CN111168695A - Indoor small round ball picking and placing robot and use method thereof - Google Patents
Indoor small round ball picking and placing robot and use method thereof Download PDFInfo
- Publication number
- CN111168695A CN111168695A CN202010103195.8A CN202010103195A CN111168695A CN 111168695 A CN111168695 A CN 111168695A CN 202010103195 A CN202010103195 A CN 202010103195A CN 111168695 A CN111168695 A CN 111168695A
- Authority
- CN
- China
- Prior art keywords
- ball
- cylinder
- buckling
- frame
- picking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims description 19
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 230000003028 elevating effect Effects 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 4
- 230000003578 releasing effect Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 210000000078 claw Anatomy 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000012421 spiking Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
本发明公开一种室内小圆球捡球放球机器人及其方法，包括车架、全向轮、直流减速电机、升降机构、储球器、扣球装置、控制器、超声波传感器、摄像头、电池组，车架通过三个直流减速电机支架连接三个直流减速电机，每个直流减速电机连接一个全向轮，升降机构安装在车架前端上方，储球器安装在升降架上，扣球装置通过圆筒夹持块安装在横梁上，控制器安装在车架中央，三个超声波传感器通过超声波传感器支架安装在车架上方，摄像头通过摄像头支架安装在车架前端下方，两个电池盒分别安装在车架的左后方和右后方，里面装有电池组。本发明能够节省捡球放球的工作，大幅提高球手的训练效率。
The invention discloses an indoor small ball picking and releasing robot and a method thereof. The frame is connected to three DC gear motors through three DC gear motor brackets, and each DC gear motor is connected to an omnidirectional wheel. It is installed on the beam through the cylinder clamping block, the controller is installed in the center of the frame, the three ultrasonic sensors are installed above the frame through the ultrasonic sensor bracket, the camera is installed under the front end of the frame through the camera bracket, and the two battery boxes are installed separately At the rear left and right of the frame, the battery packs are housed inside. The invention can save the work of picking up the ball and putting it out, and greatly improve the training efficiency of the golfer.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an indoor small round ball picking and placing robot and a using method thereof.
Background
In the training process of small indoor round balls such as table tennis and indoor golf, the balls are scattered everywhere after being hit, the efficiency of manual recovery is low, the working strength is high, the ball picking mechanism of the existing ball picking robot mainly comprises a roller type and a mechanical claw type, the roller type working efficiency is high, but the size is large, the adaptability is poor, the balls in corners cannot be picked, the balls which can be picked are single, the ball unloading is difficult, the mechanical claw type is small in size, the adaptability is high, the balls with different dead angles can be picked, the working efficiency is low, the mechanical claw is opened and closed every time the ball is picked, one ball is lost into the ball storage device to be picked, the next ball can be picked, meanwhile, the functions of the robots are limited to ball picking, and the problem that how to put the balls affects the training efficiency of players is very few.
Disclosure of Invention
The invention aims to provide an indoor small round ball picking and placing robot and a method thereof, which are used for solving the problems of poor adaptability, low working efficiency and single function of the conventional ball picking robot, saving the work of picking and placing balls and greatly improving the training efficiency of players.
In order to achieve the purpose, the technical scheme of the invention is as follows: an indoor small round ball picking and placing robot comprises a frame, omnidirectional wheels, direct current speed reducing motors, a lifting mechanism, a ball storage device, a ball catching device, a controller, ultrasonic sensors, a camera and a battery pack, wherein the frame is connected with the three direct current speed reducing motors through three direct current speed reducing motor supports, each direct current speed reducing motor is connected with one omnidirectional wheel, the lifting mechanism is installed above the front end of the frame, the ball storage device is installed on a lifting frame of the lifting mechanism, the ball catching device is installed on a cross beam of the lifting mechanism through a cylindrical clamping block, the controller is installed in the center of the frame, the three ultrasonic sensors are installed above the frame through ultrasonic sensor supports and respectively point to the front, the left rear and the right rear, the camera is installed below the front end of the frame through the camera support, and the two battery boxes are respectively installed at the left rear and the right rear of the frame, the battery pack is arranged in the battery box.
Elevating system is by the crane among the above-mentioned scheme, the slide rail, the slider connector, the synchronizing wheel, the hold-in range, the angle sign indicating number, the crossbeam, direct current gear motor constitutes, two slide rails are installed respectively on both sides of controlling of crane, respectively install a slider on every slide rail, slider connector is installed on every slider, two slider connector tops are connected by the crossbeam, the inboard at the crane is installed to two synchronizing wheels, hold-in range and two synchronizing wheel meshing, direct current gear motor is connected with the synchronizing wheel of top, the slider connector is connected to the one end of angle sign indicating number, the hold-in range is connected to one end.
The catching device in the scheme is composed of a cylinder, a steering engine support, a steering wheel, a sliding groove piece, a catching lock, a catching piece, a spring and a catching ring, wherein the cylinder is installed on a cylinder clamping block, the steering engine is installed on the cylinder through the steering engine support, the steering wheel is installed on the steering engine, the sliding groove piece is installed on the steering wheel, the cylinder at the top of the catching lock is tangent to a straight groove opening of the sliding groove piece, the catching ring extends out from the middle of the catching lock, the catching piece is installed in a groove opening at the bottom of the catching lock through trunnions at two sides, and the two ends of the spring are respectively fixed at the top of the groove opening at the bottom of the catching lock and the.
Preferably, the bottom of the front end of the ball storage device is provided with a hole with the same outer diameter as the cylinder of the ball catching device, and the bottom has an inclination of 2 degrees.
Preferably, the cylinder is provided with a 1mm gap, i.e. an internal diameter of 44mm, after the next golf ball is loaded, and the bottom of the cylinder is chamfered inwards.
Preferably, the ball buckling piece can rotate around the trunnion for 0-90 degrees, a chamfer is arranged below the front end, and the length of the ball buckling piece in the cylinder is 4.5 mm.
Preferably, the height of the chute blade from the ground is 43mm, which is the diameter of one golf ball.
The ball picking method of the indoor small ball picking and placing robot is characterized by comprising the following steps:
step 1, the ball catching device is lifted to a height of 65mm through a lifting mechanism, a camera detects the environment and transmits information to a controller, and a microprocessor in the controller calculates the direction and distance of a ball relative to a robot;
step 2, the controller drives a direct current speed reduction motor according to a kinematics equation of the three-wheeled omnidirectional mobile robot to enable the robot to move towards a ball closest to the three-wheeled omnidirectional mobile robot;
step 3, when the ball catching device moves above the ball, the direct current speed reducing motor drives the synchronous wheel to enable the ball catching device to descend until the ball catching device touches the ground, in the descending process, the ball catching piece is firstly gradually jacked up by the ball and rotates around the rotating shaft, the spring is compressed, if the cylinder is filled with the ball at the moment, the topmost ball is pushed out of the cylinder and falls into the ball storage device, when the ball completely enters the cylinder, the ball catching piece is not jacked, and meanwhile, the initial state is recovered under the action of the spring;
and 4, driving the synchronous wheel to enable the ball catching device to ascend by the direct current speed reducing motor, enabling the ball to be propped by the top of the ball catching piece at the moment and not to fall down, and finishing the ball picking action when the ball catching device is lifted to the height of 65mm again.
The ball placing method of the indoor small ball picking and placing robot is characterized by comprising the following steps:
step 1, the ball catching device is lifted to a height of 65mm through a lifting mechanism, the robot rotates clockwise, when a designated ball placing point appears in the center of the visual field of the camera, the rotation is stopped, and a microprocessor in a controller calculates the distance from the designated ball placing point to the robot;
step 2, the controller drives a direct current speed reduction motor according to a kinematics equation of the three-wheeled omnidirectional mobile robot to enable the robot to move towards a specified ball placing point;
step 3, when the ball catching device moves above the appointed ball placing point, the direct current speed reducing motor drives the synchronizing wheel to enable the ball catching device to descend until the ball catching device touches the ground, at the moment, the top of the cylinder is flush with the bottom of the ball storage device, and because the bottom of the ball storage device has 2-degree inclination, balls in the ball storage device can roll into the cylinder and are blocked by the ball catching pieces;
step 4, the steering engine rotates clockwise for 15 degrees (seen from top to bottom), the ball-catching lock is guided by the sliding groove piece to move towards the outside of the cylinder, in the process, the ball-catching piece moves towards the outside of the cylinder, and the tail end of the ball-catching ring moves towards the inside of the cylinder, so that the ball which is the last ball to go backwards is resisted by the ball-catching ring when the ball at the bottom end falls out of the cylinder;
and 5, driving a synchronous wheel to enable the ball catching device to ascend by the direct current speed reducing motor, when the ball catching device is lifted to 65mm height again, rotating the steering engine anticlockwise to the initial position and driving the ball catching lock to move towards the cylinder, in the process, the ball catching sheet moves towards the cylinder, the tail end of the ball catching ring moves towards the outside of the cylinder, at the moment, the penultimate ball is not propped by the ball catching ring any more and falls down, and is propped by the top of the ball catching sheet, and the ball placing action is completed.
The invention has at least the following beneficial effects: compared with the existing ball picking device or robot, the ball picking action can be finished only by lifting the ball catching device, balls ejected out of the cylinder can automatically fall into the ball storage device, and the ball picking efficiency is high; the robot has a ball-dropping function which is not possessed by other similar robots, automatically detects a designated ball-dropping point, can complete the ball-dropping action by opening the ball-catching lock, is fully automatic and intelligent in the ball-picking and ball-dropping process, and can greatly improve the training efficiency of a player only by hitting balls; different types of balls in various corners can be picked up, and the adaptability is strong; the omnidirectional wheel design is adopted, multiple sensors are carried, the movement is flexible, and the safety degree is high; the collecting and storing device adopts a separated design, and the load of the motor is smaller than that of an integrated design; the ball catching piece ensures that the balls cannot fall out, and the ball catching lock ensures that only one ball is placed at each time, so that the reliability is good; the top of the ball storage device is open, so that the problem of difficult ball unloading is solved, and the ball storage device can be taken and used at any time; the lifting height of the lifting mechanism is adjustable, and the ball placing height can be selected at will.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a schematic view of the construction of the ball-catching device of the present invention;
FIG. 4 is a schematic structural diagram of the spiking device of the present invention without a cylinder and a steering engine bracket.
In the figure: 1. an omni wheel; 2. a DC gear motor bracket; 3. a DC gear motor; 4. a frame; 5. a lifting frame; 6. a slider connector; 7. a slider; 8. a cross beam; 9. a slide rail; 10. a ball storage device; 11. a ball catching device; 111. a cylinder; 112. a steering engine; 113. a steering engine bracket; 114. a chute sheet; 115. a rudder wheel; 116. buckling a ball lock; 117. a spring; 118. a ball buckling sheet; 119. buckling a ball ring; 12. a synchronizing wheel; 13. a cylinder clamping block; 14. a synchronous belt; 15. a DC gear motor; 16. corner connectors; 17. a controller; 18. an ultrasonic sensor; 19. an ultrasonic sensor holder; 20. a camera; 21. a camera head bracket; 22. a battery pack; 23. a battery case.
Detailed Description
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. 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.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner" and "outer" indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 and 2, the indoor small round ball picking and placing robot comprises a frame 4, an omnidirectional wheel 1, a direct current speed reducing motor 3, a lifting mechanism, a ball storage 10, a ball catching device 11, a controller 17, an ultrasonic sensor 18, a camera 20 and a battery pack 22, wherein the frame 4 is connected with three direct current speed reducing motors 3 through three direct current speed reducing motor supports 2, each direct current speed reducing motor 3 is connected with one omnidirectional wheel 1, the lifting mechanism is installed above the front end of the frame 4, the ball storage 10 is installed on a lifting frame 5 of the lifting mechanism, the ball catching device 11 is installed on a cross beam 8 of the lifting mechanism through a cylinder clamping block 13, the top of a cylinder 111 penetrates through a bottom opening of the ball storage 10, the controller 17 is installed in the center of the frame 4, the three ultrasonic sensors 18 are installed above the frame 4 through an ultrasonic sensor support 19, the camera 20 is arranged below the front end of the frame 4 through a camera bracket 21, the two battery boxes 23 are respectively arranged at the left rear part and the right rear part of the frame 4, and battery packs 22 are arranged in the battery boxes.
Elevating system is by crane 5, slide rail 9, slider 7, slider connector 6, synchronizing wheel 12, hold-in range 14, the angle sign indicating number 16, crossbeam 8, direct current gear motor 15 is constituteed, two slide rail 9 are installed respectively on crane 5's the left and right sides both sides, slider 7 is respectively installed on every slide rail 9, slider connector 6 is installed on every slider 7, two slider connector 6 tops are connected by crossbeam 8, two synchronizing wheel 12 are installed in crane 5's inboard, hold-in range 14 meshes with two synchronizing wheel 12, direct current gear motor 15 is connected with the synchronizing wheel 12 of top, slider connector 6 is connected to the one end of angle sign indicating number 16, hold-in range 14 is connected to one end.
As shown in fig. 3 and 4, the ball catching device 11 is composed of a cylinder 111, a steering engine 112, a steering engine bracket 113, a rudder plate 115, a sliding slot sheet 114, a ball catching lock 116, a ball catching sheet 118, a spring 117, and a ball catching ring 119, wherein the cylinder 111 is installed on the cylinder clamping block 13, the steering engine 112 is installed on the cylinder 111 through the steering engine bracket 113, the rudder plate 115 is installed on the steering engine 112, the sliding slot sheet 114 is installed on the rudder plate 115, a cylinder at the top of the ball catching lock 116 is tangent to a straight slot opening of the sliding slot sheet 114, the ball catching ring 119 extends out from the middle of the ball catching lock 116, the ball catching sheet 118 is installed in a slot opening at the bottom of the ball catching lock 116 through trunnions at two sides, and two ends of the spring 117 are respectively fixed at the top of the slot opening.
In this embodiment, the bottom of the front end of the ball storage device 10 is provided with a hole having the same outer diameter as the cylinder 111 of the catching device 11, and the bottom has an inclination of 2 °.
In this embodiment, the cylinder 111 has a gap of 1mm, i.e., an inner diameter of 44mm, after the next golf ball is loaded, and the bottom of the cylinder 111 is chamfered inward.
In this embodiment, the ball-catching piece 118 can rotate around the trunnion by 0-90 °, a chamfer is provided below the front end, and the length of the ball-catching piece 118 in the cylinder 111 is 4.5 mm.
In this embodiment, the height of the chute plate 114 from the ground is 43mm, which is the diameter of a golf ball.
The ball picking method of the indoor small ball picking and placing robot comprises the following steps:
step 1, the ball catching device 11 is lifted to a height of 65mm through a lifting mechanism, a camera 20 detects the environment and transmits information to a controller 17, and a microprocessor in the controller 17 calculates the direction and distance of the ball relative to the robot;
step 2, the controller 17 drives the direct current reducing motor 3 according to the kinematics equation of the three-wheeled omnidirectional mobile robot, so that the robot moves towards the ball with the closest distance;
step 3, when the ball catching device 11 moves above the ball, the direct current speed reducing motor 15 drives the synchronous wheel 12 to enable the ball catching device 11 to descend until the ball catching device touches the ground, in the descending process, the ball catching piece 118 is firstly gradually jacked up by the ball and rotates around the rotating shaft, the spring 117 is compressed, if the cylinder 111 is filled with the ball at the moment, the topmost ball is pushed out of the cylinder 111 and falls into the ball storage device 10, when the ball completely enters the cylinder 111, the ball catching piece 118 is not jacked, and meanwhile, the initial state is recovered under the action of the spring 117;
and 4, driving the synchronous wheel 12 to lift the ball catching device 11 by the direct current speed reducing motor 15, wherein the ball is propped by the top of the ball catching piece 118 and cannot fall down, and when the ball catching device 11 is lifted to the height of 65mm again, the ball picking action is finished.
The ball placing method of the indoor small ball picking and placing robot comprises the following steps:
step 1, the ball catching device 11 is lifted to a height of 65mm through the lifting mechanism, the robot rotates clockwise, when a designated ball placing point appears in the center of the visual field of the camera 20, the rotation is stopped, and a microprocessor in the controller 17 calculates the distance from the designated ball placing point to the robot;
step 2, the controller drives a direct current speed reduction motor 3 according to a kinematic equation of the three-wheeled omnidirectional mobile robot, so that the robot moves towards a specified ball placing point;
step 3, when the ball catching device 11 moves above the designated ball placing point, the direct current speed reducing motor 15 drives the synchronous wheel 12 to enable the ball catching device 11 to descend until the ball catching device touches the ground, at the moment, the top of the cylinder 111 is flush with the bottom of the ball storage device 10, and because the bottom of the ball storage device 10 has an inclination of 2 degrees, balls in the ball storage device 10 can roll into the cylinder 111 and are blocked by the ball catching sheet 118;
step 4, the steering engine 112 rotates clockwise by 15 degrees (from top to bottom), the ball-catching lock 116 is guided by the sliding groove piece 114 to move towards the outside of the cylinder 111, in the process, the ball-catching piece 118 moves towards the outside of the cylinder 111, and the tail end of the ball-catching ring 119 moves towards the inside of the cylinder 111, so that the ball with the lowest end falls out of the cylinder 111, and the ball with the lowest end is resisted by the ball-catching ring 119;
and 5, driving the synchronous wheel 12 to lift the ball catching device 11 by the direct current speed reducing motor 15, when the ball catching device 11 is lifted to 65mm height again, rotating the steering engine 112 anticlockwise to the initial position and driving the ball catching lock 116 to move towards the cylinder 111, wherein the ball catching piece 118 moves towards the cylinder 111 in the process, the tail end of the ball catching ring 119 moves towards the outside of the cylinder 111, and the penultimate ball is not propped by the ball catching ring 119 to fall and is propped by the top of the ball catching piece 118, so that the ball releasing action is completed.
The indoor small round ball picking and placing robot and the method thereof provided by the embodiment of the invention are described in detail, the specific embodiment is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. The utility model provides an indoor little ball is picked up ball and is put ball robot which characterized in that: the device comprises a frame (4), omnidirectional wheels (1), direct current speed reducing motors (3), an elevating mechanism, a ball storage device (10), a ball catching device (11), a controller (17), an ultrasonic sensor (18), a camera (20) and a battery pack (22), wherein the frame (4) is connected with the three direct current speed reducing motors (3) through three direct current speed reducing motor supports (2), each direct current speed reducing motor (3) is connected with one omnidirectional wheel (1), the elevating mechanism is installed above the front end of the frame (4), the ball storage device (10) is installed on the elevating mechanism, the ball catching device (11) is installed on the elevating mechanism through a cylinder clamping block (13), the controller (17) is installed in the center of the frame (4), and the three ultrasonic sensors (18) are installed above the frame (4) through ultrasonic sensor supports (19) and respectively point to the front direction, The automobile seat is characterized by comprising a left rear part and a right rear part, the camera (20) is installed below the front end of the frame (4) through a camera support (21), the two battery boxes (23) are respectively installed on the left rear part and the right rear part of the frame (4), and a battery pack (22) is installed in each battery box (23).
2. The indoor small round ball picking and placing robot of claim 1, wherein: the lifting mechanism consists of a lifting frame (5), sliding rails (9), sliding blocks (7), sliding block connectors (6), synchronizing wheels (12), a synchronous belt (14), an angle code (16), a cross beam (8) and a direct current speed reducing motor (15), wherein the two sliding rails (9) are respectively arranged at the left side and the right side of the lifting frame (5), each sliding rail (9) is respectively provided with one sliding block (7), each sliding block connector (6) is arranged on each sliding block (7), the tops of the two sliding block connectors (6) are connected by the cross beam (8), the two synchronizing wheels (12) are arranged at the inner side of the lifting frame (5), the synchronous belt (14) is meshed with the two synchronizing wheels (12), the direct current speed reducing motor (15) is connected with the synchronizing wheel (12) above, one end of the angle code (16) is connected with the sliding block connectors (6), one end of the angle code is connected with the synchronous belt (14), the ball storage device (10), the ball catching device (11) is arranged on the cross beam (8) through a cylinder clamping block (13).
3. The indoor small round ball picking and placing robot of claim 1, wherein: the ball buckling device (11) is composed of a cylinder (111), a steering engine (112), a steering engine support (113), a rudder disc (115), a sliding groove piece (114), a ball buckling lock (116), a ball buckling piece (118), a spring (117) and a ball buckling ring (119), the cylinder (111) is installed on a cylinder clamping block (13), the steering engine (112) is installed on the cylinder (111) through the steering engine support (113), the rudder disc (115) is installed on the steering engine (112), the sliding groove piece (114) is installed on the rudder disc (115), a cylinder at the top of the ball buckling lock (116) is tangent to a straight notch of the sliding groove piece (114), the ball buckling ring (119) extends out of the middle of the ball buckling lock (116), the ball buckling piece (118) is installed in a notch at the bottom of the ball buckling lock (116) through trunnions at two sides, and the top of the notch at the bottom of the ball buckling lock (116) and the surface of the ball buckling piece (118) are fixed at two ends of the.
4. The indoor small round ball picking and placing robot of claim 1, wherein: the bottom of the front end of the ball storage device (10) is provided with a hole of 50mm, and the bottom has an inclination of 2 degrees.
5. The indoor small round ball picking and placing robot of claim 3, wherein: the inner diameter of the cylinder (111) is 44mm, and the bottom of the cylinder is provided with an inward chamfer.
6. The indoor small round ball picking and placing robot of claim 3, wherein: the ball buckling sheet (118) can rotate around the trunnion for 0-90 degrees, a chamfer is arranged below the front end, and the length of the ball buckling sheet (118) in the cylinder (111) is 4.5 mm.
7. The indoor small round ball picking and placing robot of claim 3, wherein: the height of the chute sheet (114) from the ground is 43 mm.
8. A ball picking method of an indoor small round ball picking and placing robot is characterized by comprising the following steps:
step 1, a ball catching device (11) rises, and a camera (20) detects the position of a ball;
step 2, the controller (17) drives the direct current reducing motor (3) to enable the robot to move towards the nearest ball;
step 3, the ball-catching device (11) descends, and the ball enters the cylinder (111);
and 4, the ball catching device (11) ascends, and the ball is propped against the top of the ball catching sheet (118) to finish ball picking.
9. A ball placing method of an indoor small round ball picking and ball placing robot is characterized by comprising the following steps:
step 1, the ball catching device (11) rises, and the camera (20) is positioned at a ball placing point;
step 2, the controller (17) drives the direct-current speed reduction motor (3) to enable the robot to move towards a ball placing point;
step 3, the ball buckling device (11) descends, and balls in the ball storage device (10) enter the cylinder (111) and are blocked by the ball buckling sheet (118);
and 4, the steering engine (112) rotates to pull out the ball-buckling lock (116), the ball at the bottommost end falls out of the cylinder (111), and the ball at the penultimate end is propped against by the ball-buckling ring (119).
And 5, the ball buckling device (11) ascends, the steering engine (112) rotates to push the ball buckling lock (116), and the penultimate ball falls down and is propped against the top of the ball buckling sheet (118) to finish ball placing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010103195.8A CN111168695A (en) | 2020-02-19 | 2020-02-19 | Indoor small round ball picking and placing robot and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010103195.8A CN111168695A (en) | 2020-02-19 | 2020-02-19 | Indoor small round ball picking and placing robot and use method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111168695A true CN111168695A (en) | 2020-05-19 |
Family
ID=70653096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010103195.8A Pending CN111168695A (en) | 2020-02-19 | 2020-02-19 | Indoor small round ball picking and placing robot and use method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111168695A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111729269A (en) * | 2020-05-27 | 2020-10-02 | 南京爱斯坦姆教育科技有限公司 | Autonomous tennis ball picking robot based on depth vision |
| CN114210033A (en) * | 2021-11-24 | 2022-03-22 | 南京技师学院 | A pick up football shirt and receive and examine robot for golf |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5181501A (en) * | 1991-02-27 | 1993-01-26 | Lien Wei M | Ping-pong ball shooter |
| KR19980084441A (en) * | 1997-05-23 | 1998-12-05 | 정진구 | Golf Ball Tee Up Device |
| JP2006175187A (en) * | 2004-12-21 | 2006-07-06 | Yoshiharu Ishikawa | Ball collecting tool |
| CN205659354U (en) * | 2016-04-15 | 2016-10-26 | 河南科技学院 | Basketball is received football shirt automatically and is put |
| CN106581966A (en) * | 2017-02-16 | 2017-04-26 | 蔡圣弘 | Table tennis ball picking device and automatic photographing device based on same |
| CN109771912A (en) * | 2019-02-17 | 2019-05-21 | 王风文 | A ping pong ball collection robot |
| CN211940954U (en) * | 2020-02-19 | 2020-11-17 | 温州大学 | Indoor small round ball picking and placing robot |
-
2020
- 2020-02-19 CN CN202010103195.8A patent/CN111168695A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5181501A (en) * | 1991-02-27 | 1993-01-26 | Lien Wei M | Ping-pong ball shooter |
| KR19980084441A (en) * | 1997-05-23 | 1998-12-05 | 정진구 | Golf Ball Tee Up Device |
| JP2006175187A (en) * | 2004-12-21 | 2006-07-06 | Yoshiharu Ishikawa | Ball collecting tool |
| CN205659354U (en) * | 2016-04-15 | 2016-10-26 | 河南科技学院 | Basketball is received football shirt automatically and is put |
| CN106581966A (en) * | 2017-02-16 | 2017-04-26 | 蔡圣弘 | Table tennis ball picking device and automatic photographing device based on same |
| CN109771912A (en) * | 2019-02-17 | 2019-05-21 | 王风文 | A ping pong ball collection robot |
| CN211940954U (en) * | 2020-02-19 | 2020-11-17 | 温州大学 | Indoor small round ball picking and placing robot |
Non-Patent Citations (1)
| Title |
|---|
| 马飞;: "一种多传感器数据融合的智能捡球机器人结构设计", 内蒙古师范大学学报(自然科学汉文版), no. 04, 15 July 2017 (2017-07-15), pages 55 - 57 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111729269A (en) * | 2020-05-27 | 2020-10-02 | 南京爱斯坦姆教育科技有限公司 | Autonomous tennis ball picking robot based on depth vision |
| CN111729269B (en) * | 2020-05-27 | 2021-11-09 | 南京爱斯坦姆教育科技有限公司 | Recognition method of tennis ball picking robot based on depth vision |
| CN114210033A (en) * | 2021-11-24 | 2022-03-22 | 南京技师学院 | A pick up football shirt and receive and examine robot for golf |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111719454B (en) | An automatic retractable device for traffic cones | |
| CN111168695A (en) | Indoor small round ball picking and placing robot and use method thereof | |
| CN112278310B (en) | Automatic lifting and retracting mechanism for tethered rotor wing and use method thereof | |
| CN106428260A (en) | Fetching and putting structure for spare tire of car | |
| CN113622533A (en) | Waterproof sound-proof wall of environmental protection for building | |
| CN110025942B (en) | Ball collecting device | |
| CN211940954U (en) | Indoor small round ball picking and placing robot | |
| CN210912926U (en) | Automatic trailer truck with multi-stage fine-tuning mechanism | |
| CN111335699A (en) | Rechargeable vertical lifting parking garage | |
| CN209225411U (en) | Rechargeable type logistics unmanned plane logistics airplane parking area platform | |
| CN109224405A (en) | A kind of new type auto ball picking robot | |
| CN202483225U (en) | Stereoscopic parking garage | |
| CN112079113A (en) | Intelligent port loading and unloading conveying equipment | |
| CN217263209U (en) | Automatic change material taking manipulator | |
| CN206859783U (en) | A kind of tower type parking garage with automatic charging function | |
| CN210707337U (en) | Direct-connected double-lane battery replacement station | |
| CN206750174U (en) | Non-rod aircraft tractor guider and non-rod aircraft tractor | |
| CN221367086U (en) | Tank body flaw detection tool conveying vehicle | |
| CN203383552U (en) | Device for stereoscopically parking small cars | |
| CN209137890U (en) | A kind of new type auto ball picking robot | |
| CN213505772U (en) | Material lifting device for construction | |
| CN208981855U (en) | Double deck parking | |
| CN118137626B (en) | Robot fills electric pile with remove function | |
| CN206750172U (en) | Non-rod aircraft tractor wheel holding door opening/closing apparatus, lifting body and tractor | |
| CN110077615A (en) | A kind of four-axle aircraft automatic charging platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |