot and its control methods, are related to robotic technology field, and multi-functional ball picking robot designed by the present invention changes crawl of the ball picking robot in the market by mechanical arm, realize the function of picking up ball；Using air draught type ball picking method, multiple balls on ground are adsorbed on sucker by the suction function that suction ventilator generates, using wind-force as the power for picking up ball, more efficiently, environmental protection；The present invention is cooperated by the wind-force of the sucker and different stalls of design different shape and size, during use, ball is reasonably arranged, it can be achieved that a variety of spherical picks for different；The present invention forms spiral wind field by the half-turn baffle in accommodating hole, increases the air draught effect in negative pressure flow field, so that suction ventilator is generated spiral wind, can enhance the air draught effect of suction ventilator, further increase ball picking-up efficiency.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of ball picking robot and its control method.
Background technique
The competitive sports such as tennis, shuttlecock, table tennis are prevailing in worldwide, while with people's living standard
It is promoted, people start to focus on the raising of the quality of life of oneself, and more and more people begin through tennis, shuttlecock, table tennis
Equal motion exercises body.Therefore, the training place of ball game and sports ground are also increasing, still, on training place and sports ground
The problem of being collected into a time and effort consuming of ball.
At the beginning, these courts are all by employing special court attendant to carry out picking up ball either trainer oneself
Pick up ball.If it is by employing special court attendant to carry out if manually picking up ball, it will increase the manpower of training building at
This.If picking up ball if it is trainer oneself, trainer's more training time, another aspect ball game on the one hand can be occupied
The continuity of training comparison emphasis movement form muscle memory, facilitate the raising of playing skill by continuous action training.
With the development of science and technology, people are started to consider research and development and carried out picking up ball using ball picking robot, also achieve certain
Effect.But ball picking robot currently on the market, there is also the type for picking up ball is more single, structure is very complicated, design
The problems such as higher cost and relatively low ball picking-up efficiency.
Summary of the invention
The purpose of the present invention is a kind of ball picking robot and its control methods, using wind-force as the power for picking up ball, more
Efficiently, environmental protection is, it can be achieved that a variety of spherical picks.
In order to achieve the above object, the present invention is achieved by the following technical programs:
A kind of ball picking robot, including sucker, mechanical arm, rotary head and mobile mechanism；The sucker includes suction ball hole
Plate and suction ventilator；Accommodating outer end of hole on the suction ball orifice plate is correspondingly arranged with sphere；The pump orifice of the suction ventilator with it is described
Accommodating hole connection is realized through the suction ventilator with this and carries out suction positioning accommodating to sphere；The front end of the mechanical arm with
The sucker connection, to realize the sucker by mechanical arm come rotational positioning；The rear end of the mechanical arm and the rotation cloud
Platform connection, the space orientation of the sucker is realized with this；The mobile mechanism is located at the lower part of the rotary head.
Further, it is detachably connected on the suction ball orifice plate and the sucker；It is additionally provided with multiple dismountable suctions
Ball plate；And the accommodating hole on the different suction ball orifice plates matches setting with table tennis, tennis or shuttlecock respectively.
Further, two half-turn baffles mutually staggered are additionally provided in the accommodating hole.
Further, the mechanical arm include the first rank arm successively coupled, second-order arm, third rank arm, fourth order arm,
Steering engine one and steering engine two；The driving gear of the driven gear of the rear end of the first rank arm and the rotary head forms gear and nibbles
Close drive mechanism；The steering engine one positions the front end for being located at the first rank arm, and drives described second by the steering engine one
Rank arm is connect with the relative rotation of the first rank arm；The front end of the second-order arm is fixed with cylinder, and the piston of the cylinder
Bar is fixedly connected with the rear end of the third rank arm, realizes moving axially back and forth for the third rank arm with this；The third rank
The front end of arm is connect by steering engine two with the rear end of the fourth order arm, and the rotation of the fourth order arm is realized with this；Described
The front end of quadravalence arm is fixedly connected with the sucker.
Further, there is rotary electric machine in the rotary head bottom end, and the driving gear on the rotary electric machine drives first
Driven gear rotation under rank arm, making mechanical arm, 0~360 ° of range inner circumferential is pivoted in the horizontal plane.
Further, the mobile mechanism is in-wheel driving walking mechanism；The walking mechanism includes wheel and stepping electricity
Machine；The rotation axis of the wheel is fixedly connected to realize pivoting with the output rotation axis of stepper motor.
Further, it is additionally provided with detachable ball-storing box；The detachable ball-storing box is the body structure of opening upwards；The machinery
Arm is located at the front of the detachable ball-storing box by rotary head；The mobile mechanism is located under the detachable ball-storing box.
Further, infrared sensor, wind pressure sensor and ultrasonic sensor are additionally provided with；The infrared sensor is located at
On the shell of the suction ventilator；The wind pressure sensor is located on the air-suction duct inner wall of the suction ventilator.
A kind of ball picking robot control method replaces the sucker of ball model to be drawn using above-mentioned ball picking robot,
The starting present apparatus is made pick up ball exercise, including seeks ball mode, suction ball mode and receive ball mode；
Seek ball mode: when infrared sensor does not detect ball, trolley, which enters, seeks ball mode, the step of control system control at this time
Into motor, trolley is made to start to accelerate；And the present apparatus is carried out seeking ball by walking inside outside from place by the angle of outside one；
Suction ball mode: after the infrared sensor on sucker detects ball, into picking up ball mode；The step of control system control simultaneously
Trolley is set to slow down into motor, so that sucker be enable sufficiently to draw neighbouring ball；When ball is filled with the slot on sucker, wind pressure is passed
When the detected value of sensor is up to or over preset pressure value, control system control trolley, which enters, receives ball mode；
Receive ball mode: control system controls rotary head, steering engine one and steering engine two, come realize entire mechanical arm rotation and
It is flexible, it stops sucker to detachable ball-storing box, and reduce the pressure of air draught by reducing suction ventilator revolving speed, falls into ball
Single is completed in detachable ball-storing box receives ball；
It after completing single receipts ball, is again introduced into and seeks ball mode to realize multiple cycle operation, pick up ball until being finally completed
Work, turns off the switch and is parked in designated position.
Further, wind pressure sensor does not have variation in control system or in minimum range in preset a period of time
When interior fluctuation, then also ball mode is received in operation, ball remaining on sucker is fallen into ball-storing box, then start to seek ball mode.
Compared with prior art, the invention has the benefit that
1, multi-functional ball picking robot designed by the present invention changes ball picking robot in the market by mechanical arm
The function of picking up ball is realized in crawl；Using air draught type ball picking method, multiple balls on ground are made by the negative pressure that suction ventilator generates
With being adsorbed on sucker, using wind-force as the power for picking up ball, more efficiently, environmental protection.
2, the present invention is cooperated by the wind-force of the sucker and different stalls of design different shape and size, what is used
In the process, ball reasonably it is arranged, it can be achieved that a variety of spherical picks for different.
3, the present invention forms spiral wind field by the half-turn baffle in accommodating hole, increases the air draught effect in negative pressure flow field, makes
Suction ventilator generates spiral wind, can enhance the air draught effect of suction ventilator, further increase ball picking-up efficiency.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it is therefore apparent that the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is schematic perspective view of the invention；
Fig. 3 is schematic perspective view of the invention；
Fig. 4 is the cross-sectional view of mechanical arm and sucker structure of the invention；
Fig. 5 is sucker structure schematic diagram of the invention；
Fig. 6 is mobile mechanism's schematic diagram of the invention；
Fig. 7 is suction ball AND DEWATERING FOR ORIFICE STRUCTURE schematic diagram of the invention；
Fig. 8 is the half-turn baffle structure schematic diagram in accommodating hole of the invention；
Fig. 9 is control system complete structure schematic diagram of the invention；
Figure 10 is the shuttlecock suction ball AND DEWATERING FOR ORIFICE STRUCTURE schematic diagram of another embodiment of the present invention；
Figure 11 is the shuttlecock suction ball AND DEWATERING FOR ORIFICE STRUCTURE schematic diagram of another embodiment of the present invention；
Figure 12 is blower and fan structure diagram in suction ventilator of the invention；
Figure label explanation:
10, sucker；11, suction ball orifice plate；111, accommodating hole；1111, half-turn baffle；12, suction ventilator；20, mechanical arm；21,
First rank arm；211, driven gear；22, second-order arm；221, cylinder；23, third rank arm；24, fourth order arm；25, steering engine one；
26, steering engine two；30, rotary head；31, rotary electric machine；301, driving gear；40, mobile mechanism；41, walking mechanism；411, vehicle
Wheel；412, stepper motor；50, detachable ball-storing box；60, infrared sensor；70, wind pressure sensor；80, ultrasonic sensor.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention,
Technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention one
Divide embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of creative work.
In conjunction with attached drawing 1 to Figure 12, the present invention is further described:
In conjunction with attached drawing 1, Fig. 2, Fig. 3, a kind of ball picking robot, including sucker 10, mechanical arm 20, rotary head 30 and movement
Mechanism 40；The sucker 10 includes suction ball orifice plate 11 and suction ventilator 12；111 outer end of accommodating hole and ball on the suction ball orifice plate 11
Body is correspondingly arranged；The pump orifice of the suction ventilator 12 is connected to the accommodating hole 111, with this realize by the suction ventilator 12 come
Suction positioning accommodating is carried out to sphere；The front end of the mechanical arm 20 is connect with the pedestal of the sucker 10, to realize the suction
Disk 10 is by mechanical arm 20 come two-dimensional space rotational positioning；The rear end of the mechanical arm 20 is connect with the rotary head 30；Institute
Sucker 10 is stated by the mechanical arm 20 to realize three dimension location；The mobile mechanism 40 is located at the rotary head 30
Lower part.
It is additionally provided with detachable ball-storing box 50；The detachable ball-storing box 50 is the body structure of opening upwards；The mechanical arm 20
The front of the detachable ball-storing box 50 is located at by rotary head 30；The mobile mechanism 40 is located at the detachable ball-storing box 50
Under.
In conjunction with attached drawing 4, the mechanical arm 20 include successively couple the first rank arm 21, second-order arm 22, third rank arm 23,
Fourth order arm 24, steering engine 1 and steering engine 2 26；The driven gear 211 and the rotary head of the rear end of the first rank arm 21
30 driving gear 301 forms gear meshing transmission structure；The steering engine 1 positions the front end for being located at the first rank arm 21,
And the second-order arm 22 is driven to connect with the relative rotation of the first rank arm 21 by steering engine 1；Before the second-order arm 22
End is fixed with cylinder 221, and the piston rod of the cylinder 221 is fixedly connected with the rear end of the third rank arm 23, with this reality
The existing third rank arm 23 moves axially back and forth；The front end of the third rank arm 23 passes through steering engine 2 26 and the fourth order arm
24 rear end connection, the rotation of the fourth order arm 24 is realized with this；The front end of the fourth order arm 24 and the sucker 10
Pedestal is fixedly connected.The structure that the mechanical arm 20 is taken can be realized the multivariant adjusting of the sucker 10.
Further, there are rotary electric machine 31, the driving gear 301 on the rotary electric machine 31 in 30 bottom end of rotary head
The driven gear 211 under the first rank arm 21 is driven to rotate, making mechanical arm 20,0~360 ° of range inner circumferential is revolved around axis in the horizontal plane
Turn.
In conjunction with attached drawing 5, it is additionally provided with infrared sensor 60, wind pressure sensor 70 and ultrasonic sensor 80；The infrared biography
Sensor 60 is located on the shell of the suction ventilator 12, for detecting the sphere on ground；The wind pressure sensor 70 is located at described
On the air-suction duct inner wall of suction ventilator 12, the accommodating hole 111 whether ball is full of on sucker 10 is judged by detection air pressure size；
The ultrasonic sensor 80 is located on the lateral wall of detachable ball-storing box 50, has barrier for detecting surrounding.The present invention can
The presence or absence of ball is detected, trolley can be according to the difference in place, different route of walking, and passes through the slow fastly come when saving of regulation speed
Between and electric energy；It is additionally provided with the switch that ball picking robot can be controlled by mobile phone remote, to realize remote operation and control.
In conjunction with attached drawing 6, the mobile mechanism 40 is in-wheel driving walking mechanism 41；The walking mechanism 41 includes wheel
411 and stepper motor 412；The rotation axis of the wheel 411 be fixedly connected with the output rotation axis of stepper motor 412 realize around
Axis rotation realizes the control to the wheel 411 rotation with this；With this by wheel 411 respectively by stepper motor 412 come into
Row rotate driving realizes the control rotated respectively to the wheel 411 with this, different by carrying out to the first two driving wheel
The control of revolving speed, can come realize car body any direction rotation.
In conjunction with attached drawing 7, it is detachably connected on the suction ball orifice plate 11 and the sucker 10；It is additionally provided with various ball also
With the multiple dismountable suction ball orifice plates 11 of setting；And the accommodating hole 111 on the different suction ball orifice plates 11 respectively and table tennis
Pang ball, tennis or shuttlecock matching setting；These suckers 10 are, by ball inspiration accommodating hole 111, to pass through negative pressure for suction ball
Ball is fixed on accommodating hole 111 by effect.
Preferably, the accommodating hole 111 is bulbous recess structure, and the size of the accommodating hole 111 is respectively and wait draw
Sphere size match setting；By the way that multiple accommodating holes are arranged, when part accommodating hole adsorbs sphere when device works
When, it will increase the suction for the accommodating hole that other are not blocked, adsorption capacity is stronger.
In conjunction with attached drawing 8, two half-turn baffles 1111 mutually staggered are additionally provided in the accommodating hole 111；Suction ventilator 12 exists
When air draught, spiral wind field is formed by the half-turn baffle 1111 in accommodating hole, increases the air draught effect in negative pressure flow field, increases to ball
Suction.
The front end washer of the suction ventilator 12 is connected by bolt with the sucker 10.
Rotary electric machine can be used to replace in the steering engine 1 and steering engine 2 26；Pass through the rotary output axis point of rotary electric machine
It is not fixedly connected with second-order arm 22 and fourth order arm 24, realizes that the axial direction of the second-order arm 22 and fourth order arm 24 turns with this
It is dynamic.
In conjunction with attached drawing 9, it is additionally provided with console；Control system and battery are equipped in console；The control system with it is described
Suction ventilator 12, mechanical arm 20, stepper motor 412, infrared sensor 60, wind pressure sensor 70 and ultrasonic sensor 80 connect.
Control system is used to handle the signal of sensor acquisition and processing, furthermore to the execution of switching mode.The infrared sensor 60
After detecting ball, control system control stepper motor 412 makes trolley slow down, so that sucker 10 be enable sufficiently to draw neighbouring
Ball.
When control system collects the detected value of wind pressure sensor 70 up to or over preset pressure value, at this time
Control system judges after being filled ball on sucker 10 that control system will control rotary head 30, steering engine 1 and steering engine two
26, to realize the rotation of entire mechanical arm 20 and stretch, " n " type is ultimately formed, sucker 10 is made.Above rotation to ball-storing box 50,
And falling into ball in ball-storing box by reducing by 12 revolving speed of suction ventilator to reduce the pressure of air draught, completion picks up ball and puts ball.Work as wind
When pressure sensor 70 does not have to change or fluctuate in minimum range in preset a period of time in control system, at this point, control
System processed judges the ball not being scattered near trolley, and then enters receipts ball mode from ball mode is picked up, and will collect on sucker 10
Ball fall into ball-storing box, then start to seek ball mode, continue cycling through work.
A kind of ball picking robot control method replaces the suction of ball model to be drawn based on the ball picking robot
Disk, while determining after picking up the place of ball without other foreign matters, start the present apparatus and make pick up ball exercise, including seeks ball mode, inhales
Ball mode and receipts ball mode；
Seek ball mode: when infrared sensor 60 does not detect ball, trolley, which enters, seeks ball mode, and control system controls at this time
Stepper motor 412 makes trolley start to accelerate；And the present apparatus leans on the angle of outside one by walking inside outside from place, and using " rectangular
Mosquito-repellent incense " type route carries out seeking ball；
Suction ball mode: after the infrared sensor 60 on sucker 10 detects ball, into picking up ball mode；Control system control simultaneously
Stepper motor 412 processed makes trolley slow down, so that sucker 10 be enable sufficiently to draw neighbouring ball；When ball is filled on sucker 10
Slot, when the detected value of wind pressure sensor 70 is up to or over preset pressure value, control system control trolley enters receipts
Ball mode；
Receive ball mode: control system controls rotary head 30, steering engine 1 and steering engine 2 26, to realize entire mechanical arm 20
Rotation and flexible, stop sucker 10 to detachable 50 top of ball-storing box, and reduce air draught by reducing by 12 revolving speed of suction ventilator
Pressure, make ball fall into detachable ball-storing box 50 complete single receive ball；
It after completing single receipts ball, is again introduced into and seeks ball mode to realize multiple cycle operation, pick up ball until being finally completed
Work, turns off the switch and is parked in designated position.
Further, in seeking ball mode, when ultrasonic sensor 80, which detects surrounding, barrier, control system is adopted
After collecting the signal that ultrasonic sensor 80 transmits, instruction will be issued, makes the running gear for controlling trolley, it is made to change speed
With direction, make trolley avoiding obstacles.
The present apparatus is respectively applied to table tennis field, shuttlecock place and tennis court there are three types of ball mode is picked up.In difference
Court in application, sucker 10 at corresponding ball model and is opened corresponding operating mode, control system controls trolley
It walks according to preset path, carries out picking up ball.(table tennis, tennis and shuttlecock place are all rectangular place, Path form
Equally, only the size dimension in place is different).After start-up operation, control system controls stepper motor 412 and drives walking mechanism
41, so that trolley is gone over half-court, then moves to another half-court, repeated work, that completes entire court picks up ball work.It is rattling
When ball, shuttlecock and tennis court work, inhaled since being defaulted as one, upper left corner angle by outside, carriage walking path is set as
" rectangular mosquito-repellent incense " type is then transferred into another half-court and reruned, be finally completed and pick up ball work, and be parked in finger by walking inside outside
Fixed position.
In conjunction with attached drawing 10 and Figure 11, in another embodiment, the suction ball orifice plate 11 includes multi-turn annular support plate and company
Connect muscle；The annular support plate is arranged with distance between axles, and realizes that the fixed of multiple annular support plates connects by the dowel
It connects；The pump orifice of the gap between the adjacent annular support plate and suction ventilator 12 is correspondingly arranged two-by-two, is realized with this to plumage
The suction of ball top；By the way that staggered dowel is arranged, the suction inlet of multiple annular gaps can also be reduced, entire sucker can be improved
Suction, also can produce the effect of throttling, at the same can reduce device power source input, it is more energy saving.
Preferably, curved groove structure, and the arc groove knot are formed between the adjacent annular support plate two-by-two
Structure is matched with the size of shuttlecock, realizes effective accommodating to shuttlecock with this.
In another embodiment, unlike the embodiments above in conjunction with Figure 12, the suction ventilator 12 is vortex air draught
Machine；Including rotary electric machine and impeller, the rotary electric machine drives the wheel rotation, due to the air among impeller blade by
The effect of centrifugal force, towards the movement of impeller, air enters the toroidal cavity of the pump housing there, then returns to impeller again, again
Shuttling movement is carried out again in the same way from the starting point of blade, and since air is uniformly accelerated, impeller is produced when rotating
Circulating current extract air out of casing in the form of helical lines out, so air leaves the pump housing with high energy, (its institute
The suction of generation is 12-17 times of same revolving speed diameter centrifugation suction ventilator)；The absorption more efficient to sphere is realized with this, it is more energy saving
Efficiently.
Present apparatus structure is simple, and it is convenient to operate, reusable, economical and practical, and convenient for management, using flexible, design is closed
Reason, it is compact-sized, it has good market prospects.
Techniques well known is partly belonged to it should be noted that not elaborating in the present invention, or can be directly from market
Upper buying obtains, and those skilled in the art do not need to make the creative labor and can be obtained, and specific connection type is in ability
Have in domain or daily life and be extremely widely applied, and will not be described here in detail.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.Term connection is also regarded as dynamic connection
With two classes of quiet connection: dynamic to couple, the connection that the mutual alignment of connected compcnent can be varied as at work, such as axis and sliding
Bearing, speed changer middle gear couple with axis.Quiet connection, the mutual alignment between connected compcnent can't permit at work
Perhaps the connection changed, such as the gear ring of worm gear couple with core wheel, retarder middle gear with axis.For the ordinary skill of this field
For personnel, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of ball picking robot, it is characterised in that: including sucker (10), mechanical arm (20), rotary head (30) and moving machine
Structure (40)；The sucker (10) includes suction ball orifice plate (11) and suction ventilator (12)；Accommodating hole on the suction ball orifice plate (11)
(111) outer end is correspondingly arranged with sphere；The pump orifice of the suction ventilator (12) is connected to the accommodating hole (111), is realized with this
Suction positioning accommodating is carried out to sphere by the suction ventilator (12)；The front end and the sucker (10) of the mechanical arm (20)
Connection, to realize the sucker (10) by mechanical arm (20) come rotational positioning；The rear end of the mechanical arm (20) and the rotation
Turn holder (30) connection, the space orientation of the sucker (10) is realized with this；The mobile mechanism (40) is located at the rotation cloud
The lower part of platform (30).
2. ball picking robot according to claim 1, it is characterised in that: the suction ball orifice plate (11) and the sucker (10)
On be detachably connected；It is additionally provided with multiple dismountable suction ball orifice plates (11)；And on the different suction ball orifice plates (11)
Accommodating hole (111) matches setting with table tennis, tennis or shuttlecock respectively.
3. ball picking robot according to claim 1, it is characterised in that: be additionally provided with two phases in the accommodating hole (111)
The half-turn baffle (1111) being mutually staggered.
4. ball picking robot according to claim 1, it is characterised in that: the mechanical arm (20) includes successively coupled
Single order arm (21), second-order arm (22), third rank arm (23), fourth order arm (24), steering engine one (25) and steering engine two (26)；It is described
The driving gear (301) of the driven gear (211) of the rear end of first rank arm (21) and the rotary head (30) forms gear and nibbles
Close drive mechanism；The front end of the first rank arm (21) drives the second-order arm (22) and first by the steering engine one (25)
The relative rotation of rank arm (21) connects；The front end of the second-order arm (22) is fixed with cylinder (221), and the cylinder
(221) piston rod is fixedly connected with the rear end of the third rank arm (23), and the axial direction of the third rank arm (23) is realized with this
It is moved forward and backward；The front end of the third rank arm (23) is connect by steering engine two (26) with the rear end of the fourth order arm (24), with
This realizes the rotation of the fourth order arm (24)；The front end of the fourth order arm (24) is connect with the sucker (10).
5. ball picking robot according to claim 4, it is characterised in that: there is rotary electric machine in rotary head (30) bottom end
(31), the driving gear (301) on the rotary electric machine (31) drives driven gear (211) rotation under the first rank arm (21),
Making mechanical arm (20), 0~360 ° of range inner circumferential is pivoted in the horizontal plane.
6. ball picking robot according to claim 1, it is characterised in that: the mobile mechanism (40) is in-wheel driving walking
Mechanism (41)；The walking mechanism (41) includes wheel (411) and stepper motor (412)；The rotation axis of the wheel (411) with
The output rotation axis of stepper motor (412) is fixedly connected to realize pivoting.
7. ball picking robot according to claim 1, it is characterised in that: be additionally provided with detachable ball-storing box (50)；It is described detachable
Ball-storing box (50) is the body structure of opening upwards；The mechanical arm (20) is located at the detachable storage ball by rotary head (30)
The front of case (50)；The mobile mechanism (40) is located under the detachable ball-storing box (50).
8. ball picking robot according to claim 1, it is characterised in that: be additionally provided with infrared sensor (60), wind pressure sensing
Device (70) and ultrasonic sensor (80)；The infrared sensor (60) is located on the shell of the suction ventilator (12)；The wind
Pressure sensor (70) is located on the air-suction duct inner wall of the suction ventilator (12).
9. a kind of ball picking robot control method, based on the power described in any item ball picking robots of 1-8, it is characterised in that: replacement
The sucker of ball model to be drawn starts the present apparatus and makees pick up ball exercise, including seeks ball mode, suction ball mode and receive ball mould
Formula；
Seek ball mode: when infrared sensor (60) does not detect ball, trolley, which enters, seeks ball mode, the step of control system control at this time
Into motor (412), trolley is made to start to accelerate；And the present apparatus is carried out seeking ball by walking inside outside from place by the angle of outside one；
Suction ball mode: after the infrared sensor (60) on sucker (10) detects ball, into picking up ball mode；Control system control simultaneously
Stepper motor (412) processed makes trolley slow down, to make sucker (10) that can sufficiently draw neighbouring ball；When ball is filled with sucker
(10) slot on, when the detected value of wind pressure sensor (70) is up to or over preset pressure value, control system control
Trolley, which enters, receives ball mode；
Receive ball mode: control system controls rotary head (30), steering engine one (25) and steering engine two (26), to realize entire mechanical arm
(20) rotation and flexible, stops sucker (10) to detachable ball-storing box (50), and by reducing suction ventilator (12) revolving speed
Reduce the pressure of air draught, falls into ball in detachable ball-storing box (50) and complete single and receive ball；
It after completing single receipts ball, is again introduced into and seeks ball mode to realize multiple cycle operation, pick up ball work until being finally completed,
It turns off the switch and is parked in designated position.
10. ball picking robot control method according to claim 9, it is characterised in that: wind pressure sensor (70) is controlling
When not having to change or fluctuate in minimum range in preset a period of time in system, then also ball mode is received in operation, by sucker
(10) remaining ball falls into ball-storing box on, then starts to seek ball mode.
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