CN111228759B

CN111228759B - Ball collecting device

Info

Publication number: CN111228759B
Application number: CN202010083049.3A
Authority: CN
Inventors: 陈正兴
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2017-08-30
Filing date: 2017-08-30
Publication date: 2021-07-23
Anticipated expiration: 2037-08-30
Also published as: WO2019041182A1; CN111228759A; CN108495689B; CN108495689A

Abstract

A sphere collecting device comprises a chassis, and a plurality of wheel sets are arranged at the bottom of the chassis. The first mechanism of picking up for pick up first spheroid, including coaxial setting's first cylinder and second cylinder, be equipped with the first transfer passage who is used for carrying first spheroid between first cylinder and the second cylinder, it includes first ball inlet and first ball outlet. The first collecting cavity is used for collecting the first ball body and is communicated with the first ball outlet. The first cylinder is rotatable relative to the chassis and the second cylinder is fixed to the chassis. The first conveying channel comprises a first lifting track and a first auxiliary track, the first lifting track is arranged on the wall, opposite to the second cylinder, of the first cylinder, and the first auxiliary track is arranged on the wall, opposite to the first cylinder, of the second cylinder. First goal is located first orbital bottom that promotes, and first play ball mouth is located first orbital top that promotes, and first promotion track and first supplementary track mutually support and carry first spheroid to first play ball mouth from first goal.

Description

Ball collecting device

Technical Field

The application relates to the technical field of ball equipment, in particular to a ball collecting device.

Background

In ball sports games or robotic shooting games, a large number of game balls or ball-shaped bullets are used, which are scattered on a training or playing field and need to be collected for reuse. The currently generally adopted method is mainly to manually pick up the objects by hands and then store the objects in a storage device for later use. However, the manual picking up by hand needs to bend waist and bend knee frequently, so that the defects of high labor intensity and low efficiency exist, and the manual picking up by hand is particularly inconvenient for the old and the weak.

With the development of the times, more and more mixed balls are played, match balls or spherical bullets with different sizes are often used, and the balls with different sizes cannot be collected and cannot be classified in time in the existing ball recycling mode.

Disclosure of Invention

The application provides a spheroid collection device that can intelligent quick collection spheroid.

The embodiment of the application provides a spheroid collection device, includes:

the bottom of the chassis is provided with a plurality of wheel sets;

the first picking mechanism for picking the first ball comprises a first cylinder body and a second cylinder body which are coaxially arranged, a first conveying channel for conveying the first ball is arranged between the first cylinder body and the second cylinder body, and the first conveying channel comprises a first ball inlet and a first ball outlet; and

the first collecting cavity is used for collecting the first ball body and is communicated with the first ball outlet;

the first cylinder is rotatably connected to the chassis, and the second cylinder is fixedly connected with the chassis; the first conveying channel comprises a first lifting rail and a first auxiliary rail, the first lifting rail is arranged on the wall, opposite to the second cylinder, of the first cylinder, and the first auxiliary rail is arranged on the wall, opposite to the first cylinder, of the second cylinder; the first ball inlet is located at the bottom of the first lifting track, the first ball outlet is located at the top of the first lifting track, and the first lifting track and the first auxiliary track are matched with each other to convey the first ball from the first ball inlet to the first ball outlet.

The utility model provides a spheroid collection device rotates through the relative chassis of first cylinder, makes first spheroid promote track and first supplementary orbital mutually supporting down, rises to first ball mouth in first promotion track from first ball inlet that picks up the mechanism, enters into first collection intracavity and deposits to accomplish spheroidal recovery. The first auxiliary rail may function to prevent the first ball from falling from the first lifting rail.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic structural diagram of a sphere collection device according to an embodiment of the present application.

Fig. 2 is a bottom view of the sphere collection device shown in fig. 1.

Fig. 3 is a perspective view of the sphere collection device shown in fig. 1 with the housing removed.

Figure 4 is a perspective view of the sphere collection device of figure 3 with the first collection chamber removed.

Fig. 5 is a schematic diagram illustrating a size relationship between a ball collecting device and a ball according to an embodiment of the present application.

Fig. 6 is a front view of the sphere collection device shown in fig. 4.

Figure 7 is a cross-sectional view of the sphere collection device of figure 6 taken along plane a-a.

Fig. 8 is an enlarged schematic view of the drive mechanism of fig. 7.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

The ball collecting device of the present application will be described in detail below with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

Referring to fig. 1 to 5, the present embodiment provides a ball collecting device 1 that can quickly collect balls in a ball sports game or quickly collect ball bullets in a robot shooting game. The ball collection device 1 includes a frame, a first picking mechanism 210, and a first collection chamber 310. The frame body comprises a chassis 10, and a plurality of wheel sets 110 are arranged at the bottom of the chassis 10. The first picking mechanism 210 is used for picking up the first sphere 910, and includes a first cylinder 213 and a second cylinder 214 coaxially disposed, a first conveying passage for conveying the first sphere 910 is disposed between the first cylinder 213 and the second cylinder 214, and the first conveying passage includes a first sphere inlet 211 and a first sphere outlet 212. The first collecting cavity 310 is used for collecting the first ball 910 and is arranged to communicate with the first ball outlet 212 of the first conveying passage.

Wherein the first cylinder 213 is rotatable relative to the chassis 10 and the second cylinder 214 is fixedly connected to the chassis 10. The first transfer channel comprises a first lifting track 215 and a first auxiliary track 216, the first lifting track 215 being arranged on the first cylinder 213 on the wall opposite to the second cylinder 214, the first auxiliary track 216 being arranged on the second cylinder 214 on the wall opposite to the first cylinder 213. The first ball inlet 211 is located at the bottom of the first lifting rail 215, and the first ball outlet 212 is located at the top of the first lifting rail 215. The first ball 910 is conveyed from the first ball inlet 211 to the first ball outlet 212 by the first lifting rail 215 and the first auxiliary rail 216 cooperating with each other.

As can be seen from the above embodiments, in the ball collecting device of the present application, the first cylindrical body 213 rotates relative to the chassis 10, and the first ball 910 can ascend from the first ball inlet 211 of the first picking mechanism 210 to the first ball outlet 212 in the first lifting track 215 under the mutual cooperation of the first lifting track 215 and the first auxiliary track 216, and enter the first collecting chamber 310 for storage, thereby completing the recovery of the ball. The first auxiliary rail 216 may function to prevent the first ball 910 from falling out of the first lifting rail 215. Therefore, the sphere collecting device can ensure that the first sphere cannot fall off from the first lifting rail 215 through the mutual matching of the first lifting rail 215 and the first auxiliary rail 216, and the sphere recycling success rate is improved.

In an alternative embodiment, the ball collecting device 1 of the present application may collect balls in a ball game, ball bullets in a robot shooting game, balls of two different sizes in a hybrid ball game, or ball bullets of two different sizes in a robot shooting game. In this embodiment, the sphere collection device 1 is used for collecting a first sphere 910 and a second sphere 920 with different sizes, and the diameter of the first sphere 910 is larger than that of the second sphere 920. For example, in a robot shooting game, the first sphere 910 may be a 46mm diameter ball bullet and the second sphere 920 may be a 17mm diameter ball bullet.

The sphere collection device 1 further comprises a second picking mechanism 220, a second collection chamber 320, and a housing 50 fixedly connected to the first picking mechanism 210. The first picking mechanism 210 is rotatably connected to the frame body, and is used for picking up the first ball 910. The first picking mechanism 210 includes a first ball inlet 211 at the bottom of the first picking mechanism 210 and a first ball outlet 212 at the top of the first picking mechanism 210. The first collecting chamber 310 is disposed in communication with the first ball outlet 212 of the first picking mechanism 210, and is used for collecting the first ball 910. A first collection chamber 310 is disposed inside the first picking mechanism 210 and is fixed to the base plate 10.

The second picking mechanism 220 is rotatably connected to the frame body and is used for picking up the second ball 920. The second picking mechanism 220 includes a second ball inlet 221 at the bottom of the second picking mechanism 220 and a second ball outlet 222 at the top of the second picking mechanism 220. The second picking mechanism 220 is arranged coaxially with the first picking mechanism 210 and is located inside said first picking mechanism 210, i.e. the radial dimension of the second picking mechanism 220 is smaller than the radial dimension of the first picking mechanism 210. The second collecting cavity 320 is communicated with the second ball outlet 222 of the second picking mechanism 220, and is used for collecting the second ball 920. Preferably, the first collection cavity 310 and the second collection cavity 320 are arranged in a staggered manner in the height direction of the sphere collection device 1.

Referring to fig. 5, the distance D1 between the bottom surface of the first picking mechanism 210 and the ground 900 is greater than the diameter D1 of the first sphere 910 and the diameter D2 of the second sphere 920, and the distance D2 between the bottom surface of the second picking mechanism 220 and the ground 900 is greater than the diameter D2 of the second sphere 920 but less than the diameter D1 of the first sphere 910. Thus, the first ball 910 can be ensured to smoothly enter the picking range of the first picking mechanism 210, the second ball 920 can smoothly enter the picking range of the second picking mechanism 220, and the first ball 910 can be prevented from entering the picking range of the second picking mechanism 220 to cause confusion of classification of the two balls.

As can be seen from the above embodiments, the ball collecting device 1 of the present application picks up the first ball 910 with a larger diameter from the first ball inlet 211 by the first picking mechanism 210, and enters the first collecting chamber 310 from the first ball outlet 212 to store. The second ball 920 with a smaller diameter is picked up from the second ball inlet 221 by the second picking mechanism 220, and enters the second collection chamber 320 from the second ball outlet 222 for storage. Therefore, the effect of simultaneously recovering and accurately classifying two spheres with different sizes is achieved, and the recovery speed and efficiency of the spheres are improved. It should be noted that, the sphere collecting device of the present application may be provided with only the first picking mechanism and the first collecting cavity, or only the second picking mechanism and the second collecting cavity, or both the first picking mechanism and the first collecting cavity, and the second picking mechanism and the second collecting cavity. The setting can be performed according to actual needs, and the application is not limited to this.

In an alternative embodiment, the sphere collecting device 1 is substantially cylindrical in structure, which facilitates the sphere recovery work on the corners of a complex field. The first picking mechanism 210 includes a first cylinder 213 and a second cylinder 214 coaxially disposed, and the first cylinder 213 and the second cylinder 214 rotate relatively. A first conveying passage for conveying the first ball 910 is provided between the first cylinder 213 and the second cylinder 214, the first ball inlet 211 is located at the bottom of the first conveying passage, and the first ball outlet 212 is located at the top of the first conveying passage. The first ball 910 with a larger diameter is picked up from the first ball inlet 211 by the first picking mechanism 210, and enters the first collecting cavity 310 from the first ball outlet 212 after passing through the first conveying channel for storage. In this embodiment, the first collection chamber 310 is generally cylindrical in configuration. Alternatively, in the example shown in the figures, the second cylinder 214 is located inside the first cylinder 213, the second cylinder 214 being fixedly connected to the first collecting chamber 310. The process of picking up the first ball 910 is the first cylinder 213 rotating, the second cylinder 214 and the first collecting chamber 310 being stationary. Of course, in other embodiments, the first cylinder 213 may be located inside the second cylinder 214, and the first cylinder 213 may be fixedly connected to the first collecting chamber 310. The process of picking up the first ball 910 is then such that the second cylinder 214 is stationary and the first cylinder 213 and the first collecting chamber 310 rotate together.

Further, the first cylinder 213 is rotatable with respect to the chassis 10, and the second cylinder 214 is fixedly connected to the chassis 10. The first transfer channel comprises a first lifting track 215 and a first auxiliary track 216, the first lifting track 215 being arranged on the first cylinder 213 on the wall opposite to the second cylinder 214, the first auxiliary track 216 being arranged on the second cylinder 214 on the wall opposite to the first cylinder 213. The first ball inlet 211 is located at the bottom of the first lifting rail 215, and the first ball outlet 212 is located at the top of the first lifting rail 215. During the rotation of the first cylinder 213, the first lifting track 215 and the first auxiliary track 216 cooperate with each other, so that the first ball 910 ascends from the first ball inlet 211 of the first transfer passage to the first ball outlet 212 in the first lifting track 215, and then enters the first collection chamber 310 for storage.

The first conveying path is described below, but it should be noted that the first conveying path is not limited thereto, and any structure obtained by conversion to allow the first ball 910 to pass through and enter the first collecting chamber 310 for storage should fall within the scope of the present application.

Referring to fig. 1 and 3, in the present embodiment, the first auxiliary track 216 spirally extends from the bottom of the second cylinder 214 to the top of the second cylinder 214 along a first rotation direction. The first lifting rail 215 spirally extends from the bottom of the first cylinder 213 to the top of the first cylinder 213 along a second direction of rotation, and the pitch of the first lifting rail 215 is greater than that of the first auxiliary rail 216. The first lifting rail 215 is provided with a first pickup portion 217 for picking up the first ball 910, the first pickup portion 217 is formed to extend from the bottom of the first lifting rail 215 in the rotation direction of the first cylinder 213 (clockwise rotation in fig. 1), and the first pickup portion 217 is spaced from the ground by a distance allowing the second ball 920 to pass. Wherein a first rotation direction (left rotation direction in fig. 3) of the first auxiliary track 216 is the same as a rotation direction of the first cylinder 213, and a second rotation direction (right rotation direction in fig. 1) of the first lifting track 215 is opposite to the first rotation direction of the first auxiliary track 216. In this way, after the first picking portion 217 of the first lifting rail 215 picks up the first ball 910 from the first ball inlet 211, the first auxiliary rail 216 can always provide a vertical upward supporting force for the first ball 910 in the process of gradually raising the first ball 910 to the first ball outlet 212 along the first lifting rail 215 by the rotation of the first cylinder 213, thereby preventing the first ball 910 from falling from the first lifting rail 215.

Referring to fig. 1, in an alternative embodiment, the first lifting track 215 is a plurality of first lifting tracks 215, and the plurality of first lifting tracks 215 are disposed at intervals on the wall of the first cylinder 213. The first ball inlet 211 is formed between the bottoms of two adjacent first lifting rails 215, and the first ball outlet 212 is formed between the tops of two adjacent first lifting rails 215. In this way, a plurality of first spheres 910 can be picked up simultaneously at one time, thereby improving the speed and efficiency of sphere recovery. Alternatively, a plurality of first lifting rails 215 are disposed at equal intervals on the cylindrical wall of the first cylinder 213.

In an alternative embodiment, the second picking mechanism 220 comprises a third cylinder 223 and a fourth cylinder 224 which are coaxially arranged, and the third cylinder 223 and the fourth cylinder 224 relatively rotate. A second conveying passage for conveying the second spheres 920 is formed between the third cylinder 223 and the fourth cylinder 224, the second sphere inlet 221 is located at the bottom of the second conveying passage, and the second sphere outlet 222 is located at the top of the second conveying passage. The second ball 920 with a smaller diameter is picked up from the second ball inlet 221 by the second picking mechanism 220, and enters the second collecting cavity 320 from the second ball outlet 222 after passing through the second conveying channel for storage. In this embodiment, the second collecting chamber 320 has a substantially cylindrical structure, and the second collecting chamber 320 is located above the first collecting chamber 310, so as to ensure that the first ball 910 does not fall into the second collecting chamber 320. The diameter of the second collection chamber 320 is not larger than that of the first collection chamber 310, so that the overall occupied space of the sphere collection device 1 can be reduced. When the diameter of the second collection chamber 320 is equal to the diameter of the first collection chamber 310, the sphere collection device 1 has a substantially cylindrical structure. When the diameter of the second collecting chamber 320 is smaller than that of the first collecting chamber 310, the sphere collecting apparatus 1 has a cone-like structure, and the volume can be further reduced. Alternatively, in the example shown in the figures, the fourth cylinder 224 is located outside the third cylinder 223, and the fourth cylinder 224 is fixedly connected to the second collecting chamber 320. The process of picking up the second ball 920 is that the third cylinder 223 rotates, and the fourth cylinder 224 and the second collecting chamber 320 are both fixed. Of course, in other embodiments, the third cylinder 223 may be located outside the fourth cylinder 224, and the third cylinder 223 is fixedly connected to the second collecting cavity 320. Then, the process of picking up the second ball 920 is that the fourth cylinder 224 is fixed and the third cylinder 223 and the second collecting chamber 320 rotate together.

Further, the third cylinder 223 is rotatably connected to the chassis 10, the fourth cylinder 224 is a part of the frame, and the fourth cylinder 224 is fixedly connected to the chassis 10. The second conveying passage includes a second lifting rail disposed on the third cylinder 223 at a wall opposite to the fourth cylinder 224, and a second auxiliary rail disposed on the fourth cylinder 224 at a wall opposite to the third cylinder 223. The second ball inlet 221 is located at the bottom of the second lifting rail, and the second ball outlet 222 is located at the top of the second lifting rail. During the rotation of the second cylinder 223, the second lifting track and the second auxiliary track cooperate with each other, so that the second ball 920 rises from the second ball inlet 221 of the second transfer passage to the second ball outlet 222 in the second lifting track, and then enters the second collection chamber 320 for storage. The structure and the arrangement manner of the second lifting track are the same as those of the first lifting track 215, and the structure and the arrangement manner of the second auxiliary track are the same as those of the first auxiliary track 216, which is not described herein again.

The structure of the second conveying path is described below, but it should be noted that the structure of the second conveying path is not limited thereto, and any structure obtained by conversion to allow the second ball 920 to pass through and enter the second collecting chamber 320 for storage should fall within the scope of the present application.

In this embodiment, the second auxiliary track extends spirally from the bottom of the fourth cylinder 224 to the top of the fourth cylinder 224 in a first direction of rotation (the same direction of rotation as the first auxiliary track 216). The second lifting track spirally extends from the bottom of the third cylinder 223 to the top of the third cylinder 223 along a second rotation direction (the same as the rotation direction of the first lifting track 215), and the pitch of the second lifting track is greater than that of the second auxiliary track. The second lifting rail is provided with a second picking portion for picking up the second ball 920, the second picking portion is formed by extending from the bottom of the second lifting rail along the rotating direction of the third cylinder 223 (the same as the rotating direction of the first cylinder 213), and the distance between the second picking portion and the ground is smaller than the diameter of the second ball 920, so that the second ball 920 is prevented from being omitted. The first rotation direction of the second auxiliary track is the same as the rotation direction of the third cylinder 223, and the second rotation direction of the second lifting track is opposite to the first rotation direction of the second auxiliary track. In this way, after the second ball 920 is picked up from the second ball inlet 221 by the second picking portion of the second lifting rail, under the rotating action of the third cylinder 223, in the process that the second ball 920 gradually rises to the second ball outlet 222 along the second lifting rail, the second auxiliary rail can always provide a vertical upward supporting force for the second ball 920, and the effect of preventing the second ball 920 from falling from the second lifting rail can be achieved.

In an optional embodiment, the second lifting tracks are multiple, and the multiple second lifting tracks are disposed at intervals on the wall of the third cylinder 223. The second ball inlet 221 is formed between the bottoms of two adjacent second lifting rails, and the second ball outlet 222 is formed between the tops of two adjacent second lifting rails. In this way, a plurality of second spheres 920 can be simultaneously picked up at one time, thereby improving the speed and efficiency of sphere recovery. Alternatively, a plurality of second lifting rails are disposed at equal intervals on the wall of the third cylinder 223.

Referring to fig. 2, in an alternative embodiment, the second picking mechanism 220 is disposed through the middle of the chassis 10, the bottom surface of the chassis 10 is flush with the bottom surface of the second picking mechanism 220, the bottom surface of the chassis 10 is provided with a plurality of guide ridges 120, and the plurality of guide ridges 120 are used for guiding the second ball 920 to the second ball inlet 221 of the second picking mechanism 220. Further, the guide ridges 120 are arc-shaped ridges, the rotation direction of the guide ridges 120 is opposite to the rotation direction of the first picking mechanism 210, and the plurality of guide ridges 120 are radially arranged. Thus, as the whole ball collecting device 1 moves, the second ball 920 is concentrated at the bottom center of the whole ball collecting device 1, i.e. the picking range of the second picking mechanism 220, under the guidance of the guide rib 120, so that the second picking mechanism 220 can pick up the second ball 920 conveniently.

Referring to fig. 2, in an alternative embodiment, the wheel sets 110 at the bottom of the chassis 10 are universal wheel sets, and the number of the wheel sets 110 is three, and the wheel sets are uniformly distributed at the bottom of the chassis 10 along the circumference. Further, referring to fig. 4, the wheel set 110 includes a universal wheel, a motor 111 for driving the universal wheel to rotate, a motor fixing base 112 for fixing the motor 111, and an electronic controller 113 for controlling the motor 111.

Further, a buffer device for adapting to terrain is also arranged on the chassis 10 to keep the distance between the chassis 10 and the ground at a preset value. The buffer device can adopt a structural part buffered by a spring, and the structural part is elastically propped between the bottom plate 10 and the ground, so that the distance between the bottom plate 10 and the ground is not changed, and the situation that the big ball drills to the bottom of the bottom plate to block the whole device after the distance is increased is prevented.

In an alternative embodiment, as shown in fig. 6 to 8, the sphere collecting apparatus 1 further includes a driving mechanism 40 (preferably a driving motor) for driving the first cylinder 213 of the first picking mechanism 210 and the third cylinder 223 of the second picking mechanism 220 to rotate in the same direction, so that the first sphere and the second sphere enter into the respective picking mechanisms and are collected into the respective collecting cavities along the tracks with opposite rotation directions. In the moving process of the ball collecting device 1, after the first ball 910 enters the picking range of the first picking mechanism 210 and is picked up from the first ball inlet 211 by the first picking part 217 of the first lifting track 215, the first ball 910 can gradually rise to the first ball outlet 212 along the first lifting track 215 under the rotating action of the first cylinder 213, and a vertical upward supporting force is always provided for the first ball 910 by the first auxiliary track 216 during the rising process, so as to prevent the first ball 910 from falling from the first lifting track 215. The second sphere 920 can be concentrated in the picking range of the second picking mechanism 220 under the guiding of the guiding grains 120 at the bottom of the chassis 10, after the second sphere 920 is picked up from the second ball inlet 221 by the second picking portion of the second lifting track, under the rotating action of the third cylinder 223, the second sphere 920 can gradually rise to the second ball outlet 222 along the second lifting track, and a vertical upward supporting force is always provided for the second sphere 920 through the second auxiliary track in the rising process, so as to prevent the second sphere 920 from falling from the second lifting track.

The driving mechanism 40 includes a first output end 401, a second output end 402, a transmission disc 403 connected to the first output end 401, a first connector 407 connected to the second output end 402, and a second connector 409, where the first output end 401 and the second output end 402 are located at two ends of the driving mechanism 40 respectively. In the example shown in the figure, the first output 401 is located at the top of the drive mechanism 40 and the second output 402 is located at the bottom of the drive mechanism 40. The first connector 407 is located at the bottom of the drive mechanism 40 and the second connector 409 is located at the top of the drive mechanism 40. Of course, in other embodiments, the driving mechanism 40 may only include one output end, and the first cylinder 213 of the first picking mechanism 210 and the third cylinder 223 of the second picking mechanism 220 are controlled to rotate simultaneously through the one output end.

The transmission disc 403 is connected between the frame and the housing 50 in a transmission manner, the housing 50 is connected to the first cylinder 213 of the first picking mechanism 210, so that the first output end 401 is in transmission connection with the first cylinder 213 of the first picking mechanism 210, and the driving mechanism 40 drives the transmission disc 403 to drive the housing 50 to rotate through the first output end 401, so as to drive the first cylinder 213 of the first picking mechanism 210 to rotate. The first connector 407 is connected to the third cylinder 223 of the second picking mechanism 220, so as to maintain the transmission connection between the second output end 402 and the third cylinder 223 of the second picking mechanism 220, and the driving mechanism 40 drives the first connector 407 to rotate through the second output end 402, so as to drive the third cylinder 223 of the second picking mechanism 220 to rotate. The second connector 409 is connected to the fourth cylinder 224 of the second pickup mechanism 220.

Further, the driving mechanism 40 further includes a transmission shaft 404, and a first reduction gear set 405 for adjusting the rotation speed of the first cylinder 213 of the first picking mechanism 210 is disposed between a first end of the transmission shaft 404 and the first output end 401 of the driving motor 40. A second speed reduction gear set 406 for adjusting the rotation speed of the third cylinder 223 of the second picking mechanism 220 is arranged between the second end of the transmission shaft 404 and the second output end 402 of the driving motor 40, so that the output speed of the driving mechanism 40 can be reduced to a proper value. The first and second reduction gear sets 405, 406 are preferably formed of a non-metallic material such as nylon or polyoxymethylene (also known as polyoxymethylene, "super steel" or "sato steel", for POM). Alternatively, the reduction ratio of the driving mechanism 40 is in the range of 1:19, and the reduction ratio of the first reduction gear set 405 is different from the reduction ratio of the second reduction gear set 406. Since the size of the second picking mechanism 220 is smaller than that of the first picking mechanism 210, the rotation speed of the first cylinder 213 of the first picking mechanism 210 can be adjusted to be smaller than that of the third cylinder 223 of the second picking mechanism 220 by the first and second reduction gear sets 405 and 406 so that the entire rotation speed of the sphere collection device 1 becomes an appropriate value.

Referring to fig. 7, in an alternative embodiment, the sphere collecting apparatus 1 further includes a power module 60 for supplying power to the driving mechanism 40, a control template for controlling the driving mechanism 40, and a lidar sensor 70 for detecting a distance, wherein the control template and the lidar sensor 70 are integrally disposed on the power module 60. The exterior of the power module 60 is provided with a housing 80. in the example shown in the figures, the housing 80 is of a cone-like configuration. The bottom of the power module 60 is provided with a base 90, the middle part of the transmission disc 403 of the driving mechanism 40 is provided with an accommodating groove 408, and the base 90 of the power module 60 is arranged in the accommodating groove 408. Optionally, the lidar sensor 70 includes a binocular vision recognition module and a pulse radio module (UWB, Ultra wide band), so that the sphere collection device 1 can complete intelligent path judgment and site modeling, realize automatic planning of a traveling path, and effectively avoid obstacles.

In the description of the present application, "up", "down", "front", "back", "left" and "right" should be understood as "up", "down", "front", "back", "left" and "right" directions of the power system assembly 100 formed by sequentially mounting the first body 1, the connecting member 3 and the second body 2 from top to bottom.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A sphere collection device, comprising:

the bottom of the chassis is provided with a plurality of wheel sets;

wherein the first cylinder is rotatable relative to the chassis, and the second cylinder is fixedly connected with the chassis; the first conveying channel comprises a first lifting rail and a first auxiliary rail, the first lifting rail is arranged on the wall, opposite to the second cylinder, of the first cylinder, and the first auxiliary rail is arranged on the wall, opposite to the first cylinder, of the second cylinder; the first ball inlet is positioned at the bottom of the first lifting track, the first ball outlet is positioned at the top of the first lifting track, and the first lifting track and the first auxiliary track are matched with each other to convey the first ball from the first ball inlet to the first ball outlet;

the second picking mechanism is used for picking up a second ball, the diameter of the second ball is smaller than that of the first ball, the second picking mechanism comprises a second ball inlet positioned at the bottom of the second picking mechanism and a second ball outlet positioned at the top of the second picking mechanism, and the second picking mechanism is rotatably connected to the chassis; the second picking mechanism is coaxially arranged with the first picking mechanism and is positioned at the inner side of the first picking mechanism, and the distance between the bottom surface of the second picking mechanism and the ground is smaller than the diameter of the first ball;

and the second collecting cavity is used for collecting the second sphere and is communicated with the second sphere outlet.

2. The sphere collection apparatus of claim 1, wherein the first auxiliary track extends from the bottom of the second cylinder to the top of the second cylinder in a first handedness spiral; the first lifting track extends from the bottom of the first cylinder to the top of the first cylinder along a second spiral direction.

3. The sphere collection device of claim 2, wherein a pitch of the first lifting track is greater than a pitch of the first auxiliary track, the first direction of rotation is the same as a direction of rotation of the first cylinder, and the second direction of rotation is opposite the first direction of rotation.

4. The sphere collecting device according to claim 2, wherein the first elevating rail is provided with a first pick-up portion for picking up the first sphere, the first pick-up portion being formed extending from a bottom of the first elevating rail in a rotation direction of the first cylinder.

5. The ball collection device of claim 1, wherein the first lifting track is provided in plurality, and the plurality of first lifting tracks are provided at intervals on the wall of the first cylinder; the first ball inlet is formed between the bottoms of the two adjacent first lifting rails, and the first ball outlet is formed between the tops of the two adjacent first lifting rails.

6. A sphere collection apparatus according to claim 1, wherein the second cylinder is located inside the first cylinder.

7. A sphere collection apparatus according to claim 1, wherein the first collection chamber is fixedly connected to the inner one of the first and second cylinders.

8. The sphere collection apparatus of claim 1, wherein the second pick-up mechanism includes a third cylinder and a fourth cylinder coaxially disposed, the third cylinder and the fourth cylinder rotating relative to each other; a second conveying channel for conveying the second spheres is formed between the third cylinder and the fourth cylinder, the second sphere inlet is located at the bottom of the second conveying channel, and the second sphere outlet is located at the top of the second conveying channel.

9. A sphere collection apparatus according to claim 8, wherein said third cylinder is rotatably connected to said chassis, and said fourth cylinder is fixedly connected to said chassis; the second conveying channel comprises a second lifting rail and a second auxiliary rail, the second lifting rail is arranged on the cylinder wall, opposite to the fourth cylinder, of the third cylinder, and the second auxiliary rail is arranged on the cylinder wall, opposite to the third cylinder, of the fourth cylinder;

the second ball inlet is located at the bottom of the second lifting track, the second ball outlet is located at the top of the second lifting track, and the second lifting track and the second auxiliary track are matched with each other to convey the second ball from the second ball inlet to the second ball outlet.

10. The sphere collection apparatus of claim 9, wherein the second auxiliary track extends helically from the bottom of the fourth cylinder in a first sense of rotation to the top of the fourth cylinder; the second lifting track spirally extends from the bottom of the third cylinder body to the top of the third cylinder body along a second spiral direction.

11. The sphere collection device of claim 10, wherein the pitch of the second lifting rail is greater than the pitch of the second auxiliary rail, the first direction of rotation is the same as the third cylinder, and the second direction of rotation is opposite to the first direction of rotation.

12. The sphere collecting apparatus according to claim 10, wherein the second lifting rail is provided with a second picking portion for picking up the second sphere, the second picking portion being formed extending from a bottom of the second lifting rail in a rotation direction of the third cylinder.

13. The sphere collecting device according to claim 9, wherein the second lifting rail is a plurality of second lifting rails, and the plurality of second lifting rails are arranged at intervals on the wall of the third cylinder; and a second ball inlet is formed between the bottoms of every two adjacent second lifting rails, and a second ball outlet is formed between the tops of every two adjacent second lifting rails.

14. The sphere collection apparatus of claim 8, wherein the fourth cylinder is located outside of the third cylinder.

15. A ball collection device according to claim 8, wherein the second collection chamber is fixedly connected to the outer one of the third and fourth cylinders.

16. The sphere collection apparatus of claim 1, wherein the second collection chamber is located above the first collection chamber, the second collection chamber having a diameter no greater than a diameter of the first collection chamber.

17. The sphere collection apparatus of claim 1, wherein the second picking mechanism is disposed through a middle portion of the bottom plate, and a bottom surface of the bottom plate is flush with a bottom surface of the second picking mechanism.

18. The sphere collection device of claim 17, wherein the bottom surface of the base plate is provided with a plurality of guide ridges for guiding the second sphere to the second ball inlet.

19. The ball collection device of claim 18, wherein the guide ridges are arcuate ridges that are rotated in a direction opposite to the direction of rotation of the first pick-up mechanism, and wherein the plurality of guide ridges are arranged in a radial pattern.

20. The sphere collection apparatus of claim 1, further comprising a drive mechanism for driving rotation of the first and second pick-up mechanisms.

21. The sphere collection apparatus of claim 20, wherein the drive mechanism includes a first output and a second output with the same direction of rotation, the first output being connected to the first pick-up mechanism and the second output being connected to the second pick-up mechanism.

22. The sphere collection apparatus of claim 21, wherein the first output and the second output are located at respective ends of the drive mechanism.

23. The sphere collection apparatus of claim 21, further comprising a housing connected to the first pick-up mechanism; the driving mechanism further comprises a transmission disc connected with the first output end, and the transmission disc is connected with the shell.

24. A ball collection device according to claim 21, wherein the first output is provided with a first reduction gear set for adjusting the speed of rotation of the first pick-up mechanism.

25. A ball collection device according to claim 24, wherein the second output is provided with a second reduction gear set for adjusting the speed of rotation of the second pick-up mechanism.

26. The sphere collection device of claim 25, wherein the reduction ratio of said first reduction gear set is different from the reduction ratio of said second reduction gear set.