CN112494902B - Badminton picking and collecting equipment with mechanical arm - Google Patents
Badminton picking and collecting equipment with mechanical arm Download PDFInfo
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- CN112494902B CN112494902B CN202110044823.4A CN202110044823A CN112494902B CN 112494902 B CN112494902 B CN 112494902B CN 202110044823 A CN202110044823 A CN 202110044823A CN 112494902 B CN112494902 B CN 112494902B
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- cavity
- end wall
- shaft
- driving shaft
- block
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B67/00—Sporting games or accessories therefor, not provided for in groups A63B1/00 - A63B65/00
- A63B67/18—Badminton or similar games with feathered missiles
- A63B67/183—Feathered missiles
- A63B67/187—Shuttlecocks
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- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
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Abstract
The invention relates to the field related to mechanical arms, in particular to badminton picking and collecting equipment with a mechanical arm, which comprises a box body and a first cavity arranged in the box body, wherein a driving shaft is rotatably arranged on the upper side end wall of the first cavity in a penetrating manner, the driving shaft is in power connection with a main shaft of a motor, the motor is fixedly arranged on the upper side end wall of the first cavity, the badminton picking and collecting equipment with the mechanical arm can realize the picking of badminton by using a clamping device, can realize the sorting and collecting of badminton by using a rotating cavity, can realize the driving of the mechanical wall by using a rotating device, can realize the control of each action process by using the clutch between shafts, can realize the stop motion when a brake device is used for controlling the motion to a corresponding position, can realize the saving of a large amount of manpower, and can protect the bodies of workers, the efficiency of badminton pick-up has been improved.
Description
Technical Field
The invention relates to the field of mechanical arms, in particular to badminton picking and collecting equipment with a mechanical arm.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of the unique operation flexibility, the method is widely applied to the fields of industrial assembly, safety, explosion prevention and the like. The mechanical arm is a complex system, and uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like exist. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.
In the present life, the mechanical wall is more and more applied in life, but the application is less in the aspect of badminton picking, the badminton picking is finished manually at present, a large amount of manpower is consumed, the badminton is always stooped down to hurt the human body, and the efficiency of manual badminton picking is low, so that the badminton picking and collecting equipment with the mechanical arm is needed to be arranged to improve the problems.
Disclosure of Invention
The invention aims to provide badminton picking and collecting equipment with a mechanical arm, which can overcome the defects in the prior art, so that the practicability of the equipment is improved.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to badminton pickup and collection equipment with a mechanical arm, which comprises a box body and a first cavity arranged in the box body, wherein a driving shaft is rotatably arranged on the upper side end wall of the first cavity in a penetrating manner, the driving shaft is in power connection with a main shaft of a motor, the motor is fixedly arranged on the upper side end wall of the first cavity, a first transmission device for transmission between the driving shaft and a wheel shaft on the left side is fixedly arranged on the outer surface of the lower side tail end of the driving shaft in the first cavity, the wheel shafts are symmetrically and rotatably arranged in the box body in a left-right manner, wheels are symmetrically and fixedly arranged on the outer surfaces of the two front side tail ends of the wheel shafts, a belt wheel cavity is fixedly arranged in the box body on the upper side of the first cavity, and a second transmission device for transmission between the driving shaft and the mechanical arm is fixedly arranged on the outer surface of the upper side tail end of the driving shaft in the belt wheel cavity, the mechanical arm is rotatably arranged on the upper end wall of the belt wheel cavity, a third transmission device for transmission between the driving shaft and a screw rod is fixedly arranged on the outer surface of the driving shaft on the lower side of the second transmission device, the screw rod is rotatably arranged in the mechanical arm on the left side, the screw rod is rotatably connected with a nut block, the nut block is slidably arranged in a nut block sliding cavity, the nut block sliding cavity is fixedly arranged in a sliding sleeve in an array manner, the sliding sleeve is slidably arranged in the mechanical arm, the nut block and the nut block sliding cavity are connected through a nut block connecting spring, the end wall on one side, away from the screw rod, of the screw rod, the mechanical arm on the right side of the sliding sleeve is fixedly provided with a sliding groove, the outer surface of the end wall on the lower side of the sliding groove is fixedly provided with a first spring switch, the outer surface of the end wall on the right side of the sliding sleeve is fixedly connected with a stop block, and the stop block is slidably arranged in the sliding groove, sliding sleeve downside end wall fixed surface installs the clamping device that is used for the badminton clamp to get, band pulley chamber right the box internal fixation is provided with the second cavity, rotate on the second cavity downside end wall and install rotatory piece installation axle, power is connected between rotatory piece installation axle and the main shaft of rotating electrical machines, rotating electrical machines fixed mounting is in on the downside end wall of second cavity, rotatory piece installation side end wall fixed surface installs rotatory piece, rotatory piece internal fixation is provided with rotatory chamber, the fixed hole that integrates that is provided with on the rotatory chamber right side end wall, the integration hole right side the box internal fixation is provided with the collection chamber, external fixed surface installs visual sensor on the box left side end wall.
Further, the first transmission device comprises the driving shaft, a first bevel gear is fixedly mounted on the outer surface of the tail end of the lower side of the driving shaft, the first bevel gear is in meshing transmission with the first conical meshing teeth, the conical meshing teeth are slidably mounted in the sliding cavities of the conical meshing teeth, the sliding cavities of the conical meshing teeth are fixedly arranged in the mounting frame, the conical meshing teeth are connected with the bottom wall of the sliding cavity of the conical meshing teeth through a connecting spring of the conical meshing teeth, the mounting frame is fixedly mounted on the outer surface of the tail end of the right side of the belt wheel cavity, the worm shaft is rotatably mounted on the left end wall of the first cavity in a penetrating manner, an electromagnet braking cavity is fixedly arranged in the box body on the left side of the first cavity, an electromagnet is fixedly mounted on the outer surface of the worm shaft in the electromagnet braking cavity, and the electromagnet and the adsorption block are mutually adsorbed, the adsorption block is slidably mounted on the upper side of the electromagnet between the left end wall and the right end wall of the electromagnet braking cavity, an adsorption connecting spring is fixedly connected to the outer surface of the upper end wall of the adsorption block, the tail end of the upper side of the adsorption connecting spring is fixedly connected with the upper end wall of the electromagnet braking cavity, a worm and worm wheel cavity is fixedly arranged in the box body on the left side of the electromagnet braking cavity, a worm is fixedly mounted on the outer surface of the tail end of the left side of a worm shaft in the worm and worm wheel cavity, the worm and worm wheel are in meshing transmission, and the worm wheel is fixedly mounted on the left side of the outer surface of the wheel shaft.
Further, the second transmission device comprises the driving shaft, a rotating frame is fixedly arranged on the outer surface of the tail end of the upper side of the driving shaft, a meshing tooth sliding cavity is arranged in the rotating frame in an internal fixing array, meshing teeth are slidably arranged in the meshing tooth sliding cavity and are connected with the end wall of one side of the driving shaft through meshing tooth connecting springs, the meshing teeth are in meshing transmission with a first gear, the first gear is fixedly arranged on the outer surface of an incomplete gear shaft, the incomplete gear shaft is rotatably arranged on the end wall of the upper side of the belt wheel cavity, an incomplete gear is fixedly arranged at the tail end of the lower side of the incomplete gear shaft and is in meshing transmission with a second gear, the second gear is fixedly arranged on the outer surface of the tail end of the lower side of the mechanical arm, and braking grooves are symmetrically formed in the left and right fixing mode on the outer surface of the tail end of the upper side of the incomplete gear shaft, the brake block is inserted into the brake groove, the brake block is slidably mounted in the brake block sliding cavity, the brake block sliding cavity is fixedly arranged in the box body on the right side of the brake groove, the outer surface of the end wall of the right side of the brake block is connected with the end wall of the right side of the brake block sliding cavity through a connecting spring, a cord is fixedly connected to the outer surface of the end wall of the right side of the brake block, the cord is far away from the end of one side of the brake block and fixedly connected with the end wall of the upper side of a slide rod, the slide rod penetrates through the end wall of the lower side of the slide rod cavity and is slidably mounted on the end wall of the lower side of the slide rod cavity, the slide rod cavity is fixedly arranged in the mechanical arm on the upper side of the slide groove, the slide rod is in contact with the stop block, and the outer surface of the end wall of the upper side of the slide rod cavity is connected with the end wall of the lower side of the slide rod through a second spring switch.
Further, the third transmission device comprises the driving shaft, a first belt wheel is fixedly mounted on the outer surface of the driving shaft on the lower side of the rotating frame, the first belt wheel is connected with a second belt wheel through a transmission belt for transmission, the second belt wheel is rotatably mounted on the outer surface of a rotating block, the rotating block is fixedly mounted on the outer surface of the tail end of the lower side of the turntable shaft, a spline cavity is formed in the rotating block in a fixed array mode, a spline is slidably mounted in the spline cavity and inserted into a spline groove, a spline groove fixed circumference array is arranged on the end wall, close to the rotating block, of the second belt wheel, the spline cavity is connected with the end wall, close to one side of the turntable shaft, of the spline cavity through a spline connecting spring, an air pump is fixedly mounted on the end wall of the lower side of the spline cavity, and a turntable with teeth on the end wall of the upper side is fixedly mounted on the outer surface of the tail end of the upper side of the turntable shaft, the utility model discloses a mechanical arm, including arm, upside end wall, gear, bevel gear shaft, lead screw, gear shaft, bevel gear shaft, lead screw, bevel gear shaft, bevel gear, and bevel gear, and lead screw, and bevel gear, and the like this.
Further, clamping device includes the sliding sleeve, sliding sleeve downside end wall surface fixed mounting has the mounting panel, mounting panel downside end wall surface fixed mounting installs the installation piece, the homonymy rotate between the installation piece and install pivot one, a pivot surface fixed mounting has the supporting rod, the terminal surface fixed mounting of supporting rod downside has the clamp plate, the surface rotation of supporting rod installs pivot two, pivot two and the terminal fixed connection of downside of hydraulic stem, fixed connection between hydraulic stem and the hydraulic pump, the fixed array of hydraulic pump is installed in the mounting panel.
The invention has the beneficial effects that: the utility model provides a collecting device is picked up to badminton with arm, can realize utilizing clamping device to realize picking up the badminton to can realize utilizing rotatory chamber to arrange in order the badminton and collect, can realize utilizing rotating device to drive mechanical wall and rotate, can realize utilizing the separation and reunion between the axle to control each action process, can realize utilizing arresting gear to control stop motion when moving to relevant position, can realize saving a large amount of manpowers, protect staff's health, the efficiency that the badminton picked up has been improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural diagram of the overall structure of badminton picking and collecting equipment with a mechanical arm.
Fig. 2 is an enlarged schematic view of a in fig. 1.
Fig. 3 is an enlarged schematic view of B in fig. 1.
Fig. 4 is an enlarged schematic view of C in fig. 1.
Fig. 5 is an enlarged schematic view of D in fig. 1.
Detailed Description
The invention will now be described in detail with reference to fig. 1-5, wherein for ease of description the orientations described hereinafter are now defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.
With reference to fig. 1 to 5, the badminton picking and collecting device with a mechanical arm includes a box body 11 and a first cavity 12 disposed in the box body 11, a driving shaft 73 is rotatably mounted on an upper end wall of the first cavity 12 in a penetrating manner, the driving shaft 73 is in power connection with a main shaft of a motor 46, the motor 46 is fixedly mounted on the upper end wall of the first cavity 12, a first transmission device 100 for transmission between the driving shaft 73 and a wheel shaft 54 on the left side is fixedly mounted on an outer surface of a lower end of the driving shaft 73 in the first cavity 12, the wheel shafts 54 are rotatably mounted in the box body 11 in a left-right symmetrical manner, wheels 55 are fixedly mounted on outer surfaces of two ends of the front side of the wheel shaft 54 in a symmetrical manner, a belt wheel cavity 23 is fixedly disposed in the box body 11 on the upper side of the first cavity 12, and an outer surface of an upper end of the driving shaft 73 in the belt wheel cavity 23 is fixedly mounted on an outer surface of an upper end of the driving shaft 73 for the driving shaft 73 and the wheel cavity 12 The second transmission device 101 is used for transmission between mechanical arms 40, the mechanical arms 40 are rotatably mounted on the upper end wall of the pulley cavity 23, the third transmission device 102 is fixedly mounted on the outer surface of the driving shaft 73 on the lower side of the second transmission device 101, the driving shaft 73 is in transmission with the lead screw 60, the lead screw 60 is rotatably mounted in the mechanical arm 40 on the left side, the lead screw 60 is rotatably connected with the nut block 57, the nut block 57 is slidably mounted in the nut block sliding cavity 59, the nut block sliding cavity 59 is fixedly arranged in the sliding sleeve 35 in an array manner, the sliding sleeve 35 is slidably mounted in the mechanical arms 40, the nut block 57 and the nut block sliding cavity 59 are far away from the end wall on one side of the lead screw 60 and connected through the nut block connecting spring 58, the chute 34 is fixedly arranged in the mechanical arm 40 on the right side of the sliding sleeve 35, and the first spring switch 25 is fixedly mounted on the outer surface of the lower end wall of the chute 34, the outer surface of the right end wall of the sliding sleeve 35 is fixedly connected with a stop block 65, the stop block 65 is slidably mounted in the sliding groove 34, the outer surface of the lower end wall of the sliding sleeve 35 is fixedly provided with a clamping device 103 for clamping badminton balls, the box body 11 on the right side of the pulley cavity 23 is internally and fixedly provided with a second cavity 52, the lower end wall of the second cavity 52 is rotatably provided with a rotating block mounting shaft 53, the rotating block mounting shaft 53 is in power connection with a main shaft of a rotating motor 56, the rotating motor 56 is fixedly mounted on the lower end wall of the second cavity 52, the outer surface of the upper end wall of the rotating block mounting shaft 53 is fixedly provided with a rotating block 51, the rotating block 51 is internally and fixedly provided with a rotating cavity 48, the right end wall of the rotating cavity 48 is fixedly provided with an integration hole 49, and the box body 11 on the right side of the integration hole 49 is fixedly provided with a collection cavity 50, and a visual sensor 21 is fixedly arranged on the upper outer surface of the left end wall of the box body 11.
Advantageously, the first transmission device 100 comprises the driving shaft 73, a bevel gear 47 is fixedly mounted on the outer surface of the lower end of the driving shaft 73, the bevel gear 47 is in meshing transmission with a conical meshing tooth 87, the conical meshing tooth 87 is slidably mounted in a conical meshing tooth sliding cavity 85, the conical meshing tooth sliding cavities 85 are fixedly arranged in an array in a mounting frame 86, the conical meshing tooth 87 is connected with the bottom wall of the conical meshing tooth sliding cavity 85 through a conical meshing tooth connecting spring 84, the mounting frame 86 is fixedly mounted on the outer surface of the right end of a belt wheel cavity 23, the worm shaft 13 is rotatably mounted on the left end wall of the first cavity 12 in a penetrating manner, an electromagnet braking cavity 14 is fixedly arranged in the box body 11 on the left side of the first cavity 12, an electromagnet 15 is fixedly mounted on the outer surface of the worm shaft 13 in the electromagnet braking cavity 14, the electromagnet 15 and the adsorption block 16 are adsorbed to each other, the adsorption block 16 is slidably mounted on the upper side of the electromagnet 15 between the left end wall and the right end wall of the electromagnet braking cavity 14, an adsorption connecting spring 20 is fixedly connected to the outer surface of the upper side end wall of the adsorption block 16, the tail end of the upper side of the adsorption connecting spring 20 is fixedly connected with the upper side end wall of the electromagnet braking cavity 14, a worm and worm wheel cavity 18 is fixedly arranged in the box body 11 on the left side of the electromagnet braking cavity 14, a worm 19 is fixedly mounted on the outer surface of the tail end of the left side of the worm shaft 13 in the worm and worm wheel cavity 18, the worm 19 and the worm wheel 17 are in meshing transmission, and the worm wheel 17 is fixedly mounted on the outer surface of the wheel shaft 54 on the left side.
Advantageously, the second transmission device 101 comprises the driving shaft 73, a rotating frame 71 is fixedly mounted on the outer surface of the upper end of the driving shaft 73, a meshing tooth sliding cavity 74 is fixedly arranged in the rotating frame 71, a meshing tooth 75 is slidably mounted in the meshing tooth sliding cavity 74, the meshing tooth 75 is connected with the end wall of the meshing tooth sliding cavity 74 close to one side of the driving shaft 73 through a meshing tooth connecting spring 72, meshing transmission is performed between the meshing tooth 75 and a first gear 66, the first gear 66 is fixedly mounted on the outer surface of a incomplete gear shaft 77, the incomplete gear shaft 77 is rotatably mounted on the upper end wall of the pulley cavity 23, an incomplete gear 76 is fixedly mounted on the lower end of the incomplete gear shaft 77, meshing transmission is performed between the incomplete gear 76 and a second gear 24, and the second gear 24 is fixedly mounted on the outer surface of the lower end of the mechanical arm 40, brake grooves 67 are symmetrically arranged on the outer surface of the upper end of the incomplete gear shaft 77 in a left-right manner, brake blocks 68 are inserted into the brake grooves 67, the brake blocks 68 are slidably mounted in brake block sliding cavities 69, the brake block sliding cavities 69 are fixedly arranged in the box body 11 on the right side of the brake grooves 67, the outer surface of the right end wall of each brake block 68 is connected with the right end wall of the brake block sliding cavity 69 through a connecting spring 70, a wire 62 is fixedly connected with the outer surface of the right end wall of each brake block 68, one end of the wire 62 away from the brake blocks 68 is fixedly connected with the upper end wall of a slide rod 64, the slide rod 64 is slidably mounted on the lower end wall of a slide rod cavity 61 in a penetrating manner, the slide rod cavity 61 is fixedly arranged in the mechanical arm 40 on the upper side of the sliding chute 34, the slide rod 64 is in contact with the stop block 65, and the outer surface of the upper end wall of the slide rod 64 is in contact with the lower end wall of the slide rod cavity 61 through a spring switch 63 And (4) connecting.
Advantageously, the third transmission device 102 includes the driving shaft 73, a pulley first 45 is fixedly mounted on the outer surface of the driving shaft 73 on the lower side of the rotating frame 71, the pulley first 45 is in transmission connection with a pulley second 78 through a transmission belt 22, the pulley second 78 is rotatably mounted on the outer surface of a rotating block 83, the rotating block 83 is fixedly mounted on the outer surface of the lower end of the turntable shaft 44, a spline cavity 82 is fixedly arranged in the rotating block 83 in an array, a spline 79 is slidably mounted in the spline cavity 82, the spline 79 is inserted into a spline groove 88, a fixed circumferential array of the spline groove 88 is arranged on the end wall of the pulley second 78 on the side close to the rotating block 83, the spline 79 is connected with the end wall of the spline cavity 82 on the side close to the turntable shaft 44 through a spline connection spring 80, and an air pump 81 is fixedly mounted on the end wall of the lower side of the spline cavity 82, the outer surface of the upper end of the turntable shaft 44 is fixedly provided with a turntable 43 with teeth on the upper end wall, a gear cavity 42 is fixedly arranged in the upper side end wall of the mechanical arm 40, a turntable 43 with teeth on the upper side end wall is in meshing transmission with a gear III 41, the third gear 41 is fixedly arranged on the outer surface of the right end of the bevel gear shaft 39, the bevel gear shaft 39 is arranged on the left end wall of the gear cavity 42 in a penetrating and rotating way, a bevel gear cavity 37 is fixedly arranged in the mechanical arm 40 at the left side of the gear cavity 42, a bevel gear II 38 is fixedly arranged on the outer surface of the left end of the bevel gear shaft 39 in the bevel gear cavity 37, the second bevel gear 38 and the third bevel gear 36 are in meshing transmission, the third bevel gear 36 is fixedly arranged on the outer surface of the tail end of the upper side of the screw rod 60, and the screw rod 60 is rotatably arranged on the end wall of the lower side of the bevel gear cavity 37 in a penetrating manner.
Beneficially, clamping device 103 includes sliding sleeve 35, sliding sleeve 35 downside end wall external surface fixed mounting has mounting panel 33, mounting block 29 is installed to mounting panel 33 downside end wall external surface fixed array, the homonymy rotate between the mounting block 29 and install pivot 31, 31 external surface fixed mounting of pivot has clamping rod 28, the terminal external surface fixed mounting of clamping rod 28 downside has clamp plate 30, the external surface rotation of clamping rod 28 installs two 32 of pivot, the terminal fixed connection of the downside of two 32 and hydraulic stem 27, fixed connection between hydraulic stem 27 and the hydraulic pump 26, hydraulic pump 26 fixed array install in mounting panel 33.
The fixing and connecting method in this embodiment includes, but is not limited to, bolting, welding, and the like.
In the initial state: and (3) starting the vision sensor 21, powering off the electromagnet 15, loosening the connecting spring 70, loosening the wire rope 62 and loosening the sliding rod 64.
Sequence of mechanical actions of the whole device:
when the device of the present invention is operated, the motor 46 is started to rotate in the forward direction, so that the driving shaft 73 is driven to rotate, so that the bevel gear 47 is driven to rotate, the bevel gear 47 is in meshing transmission with the conical meshing teeth 87, so that the mounting frame 86 is driven to rotate, so that the worm shaft 13 is driven to rotate, so that the worm 19 is driven to rotate, the worm 19 is driven to rotate with the worm wheel 17, so that the wheel shaft 54 is driven to rotate, so that the wheel 55 is driven to rotate, so that the device is driven to move.
The vision sensor 21 detects the position of the shuttlecock on the ground and sends a signal to the electromagnet 15 and the air pump 81, the electromagnet 15 receives the signal of the vision sensor 21 and gets electrified, so that the adsorption block 16 is adsorbed, the worm shaft 13 cannot rotate, and the conical meshing teeth 87 reciprocate in the conical meshing teeth sliding cavity 85.
The air pump 81 is activated by a signal from the vision sensor 21, so as to inflate the spline cavity 82, thereby pushing the spline 79 to be inserted into the incomplete gear shaft 77, the driving shaft 73 rotates, thereby driving the first pulley 45 to rotate, the first pulley 45 and the second pulley 78 are in transmission connection through the transmission belt 22, thereby driving the rotating block 83 to rotate, thereby rotating the turntable shaft 44, the turntable shaft 44 rotates, thereby driving the turntable 43 with teeth on the upper end wall to rotate, the turntable 43 with teeth on the upper end wall is in meshing transmission with the third gear 41, thereby driving the bevel gear shaft 39 to rotate, thereby rotating the second bevel gear 38, the second bevel gear 38 is in meshing transmission with the third bevel gear 36, thereby driving the screw 60 to rotate, and the screw 60 is in transmission connection with the nut block 57, thereby driving the sliding sleeve 35 to move downwards, so that the mounting plate 33 moves downwards, and the mounting block 29 is driven to move downwards, so that the clamping plate 30 is driven to move downwards, and the sliding sleeve 35 moves downwards, so that the stop 65 is driven to move downwards.
When the stop block 65 moves downwards to contact with the first spring switch 25, the sliding sleeve 35 does not move downwards any more, so that the nut block 57 reciprocates in the nut block sliding cavity 59, the first spring switch 25 is compressed, and the first spring switch 25 sends a signal to the hydraulic pump 26, so that the hydraulic rod 27 is driven to move downwards, so that the second rotating shaft 32 moves downwards, and the second rotating shaft 32 moves downwards, so that the clamping rod 28 is driven to rotate downwards, so that the clamping plate 30 moves to clamp the badminton.
Actuating the motor 46 to rotate in reverse to rotate the driving shaft 73, thereby rotating the turntable shaft 44, thereby rotating the bevel gear shaft 39, thereby rotating the lead screw 60, thereby moving the slide sleeve 35 upward to move the stopper 65 upward, moving the slide sleeve 35 upward to move the mounting plate 33 upward to move the clamping plate 30 to clamp the shuttlecock upward, moving the second spring switch 63 upward to pull the string 62 tight to move the brake block 68 rightward to disengage from the brake groove 67, rotating the driving shaft 73, thereby rotating the rotating frame 71, thereby rotating the meshing teeth 75, and rotating the meshing teeth 75 and the first gear 66, thereby driving the incomplete gear shaft 77 to rotate, so that the incomplete gear 76 rotates, and the incomplete gear 76 and the second gear 24 are in meshed transmission, so that the mechanical arm 40 is driven to rotate by one hundred eighty degrees.
The motor 46 is started to rotate forwards, so that the sliding sleeve 35 moves downwards to be separated from the contact with the sliding rod 64, the second spring switch 63 is reset, the wire 62 is driven to be loosened, due to the action of the connecting spring 70, the brake block 68 is driven to be inserted into the brake groove 67, the second spring switch 63 moves downwards to be reset, the second spring switch 63 sends signals to the air pump 81 and the hydraulic pump 26, the air pump 81 receives the signals of the second spring switch 63, so that the air pump 81 is stopped, the hydraulic pump 26 receives the signal of the second spring switch 63, thereby causing the hydraulic pump 26 to move in reverse, thereby moving the hydraulic rod 27 upward, thereby causing the gripping bar 28 to move upwardly and the gripping plate 30 to move to release the shuttlecock and drop into the rotating chamber 48.
The rotating motor 56 is started to drive the rotating block mounting shaft 53 to rotate, so that the rotating block 51 rotates, and due to centrifugal effect, the ball head of the shuttlecocks in the rotating cavity 48 firstly goes into the collecting cavity 50 through the integrating hole 49, so that the shuttlecocks are collected in the collecting cavity 50 in an orderly manner.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (5)
1. The utility model provides a collecting device is picked up to badminton with arm, includes the box and the first cavity that sets up in the box, its characterized in that: a driving shaft is rotatably mounted on the upper end wall of the first cavity in a penetrating manner, the driving shaft is in power connection with a main shaft of a motor, the motor is fixedly mounted on the upper end wall of the first cavity, a first transmission device for transmission between the driving shaft and a wheel shaft on the left side is fixedly mounted on the outer surface of the lower end of the driving shaft in the first cavity, the wheel shafts are symmetrically and rotatably mounted in the box body, wheels are symmetrically and fixedly mounted on the outer surfaces of the two ends of the front side of the wheel shaft, a belt wheel cavity is fixedly arranged in the box body on the upper side of the first cavity, a second transmission device for transmission between the driving shaft and a mechanical arm is fixedly mounted on the outer surface of the upper end of the driving shaft in the belt wheel cavity, the mechanical arm is rotatably mounted on the upper end wall of the belt wheel cavity, and a transmission device for transmission between the driving shaft and a screw rod is fixedly mounted on the outer surface of the driving shaft on the lower side of the second transmission device The screw rod is rotatably arranged in the left mechanical arm, the screw rod is rotatably connected with a nut block, the nut block is slidably arranged in a nut block sliding cavity, a fixed array of the nut block sliding cavity is arranged in a sliding sleeve, the sliding sleeve is slidably arranged in the mechanical arm, the nut block and the nut block sliding cavity are far away from the end wall at one side of the screw rod and are connected through a nut block connecting spring, a sliding groove is fixedly arranged in the mechanical arm at the right side of the sliding sleeve, a first spring switch is fixedly arranged on the outer surface of the end wall at the lower side of the sliding groove, a stop block is fixedly connected with the outer surface of the end wall at the right side of the sliding sleeve and is slidably arranged in the sliding groove, a clamping device for clamping the badminton is fixedly arranged on the outer surface of the end wall at the lower side of the sliding sleeve, a second cavity is fixedly arranged in the box at the right side of the belt wheel cavity, the utility model discloses a rotary vacuum cleaner, including second cavity, rotatory piece installation axle and rotating electrical machines, rotatory piece installation axle rotates on the second cavity downside end wall and installs rotatory piece installation axle, power connection between the main shaft of rotatory piece installation axle and rotating electrical machines, rotating electrical machines fixed mounting be in on the downside end wall of second cavity, rotatory piece installation side end wall fixed surface installs rotatory piece, rotatory piece internal fixation is provided with rotatory chamber, the fixed hole that integrates that is provided with on the rotatory chamber right side end wall, the hole right side of integrating the internal fixation is provided with the collection chamber, outer fixed surface installs visual sensor on the box left side end wall.
2. A shuttlecock picking and collecting apparatus with a robot arm as claimed in claim 1, characterised in that: the first transmission device comprises the driving shaft, a first bevel gear is fixedly mounted on the outer surface of the tail end of the lower side of the driving shaft, the first bevel gear is in meshing transmission with conical meshing teeth, the conical meshing teeth are slidably mounted in a sliding cavity of the conical meshing teeth, the sliding cavity of the conical meshing teeth is fixedly arranged in an installation frame, the conical meshing teeth are connected with the bottom wall of the sliding cavity of the conical meshing teeth through a connecting spring of the conical meshing teeth, the installation frame is fixedly mounted on the outer surface of the tail end of the right side of a belt wheel cavity, a worm shaft is rotatably mounted on the end wall of the left side of the first cavity in a penetrating manner, an electromagnet braking cavity is fixedly arranged in the box body on the left side of the first cavity, an electromagnet is fixedly mounted on the outer surface of the worm shaft in the electromagnet braking cavity, the electromagnet and an adsorption block are mutually adsorbed, and the adsorption block is slidably mounted between the left end wall and the right end wall of the electromagnet braking cavity on the upper side of the electromagnet, the outer surface of the end wall of the upper side of the adsorption block is fixedly connected with an adsorption connecting spring, the tail end of the upper side of the adsorption connecting spring is fixedly connected with the end wall of the upper side of the electromagnet braking cavity, a worm and worm wheel cavity is fixedly arranged in the box body on the left side of the electromagnet braking cavity, a worm is fixedly arranged on the outer surface of the tail end of the left side of the worm shaft in the worm and worm wheel cavity, the worm and the worm wheel are in meshing transmission, and the worm wheel is fixedly arranged on the outer surface of the wheel shaft on the left side.
3. A shuttlecock picking and collecting device with a mechanical arm as claimed in claim 2, characterised in that: the second transmission device comprises the driving shaft, a rotating frame is fixedly arranged on the outer surface of the tail end of the upper side of the driving shaft, a meshing tooth sliding cavity is arranged in the rotating frame in an array mode, meshing teeth are slidably arranged in the meshing tooth sliding cavity and are connected with the end wall of one side of the driving shaft through meshing tooth connecting springs, meshing transmission is carried out between the meshing teeth and a first gear, the first gear is fixedly arranged on the outer surface of an incomplete gear shaft, the incomplete gear shaft is rotatably arranged on the end wall of the upper side of the gear cavity, an incomplete gear is fixedly arranged on the tail end of the lower side of the incomplete gear shaft and is in meshing transmission with a second gear, the second gear is fixedly arranged on the outer surface of the tail end of the lower side of the mechanical arm, and braking grooves are symmetrically formed in the left and right fixing mode on the outer surface of the tail end of the upper side of the incomplete gear shaft, the brake block is inserted into the brake groove, the brake block is slidably mounted in the brake block sliding cavity, the brake block sliding cavity is fixedly arranged in the box body on the right side of the brake groove, the outer surface of the end wall of the right side of the brake block is connected with the end wall of the right side of the brake block sliding cavity through a connecting spring, a cord is fixedly connected to the outer surface of the end wall of the right side of the brake block, the cord is far away from the end of one side of the brake block and fixedly connected with the end wall of the upper side of a slide rod, the slide rod penetrates through the end wall of the lower side of the slide rod cavity and is slidably mounted on the end wall of the lower side of the slide rod cavity, the slide rod cavity is fixedly arranged in the mechanical arm on the upper side of the slide groove, the slide rod is in contact with the stop block, and the outer surface of the end wall of the upper side of the slide rod cavity is connected with the end wall of the lower side of the slide rod through a second spring switch.
4. A shuttlecock picking and collecting apparatus with a robot arm as claimed in claim 3, characterised in that: the third transmission device comprises the driving shaft, a first belt wheel is fixedly mounted on the outer surface of the driving shaft on the lower side of the rotating frame, the first belt wheel is connected with a second belt wheel through a transmission belt for transmission, the second belt wheel is rotatably mounted on the outer surface of a rotating block, the rotating block is fixedly mounted on the outer surface of the tail end of the lower side of the turntable shaft, a spline cavity is formed in the rotating block in a fixed array mode, a spline is slidably mounted in the spline cavity and inserted into a spline groove, a spline groove fixed circumference array is arranged on the end wall, close to the rotating block, of the second belt wheel, the spline cavity is connected with the end wall, close to one side of the turntable shaft, of the spline cavity through a spline connecting spring, an air pump is fixedly mounted on the end wall of the lower side of the spline cavity, and a turntable with teeth on the end wall of the upper side is fixedly mounted on the outer surface of the tail end of the turntable shaft, the utility model discloses a mechanical arm, including arm, upside end wall, gear, bevel gear shaft, lead screw, gear shaft, bevel gear shaft, lead screw, bevel gear shaft, bevel gear, and bevel gear, and lead screw, and bevel gear, and the like this.
5. A shuttlecock picking and collecting device with a mechanical arm as claimed in claim 4, characterised in that:
clamping device includes the sliding sleeve, sliding sleeve downside end wall external surface fixed mounting has the mounting panel, mounting panel downside end wall external surface fixed array installs the installation piece, the homonymy rotate between the installation piece and install pivot one, a pivot external surface fixed mounting has the supporting rod, the terminal external surface fixed mounting of supporting rod downside has the clamp plate, the external surface rotation of supporting rod installs pivot two, the terminal fixed connection of downside of pivot two and hydraulic stem, fixed connection between hydraulic stem and the hydraulic pump, the fixed array of hydraulic pump is installed in the mounting panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110044823.4A CN112494902B (en) | 2021-01-13 | 2021-01-13 | Badminton picking and collecting equipment with mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110044823.4A CN112494902B (en) | 2021-01-13 | 2021-01-13 | Badminton picking and collecting equipment with mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112494902A CN112494902A (en) | 2021-03-16 |
| CN112494902B true CN112494902B (en) | 2021-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110044823.4A Active CN112494902B (en) | 2021-01-13 | 2021-01-13 | Badminton picking and collecting equipment with mechanical arm |
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| CN (1) | CN112494902B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113577721B (en) * | 2021-08-04 | 2023-11-10 | 文静 | Integrated device for sorting shuttlecock collecting cylinder |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5147100A (en) * | 1991-08-01 | 1992-09-15 | Frankel Edward B | Device for retrieving and securely storing balls |
| CN206717843U (en) * | 2017-03-28 | 2017-12-08 | 衢州学院 | A kind of mechanical arm of intelligent tennis ball pickup robot |
| CN207237190U (en) * | 2017-08-15 | 2018-04-17 | 陈亚龙 | A kind of sports ball collector |
| CN108527421B (en) * | 2018-04-25 | 2019-03-05 | 河南城建学院 | A kind of multifunctional unit humanoid robot |
| CN109011433B (en) * | 2018-09-07 | 2023-12-26 | 昆明理工大学 | Multi-functional intelligent ball recovery car |
| CN110102028B (en) * | 2019-05-15 | 2020-11-10 | 重庆第二师范学院 | Automatic shuttlecock recycling and supplying device |
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| CN112494902A (en) | 2021-03-16 |
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Effective date of registration: 20211026 Address after: 313200 Room 601, building 1, No. 48, Keyuan Road, Wuyang street, Deqing County, Huzhou City, Zhejiang Province Applicant after: Deqing Dechuang Intelligent Technology Co.,Ltd. Address before: 518109 1-305, Hutchison Huangpu yihuayuan, Guanhu Avenue, Longhua District, Shenzhen City, Guangdong Province Applicant before: Shenzhen Chuanyu Trading Co.,Ltd. |
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