CN204050856U - Automatic ball collecting vehicle - Google Patents
Automatic ball collecting vehicle Download PDFInfo
- Publication number
- CN204050856U CN204050856U CN201420554902.5U CN201420554902U CN204050856U CN 204050856 U CN204050856 U CN 204050856U CN 201420554902 U CN201420554902 U CN 201420554902U CN 204050856 U CN204050856 U CN 204050856U
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- Prior art keywords
- ball
- steering wheel
- vehicle body
- chassis
- fixedly installed
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- Expired - Fee Related
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- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
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Abstract
The utility model discloses a kind of automatic ball collecting vehicle, belong to machinery manufacturing technology field, for solving the problem that in prior art, the artificial low workload of ball picking-up efficiency is large.The utility model comprises the chassis of vehicle body being provided with two crawler belts, described chassis of vehicle body is provided with controlling organization, location sensitive mechanism and Jian Qiu mechanism, described Jian Qiu mechanism comprises: the first steering wheel, and it is can the steering wheel that turns to of level, is fixedly installed on described chassis of vehicle body; Second steering wheel, it is the steering wheel that can longitudinally turn to, and to be fixedly installed on above described first steering wheel and to be fixedly connected with described first steering wheel; Linking arm, is fixedly connected with described second steering wheel; Pick up ball cylinder, be fixedly installed on described linking arm, described in pick up on ball cylinder and be provided with ball hole and ball mouth, described ball hole be arranged in parallel at least two elastic threads, and the spacing between adjacent two described elastic threads is less than the diameter of ball.The utility model structure is simple, it is ingenious to design, cost is low, efficiency is high, easy and simple to handle, ball picking-up efficiency is high.
Description
Technical field
The utility model relates to machinery manufacturing technology field, particularly a kind of automatic ball collecting vehicle.
Background technology
In table tennis, shuttlecock or tennis room, time due to training or match, ground has a lot of out-of-bounds or invalid table tennis.Manually pick up ball, efficiency is low, workload is large.
Utility model content
The utility model provides a kind of automatic ball collecting vehicle, for solving the problem that in prior art, the artificial low workload of ball picking-up efficiency is large.
The technical solution of the utility model is:
A kind of automatic ball collecting vehicle, comprise the chassis of vehicle body being provided with two crawler belts, described chassis of vehicle body is provided with controlling organization, location sensitive mechanism and Jian Qiu mechanism, described Jian Qiu mechanism comprises:
First steering wheel, it is can the steering wheel that turns to of level, is fixedly installed on described chassis of vehicle body;
Second steering wheel, it is the steering wheel that can longitudinally turn to, and to be fixedly installed on above described first steering wheel and to be fixedly connected with the output shaft of described first steering wheel;
Linking arm, is fixedly connected with the output shaft of described second steering wheel;
Pick up ball cylinder, be fixedly installed on described linking arm, described in pick up on ball cylinder and be provided with ball hole and ball mouth, described ball hole be arranged in parallel at least two elastic threads, and the spacing between adjacent two described elastic threads is less than the diameter of ball.
Preferably, described location sensitive mechanism comprises the ultrasonic sensor and color sensor that are arranged on described chassis of vehicle body front end face.
Preferably, described first steering wheel is fixedly installed on described chassis of vehicle body by bearing base.
Further, described chassis of vehicle body is fixedly installed ball-storing box, described ball-storing box is positioned at after described bearing base.
Preferably, described two crawler belts are driven by motor one and motor two respectively.
Described ball hole be arranged in parallel two elastic threads.
The beneficial effects of the utility model are:
Automatic ball collecting vehicle of the present utility model, two steering wheels are utilized to realize picking up the two dimensional motion of ball cylinder, additionally by the ball hole picking up ball cylinder, elastic threads is set, under servo driving, linking arm extrudes under driving and picking up ball cylinder, ball cylinder is picked up in the press-in of ball warp elastic threads, and then under servo driving, linking arm drives the ball mouth picking up ball cylinder to tilt to ball-storing box, and ball is put into ball-storing box.The utility model structure is simple, it is ingenious to design, cost is low, efficiency is high, easy and simple to handle, to pick up ball success rate high.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the utility model automatic ball collecting vehicle;
Fig. 2 is the utility model automatic ball collecting vehicle partial structurtes schematic diagrames;
1-ball-storing box; 2-ball mouth; 3-linking arm; 4-second steering wheel; 5-picks up ball cylinder; 6-first steering wheel; 7-bearing base; 8-elastic threads; 9-ball hole; 10-color sensor; 11-ultrasonic sensor; 12-chassis of vehicle body; 13-crawler belt.
Detailed description of the invention
Embodiment 1
As shown in Figure 1, automatic ball collecting vehicle of the present utility model, comprises chassis of vehicle body 12, chassis of vehicle body 12 a crawler belt 13 is each side set, each crawler belt 13 drives by independently motor.Chassis of vehicle body 12 is fixedly installed ball-storing box 1.The front end face of chassis of vehicle body 12 is provided with two draw-in grooves, places color sensor 10 and ultrasonic sensor 11 in two draw-in grooves respectively, and color sensor 10 and ultrasonic sensor 11 form location sensitive mechanism jointly.Chassis of vehicle body 12 is also provided with controlling organization (as single-chip microcomputer), color sensor 10 is all connected with controlling organization with ultrasonic sensor 11.
The Jian Qiu mechanism of the utility model automatic ball collecting vehicle by the first steering wheel 6, second steering wheel 4, linking arm 3, pick up ball cylinder 5 and jointly form.Wherein the first steering wheel 6 is fixedly installed on chassis of vehicle body 12 by bearing base 7, and the second steering wheel 4 is fixedly connected with the output shaft of the first steering wheel 6, and linking arm 3 is fixedly connected with the output shaft of the second steering wheel 4, picks up ball cylinder 5 and is fixedly connected with linking arm 3.Pick up ball cylinder 5 and be provided with ball hole 9 and ball mouth 2, the spacing end face of ball hole 9 arranged between two elastic threads be parallel to each other 8, two elastic threads is less than the diameter of ball.Wherein the first steering wheel 6 is can the steering wheel that turns to of level, and the second steering wheel 4 is the steering wheel that can longitudinally turn to.
This automatic ball collecting vehicle is accurately controlled by sensor and controlling organization (single-chip microcomputer), and crawler belt Electric Machine Control entirety drives, and carries out plane motion.The state arranging automatic ball collecting vehicle comprises patrol state and duty, patrol state is advanced for keeping away barrier without track, have during object switch to duty when ultrasonic sensor detects front, straightaway, approach object certain distance such as 2cm(ultrasonic sensor range finding) time stop, color sensor feedback data, namely keeps away barrier action for barrier color (table tennis table leg is black, tennis column leg for white) and turns to and advance, when for ball color, (tennis is green, table tennis is yellow) time, the distance (position) of ultrasonic sensor induction sphere also feeds back to controlling organization, controlling organization sends instruction, turned to by the first steering wheel level and longitudinally turn to the second steering wheel the two dimensional motion realizing picking up ball cylinder, and then realize ball hole and touch ball, under servo driving, linking arm drives and picks up ball cylinder continuation extruding downwards, ball cylinder is picked up in the press-in of ball warp elastic threads, and then linking arm drives the ball mouth picking up ball cylinder to tilt to ball-storing box under servo driving, ball is put into ball-storing box, switch to patrol state again.
Claims (6)
1. an automatic ball collecting vehicle, comprises the chassis of vehicle body being provided with two crawler belts, described chassis of vehicle body is provided with controlling organization, location sensitive mechanism and Jian Qiu mechanism, it is characterized in that, described Jian Qiu mechanism comprises:
First steering wheel, it is can the steering wheel that turns to of level, is fixedly installed on described chassis of vehicle body;
Second steering wheel, it is the steering wheel that can longitudinally turn to, and to be fixedly installed on above described first steering wheel and to be fixedly connected with the output shaft of described first steering wheel;
Linking arm, is fixedly connected with the output shaft of described second steering wheel;
Pick up ball cylinder, be fixedly installed on described linking arm, described in pick up on ball cylinder and be provided with ball hole and ball mouth, described ball hole be arranged in parallel at least two elastic threads, and the spacing between adjacent two described elastic threads is less than the diameter of ball.
2. automatic ball collecting vehicle as claimed in claim 1, is characterized in that: described location sensitive mechanism comprises the ultrasonic sensor and color sensor that are arranged on described chassis of vehicle body front end face.
3. automatic ball collecting vehicle as claimed in claim 1, is characterized in that: described first steering wheel is fixedly installed on described chassis of vehicle body by bearing base.
4. automatic ball collecting vehicle as claimed in claim 3, it is characterized in that: described chassis of vehicle body is fixedly installed ball-storing box, described ball-storing box is positioned at after described bearing base.
5. automatic ball collecting vehicle as claimed in claim 1, is characterized in that: described two crawler belts are driven by motor one and motor two respectively.
6. automatic ball collecting vehicle as claimed in claim 1, is characterized in that: described ball hole be arranged in parallel two elastic threads.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420554902.5U CN204050856U (en) | 2014-09-25 | 2014-09-25 | Automatic ball collecting vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420554902.5U CN204050856U (en) | 2014-09-25 | 2014-09-25 | Automatic ball collecting vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204050856U true CN204050856U (en) | 2014-12-31 |
Family
ID=52192454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420554902.5U Expired - Fee Related CN204050856U (en) | 2014-09-25 | 2014-09-25 | Automatic ball collecting vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204050856U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104784900A (en) * | 2015-05-07 | 2015-07-22 | 上海电机学院 | Tennis pickup machine operation trajectory control and ultrasonic tennis finding system and method |
| CN109675269A (en) * | 2019-01-18 | 2019-04-26 | 武汉理工大学 | A kind of intelligent tennis ball collecting cart based on camera identification technology |
| CN109700351A (en) * | 2018-09-28 | 2019-05-03 | 周建成 | A kind of outdoor moving bath apparatus |
| CN109760081A (en) * | 2019-01-11 | 2019-05-17 | 广州慧谷动力科技有限公司 | It can be by taking the multiple target ejected to grab and pallet carrying handgrip and robot |
| CN110787431A (en) * | 2019-07-30 | 2020-02-14 | 华南理工大学 | Table tennis ball collecting device based on remote control trolley |
| CN112999622A (en) * | 2021-04-15 | 2021-06-22 | 无锡职业技术学院 | Automatic table tennis ball picking machine |
-
2014
- 2014-09-25 CN CN201420554902.5U patent/CN204050856U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104784900A (en) * | 2015-05-07 | 2015-07-22 | 上海电机学院 | Tennis pickup machine operation trajectory control and ultrasonic tennis finding system and method |
| CN109700351A (en) * | 2018-09-28 | 2019-05-03 | 周建成 | A kind of outdoor moving bath apparatus |
| CN109700351B (en) * | 2018-09-28 | 2021-05-25 | 潘诚 | Outdoor mobile bathing equipment |
| CN109760081A (en) * | 2019-01-11 | 2019-05-17 | 广州慧谷动力科技有限公司 | It can be by taking the multiple target ejected to grab and pallet carrying handgrip and robot |
| CN109760081B (en) * | 2019-01-11 | 2024-01-26 | 广州慧谷动力科技有限公司 | Multi-target grabbing and tray carrying gripper capable of taking and placing one by one and robot |
| CN109675269A (en) * | 2019-01-18 | 2019-04-26 | 武汉理工大学 | A kind of intelligent tennis ball collecting cart based on camera identification technology |
| CN110787431A (en) * | 2019-07-30 | 2020-02-14 | 华南理工大学 | Table tennis ball collecting device based on remote control trolley |
| CN110787431B (en) * | 2019-07-30 | 2023-12-01 | 华南理工大学 | Table tennis ball collecting device based on remote control trolley |
| CN112999622A (en) * | 2021-04-15 | 2021-06-22 | 无锡职业技术学院 | Automatic table tennis ball picking machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141231 Termination date: 20160925 |