CN207187032U

CN207187032U - Spheroid collection device

Info

Publication number: CN207187032U
Application number: CN201721100740.8U
Authority: CN
Inventors: 陈正兴
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2017-08-30
Filing date: 2017-08-30
Publication date: 2018-04-06
Anticipated expiration: 2027-08-30

Abstract

A kind of spheroid collection device, including support body, provided with multiple wheel groups.For picking up the first mechanism for picking (210) of the first spheroid, support body, including the first ball hole (211) and the first ball mouth (212) are rotationally connected with.First collecting chamber (310), connected with the first ball mouth (212).For picking up the second mechanism for picking (220) of the second spheroid, support body, including the second ball hole (221) and the second ball mouth (222) are rotationally connected with.Distance of the bottom surface of second mechanism for picking (220) apart from ground is less than the diameter of the first spheroid, is coaxially disposed with the first mechanism for picking (210) and positioned at the inner side of the first mechanism for picking (210).Second collecting chamber (320), connected with the second ball mouth (222).First collecting chamber (310) shifts to install with the second collecting chamber (320) in the short transverse of spheroid collection device.Realize and various sizes of spheroid is reclaimed simultaneously.

Description

Spheroid collection device

Technical field

Ball equipment technical field is the utility model is related to, more particularly to a kind of spheroid collection device.

Background technology

In ball sports match or robot shooting match, substantial amounts of official ball or spherical bullet can be used, Official ball or spherical bullet are scattered on training court or competition area, it is necessary to collect, to reuse.It is logical at present Frequently with method it is mainly artificial single-handedly pick up, be then stored in standby in storage apparatus.But artificial single-handedly pick up needs frequency It is numerous to bend over to go down on one's knees, the shortcomings that labor intensity is bigger and efficiency comparison is low be present, it is especially particularly inconvenient to elderly and infirm.

With the development in epoch, there is increasing mixing ball game, often use various sizes of match and use Ball or spherical bullet, current ball way of recycling can not to it is various sizes of it is ball be collected, and can not accomplish in time Classification.

Utility model content

The utility model provides a kind of spheroid collection device that intelligently can quickly collect spheroid.

According to the first aspect of the utility model embodiment, there is provided a kind of spheroid collection device, for collecting the first spheroid With the second spheroid, the diameter of first spheroid is more than the diameter of second spheroid, and the spheroid collection device includes：

Support body, the support body bottom are provided with multiple wheel groups；

For picking up the first mechanism for picking of first spheroid, including first positioned at the first mechanism for picking bottom Ball hole and the first ball mouth at the top of first mechanism for picking, first mechanism for picking are rotationally connected with the frame Body；

For collecting the first collecting chamber of first spheroid, setting is connected with first ball mouth；

For picking up the second mechanism for picking of second spheroid, including second positioned at the second mechanism for picking bottom Ball hole and the second ball mouth at the top of second mechanism for picking, second mechanism for picking are rotationally connected with the frame Body；Second mechanism for picking is coaxially disposed with first mechanism for picking and is located at the inner side of first mechanism for picking, institute State the diameter that the distance between bottom surface and ground of the second mechanism for picking are less than first spheroid；And

For collecting the second collecting chamber of second spheroid, setting is connected with second ball mouth；

Wherein, first collecting chamber misplaces with second collecting chamber in the short transverse of the spheroid collection device Set.

Further, first mechanism for picking includes the first cylinder and the second cylinder that are coaxially disposed, and described the Relatively rotated between one cylinder and second cylinder；It is provided with and uses between first cylinder and second cylinder In the first transfer passage for conveying first spheroid, first ball hole is located at the bottom of first transfer passage, institute State the top that the first ball mouth is located at first transfer passage.

Further, first cylinder is rotationally connected with the support body, and second cylinder is consolidated with the support body Fixed connection；First transfer passage includes the first lifting track and the first Auxiliary Track, and the first lifting track is arranged at The barrel relative with second cylinder on first cylinder, first Auxiliary Track are arranged at second cylinder The barrel relative with first cylinder on body；

First ball hole carries positioned at the bottom of the described first lifting track, first ball mouth positioned at described first The top in rail lift road, the first lifting track and first Auxiliary Track cooperate first spheroid from described the One ball hole is delivered to first ball mouth.

Further, first Auxiliary Track is spirally extended to institute from the bottom of second cylinder along the first rotation direction State the top of the second cylinder；The first lifting track is spirally extended to from the bottom of first cylinder along the second rotation direction The top of first cylinder；The pitch of the first lifting track is more than the pitch of first Auxiliary Track, and described the One rotation direction is identical with the rotation direction of first cylinder, second rotation direction and described first oppositely oriented.

Further, second cylinder is located at the inner side of first cylinder, first collecting chamber with it is described First cylinder is fixedly connected with second cylinder positioned at one of inner side.

Further, second mechanism for picking includes the 3rd cylinder and the 4th cylinder that are coaxially disposed, and described the Relatively rotated between three cylinders and the 4th cylinder；Formed and used between 3rd cylinder and the 4th cylinder In the second transfer passage for conveying second spheroid, second ball hole is located at the bottom of second transfer passage, institute State the top that the second ball mouth is located at second transfer passage.

Further, the 3rd cylinder is rotationally connected with the support body, and the 4th cylinder forms the support body A part；Second transfer passage includes the second lifting track and the second Auxiliary Track, and the second lifting track is set In barrel relative with the 4th cylinder on the 3rd cylinder, second Auxiliary Track is arranged at the 4th circle The barrel relative with the 3rd cylinder on cylinder；

Second ball hole carries positioned at the bottom of the described second lifting track, second ball mouth positioned at described second The top in rail lift road, the second lifting track and second Auxiliary Track cooperate second spheroid from described the Two ball holes are delivered to second ball mouth.

Further, second Auxiliary Track is spirally extended to institute from the bottom of the 4th cylinder along the first rotation direction State the top of the 4th cylinder；The second lifting track is spirally extended to from the bottom of the 3rd cylinder along the second rotation direction The top of 3rd cylinder；The pitch of the second lifting track is more than the pitch of second Auxiliary Track, and described the One rotation direction is identical with the rotation direction of the 3rd cylinder, second rotation direction and described first oppositely oriented.

Further, the 4th cylinder is located at the outside of the 3rd cylinder, second collecting chamber with it is described 3rd cylinder is fixedly connected with the 4th cylinder positioned at one of outside.

Further, the support body includes chassis, and second mechanism for picking is arranged in the middle part on the chassis, the bottom The bottom surface of disk flushes with the bottom surface of second mechanism for picking；The bottom surface on the chassis is provided with the guiding lines of multiple arcs, institute The rotation direction of the rotation direction and first mechanism for picking that are oriented to lines is stated on the contrary, multiple guiding lines are used for described the Two spheroids are guided to second ball hole.

Further, in addition to the driving machine for driving first mechanism for picking and second mechanism for picking to rotate Structure, the drive mechanism include the output end of rotation direction identical first and the second output end, first output end and described Second output end is located at the both ends of the drive mechanism respectively；First output end is connected with first mechanism for picking, institute The second output end is stated to be connected with second mechanism for picking.

Further, in addition to housing, it is connected with first mechanism for picking；The drive mechanism also includes and described the The drive plate of one output end connection, the drive plate are connected between the support body and the housing.

Further, first output end is provided with the first reduction gearing for being used for adjusting the first mechanism for picking rotating speed Group, second output end are provided with the second train of reduction gears for being used for adjusting the second mechanism for picking rotating speed, and described first subtracts The speed reducing ratio of fast gear train is different from the speed reducing ratio of second train of reduction gears.

From above technical scheme, spheroid collection device of the present utility model, diameter is picked up by the first mechanism for picking The first larger spheroid, and be stored in the first collecting chamber, less second spheroid of diameter is picked up by the second mechanism for picking, and It is stored in the second collecting chamber, so as to realize to two kinds of various sizes of spheroids while be reclaimed and the effect of Accurate classification, Improve the recovery speed and efficiency of spheroid

According to the second aspect of the utility model embodiment, there is provided a kind of spheroid collection device, including：

Chassis, the tray bottom are provided with multiple wheel groups；

For picking up the first mechanism for picking of the first spheroid, including the first cylinder and the second cylinder being coaxially disposed, Between first cylinder and second cylinder be provided be used for convey the first spheroid the first transfer passage, described first Transfer passage includes the first ball hole and the first ball mouth；And

For collecting the first collecting chamber of first spheroid, setting is connected with first ball mouth, described first receives Collect short transverse of the chamber along the spheroid collection device to set.

Wherein, first cylinder is rotatable relative to the chassis, and second cylinder is fixed with the chassis Connection；First transfer passage includes the first lifting track and the first Auxiliary Track, and the first lifting track is arranged at institute Barrel relative with second cylinder on the first cylinder is stated, first Auxiliary Track is arranged at second cylinder The upper barrel relative with first cylinder；First ball hole is positioned at the bottom of the described first lifting track, and described the One ball mouth cooperates positioned at the top of the described first lifting track, the first lifting track with first Auxiliary Track First spheroid is delivered to first ball mouth from first ball hole.

Further, first Auxiliary Track is spirally extended to from the bottom of second cylinder along the first rotation direction The top of second cylinder；The first lifting track extends spirally from the bottom of first cylinder along the second rotation direction To the top of first cylinder；The pitch of the first lifting track is more than the pitch of first Auxiliary Track, described First rotation direction is identical with the rotation direction of first cylinder, second rotation direction and described first oppositely oriented.

Further, the spheroid collection device also includes being used for the second mechanism for picking of the second spheroid of pickup and for receiving Collecting the second collecting chamber of second spheroid, the diameter of second spheroid is less than the diameter of first spheroid, and described second Mechanism for picking is included positioned at the second ball hole of the second mechanism for picking bottom and at the top of second mechanism for picking Second ball mouth, second mechanism for picking are rotationally connected with the chassis；Second mechanism for picking and the described first pickup Mechanism is coaxially disposed and is located at the inner side of first mechanism for picking, between the bottom surface and ground of second mechanism for picking away from From the diameter less than first spheroid；Second collecting chamber connects setting with second ball mouth；Described second collects Chamber shifts to install with first collecting chamber in the short transverse of the spheroid collection device.

Further, the 3rd cylinder is rotationally connected with the chassis, and the 4th cylinder is consolidated with the chassis Fixed connection；Second transfer passage includes the second lifting track and the second Auxiliary Track, and the second lifting track is arranged at The barrel relative with the 4th cylinder on 3rd cylinder, second Auxiliary Track are arranged at the 4th cylinder The barrel relative with the 3rd cylinder on body；Second ball hole is described positioned at the bottom of the described second lifting track Second ball mouth is positioned at the top of the described second lifting track, the second lifting track and the second Auxiliary Track phase interworking Close and second spheroid is delivered to second ball mouth from second ball hole.

Further, second Auxiliary Track is spirally extended to from the bottom of the 4th cylinder along the first rotation direction The top of 4th cylinder；The second lifting track extends spirally from the bottom of the 3rd cylinder along the second rotation direction To the top of the 3rd cylinder；The pitch of the second lifting track is more than the pitch of second Auxiliary Track, described First rotation direction is identical with the rotation direction of the 3rd cylinder, second rotation direction and described first oppositely oriented.

Further, second mechanism for picking is arranged in the middle part on the chassis, the bottom surface on the chassis and described the The bottom surface of two mechanism for picking flushes；The bottom surface on the chassis is provided with the guiding lines of multiple arcs, the rotation direction for being oriented to lines Rotation direction with first mechanism for picking is on the contrary, multiple guiding lines are used to guide second spheroid to described Second ball hole.

Further, the spheroid collection device also includes being used to drive first mechanism for picking and second pickup The drive mechanism that mechanism rotates, the drive mechanism includes the output end of rotation direction identical first and the second output end, described First output end and second output end are located at the both ends of the drive mechanism respectively；First output end and described first Mechanism for picking is connected, and second output end is connected with second mechanism for picking.

Further, the spheroid collection device also includes housing, and the housing is connected with first mechanism for picking；Institute The drive plate that drive mechanism also includes being connected with first output end is stated, the drive plate is connected with the housing.

From above technical scheme, spheroid collection device of the present utility model, turned by the first cylinder with respect to chassis It is dynamic, make the first spheroid under the first lifting and the mutual cooperation of the first Auxiliary Track, from the first ball hole of the first mechanism for picking The first ball mouth is risen in the first lifting track, enters in the first collecting chamber and is deposited, so as to complete returning for spheroid Receive.First Auxiliary Track can play a part of preventing the first spheroid from dropping out of first lifting track.

Brief description of the drawings

Fig. 1 is a kind of structural representation for spheroid collection device that the implementation of the utility model one exemplifies.

Fig. 2 is the upward view of the spheroid collection device shown in Fig. 1.

Fig. 3 is the schematic perspective view of the spheroid collection device removal housing shown in Fig. 1.

Fig. 4 is the schematic perspective view of spheroid collection device the first collecting chamber of removal shown in Fig. 3.

Fig. 5 is that the size relationship between a kind of the spheroid collection device and spheroid that the utility model one is implemented to exemplify is illustrated Figure.

Fig. 6 is the front view of the spheroid collection device shown in Fig. 4.

Fig. 7 is sectional view of the spheroid collection device along A-A faces shown in Fig. 6.

Fig. 8 is the enlarged diagram of drive mechanism in Fig. 7.

Embodiment

Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment Described in embodiment do not represent all embodiments consistent with the utility model.On the contrary, they be only with such as The example of the consistent apparatus and method of some aspects being described in detail in appended claims, of the present utility model.

It is only merely for the purpose of description specific embodiment in the term that the utility model uses, and is not intended to be limiting this reality With new." one kind ", " described " and "the" of singulative used in the utility model and appended claims It is intended to include most forms, unless context clearly shows that other implications.It is also understood that term used herein " and/ Or " refer to and any or all may be combined comprising the associated list items purposes of one or more.

It should be appreciated that " first " " second " that is used in present specification and claims and similar word Any order, quantity or importance are not offered as, and is used only to distinguish different parts.Equally, "one" or The similar word such as " one " does not indicate that quantity limits yet, but represents to exist at least one.Unless otherwise noted, " front portion ", " after The similar word such as portion ", " bottom " and/or " top " is not limited to a position or a kind of empty only to facilitate explanation Between orient.Either the similar word such as "comprising" means to appear in element or object before " comprising " or "comprising" to " comprising " Cover and appear in the " comprising " either element of "comprising" presented hereinafter or object and its equivalent, it is not excluded that other elements or Object." connection " either the similar word such as " connected " is not limited to physics or mechanical connection, and can include Electrical connection, it is either directly or indirect.

Below in conjunction with the accompanying drawings, spheroid collection device of the present utility model is described in detail.In the case where not conflicting, Feature in following embodiments and embodiment can be mutually combined.

Referring to shown in Fig. 1 to Fig. 5, the utility model embodiment provides a kind of spheroid collection device 1, can be in ball sports Spheroid is collected in match, spherical bullet is collected in robot shooting match, two kinds are collected not in mixing ball sports match With the spheroid of size, or two kinds of various sizes of spherical bullets are collected in robot shooting match.In the present embodiment, ball Body collection device 1 is used to collect the various sizes of spheroid 920 of first spheroid 910 and second, and the diameter of first spheroid 910 is big In the diameter of second spheroid 920.Such as in robot shooting match, the first spheroid 910 can be diameter 46mm ball Shape bullet, the second spheroid 920 can be diameter 17mm spherical bullets.

The spheroid collection device 1 includes support body, the first mechanism for picking 210, the second mechanism for picking 220, the first collecting chamber 310th, the second collecting chamber 320 and the housing 50 being fixedly connected with first mechanism for picking 210.Wherein, support body includes chassis 10, the bottom on chassis 10 is provided with multiple wheel groups 110.First mechanism for picking 210 is rotationally connected with the support body, described for picking up First spheroid 910.First mechanism for picking 210 is included positioned at the first ball hole 211 of the bottom of the first mechanism for picking 210 and positioned at the First ball mouth 212 at the top of one mechanism for picking 210.First collecting chamber 310 goes out ball with the first of first mechanism for picking 210 The connection of mouth 212 is set, for collecting first spheroid 910.First collecting chamber 310 is arranged at first mechanism for picking 210 Inner side and be fixed on the chassis 10.

Second mechanism for picking 220 is rotationally connected with the support body, for picking up second spheroid 920.Second pickup machine Structure 220 includes the second ball hole 221 positioned at the bottom of the second mechanism for picking 220 and the positioned at the top of the second mechanism for picking 220 Two ball mouths 222.Second mechanism for picking 220 and the first mechanism for picking 210 are coaxially disposed and are located at first mechanism for picking 210 Inner side, i.e., the radial dimension of the second mechanism for picking 220 be less than the first mechanism for picking 210 radial dimension.Second collecting chamber 320 Setting is connected with the second ball mouth 222 of second mechanism for picking 220, for collecting second spheroid 920.Wherein, institute The first collecting chamber 310 is stated to shift to install in the short transverse of the spheroid collection device 1 with second collecting chamber 320.

Shown in Figure 5, the distance between bottom surface and ground 900 of first mechanism for picking 210 D1 are all higher than first The diameter d1 of spheroid 910 and the second spheroid 920 diameter d2, between the bottom surface and ground 900 of second mechanism for picking 220 Distance D2 is more than the diameter d2 of the second spheroid 920 but less than the diameter d1 of the first spheroid 910.So, the first ball can both be ensured Body 910 smoothly can enter in the range of the pickup of the first mechanism for picking 210, and the second spheroid 920 can smoothly enter the second pickup It in the range of the pickup of mechanism 220, can prevent that the first spheroid 910 from entering the pickup scope of the second mechanism for picking 220 again, and cause The classification of two kinds of spheroids is obscured.

From above-described embodiment, spheroid collection device 1 of the present utility model, pass through the first mechanism for picking 210 from first Ball hole 211 picks up the first spheroid 910 being relatively large in diameter, then enters in the first collecting chamber 310 and carry out from the first ball mouth 212 Storage.Less second spheroid 920 of diameter is picked up from the second ball hole 221 by the second mechanism for picking 220, then goes out ball from second Mouth 222, which is entered in the second collecting chamber 320, to be deposited.So as to realize to two kinds of various sizes of spheroids and meanwhile carry out recovery and The effect of Accurate classification, improve the recovery speed and efficiency of spheroid.

In an optional embodiment, 1 generally cylindrical body structure of spheroid collection device, it is easy to the corner to complex site Carry out the recovery operation of spheroid.First mechanism for picking 210 includes the first cylinder 213 and the second cylinder being coaxially disposed 214, relatively rotated between first cylinder 213 and second cylinder 214.First cylinder 213 and described The first transfer passage for being used for conveying first spheroid 910, first ball hole 211 are provided between second cylinder 214 Positioned at the bottom of first transfer passage, first ball mouth 212 is located at the top of first transfer passage.Pass through One mechanism for picking 210 from the first spheroid 910 for being relatively large in diameter of the first ball hole 211 pickup, then by after the first transfer passage from First ball mouth 212, which enters in the first collecting chamber 310, to be deposited.In the present embodiment, the first collecting chamber 310 is generally cylindrical Shape structure.Alternatively, in example shown in the figure, second cylinder 214 is located at the interior of first cylinder 213 Side, second cylinder 214 are fixedly connected with first collecting chamber 310.The process for picking up the first spheroid 910 is the first circle Cylinder 213 rotates, and the second cylinder 214 and the first collecting chamber 310 are fixed.Certainly in other embodiments, can also It is the inner side that first cylinder 213 is located at second cylinder 214, first cylinder 213 is received with described first Collection chamber 310 is fixedly connected.So, the process for picking up the first spheroid 910 is then that the second cylinder 214 is fixed, the first cylinder The collecting chamber 310 of body 213 and first together rotates.

Further, first cylinder 213 is rotatable relative to the chassis 10, second cylinder 214 with The chassis 10 is fixedly connected.First transfer passage includes the first lifting Auxiliary Track 216 of track 215 and first, described First lifting track 215 is arranged at barrel relative with second cylinder 214 on first cylinder 213, and described the One Auxiliary Track 216 is arranged at barrel relative with first cylinder 213 on second cylinder 214.Described first Ball hole 211 is positioned at the bottom of the described first lifting track 215, and first ball mouth 212 is positioned at the described first lifting track 215 top.In the rotation process of first cylinder 213, the first lifting track 215 and first auxiliary rail The mutual cooperation in road 216, to cause the first spheroid 910 to lift track first from the first ball hole 211 of the first transfer passage The first ball mouth 212 is risen in 215, then into being deposited in the first collecting chamber 310.

The structure type of first transfer passage is described below, it should be understood that, the knot of the first transfer passage Configuration formula is not limited to that, any by what conversion obtained the first spheroid 910 to be made to enter the first collecting chamber 310 by rear The structure inside deposited should all belong in the scope of protection of the utility model.

Referring to shown in Fig. 1 and Fig. 3, in the present embodiment, first Auxiliary Track 216 is from second cylinder 214 Bottom the top of second cylinder 214 is spirally extended to along the first rotation direction.The first lifting track 215 is from described the The bottom of one cylinder 213 is spirally extended to the top of first cylinder 213, the first lifting track along the second rotation direction 215 pitch is more than the pitch of first Auxiliary Track 216.The first lifting track 215, which is provided with, to be used to pick up described the First pickup section 217 of one spheroid 910, first pickup section 217 is from the bottom of the described first lifting track 215 along described the Extension is formed the rotation direction (being to rotate clockwise described in Fig. 1) of one cylinder 213, and the first pickup section 217 and ground Distance allow the second spheroid 920 pass through.Wherein, the first rotation direction (being left-handed shown in Fig. 3) of first Auxiliary Track 216 Identical with the rotation direction of first cylinder 213, the second rotation direction of the first lifting track 215 (is right shown in Fig. 1 Rotation) with it is the first of first Auxiliary Track 216 oppositely oriented.So, the first pickup section of the first lifting track 215 217 after the first ball hole 211 picks up the first spheroid 910, under the rotary action of first cylinder 213, make the first ball During body 910 gradually rises to the first ball mouth 212 along the first lifting track 215, the first Auxiliary Track 216 all the time can A support force straight up enough is provided for the first spheroid 910, can play prevents the first spheroid 910 from the first lifting track The effect dropped in 215.

Shown in Figure 1, in an optional embodiment, the first lifting track 215 is multiple, multiple first liftings Track 215 is arranged at intervals at the barrel of first cylinder 213.It is two neighboring it is described first lifting track 215 bottom it Between be respectively formed first ball hole 211, be respectively formed between the top of the two neighboring first lifting track 215 described in one First ball mouth 212.So, can disposably simultaneously pick up multiple first spheroids 910, so as to improve spheroid recovery speed and Efficiency.Alternatively, multiple first lifting tracks 215 are equally spacedly arranged at the barrel of first cylinder 213.

In an optional embodiment, second mechanism for picking 220 includes the 3rd cylinder 223 that is coaxially disposed and the Four cylinders 224, relatively rotated between the 3rd cylinder 223 and the 4th cylinder 224.3rd cylinder Form the second transfer passage for conveying second spheroid 920 between 223 and the 4th cylinder 224, described second Ball hole 221 is located at the bottom of second transfer passage, and second ball mouth 222 is located at the top of second transfer passage Portion.Less second spheroid 920 of diameter is picked up from the second ball hole 221 by the second mechanism for picking 220, then passes through the second conveying Enter after passage from the second ball mouth 222 in the second collecting chamber 320 and deposited.In the present embodiment, the second collecting chamber 320 is big Cause to be columnar structured, second collecting chamber 320 is located at the top of first collecting chamber 310, so as to ensure the first spheroid 910 will not fall into the second collecting chamber 320.The diameter of second collecting chamber 320 is straight no more than first collecting chamber 310 Footpath, the overall space-consuming of spheroid collection device 1 can be reduced.When the diameter of the second collecting chamber 320 is equal to the first collecting chamber During 310 diameter, spheroid collection device 1 is generally cylindrical body structure.When the diameter of the second collecting chamber 320 is less than the first collecting chamber During 310 diameter, spheroid collection device 1 is the structure of similar cone, can further reduce volume.Alternatively, in figure In shown example, the 4th cylinder 224 is located at the outside of the 3rd cylinder 223, the 4th cylinder 224 with Second collecting chamber 320 is fixedly connected.The process for picking up the second spheroid 920 is that the 3rd cylinder 223 rotates, the 4th cylinder 224 and second collecting chamber 320 it is fixed.Certainly in other embodiments or the 3rd cylinder 223 is located at The outside of 4th cylinder 224, the 3rd cylinder 223 are fixedly connected with second collecting chamber 320.So, pick up The process for taking the second spheroid 920 is then that the 4th cylinder 224 is fixed, and the 3rd cylinder 223 and the second collecting chamber 320 are together Rotate.

Further, the 3rd cylinder 223 is rotationally connected with the chassis 10, and the 4th cylinder 224 is institute A part for support body is stated, the 4th cylinder 224 is fixedly connected with the chassis 10.Second transfer passage includes second Track and the second Auxiliary Track are lifted, the second lifting track is arranged on the 3rd cylinder 223 and the described 4th circle The relative barrel of cylinder 224, second Auxiliary Track are arranged on the 4th cylinder 224 and the 3rd cylinder 223 relative barrels.Second ball hole 221 is positioned at the bottom of the described second lifting track, second ball mouth 222 In the top of the described second lifting track.In the rotation process of second cylinder 223, the second lifting track and institute The mutual cooperation of the second Auxiliary Track is stated, to cause the second spheroid 920 from the second ball hole 221 of the second transfer passage described the The second ball mouth 222 is risen in two lifting tracks, then into being deposited in the second collecting chamber 320.Wherein, described The structure and set-up mode of two lifting tracks and the structure and set-up mode all same of the first lifting track 215, described the The structure and set-up mode all same of the structure and set-up mode of two Auxiliary Tracks and first Auxiliary Track 216, herein not Repeat again.

The structure type of second transfer passage is described below, it should be understood that, the knot of the second transfer passage Configuration formula is not limited to that, any by what conversion obtained the second spheroid 920 to be made to enter the second collecting chamber 320 by rear The structure inside deposited should all belong in the scope of protection of the utility model.

In the present embodiment, second Auxiliary Track from the bottom of the 4th cylinder 224 along the first rotation direction (with institute The rotation direction for stating the first Auxiliary Track 216 is identical) it is spirally extended to the top of the 4th cylinder 224.Second lifting rail Prolong from the bottom of the 3rd cylinder 223 along the second rotation direction (identical with the rotation direction of the described first lifting track 215) spiral in road The top of the 3rd cylinder 223 is extended, the pitch of the second lifting track is more than the pitch of second Auxiliary Track. The second lifting track is provided with the second pickup section for being used for picking up second spheroid 920, and second pickup section is described in Rotation direction (rotation direction with first cylinder 213 of the bottom of second lifting track along the 3rd cylinder 223 It is identical) extension is formed, and the second pickup section and the distance on ground are less than the diameter of the second spheroid 920, avoid the second spheroid 920 It is missed.Wherein, the first rotation direction of second Auxiliary Track is identical with the rotation direction of the 3rd cylinder 223, described Second rotation direction of the second lifting track and second Auxiliary Track it is first oppositely oriented.So, the second lifting track The second pickup section from the second ball hole 221 pick up the second spheroid 920 after, under the rotary action of the 3rd cylinder 223, Make the second spheroid 920 along second lifting track gradually rise to the second ball mouth 222 during, the second Auxiliary Track is all the time Can be that the second spheroid 920 provides a support force straight up, can play prevents the second spheroid 920 from the second lifting track The effect inside dropped.

In an optional embodiment, the second lifting track is multiple, and multiple second lifting tracks are arranged at intervals at The barrel of 3rd cylinder 223.One described second is respectively formed between the bottom of the two neighboring second lifting track to enter Ball mouth 221, it is two neighboring it is described second lifting track top between be respectively formed second ball mouth 222.So, can be with It is disposable to pick up multiple second spheroids 920 simultaneously, so as to improve the speed and efficiency of spheroid recovery.Alternatively, multiple second carry Rail lift road is equally spacedly arranged at the barrel of the 3rd cylinder 223.

Shown in Figure 2, in an optional embodiment, second mechanism for picking 220 is arranged in the chassis 10 Middle part, the bottom surface on the chassis 10 flush with the bottom surface of second mechanism for picking 220, and the bottom surface on the chassis 10 is provided with multiple Lines 120 is oriented to, multiple lines 120 that are oriented to are used to guide second spheroid 920 to the of second mechanism for picking 220 Two ball holes 221.Further, the guiding lines 120 be arc lines, the rotation direction for being oriented to lines 120 and described the The rotation direction of one mechanism for picking 210 is on the contrary, the multiple guiding lines 120 is radially arranged.So, with whole spheroid The movement of collection device 1, the second spheroid 920 can concentrate on the bottom of whole spheroid collection device 1 in the case where being oriented to the guiding of lines 120 The pickup scope of the position at portion center, i.e. the second mechanism for picking 220, consequently facilitating the second mechanism for picking 220 is to the second spheroid 920 It is picked up.

Shown in Figure 2, in an optional embodiment, the wheel group 110 of the bottom of chassis 10 is universal wheel group, wheel group 110 quantity is three groups, is circumferentially uniformly laid in the bottom on chassis 10.Further, it is shown in Figure 4, the wheel group 110 Including universal wheel, for driving motor 111 that universal wheel rotates, the motor fixing seat 112 for fixing motor 111 and being used for The electricity of controlled motor 111 adjusts 113.

Further, the buffer unit for adaptation to the ground is additionally provided with the chassis 10, with keep the chassis 10 with The distance between ground is predetermined value.The buffer unit can use the structural member using spring buffer, flexibly support the bottom of at Between plate 10 and ground, make bottom plate 10 and the distance between ground constant, prevent distance from becoming big rear big round bur and being hindered to bottom base plate Hinder the traveling of whole device.

Referring to shown in Fig. 6 to Fig. 8, in an optional embodiment, the spheroid collection device 1 also includes drive mechanism 40 (be preferably motor), for driving first mechanism for picking 210 to be located at first cylinder 213 in outside and described The 3rd cylinder 223 that second mechanism for picking 220 is located at inner side rotates in same direction, so that the first spheroid and the second spheroid enter respectively It is collected into after entering into respective mechanism for picking along oppositely oriented track in respective collecting chamber.In spheroid collection device In 1 moving process, when the first spheroid 910 is entered in the range of the pickup of the first mechanism for picking 210, the first spheroid 910 is by First pickup section 217 of one lifting track 215 is after the pickup of the first ball hole 211, in the rotary action of the first cylinder 213 Under, the first spheroid 910 can gradually rise to the first ball mouth 212 along the first lifting track 215, and lead in uphill process Cross the first Auxiliary Track 216 and provide a support force straight up all the time for the first spheroid 910, with prevent the first spheroid 910 from Dropped in first lifting track 215.Second spheroid 920 can focus on the under the guiding of the guiding lines 120 of the bottom of chassis 10 In the range of the pickup of two mechanism for picking 220, the second spheroid 920 is by the second pickup section of the second lifting track from the second ball hole After 221 pickups, under the rotary action of the 3rd cylinder 223, the second spheroid 920 can be gradually increasing along the second lifting track It is that the second spheroid 920 provides one straight up all the time by the second Auxiliary Track to the second ball mouth 222, and in uphill process Support force, with prevent the second spheroid 920 from second lifting track in drop.

The drive mechanism 40 includes rotation direction identical the first output end 401, the second output end 402, with described the The drive plate 403 of one output end 401 connection, the first connector 407 and second being connected with second output end 402 connect Device 409 is connect, first output end 401 and second output end 402 are located at the both ends of the drive mechanism 40 respectively.Scheming Shown in example in, first output end 401 is located at the top of drive mechanism 40, and second output end 402 is positioned at driving The bottom of motivation structure 40.First connector 407 is located at the bottom of drive mechanism 40, and the second connector 409 is located at drive mechanism 40 Top.Certainly in other embodiments, drive mechanism 40 can also only include an output end, by an output end simultaneously The first cylinder 213 of the first mechanism for picking 210 and the 3rd cylinder 223 of the second mechanism for picking 220 is controlled to rotate.

The drive plate 403 is connected between the support body and the housing 50, and the housing 50 and first picks up First cylinder 213 of mechanism 210 connects, and then by the first cylinder of the mechanism for picking 210 of the first output end 401 and first Body 213 keeps drive connection, and drive mechanism 40 drives drive plate 403 to drive housing 50 to rotate by the first output end 401, and then The first cylinder 213 of the first mechanism for picking 210 is driven to rotate.First connector 407 and second mechanism for picking 220 The 3rd cylinder 223 connect, and then second output end 402 and the 3rd cylinder 223 of the second mechanism for picking 220 are protected Drive connection is held, drive mechanism 40 is rotated by 402 the first connectors 407 of driving of the second output, and then drives the second pickup 3rd cylinder 223 of mechanism 220 rotates.4th cylinder 224 of the second connector 409 and second mechanism for picking 220 Connection.

Further, the drive mechanism 40 also includes power transmission shaft 404, first end and the drive of the power transmission shaft 404 The of the rotating speed of the first cylinder 213 that is used for adjusting the first mechanism for picking 210 is provided between first output end 401 of dynamic motor 40 One train of reduction gears 405.It is provided between second end of the power transmission shaft 404 and the second output end 402 of the motor 40 , can be drive mechanism for the second train of reduction gears 406 of the rotating speed of the 3rd cylinder 223 for adjusting the second mechanism for picking 220 The speed of 40 outputs drops to suitable value.First train of reduction gears 405 and the second train of reduction gears 406 preferably by right and wrong Metal material, such as nylon or polyoxymethylene (also known as polyformaldehyde, " supersteel " or " match steel ", English： Polyformaldehyde, abridge POM).Alternatively, the scope of the speed reducing ratio of the drive mechanism 40 is 1:19, described first The speed reducing ratio of train of reduction gears 405 is different from the speed reducing ratio of second train of reduction gears 406.Due to the second mechanism for picking 220 Size be less than the size of the first mechanism for picking 210, therefore the first train of reduction gears 405 and the second train of reduction gears can be passed through 406 by the adjustment of rotational speed of the first cylinder 213 of the first mechanism for picking 210 be less than the second mechanism for picking 220 the 3rd cylinder The rotating speed of body 223, to cause the overall rotating speed of spheroid collection device 1 as suitable value.

Shown in Figure 7, in an optional embodiment, spheroid collection device 1 also includes being used for the drive mechanism Power module 60, the Control architecture for controlling the drive mechanism 40 and the laser thunder for detection range of 40 power supplies Up to sensor 70, Control architecture and laser radar sensor 70 are integrally disposed in the power module 60.The power module 60 outside is provided with outer cover 80, and in example shown in the figure, the outer cover 80 is the structure of similar cone.The power supply mould The bottom of block 60 is provided with base 90, and the middle part of drive plate 403 of the drive mechanism 40 is formed with accepting groove 408, the power supply mould The base 90 of block 60 is arranged in the accepting groove 408.Alternatively, the laser radar sensor 70 is known including binocular vision Other module and impulse radio module (UWB, Ultra Wideband), can make spheroid collection device 1 complete intelligent path and sentence It is disconnected to be modeled with place, automatic planning travel path is realized, and can effective avoiding obstacles.

The utility model embodiment also provides a kind of spheroid collection device, quick in ball sports match can collect ball Body, or quickly collect spherical bullet in robot shooting match.The spheroid collection device can only set the first pickup Mechanism and the first collecting chamber, or the second mechanism for picking and the second collecting chamber are only set, or the first mechanism for picking is set simultaneously With the first collecting chamber and the second mechanism for picking and the second collecting chamber.

In the present embodiment, carried out so that the spheroid collection device only sets the first mechanism for picking and the first collecting chamber as an example Explanation.The spheroid collection device includes chassis, the first mechanism for picking and the first collecting chamber.The bottom on the chassis is provided with more Individual wheel group.First mechanism for picking is used to pick up the first spheroid, including the first cylinder and the second cylinder being coaxially disposed, described The first transfer passage for being used for conveying the first spheroid, first conveying are provided between first cylinder and second cylinder Passage includes the first ball hole and the first ball mouth.First collecting chamber is used to collect first spheroid, with the first transfer passage The first ball mouth connection set.It should be noted that on the chassis, the first pickup in above-described embodiment and embodiment The description of mechanism and the first collecting chamber, it is equally applicable to the spheroid collection device of the present embodiment.

Wherein, first cylinder is rotatable relative to the chassis, and second cylinder is fixed with the chassis Connection.First transfer passage includes the first lifting track and the first Auxiliary Track, and the first lifting track is arranged at institute Barrel relative with second cylinder on the first cylinder is stated, first Auxiliary Track is arranged at second cylinder The upper barrel relative with first cylinder.First ball hole is positioned at the bottom of the described first lifting track, and described the One ball mouth is positioned at the top of the described first lifting track, the first lifting track and the first Auxiliary Track phase interworking Close, and then first spheroid is delivered to first ball mouth from first ball hole.

From above-described embodiment, spheroid collection device of the present utility model, the first cylinder rotates relative to chassis, and first Spheroid can be under the first lifting and the mutual cooperation of the first Auxiliary Track, from the first ball hole of the first mechanism for picking first The first ball mouth is risen in lifting track, enters in the first collecting chamber and is deposited, so as to complete the recovery of spheroid.First Auxiliary Track can play a part of preventing the first spheroid from dropping out of first lifting track.Therefore, spheroid collection device passes through The mutual cooperation of first lifting track and the first Auxiliary Track, it is ensured that the first spheroid will not fall out of first lifting track Fall, improve the success rate of spheroid recovery.

In order to reclaim two kinds of various sizes of spheroids simultaneously, the spheroid collection device can also further set the Two mechanism for picking and the second collecting chamber.Second mechanism for picking is used to pick up the second spheroid, and the diameter of the second spheroid is less than the first ball The diameter of body.Second mechanism for picking is coaxially disposed with first mechanism for picking and is located at the inner side of first mechanism for picking, I.e. the radial dimension of the second mechanism for picking is less than the radial dimension of the first mechanism for picking.The bottom surface of second mechanism for picking and ground The distance between face is less than the diameter of first spheroid, to prevent the first spheroid from entering the pickup scope of the second mechanism for picking It is interior.Second mechanism for picking includes the 3rd cylinder and the 4th cylinder being coaxially disposed, the 3rd cylinder and the described 4th Between cylinder be provided be used for convey the second spheroid the second transfer passage, second transfer passage include the second ball hole and Second ball mouth.Second collecting chamber is used to collect second spheroid, and setting is connected with the second ball mouth of the second transfer passage. It should be noted that the description as described in second mechanism for picking and the second collecting chamber in above-described embodiment and embodiment, It is equally applicable to the spheroid collection device of the present embodiment.

Wherein, the 3rd cylinder is rotationally connected with the chassis, and the 4th cylinder is fixed with the chassis to be connected Connect.Second transfer passage includes the second lifting track and the second Auxiliary Track, and the second lifting track is arranged at described The barrel relative with the 4th cylinder on 3rd cylinder, second Auxiliary Track are arranged on the 4th cylinder The barrel relative with the 3rd cylinder.Second ball hole positioned at described second lifting track bottom, described second Ball mouth cooperates positioned at the top of the described second lifting track, the second lifting track with second Auxiliary Track, And then second spheroid is delivered to second ball mouth from second ball hole.3rd cylinder turns with respect to chassis Dynamic, the second spheroid can be scored under the second lifting and the mutual cooperation of the second Auxiliary Track from the second of the second mechanism for picking Mouth rises to the second ball mouth in the second lifting track, enters in the second collecting chamber and is deposited.Second Auxiliary Track can To play a part of preventing the second spheroid from being dropped out of second lifting track.

Further, the spheroid collection device 1 can also include drive mechanism (being preferably motor), for driving First cylinder of dynamic first mechanism for picking and the 3rd cylinder of the second mechanism for picking rotate in same direction, so that the first spheroid After being had respectively entered with the second spheroid in respective mechanism for picking respective collecting chamber is collected into along oppositely oriented track It is interior.It should be noted that the description as described in the drive mechanism in above-described embodiment and embodiment, is equally applicable to this implementation The spheroid collection device of example.

Described above is only preferred embodiment of the present utility model, not the utility model is done any formal Limitation, although the utility model is disclosed above with preferred embodiment, but is not limited to the utility model, any to be familiar with Professional and technical personnel, in the range of technical solutions of the utility model are not departed from, when in the technology using the disclosure above Hold the equivalent embodiment made a little change or be modified to equivalent variations, as long as being without departing from technical solutions of the utility model Hold, any simple modification, equivalent change and modification made according to the technical essence of the utility model to above example, still Belong in the range of technical solutions of the utility model.

This patent document disclosure includes material protected by copyright.The copyright owns for copyright holder.Copyright Owner does not oppose that anyone replicates the patent document in the presence of the proce's-verbal of Patent＆Trademark Office and archives or should Patent discloses.

Claims

1. a kind of spheroid collection device, for collecting the first spheroid and the second spheroid, the diameter of first spheroid is more than described The diameter of second spheroid, it is characterised in that the spheroid collection device includes：

Scored for picking up the first mechanism for picking of first spheroid, including positioned at the first of the first mechanism for picking bottom Mouth and the first ball mouth at the top of first mechanism for picking, first mechanism for picking are rotationally connected with the support body；

Scored for picking up the second mechanism for picking of second spheroid, including positioned at the second of the second mechanism for picking bottom Mouth and the second ball mouth at the top of second mechanism for picking, second mechanism for picking are rotationally connected with the support body； Second mechanism for picking and first mechanism for picking are coaxially disposed and are located at the inner side of first mechanism for picking, and described the The distance between bottom surface and ground of two mechanism for picking are less than the diameter of first spheroid；And

Wherein, first collecting chamber misplaces in the short transverse of the spheroid collection device with second collecting chamber and set Put.

2. spheroid collection device according to claim 1, it is characterised in that first mechanism for picking includes being coaxially disposed The first cylinder and the second cylinder, relatively rotated between first cylinder and second cylinder；Described first The first transfer passage for being used for conveying first spheroid is provided between cylinder and second cylinder, described first scores Mouth is located at the bottom of first transfer passage, and first ball mouth is located at the top of first transfer passage.

3. spheroid collection device according to claim 2, it is characterised in that first cylinder is rotationally connected with described Support body, second cylinder are fixedly connected with the support body；First transfer passage includes the first lifting track and first Auxiliary Track, the first lifting track are arranged at barrel relative with second cylinder on first cylinder, institute State the first Auxiliary Track and be arranged at barrel relative with first cylinder on second cylinder；

First ball hole is located at first lifting rail positioned at the bottom of the described first lifting track, first ball mouth The top in road, the first lifting track cooperate to enter first spheroid from described first with first Auxiliary Track Ball mouth is delivered to first ball mouth.

4. spheroid collection device according to claim 3, it is characterised in that first Auxiliary Track is justified from described second The bottom of cylinder is spirally extended to the top of second cylinder along the first rotation direction；Described first lifts track from described first The bottom of cylinder is spirally extended to the top of first cylinder along the second rotation direction；The pitch of the first lifting track is big In the pitch of first Auxiliary Track, first rotation direction is identical with the rotation direction of first cylinder, and described second Rotation direction and described first oppositely oriented.

5. spheroid collection device according to claim 2, it is characterised in that second cylinder is positioned at the described first circle The inner side of cylinder, first collecting chamber in first cylinder and second cylinder positioned at one of inner side with fixing Connection.

6. spheroid collection device according to claim 1, it is characterised in that second mechanism for picking includes being coaxially disposed The 3rd cylinder and the 4th cylinder, relatively rotated between the 3rd cylinder and the 4th cylinder；Described 3rd The second transfer passage for conveying second spheroid is formed between cylinder and the 4th cylinder, described second scores Mouth is located at the bottom of second transfer passage, and second ball mouth is located at the top of second transfer passage.

7. spheroid collection device according to claim 6, it is characterised in that the 3rd cylinder is rotationally connected with described Support body, the 4th cylinder form a part for the support body；Second transfer passage includes the second lifting track and the Two Auxiliary Tracks, the second lifting track are arranged at barrel relative with the 4th cylinder on the 3rd cylinder, Second Auxiliary Track is arranged at barrel relative with the 3rd cylinder on the 4th cylinder；

Second ball hole is located at second lifting rail positioned at the bottom of the described second lifting track, second ball mouth The top in road, the second lifting track cooperate to enter second spheroid from described second with second Auxiliary Track Ball mouth is delivered to second ball mouth.

8. spheroid collection device according to claim 7, it is characterised in that second Auxiliary Track is from the described 4th The bottom of cylinder is spirally extended to the top of the 4th cylinder along the first rotation direction；The second lifting track is from described the The bottom of three cylinders is spirally extended to the top of the 3rd cylinder along the second rotation direction；The pitch of the second lifting track More than the pitch of second Auxiliary Track, first rotation direction is identical with the rotation direction of the 3rd cylinder, and described Two rotation directions and described first oppositely oriented.

9. spheroid collection device according to claim 6, it is characterised in that the 4th cylinder is positioned at the described 3rd circle The outside of cylinder, second collecting chamber in the 3rd cylinder and the 4th cylinder positioned at one of outside with fixing Connection.

10. spheroid collection device according to claim 1, it is characterised in that the support body includes chassis, and described the second ten Mechanism is taken to be arranged in the middle part on the chassis, the bottom surface on the chassis flushes with the bottom surface of second mechanism for picking；The bottom The bottom surface of disk is provided with the guiding lines of multiple arcs, the rotation direction of the rotation direction and first mechanism for picking for being oriented to lines On the contrary, multiple guiding lines are used to guide second spheroid to second ball hole.

11. spheroid collection device according to claim 1, it is characterised in that also include being used to drive first pickup The drive mechanism that mechanism and second mechanism for picking rotate, the drive mechanism include the output end of rotation direction identical first With the second output end, first output end and second output end are respectively positioned at the both ends of the drive mechanism；Described One output end is connected with first mechanism for picking, and second output end is connected with second mechanism for picking.

12. spheroid collection device according to claim 11, it is characterised in that also including housing, with the described first pickup Mechanism connects；The drive mechanism also includes the drive plate that is connected with first output end, the drive plate be connected in Between the support body and the housing.

13. spheroid collection device according to claim 11, it is characterised in that first output end, which is provided with, to be used to adjust First train of reduction gears of the first mechanism for picking rotating speed, second output end, which is provided with, to be used to adjust second pickup machine Second train of reduction gears of structure rotating speed, the speed reducing ratio of the speed reducing ratio of first train of reduction gears and second train of reduction gears It is different.

A kind of 14. spheroid collection device, it is characterised in that including：

Chassis, the tray bottom are provided with multiple wheel groups；

It is described for picking up the first mechanism for picking of the first spheroid, including the first cylinder and the second cylinder being coaxially disposed The first transfer passage for being used for conveying the first spheroid, first conveying are provided between first cylinder and second cylinder Passage includes the first ball hole and the first ball mouth；And

For collecting the first collecting chamber of first spheroid, setting, first collecting chamber are connected with first ball mouth Set along the short transverse of the spheroid collection device；

Wherein, first cylinder is rotatable relative to the chassis, and second cylinder is fixedly connected with the chassis； First transfer passage includes the first lifting track and the first Auxiliary Track, and the first lifting track is arranged at described first The barrel relative with second cylinder on cylinder, first Auxiliary Track are arranged on second cylinder and institute State the relative barrel of the first cylinder；For first ball hole positioned at the bottom of the described first lifting track, described first goes out ball Mouth is located at the top of the described first lifting track, and the first lifting track is with first Auxiliary Track mutual cooperation by described in First spheroid is delivered to first ball mouth from first ball hole.

15. spheroid collection device according to claim 14, it is characterised in that first Auxiliary Track is from described second The bottom of cylinder is spirally extended to the top of second cylinder along the first rotation direction；The first lifting track is from described the The bottom of one cylinder is spirally extended to the top of first cylinder along the second rotation direction；The pitch of the first lifting track More than the pitch of first Auxiliary Track, first rotation direction is identical with the rotation direction of first cylinder, and described Two rotation directions and described first oppositely oriented.

16. spheroid collection device according to claim 14, it is characterised in that second cylinder is located at described first The inner side of cylinder, first collecting chamber are solid with being located at one of inner side in first cylinder and second cylinder Fixed connection.

17. spheroid collection device according to claim 14, it is characterised in that the spheroid collection device also includes being used for Pick up the second mechanism for picking of the second spheroid and the second collecting chamber for collecting second spheroid, second spheroid it is straight Footpath is less than the diameter of first spheroid, and second mechanism for picking includes entering positioned at the second of the second mechanism for picking bottom Ball mouth and the second ball mouth at the top of second mechanism for picking, second mechanism for picking are rotationally connected with the bottom Disk；Second mechanism for picking is coaxially disposed with first mechanism for picking and is located at the inner side of first mechanism for picking, institute State the diameter that the distance between bottom surface and ground of the second mechanism for picking are less than first spheroid；Second collecting chamber with The second ball mouth connection is set；The height of second collecting chamber and first collecting chamber in the spheroid collection device Shifted to install on direction.

18. spheroid collection device according to claim 17, it is characterised in that second mechanism for picking includes coaxially setting The 3rd cylinder put and the 4th cylinder, relatively rotated between the 3rd cylinder and the 4th cylinder；Described The second transfer passage for conveying second spheroid is formed between three cylinders and the 4th cylinder, described second enters Ball mouth is located at the bottom of second transfer passage, and second ball mouth is located at the top of second transfer passage.

19. spheroid collection device according to claim 18, it is characterised in that the 3rd cylinder is rotationally connected with institute Chassis is stated, the 4th cylinder is fixedly connected with the chassis；Second transfer passage includes the second lifting track and the Two Auxiliary Tracks, the second lifting track are arranged at barrel relative with the 4th cylinder on the 3rd cylinder, Second Auxiliary Track is arranged at barrel relative with the 3rd cylinder on the 4th cylinder；Described second scores Mouthful positioned at the bottom of the described second lifting track, second ball mouth is positioned at the top of the described second lifting track, and described the Second spheroid is delivered to described by two lifting tracks with second Auxiliary Track mutual cooperation from second ball hole Second ball mouth.

20. spheroid collection device according to claim 19, it is characterised in that second Auxiliary Track is from the described 4th The bottom of cylinder is spirally extended to the top of the 4th cylinder along the first rotation direction；The second lifting track is from described the The bottom of three cylinders is spirally extended to the top of the 3rd cylinder along the second rotation direction；The pitch of the second lifting track More than the pitch of second Auxiliary Track, first rotation direction is identical with the rotation direction of the 3rd cylinder, and described Two rotation directions and described first oppositely oriented.

21. spheroid collection device according to claim 18, it is characterised in that the 4th cylinder is located at the described 3rd The outside of cylinder, second collecting chamber are solid with being located at one of outside in the 3rd cylinder and the 4th cylinder Fixed connection.

22. spheroid collection device according to claim 17, it is characterised in that second mechanism for picking is arranged in described The middle part on chassis, the bottom surface on the chassis flush with the bottom surface of second mechanism for picking；The bottom surface on the chassis is provided with multiple The guiding lines of arc, the rotation direction of the guiding lines is with the rotation direction of first mechanism for picking on the contrary, being led described in multiple It is used to guide second spheroid to second ball hole to lines.

23. spheroid collection device according to claim 17, it is characterised in that the spheroid collection device also includes being used for The drive mechanism for driving first mechanism for picking and second mechanism for picking to rotate, the drive mechanism include rotation direction The output end of identical first and the second output end, first output end and second output end are located at the driving machine respectively The both ends of structure；First output end is connected with first mechanism for picking, second output end and second pickup machine Structure connects.

24. spheroid collection device according to claim 23, it is characterised in that the spheroid collection device also includes shell Body, the housing are connected with first mechanism for picking；The drive mechanism also includes the biography being connected with first output end Moving plate, the drive plate are connected with the housing.

25. spheroid collection device according to claim 23, it is characterised in that first output end, which is provided with, to be used to adjust First train of reduction gears of the first mechanism for picking rotating speed, second output end, which is provided with, to be used to adjust second pickup machine Second train of reduction gears of structure rotating speed, the speed reducing ratio of the speed reducing ratio of first train of reduction gears and second train of reduction gears It is different.