CN110064178B

CN110064178B - Indoor golf ball autonomous collecting and launching vehicle

Info

Publication number: CN110064178B
Application number: CN201910373029.7A
Authority: CN
Inventors: 梁佳硕; 李荣华; 张秀娟
Original assignee: Dalian Jiaotong University
Current assignee: Dalian Jiaotong University
Priority date: 2019-05-06
Filing date: 2019-05-06
Publication date: 2021-02-12
Anticipated expiration: 2039-05-06
Also published as: CN110064178A

Abstract

The invention provides an indoor golf ball autonomous collecting and launching vehicle, which mainly comprises a ball collecting roller mechanism for collecting golf balls, a ball distributing and lifting mechanism for transferring and transmitting the collected golf balls, and a holder launching mechanism for collecting the golf balls at fixed points according to set settings; when the golf ball separating and collecting device works, the ball collecting roller mechanism rotates to collect golf balls into a buffer area behind the ball collecting roller mechanism through friction extrusion, the golf balls enter the ball separating and lifting mechanism along the ball guide plate, and the golf balls are sent to the holder launching mechanism to be directionally launched and collected under the action of the ball poking motor.

Description

Indoor golf ball autonomous collecting and launching vehicle

Technical Field

The invention relates to exercise assisting equipment, in particular to an indoor golf automatic collecting and launching vehicle.

Background

With the rapid development of economy, the physical life of people is greatly enriched, and more sports and leisure items are golden wood and the life of ordinary people is greatly enriched. The indoor simulation golf industry is rapidly developed in developed areas such as Beijing, Guangzhou, Jiangsu, Zhejiang and the like since the 21 st century, and a store can be operated in a downtown area due to the fact that the indoor golf course occupies a small area, so that operation cost is greatly reduced, and popularization of golf projects is improved. At present, golf balls scattered on the ground in the urban court still need to be collected manually, so that the utilization efficiency of the court is reduced, the labor cost is improved, and the safety cannot be guaranteed. The invention provides an indoor golf ball self-collection trolley, which aims to solve the technical problem of providing an intelligent trolley capable of collecting golf balls by self and placing the collected golf balls at a specified position, and effectively freeing the hands of a person.

Disclosure of Invention

According to the technical problem of low efficiency of manually collecting golf balls, the indoor golf ball autonomous collecting and launching vehicle is provided, golf balls can be collected automatically, the collected golf balls can be uniformly placed at a designated position, and the working efficiency is effectively improved.

The technical means adopted by the invention are as follows:

an indoor golf ball autonomous collecting and launching vehicle mainly comprises a ball collecting roller mechanism for collecting golf balls, a ball distributing and lifting mechanism which is connected with the ball collecting roller mechanism and is used for transferring and transmitting the collected golf balls, and a holder launching mechanism which is arranged on the ball distributing and lifting mechanism and is used for collecting the golf balls at fixed points according to set settings;

when the device works, scattered golf balls are collected into a buffer area behind the device by a ball collecting roller mechanism under the action of friction extrusion, enter a ball distributing and lifting mechanism along a ball guide plate, and are sent to a holder launching mechanism for directional launching and collection under the action of a ball poking motor.

Furthermore, the ball collecting roller mechanism comprises a ball inlet and a ball collecting roller which is arranged at the ball inlet and rolls at a constant speed, and a rubber layer covers the surface of the ball collecting roller.

Furthermore, the ball distributing and lifting mechanism comprises a ball pushing motor, a ball pushing gear and a ball pushing rack, the ball pushing motor drives the ball pushing gear to rotate so as to drive the ball pushing rack to do reciprocating motion along the linear slide rail, and a pushing sheet supported by the ball pushing base extrudes a golf ball to enter the upper cloud platform launching mechanism along the ball guide rail.

Furthermore, the ball distributing and lifting mechanism further comprises a ball stirring rod for manually extruding the golf ball into the upper cloud platform launching mechanism along the ball guide plate, one end of the ball stirring rod penetrates through the ball stirring base to be connected with the stirring sheet, and the other end of the ball stirring rod extends out of the vehicle.

Further, the holder launching mechanism comprises a holder motor and a friction wheel, and the friction wheel launches the golf ball at a certain initial speed.

Furthermore, the holder launching mechanism further comprises a holder motor, a transmission gear connected with the holder motor and a direction gear; the transmission gear is tightly meshed with the direction gear.

Further, the indoor golf ball autonomous collecting and launching vehicle further comprises 4 omnidirectional wheels arranged at the bottom, and the 4 omnidirectional wheels are arranged in an O-shaped mode.

Compared with the prior art, the invention has the following advantages:

according to the indoor golf ball autonomous collecting and launching vehicle, the automatic picking and collecting of golf balls are realized through the cooperation of the ball distributing and lifting mechanism and the holder launching mechanism. Meanwhile, the function of sensing autonomous working in the whole field can be realized by combining a whole-field positioning device, and personnel are not required to participate in the whole process.

Based on the reasons, the invention can be widely popularized in indoor ball games and other fields.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a front view of the structure of the present invention.

Fig. 2 is a side view of the structure of the present invention.

Fig. 3 is a schematic structural view of the ball separating and lifting mechanism of the present invention.

Fig. 4 is an enlarged schematic view of the cradle head launching mechanism of the invention.

In the figure: 1. a ball guide plate; 2. stirring a ball rod; 3. a color sensor; 4. a ball-poking base; 5. a shifting sheet; 6. a slide rail; 7. a ball-poking rack; 8. a ball-poking motor; 9. a ball-poking gear; 10. a ball separating and lifting mechanism; 11. a sprocket; 12. a drive motor; 13. a chain; 14. a ball receiving roller mechanism; 15. a cradle head launching mechanism; 16. an omni wheel; 17. a suspension system; 18. a friction wheel; 19. a holder motor; 20. a transmission gear; 21. a direction gear.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As shown in fig. 1-4, the invention provides an indoor golf ball autonomous collecting and launching vehicle, which mainly comprises a ball collecting roller mechanism (14) for collecting golf balls, a ball distributing and lifting mechanism (10) connected to the ball collecting roller mechanism (14) and used for transferring and conveying the collected golf balls, and a holder launching mechanism (15) arranged on the ball distributing and lifting mechanism (10) and used for collecting the golf balls at fixed points according to a set arrangement; when the golf ball separating and collecting device works, scattered golf balls are collected into a rear buffer area by the ball collecting roller mechanism (14) under the action of friction extrusion, enter the ball separating and lifting mechanism (15) along the ball guide plate, and are sent to the holder launching mechanism (10) to be directionally launched and collected under the action of the ball poking motor. In addition, the device also comprises 4 omnidirectional wheels arranged at the bottom, and the 4 omnidirectional wheels are arranged in an O shape.

The ball collecting roller mechanism (14) comprises a ball inlet and a ball collecting roller which is arranged at the ball inlet and rolls at a constant speed, and the surface of the ball collecting roller is covered with a rubber layer.

The ball distributing and lifting mechanism (10) comprises a ball pushing motor (8), a ball pushing gear (9) and a ball pushing rack (7), wherein the ball pushing motor (8) drives the ball pushing gear (9) to rotate so as to drive the ball pushing rack (7) to do reciprocating motion along a linear slide rail (6), and a driving sheet (5) supported by a ball pushing base (4) extrudes a golf ball to enter an upper cloud platform launching mechanism (15) along a ball guide rail. In addition, the ball distributing and lifting mechanism (22) further comprises a ball stirring rod for manually extruding the golf ball into the upper cloud platform launching mechanism along the ball guide plate, one end of the ball stirring rod penetrates through the ball stirring base to be connected with the stirring sheet, and the other end of the ball stirring rod extends out of the vehicle.

The holder launching mechanism (15) comprises a holder motor (19) and a friction wheel (18), and the friction wheel (18) launches the golf ball at a certain initial speed. In addition, the holder launching mechanism also comprises a transmission gear (20) connected with the holder motor (19) and a direction gear (21); the transmission gear (20) is tightly meshed with the direction gear (21).

As a preferred embodiment of the invention, when the golf ball autonomous collecting and launching vehicle works, firstly, the ball collecting roller mechanism (14) rotates to collect golf balls into a buffer area at the rear edge through friction extrusion and enters the ball distributing and lifting mechanism (10) through the ball guide plate, wherein the ball distributing and lifting mechanism (10) comprises the ball guide plate (1) for guiding the golf balls into the upper cloud platform launching mechanism (15), the ball stirring rod (2) for preventing the mechanism from blocking the golf balls and the color sensor (3) for identifying whether the golf balls enter or not. After a ball enters the ball distributing and lifting mechanism (10), the color sensor (3) recognizes that the ball enters the ball distributing and lifting mechanism (22), then the DJI2310 type ball pushing motor (8) works to drive the ball pushing gear (9) to rotate according to a certain angle and angular speed so as to drive the ball pushing rack (7) to do reciprocating motion along the linear slide rail (6), and the golf ball is extruded by the pushing sheet (5) supported by the ball pushing base (4) to enter the upper cloud platform launching mechanism (15) along the ball guide rail. After entering the tripod head to launch, the golf ball is launched out through the friction wheel (18) at a certain initial speed, and the launching direction of the golf ball is controlled by the tripod head motor (19) driving the transmission gear (20) to rotate and driving the direction gear (21). Meanwhile, 4 omnidirectional wheels (16) which are arranged in an O shape are driven by the trolley through 4 DJI3510 motors (12) in a chain wheel (11) and chain (13) transmission mode to realize omnidirectional flexible walking. And meanwhile, the chassis is provided with a suspension system (17) to ensure that 4 wheels realize full-time four-wheel drive.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An indoor golf ball autonomous collecting and launching vehicle is characterized by mainly comprising a ball collecting roller mechanism for collecting golf balls, a ball distributing and lifting mechanism which is connected with the ball collecting roller mechanism and is used for transferring and transmitting the collected golf balls, and a holder launching mechanism which is arranged on the ball distributing and lifting mechanism and is used for collecting the golf balls at fixed points according to set settings;

the ball distributing and lifting mechanism comprises a ball pushing motor, a ball pushing gear and a ball pushing rack, the ball pushing motor drives the ball pushing gear to rotate so as to drive the ball pushing rack to reciprocate along a linear slide rail, and a pushing sheet supported by a ball pushing base extrudes a golf ball to enter the upper cloud platform launching mechanism along a ball guide rail;

2. The indoor golf ball autonomous collecting and launching vehicle as claimed in claim 1, wherein the ball receiving roller mechanism comprises a ball inlet and a ball receiving roller which is arranged at the ball inlet and rolls at a constant speed, and the surface of the ball receiving roller is covered with a rubber layer.

3. The indoor golf ball autonomous collecting and launching vehicle as claimed in claim 1, wherein the ball distributing and lifting mechanism further comprises a ball stirring rod for manually squeezing the golf ball along the ball guide plate into the upper cloud platform launching mechanism, one end of the ball stirring rod penetrates through the ball stirring base to be connected with the stirring sheet, and the other end of the ball stirring rod extends out of the vehicle.

4. The indoor golf ball autonomous collecting and launching vehicle of claim 1, wherein the pan head launching mechanism comprises a pan head motor and a friction wheel, the friction wheel launching a golf ball at an initial velocity.

5. The indoor golf ball autonomous collecting and launching vehicle of claim 4, wherein the pan-tilt launching mechanism further comprises a pan-tilt motor, a conduction gear connected with the pan-tilt motor, and a direction gear; the transmission gear is tightly meshed with the direction gear.

6. The indoor golf ball autonomous collecting and launching vehicle as claimed in claim 1, further comprising 4 omni wheels disposed at the bottom, wherein the 4 omni wheels are arranged in an O-shape.