CN202526850U - Efficient ball-picking competition robot - Google Patents
Efficient ball-picking competition robot Download PDFInfo
- Publication number
- CN202526850U CN202526850U CN2012200274883U CN201220027488U CN202526850U CN 202526850 U CN202526850 U CN 202526850U CN 2012200274883 U CN2012200274883 U CN 2012200274883U CN 201220027488 U CN201220027488 U CN 201220027488U CN 202526850 U CN202526850 U CN 202526850U
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- China
- Prior art keywords
- ball
- picking
- scoop
- robot
- picks
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- Expired - Fee Related
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Abstract
The utility model provides an efficient ball-picking competition robot which comprises a robot chassis and a ball picking mechanism, wherein a rolling-up rack of the ball picking mechanism is vertically fixed to the robot chassis; two articulation racks are located on the two sides of the rolling-up rack at an interval adaptive to the width of a ball picking pinch; a line winding wheel and a line winding wheel driving motor are arranged at the upper part of the rolling-up rack; a wound line pulls the ball picking pinch; two linkage arms forming a four-link manipulation mechanism are symmetrically arranged on the two sides of the ball picking pinch; and a rubber wheel and a rubber wheel driving motor are mounted on an upper beam at the front ball entering opening of the ball picking pinch. According to the technical scheme, the wound line pulls the ball picking pinch, and with the cooperation of the four-link mechanism composed of the two linkage arms and the ball picking punch, the ball picking punch can be kept steady in the process of being lifted or put down; and the efficient ball-picking competition robot has the advantages of being simple in structure, low in weight, efficient in ball picking, and accurate, quick and flexible in action.
Description
Technical field
The utility model relates to the match robot, in particular on given robot platform, install the race-entry robot of fetcher additional.
Background technology
The robot application bakeoff has been showed universities and colleges' vocational training achievement, and this match provides robot platform for team participating in competition, need on robot platform, design and install fetcher additional, and purpose is to give the best account of efficient, the stable robot of ball ability that picks up of tool.Present race-entry robot fetcher mainly contains drum-type, belt-type, vacuum cap type, machine pawl formula etc.; The subject matter that these fetchers exist is: factors such as the comprehensive consideration motion is quick, stable, proper, agility are wanted in athletic competition; But existing fetcher mechanism is complicated, but causes the robot motion erroneous judgement disconnected easily in order to improve ten ball efficient, misoperation thereupon, poor accuracy; Entire machine people's operating efficiency is obliterated; If match with the storage ball device, these above-mentioned problems are then more outstanding, make the match robot be difficult to possess advantage aspect the accuracy of flexibility and control.
Summary of the invention
The goal of the invention of the utility model be to provide a kind of mechanism simple, light, pick up ball efficient high and stable, efficiently pick up ball match robot accurately.The ball match Robotics scheme of efficiently picking up that the utility model provides; Its major technique content is: a kind of ball match robot that efficiently picks up, comprise the robot chassis that driving wheel and direction control wheel are installed, and pick up ball mechanism and be mounted on the robot chassis; Pick up ball mechanism by picking up that ball is scooped up and coupled arm, volume rise frame, body cradle is formed; Volume rises frame and uprightly is fixed on the robot chassis, and body cradle is positioned at volume and rises the frame both sides, has and picks up ball and scoop up the corresponding spacing of width; Volume rises frame and is provided with wire reels and wire reels drive motors; Dish line tractive picks up ball and scoops up, and picks up ball and scoops up bilateral symmetry and be provided with and pick up ball and scoop up two coupled arms that form four connecting rod operating mechanisms, and a coupled arm is hinged on and picks up ball and scoop up between bottom and the robot chassis; Another interlock wall is articulated in and picks up ball and scoop up between upper back and the body cradle, and the upper beam that goal is scooped up mouthful before picking up ball and scooping up is installed rubber tire and rubber tire drive motors.
The ball match Robotics scheme of efficiently picking up that the utility model provides; The dish line affects and picks up ball and scoop up; Two coupled arms with pick up ball and scoop up the quadric chain that is constituted and cooperate down; Scoop up and promote or transfer in the process picking up ball, all can make and pick up the level that ball is scooped up held stationary, its mechanism constitute have succinct, in light weight, pick up that ball is efficient, proper, agility, advantage flexibly.
Description of drawings
Fig. 1 and Fig. 2 be respectively pick up ball scoop up the master of lifting state look with A to structure chart
Fig. 3 and Fig. 4 pick up ball to scoop up the master of full state and look and the side direction structure chart
Fig. 5 and Fig. 6 pick up that the master of state looks and the side direction structure chart behind the ball.
The specific embodiment
The disclosed ball match robot that efficiently picks up of the utility model includes robot chassis 5, robot chassis rear side installing drive wheel 6, and the anterior direction control wheel 7 of installing, the traffic direction on control robot chassis 5, robot chassis 5 is provided with ten ball mechanisms.Pick up ball mechanism and scoop up 2 and coupled arm, volume rise frame 8, body cradle 18 is formed by picking up ball, picking up ball, to scoop up 2 be that front end is that scoop up the side that goal is scooped up mouthful, in the present embodiment; Pick up ball and scoop up 2 inner route clapboards 3 or be separated out four and pick up alley at a distance from rope, each goal that picks up alley is scooped up on mouthful upper beam of central authorities position a rubber tire 1 and drive motors 10 thereof all is installed, and the installation site of rubber tire 1 is rubber tire 1 lower edge and pick up distance that ball scoops up 2 base plates less than sphere diameter; Make rubber tire 1 and ball top side can be tangent frictional fit; When changeing in the rubber tire 1, and the frictional force between ball coil ball 4 to go into to pick up ball and scoop up in 2 one by one, when rubber tire 1 reverses; Ball 4 is coiled out one by one again and pick up ball and scoop up 2, it picks up ball and goes out ball efficient and improved greatly.Volume rises frame 8 and uprightly is fixed on the robot chassis 5; The upper end is provided with wire reels 9 and the motor 90 that drives wire reels 9; Furl and picking up ball in dish line 19 tractives of wire reels 9 and scoop up on 2; Two body cradles 18 are positioned at volume and rise frame 8 both sides and uprightly be fixed on the robot chassis 5, and have and pick up ball and scoop up the corresponding spacing of 2 width.Pick up ball and scoop up 2 bilateral symmetry and be provided with two coupled arms, 21,22, one coupled arms 22 that constitute four connecting rod operating mechanisms and be articulated in and pick up ball and scoop up between 2 bottoms and the robot chassis 5, another coupled arm 21 is articulated in and picks up ball and scoop up between 2 upper backs and the body cradle 18; Wire reels 9 rotates; Emit or during withdrawal dish line 19, affect and pick up ball and scoop up 2 and fall or promote, the length of two coupled arms 21,22 should preferably make picks up ball and scoops up 2 base plates and fall within on the anterior ground, robot chassis 5; Being convenient to pick up ball exercise does; Wait to pick up ball and accomplish the back and promote and pick up ball and scoop up 2, dividing a word with a hyphen at the end of a line in robot of robot chassis 5, ball is transferred to store up in the ball device.
Claims (2)
1. one kind is efficiently picked up ball match robot; Comprise the robot chassis (5) that driving wheel and direction control wheel are installed; Pick up ball mechanism and be mounted on the robot chassis, it is characterized in that picking up ball mechanism and scoop up by picking up ball that (2) and coupled arm thereof, volume rise frame (8), body cradle (18) is formed, volume rises frame and uprightly is fixed on the robot chassis; Body cradle is positioned at volume and rises the frame both sides; Have and pick up ball and scoop up the corresponding spacing of width, volume rises frame and is provided with wire reels (9) and wire reels drive motors (90), and dish line (19) tractive picks up ball and scoops up; Picking up ball scoops up bilateral symmetry and is provided with and picks up ball and scoop up two coupled arms that form four connecting rod operating mechanisms; One coupled arm (22) is hinged on and picks up ball and scoop up between bottom and the robot chassis, and another interlock wall (21) is articulated in and picks up ball and scoop up between upper back and the body cradle, goal is scooped up mouthful before picking up ball and scooping up upper beam installation rubber tire (1) and rubber tire drive motors (10).
2. the ball match robot that efficiently picks up according to claim 1 is characterized in that two coupled arms (21,22) have to pick up ball and scoop up the length that drops on anterior ground, robot chassis down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200274883U CN202526850U (en) | 2012-01-20 | 2012-01-20 | Efficient ball-picking competition robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200274883U CN202526850U (en) | 2012-01-20 | 2012-01-20 | Efficient ball-picking competition robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202526850U true CN202526850U (en) | 2012-11-14 |
Family
ID=47128058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012200274883U Expired - Fee Related CN202526850U (en) | 2012-01-20 | 2012-01-20 | Efficient ball-picking competition robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202526850U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI607296B (en) * | 2016-11-30 | 2017-12-01 | 正修學校財團法人正修科技大學 | Sweeping robot capable of intelligent search of table tennis ball and method thereof |
| CN107890678A (en) * | 2017-12-15 | 2018-04-10 | 长沙志唯电子科技有限公司 | A kind of juggle amusement robot |
-
2012
- 2012-01-20 CN CN2012200274883U patent/CN202526850U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI607296B (en) * | 2016-11-30 | 2017-12-01 | 正修學校財團法人正修科技大學 | Sweeping robot capable of intelligent search of table tennis ball and method thereof |
| CN107890678A (en) * | 2017-12-15 | 2018-04-10 | 长沙志唯电子科技有限公司 | A kind of juggle amusement robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Sunlight Instrument Ltd. of Dandong City Assignor: Liaoning Jidian Polytechnic Contract record no.: 2013210000022 Denomination of utility model: Efficient ball-picking competition robot Granted publication date: 20121114 License type: Exclusive License Record date: 20130329 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121114 Termination date: 20150120 |
|
| EXPY | Termination of patent right or utility model |