CN207970437U - A kind of service robot with pingpong collection and ball-collecting disk choke preventing function - Google Patents
A kind of service robot with pingpong collection and ball-collecting disk choke preventing function Download PDFInfo
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- CN207970437U CN207970437U CN201820114091.5U CN201820114091U CN207970437U CN 207970437 U CN207970437 U CN 207970437U CN 201820114091 U CN201820114091 U CN 201820114091U CN 207970437 U CN207970437 U CN 207970437U
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- collecting disk
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- connecting rod
- motor
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Abstract
The utility model is related to a kind of service robots with pingpong collection and ball-collecting disk choke preventing function, including main body, movable pulley, service mouth, ball-collecting disk and goal tube, further include loose mechanism and recovering mechanism, loose mechanism includes the first lantern ring and two shaking assemblies, recovering mechanism includes wobble component and transmission assembly, and transmission assembly includes control unit and push unit.In the service robot with pingpong collection and ball-collecting disk choke preventing function, pass through loose mechanism, the table tennis inside ball-collecting disk can be made to shake, convenient for being fallen from the inside of ball-collecting disk, the outlet of ball-collecting disk is prevented to be blocked, pass through recovering mechanism, the range of absorption can be adjusted, convenient for absorbing the table tennis of ground everywhere, and the table tennis of collection is delivered in ball-collecting disk automatically, the workload for picking up ball for reducing people, improves the practicability of table tenning ball servicing machine.
Description
Technical field
The utility model is related to sports equipment fields, more particularly to a kind of to have pingpong collection and ball-collecting disk choke preventing function
Service robot.
Background technology
Sports equipment refers to the general name of various instruments, equipment and articles for use used in athletics sports match and exercise.
Table tenning ball servicing machine is also a kind of common sports equipment, table tenning ball servicing machine be suitable for society, school, family,
Professional training venue, the ball that service robot can send out property various, can be not only used for entertainment body-building, and be suitable for professional training.But table tennis
Pang ball service robot still comes with some shortcomings during actual use, for example service robot, in service, table tennis may incite somebody to action
The opening of ball-collecting disk blocks, and service robot is caused to can not work normally, and driving lever disturbance table tennis can be carried inside existing service robot
The driving lever inside ball-collecting disk dredged, but installed is also likely to be present failure, so as to cause the opening of ball-collecting disk is blocked, and
And once there is blockage problem, repair will be highly difficult, in addition, service robot after distributing ball, be required for artificially manually picking up it is scattered
The table tennis to fall to the ground, increases the workload for picking up ball of people in this way, and existing service robot does not have automatic recycling table tennis
The function of ball, practicability be not high.
Utility model content
The technical problems to be solved in the utility model is：For overcome the deficiencies in the prior art, it provides a kind of with table tennis
Ball is collected and the service robot of ball-collecting disk choke preventing function.
Technical solution adopted by the utility model to solve its technical problems is：One kind having pingpong collection and ball-collecting disk
The service robot of choke preventing function, including main body, movable pulley, service mouth, ball-collecting disk and goal tube, further include loose mechanism and recycling machine
Structure, the loose mechanism are arranged in the top of main body, and the recovering mechanism is arranged in the inside of main body；
The loose mechanism includes the first lantern ring and two shaking assemblies, and the first set ring set is located on ball-collecting disk, and two
A shaking assembly is separately positioned on the both sides of the first lantern ring, and the shaking assembly is sequentially connected with the first lantern ring；
The shaking assembly includes first motor, the first turntable, the second turntable, connecting rod, the second lantern ring and spring, described
First motor is vertically provided at the top of main body, and the first motor is sequentially connected with the first turntable, first turntable it is upper
Side is equipped with several hemispherical projections, and each protrusion is circumferentially uniformly distributed along the center of circle of the first turntable, and second turntable is horizontal
It is arranged in the top of the first turntable, the lower section of second turntable is equipped with several hemispherical concave blocks, and each concave block is along second turn
The center of circle of disk is circumferentially uniformly distributed, and the protrusion is corresponded and is mutually matched with concave block, the wheel of the protrusion and the second turntable
Face is against the connecting rod is vertically arranged, and the connecting rod is cuboid, the top of the bottom end of the connecting rod and the second turntable
Connection, the top of the connecting rod connect with the first lantern ring, and second lantern ring is set in connecting rod, second lantern ring and
Connecting rod is slidably connected, and second lantern ring is fixed on the top of main body, and the spring is vertically arranged, and there are two the springs,
Two springs are separately positioned on the both sides of connecting rod, and second lantern ring is connect by spring with the second turntable；
The recovering mechanism includes wobble component and transmission assembly；
The transmission assembly includes control unit and push unit, and described control unit is arranged in the side of push unit；
Described control unit includes drive chamber, screen plate, third motor, runner, first connecting rod, second connecting rod and push plate,
The drive chamber is horizontally set on the inside of main body, and the push plate is vertically provided at the inside of drive chamber, the push plate and driving
The inner wall of room matches, and the inner wall of the push plate and drive chamber is slidably connected, and the third motor is horizontally set on the interior of drive chamber
Portion, the third motor are connect with runner, and one end of the first connecting rod and the separate circle centre position of runner are hinged, and described first connects
The other end of bar and one end of second connecting rod are hinged, and the other end of the second connecting rod is connect with push plate, the second connecting rod water
Flat setting, there are two the screen plates, and two screen plates are inclined at the both sides up and down of the inner wall of drive chamber, two sieves respectively
The distance between both ends of inner wall of separate drive chamber of plate are selected to be less than two connect with the inner wall of drive chamber of two screen plates
The distance between end；
The push unit includes the 4th motor, delivery pipe, screw rod and inclined tube, and the delivery pipe is vertically arranged, the drive
The side of the side of the separate push plate of dynamic room and the lower section of delivery pipe connects, and the 4th motor is vertically provided under delivery pipe
Side, the screw rod are vertically provided at the inside of delivery pipe, and the 4th motor is connect with screw drive, and the inclined tube inclination is set
It sets, the side connection of one end of the inclined tube and the top of delivery pipe, the other end of the inclined tube is arranged in the top of ball-collecting disk.
Preferably, in order to control the inside that suction nozzle stretches out main body, reciprocally swinging expands suction ball range, the wobble component
Including the second motor, driving wheel, rotating bar, casing, cylinder and suction nozzle, second motor is vertically provided at the inside of main body,
Second motor and driving wheel are sequentially connected, and the cylinder is horizontally set on the inside of main body, the cylinder and main body it is interior
Portion is hinged, and the gas bar of the cylinder is connect with suction nozzle, and the suction nozzle is vertically provided at the lower section of gas bar, and described sleeve pipe is set in gas
On cylinder, one end of the rotating bar and casing are hinged, and the other end of the rotating bar and the separate circle centre position of driving wheel are hinged.
Preferably, in order to which table tennis to be sent into the inside of drive chamber, the inside of the main body is additionally provided with connecting tube, described
One end of connecting tube is connect with suction nozzle, and the other end of the connecting tube is connect with drive chamber, the other end setting of the connecting tube
Between push plate and screen plate.
Preferably, the inside of ball-collecting disk is rolled into for the ease of table tennis, one end of the close ball-collecting disk of the inclined tube
Height apart from main body is less than height of the one end of the close delivery pipe of inclined tube apart from main body.
Preferably, in order to provide power, the table tennis on ground is picked up, the top of the drive chamber is equipped with air pump,
One end of the air pump is arranged between push plate and screen plate, and the other end of the air pump is arranged in the top of main body.
Preferably, in order to prevent ball-collecting disk vertical tremor when, table tennis is fallen below ball-collecting disk, the ball-collecting disk
Bellows is equipped between goal tube, the lower section of the ball-collecting disk is connected by the top of bellows and goal tube
Preferably, in order to observe the position where the table tennis on ground, the main body is equipped with camera.
Preferably, being servo motor to make the accurate permanent work of first motor, the first motor.
Preferably, in order to by PLC control devices, the main body is internally provided with PLC, the loose mechanism and recycling
Mechanism is electrically connected with PLC.
Preferably, in order to carry out signal transmission, to remote control equipment, the main body is internally provided with antenna.
The utility model has the beneficial effects that should have in the service robot of pingpong collection and ball-collecting disk choke preventing function, lead to
Loose mechanism is crossed, the table tennis inside ball-collecting disk can be made to shake, convenient for being fallen from the inside of ball-collecting disk, prevent ball-collecting disk
Outlet is blocked, and compared with the existing driving lever by inside ball-collecting disk stirs the anti-blocking mode of table tennis, avoids driving lever event
Barrier leads to the outlet for blocking ball-collecting disk, reduces maintenance difficulty, by the way of exterior vibration ball-collecting disk, blocking-proof result is more just
It is prompt, reliable, by recovering mechanism, the range of absorption can be adjusted, convenient for absorbing the table tennis of ground everywhere, and will be received automatically
The table tennis of collection is delivered in ball-collecting disk, during conveying, table tennis is enabled to rise one by one successively, is prevented multiple table tennis
Pang ball blocks delivery pipe when rising simultaneously, compared with existing service robot, reduces the workload for picking up ball of people, more easily
It is convenient, improve the practicability of table tenning ball servicing machine.
Description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the structural schematic diagram of the service robot with pingpong collection and ball-collecting disk choke preventing function of the utility model；
Fig. 2 is the knot of the shaking assembly of the service robot with pingpong collection and ball-collecting disk choke preventing function of the utility model
Structure schematic diagram；
Fig. 3 is the knot of the wobble component of the service robot with pingpong collection and ball-collecting disk choke preventing function of the utility model
Structure schematic diagram；
Fig. 4 is the knot of the control unit of the service robot with pingpong collection and ball-collecting disk choke preventing function of the utility model
Structure schematic diagram；
Fig. 5 is the knot of the push unit of the service robot with pingpong collection and ball-collecting disk choke preventing function of the utility model
Structure schematic diagram；
In figure：1. main body, 2. movable pulleys, 3. service mouths, 4. ball-collecting disks, 5. goal tubes, 6. first motors, 7. first turns
Disk, 8. second turntables, 9. connecting rods, 10. first lantern rings, 11. second lantern rings, 12. springs, 13. second motors, 14. driving wheels,
15. rotating bar, 16. casings, 17. cylinders, 18. suction nozzles, 19. connecting tubes, 20. drive chamber, 21. screen plates, 22. third motors,
23. runner, 24. first connecting rods, 25. second connecting rods, 26. push plates, 27. delivery pipes, 28. the 4th motors, 29. screw rods, 30. tiltedly
Pipe.
Specific implementation mode
The utility model is described in further detail presently in connection with attached drawing.These attached drawings are simplified schematic diagram,
Only illustrate the basic structure of the utility model in a schematic way, therefore it only shows composition related with the utility model.
As shown in Figure 1, a kind of service robot with pingpong collection and ball-collecting disk choke preventing function, including main body 1, movable pulley
2, service mouth 3, ball-collecting disk 4 and goal tube 5, further include loose mechanism and recovering mechanism, the loose mechanism is arranged in main body 1
Top, the recovering mechanism are arranged in the inside of main body 1；
By loose mechanism, the table tennis inside ball-collecting disk 4 can be made to shake, convenient for being fallen from the inside of ball-collecting disk 4,
It prevents the outlet of ball-collecting disk 4 to be blocked, the anti-blocking mode phase of table tennis is stirred with the existing driving lever by inside ball-collecting disk 4
Than avoiding driving lever failure leads to the outlet for blocking ball-collecting disk 4, maintenance difficulty is reduced, using the side of exterior vibration ball-collecting disk 4
Formula, blocking-proof result is more convenient, reliable, by recovering mechanism, can adjust the range of absorption, convenient for absorbing the table tennis of ground everywhere
Pang ball, and the table tennis of collection is delivered in ball-collecting disk 4 automatically, during conveying, enable to table tennis successively
Delivery pipe 27 is blocked when rising one by one, prevent multiple tablees tennis while rising reduces people's compared with existing service robot
The workload of ball is picked up, it is more easily convenient, improve the practicability of table tenning ball servicing machine.
The loose mechanism includes the first lantern ring 10 and two shaking assemblies, and first lantern ring 10 is set in ball-collecting disk 4
On, two shaking assemblies are separately positioned on the both sides of the first lantern ring 10, and the shaking assembly is sequentially connected with the first lantern ring 10；
As shown in Fig. 2, the shaking assembly includes first motor 6, the first turntable 7, the second turntable 8, connecting rod 9, second
Lantern ring 11 and spring 12, the first motor 6 are vertically provided at the top of main body 1, and the first motor 6 and the first turntable 7 pass
The top of dynamic connection, first turntable 7 is equipped with several hemispherical projections, and each protrusion is circumferential along the center of circle of the first turntable 7
It is uniformly distributed, second turntable 8 is horizontally set on the top of the first turntable 7, and the lower section of second turntable 8 is equipped with several
Hemispherical concave block, each concave block are circumferentially uniformly distributed along the center of circle of the second turntable 8, it is described protrusion with concave block correspond and mutually
The wheel face of matching, the protrusion and the second turntable 8 is against the connecting rod 9 is vertically arranged, and the connecting rod 9 is cuboid, institute
The bottom end for stating connecting rod 9 is connect with the top of the second turntable 8, and the top of the connecting rod 9 is connect with the first lantern ring 10, and described
Two lantern rings 11 are set in connecting rod 9, and second lantern ring 11 is slidably connected with connecting rod 9, and second lantern ring 11 is fixed on
The top of main body 1, the spring 12 is vertically arranged, and there are two the springs 12, and two springs 12 are separately positioned on connecting rod 9
Both sides, second lantern ring 11 are connect by spring 12 with the second turntable 8；
When it is found that the outlet of 4 lower section of ball-collecting disk is blocked by table tennis, PLC, PLC are transmitted signals to by remote controler
It controls first motor 6 to start, first motor 6 drives the rotation of the first turntable 7, when the protrusion and the second turntable 8 on the first turntable 7
When wheel face contacts, the second turntable 8 is moved up by promotion, while spring 12 is compressed, and the second turntable 8 drives first by connecting rod 9
Lantern ring 10 moves up, and the first lantern ring 10 drives ball-collecting disk 4 to move up, when the protrusion on the first turntable 7 is contacted with the concave block of the second turntable 8
When, spring 12 is no longer compressed, and starts to extend, and spring 12 drives the second turntable 8 to move down, and the second turntable 8 is driven by connecting rod 9
First lantern ring 10 moves down, and the first lantern ring 10 drives ball-collecting disk 4 to move down, therefore first motor 6 can make ball-collecting disk in rotation process
4 vertical tremors pass through the vibrations of ball-collecting disk 4 so that the table tennis vibrations inside ball-collecting disk 4, therefore it is stuck in 4 lower section of ball-collecting disk
The table tennis ball position of outlet can change, and convenient for being fallen from the inside of ball-collecting disk 4, the outlet of ball-collecting disk 4 be prevented to be blocked, with
The existing driving lever by inside ball-collecting disk 4 stirs the anti-blocking mode of table tennis and compares, and avoiding driving lever failure causes to block collection
The outlet of ball disk 4, reduces maintenance difficulty, and by the way of exterior vibration ball-collecting disk 4, blocking-proof result is more convenient, reliable.
The recovering mechanism includes wobble component and transmission assembly；
As illustrated in figures 4-5, the transmission assembly includes control unit and push unit, and described control unit setting is pushing
The side of unit；
Described control unit includes drive chamber 20, screen plate 21, third motor 22, runner 23, the company of first connecting rod 24, second
Bar 25 and push plate 26, the drive chamber 20 are horizontally set on the inside of main body 1, and the push plate 26 is vertically provided at drive chamber 20
Inside, the push plate 26 are matched with the inner wall of drive chamber 20, and the push plate 26 and the inner wall of drive chamber 20 are slidably connected, and described
Three motors 22 are horizontally set on the inside of drive chamber 20, and the third motor 22 is connect with runner 23, the first connecting rod 24
One end and the separate circle centre position of runner 23 are hinged, and the other end of the first connecting rod 24 is hinged with one end of second connecting rod 25, institute
The other end for stating second connecting rod 25 is connect with push plate 26, and the second connecting rod 25 is horizontally disposed, and there are two the screen plates 21, and two
A screen plate 21 is inclined at the both sides up and down of the inner wall of drive chamber 20 respectively, the separate drive chamber 20 of two screen plates 21
The distance between both ends of inner wall are less than the distance between the both ends of two screen plates 21 being connect with the inner wall of drive chamber 20；
The push unit includes the 4th motor 28, delivery pipe 27, screw rod 29 and inclined tube 30, and the delivery pipe 27 is vertically set
It sets, the side of the separate push plate 26 of the drive chamber 20 is connect with the side of the lower section of delivery pipe 27, and the 4th motor 28 is perpendicular
To being arranged in the lower section of delivery pipe 27, the screw rod 29 is vertically provided at the inside of delivery pipe 27, the 4th motor 28 and spiral shell
Bar 29 is sequentially connected, and the inclined tube 30 is obliquely installed, and one end of the inclined tube 30 is connect with the side of the top of delivery pipe 27, institute
The other end for stating inclined tube 30 is arranged in the top of ball-collecting disk 4.
When needing that table tennis is made to serially enter in ball-collecting disk 4, third motor 22 is controlled by PLC and is started, third electricity
Machine 22 drives runner 23 to rotate, and runner 23 drives first connecting rod 24 to rotate, and first connecting rod 24 drives second connecting rod 25 to move horizontally,
When table tennis enters the inside of drive chamber 20, second connecting rod 25 drives push plate 26 to move right, and push plate 26 drives table tennis
The inside that delivery pipe 27 is entered by two screen plates 21, since the circular hole formed between two screen plates 21 only can be successively
By a table tennis, therefore table tennis can serially enter in delivery pipe 27, at this point, the 4th motor 28 start, screw rod 29 with
Rotation, screw rod 29 during rotation, one by one by table tennis be sent into inclined tube 30 in, table tennis rolls down to collection by inclined tube 30
In ball disk 4, compared with existing service robot, by transmission assembly, can the table tennis of collection be delivered to ball-collecting disk 4 automatically
In, during conveying, table tennis is enabled to rise one by one successively, conveying is blocked when preventing multiple tablees tennis while rising
Pipe 27, it is relatively reliable.
As shown in figure 3, the wobble component includes the second motor 13, driving wheel 14, rotating bar 15, casing 16, cylinder 17
With suction nozzle 18, second motor 13 is vertically provided at the inside of main body 1, and second motor 13 connects with the transmission of driving wheel 14
It connects, the cylinder 17 is horizontally set on the inside of main body 1, and the cylinder 17 and the inside of main body 1 are hinged, the gas of the cylinder 17
Bar is connect with suction nozzle 18, and the suction nozzle 18 is vertically provided at the lower section of gas bar, and described sleeve pipe 16 is set on cylinder 17, described turn
One end of lever 15 is hinged with casing 16, and the other end of the rotating bar 15 is hinged with the separate circle centre position of driving wheel 14.
When needing the table tennis to ground to be collected, PLC, the second electricity of PLC controls are transmitted signals to by remote controler
Machine 13 starts, and the second motor 13 drives driving wheel 14 to rotate, and driving wheel 14 drives rotating bar 15 to rotate, and rotating bar 15 drives casing
Rotation, while casing can give 17 1 active forces of cylinder so that cylinder 17 around the inside with main body 1 hinged place toward physical pendulum
It is dynamic, the length of the gas bar by controlling cylinder 17 so that suction nozzle 18 stretches out the inside of main body 1, and reciprocally swinging is scattered to ground
Table tennis is adsorbed, and is changed by the length of swing and gas bar, can be adjusted the range of absorption, everywhere convenient for absorption ground
Table tennis, by wobble component, can collect the table tennis of ground everywhere, reduce people automatically compared with existing service robot
The workload for picking up ball, more easily it is convenient.
Preferably, in order to which table tennis to be sent into the inside of drive chamber 20, the inside of the main body 1 is additionally provided with connecting tube
19, one end of the connecting tube 19 is connect with suction nozzle 18, and the other end of the connecting tube 19 is connect with drive chamber 20, the connection
The other end of pipe 19 is arranged between push plate 26 and screen plate 21.
Preferably, the inside of ball-collecting disk 4 is rolled into for the ease of table tennis, the close ball-collecting disk 4 of the inclined tube 30
Height of the one end apart from main body 1 is less than height of the one end of the close delivery pipe 27 of inclined tube 30 apart from main body 1.
Preferably, in order to provide power, the table tennis on ground is picked up, the top of the drive chamber 20 is equipped with gas
One end of pump, the air pump is arranged between push plate 26 and screen plate 21, and the other end of the air pump is arranged in the upper of main body 1
Side.
Preferably, in order to prevent 4 vertical tremor of ball-collecting disk when, table tennis is fallen from the lower section of ball-collecting disk 4, the collection ball
Bellows is equipped between disk 4 and goal tube 5, the lower section of the ball-collecting disk 4 is connect by bellows with the top of goal tube 5
Preferably, in order to observe the position where the table tennis on ground, the main body 1 is equipped with camera.
Preferably, being servo motor to make the accurate permanent work of first motor 6, the first motor 6.
Preferably, in order to by PLC control devices, the main body 1 is internally provided with PLC, the loose mechanism and returns
Mechanism is received to be electrically connected with PLC.
Preferably, in order to carry out signal transmission, to remote control equipment, the main body 1 is internally provided with antenna.
By shaking assembly, the vibrations of ball-collecting disk 4 can be controlled, so that the table tennis vibrations inside ball-collecting disk 4, therefore
Being stuck in the table tennis ball position of the outlet of 4 lower section of ball-collecting disk can change, and convenient for being fallen from the inside of ball-collecting disk 4, prevent collection ball
The outlet of disk 4 is blocked, and compared with the existing driving lever by inside ball-collecting disk 4 stirs the anti-blocking mode of table tennis, avoids
Driving lever failure leads to the outlet for blocking ball-collecting disk 4, reduces maintenance difficulty, by the way of exterior vibration ball-collecting disk 4, anti-blocking effect
Fruit is more convenient, reliable, by wobble component, can adjust the range of absorption, and existing convenient for absorbing ground table tennis everywhere
Some service robots are compared, and the workload for picking up ball of people is reduced, more easily convenient, by transmission assembly, can automatically by
The table tennis of collection is delivered in ball-collecting disk 4, during conveying, table tennis is enabled to rise one by one successively, prevented more
Delivery pipe 27 is blocked when a table tennis rises simultaneously.
Compared with prior art, should have in the service robot of pingpong collection and ball-collecting disk choke preventing function, and pass through loosening machine
Structure can make the table tennis inside ball-collecting disk 4 shake, convenient for being fallen from the inside of ball-collecting disk 4, prevent the outlet of ball-collecting disk 4
It is blocked, compared with the existing driving lever by inside ball-collecting disk 4 stirs the anti-blocking mode of table tennis, avoids driving lever failure and lead
The outlet for causing blocking ball-collecting disk 4, reduces maintenance difficulty, by the way of exterior vibration ball-collecting disk 4, blocking-proof result is more just
It is prompt, reliable, by recovering mechanism, the range of absorption can be adjusted, convenient for absorbing the table tennis of ground everywhere, and will be received automatically
The table tennis of collection is delivered in ball-collecting disk 4, during conveying, table tennis is enabled to rise one by one successively, prevented multiple
Delivery pipe 27 is blocked when table tennis rises simultaneously reduces the workload for picking up ball of people, more compared with existing service robot
It is easily convenient, improve the practicability of table tenning ball servicing machine.
It is enlightenment, through the above description, related work people with the above-mentioned desirable embodiment according to the utility model
Member can carry out various changes and amendments in the range of without departing from this item utility model technological thought completely.This item is real
It is not limited to the contents of the specification with novel technical scope, it is necessary to which its technology is determined according to right
Property range.
Claims (10)
1. a kind of service robot with pingpong collection and ball-collecting disk choke preventing function, including main body (1), movable pulley (2), service mouth
(3), ball-collecting disk (4) and goal tube (5), which is characterized in that further include loose mechanism and recovering mechanism, the loose mechanism setting
Top in main body (1), inside of the recovering mechanism setting in main body (1)；
The loose mechanism includes the first lantern ring (10) and two shaking assemblies, and first lantern ring (10) is set in ball-collecting disk
(4) on, two shaking assemblies are separately positioned on the both sides of the first lantern ring (10), and the shaking assembly is driven with the first lantern ring (10)
Connection；
The shaking assembly includes first motor (6), the first turntable (7), the second turntable (8), connecting rod (9), the second lantern ring
(11) and spring (12), the first motor (6) is vertically provided at the top of main body (1), the first motor (6) with first turn
Disk (7) is sequentially connected, and the top of first turntable (7) is equipped with several hemispherical projections, and each protrusion is along the first turntable (7)
The center of circle be circumferentially uniformly distributed, second turntable (8) is horizontally set on the top of the first turntable (7), second turntable (8)
Lower section be equipped with several hemispherical concave blocks, each concave block is circumferentially uniformly distributed along the center of circle of the second turntable (8), the protrusion with
Concave block is corresponded and is mutually matched, the protrusion and the wheel face of the second turntable (8) against, the connecting rod (9) is vertically arranged,
The connecting rod (9) is cuboid, and the bottom end of the connecting rod (9) is connect with the top of the second turntable (8), the connecting rod
(9) top is connect with the first lantern ring (10), and second lantern ring (11) is set in connecting rod (9), second lantern ring
(11) it is slidably connected with connecting rod (9), second lantern ring (11) is fixed on the top of main body (1), and the spring (12) is vertical
Setting, there are two the springs (12), and two springs (12) are separately positioned on the both sides of connecting rod (9), second lantern ring
(11) it is connect with the second turntable (8) by spring (12)；
The recovering mechanism includes wobble component and transmission assembly；
The transmission assembly includes control unit and push unit, and described control unit is arranged in the side of push unit；
Described control unit include drive chamber (20), screen plate (21), third motor (22), runner (23), first connecting rod (24),
Second connecting rod (25) and push plate (26), the drive chamber (20) are horizontally set on the inside of main body (1), and the push plate (26) is vertical
Inside in drive chamber (20) is set, and the push plate (26) matches with the inner wall of drive chamber (20), the push plate (26) and driving
The inner wall of room (20) is slidably connected, and the third motor (22) is horizontally set on the inside of drive chamber (20), the third motor
(22) it being connect with runner (23), one end of the first connecting rod (24) is hinged with the separate circle centre position of runner (23), and described first
The other end of connecting rod (24) is hinged with one end of second connecting rod (25), and the other end and the push plate (26) of the second connecting rod (25) connect
It connects, the second connecting rod (25) is horizontally disposed, and there are two the screen plates (21), and two screen plates (21) are inclined at respectively
The both sides up and down of the inner wall of drive chamber (20), between the both ends of the inner wall of the separate drive chamber (20) of two screen plates (21) away from
The distance between the both ends being connect with the inner wall of drive chamber (20) from less than two screen plates (21)；
The push unit includes the 4th motor (28), delivery pipe (27), screw rod (29) and inclined tube (30), the delivery pipe (27)
Vertically arranged, the side of the separate push plate (26) of the drive chamber (20) is connect with the side of the lower section of delivery pipe (27), described
4th motor (28) is vertically provided at the lower section of delivery pipe (27), and the screw rod (29) is vertically provided at the interior of delivery pipe (27)
Portion, the 4th motor (28) are sequentially connected with screw rod (29), and the inclined tube (30) is obliquely installed, one end of the inclined tube (30)
It is connect with the side of the top of delivery pipe (27), the other end of the inclined tube (30) is arranged in the top of ball-collecting disk (4).
2. the service robot with pingpong collection and ball-collecting disk choke preventing function as described in claim 1, which is characterized in that described
Wobble component includes the second motor (13), driving wheel (14), rotating bar (15), casing (16), cylinder (17) and suction nozzle (18), institute
The inside that the second motor (13) is vertically provided at main body (1) is stated, second motor (13) is sequentially connected with driving wheel (14), institute
The inside that cylinder (17) is horizontally set on main body (1) is stated, the cylinder (17) and the inside of main body (1) are hinged, the cylinder
(17) gas bar is connect with suction nozzle (18), and the suction nozzle (18) is vertically provided at the lower section of gas bar, and described sleeve pipe (16) is set in
On cylinder (17), one end of the rotating bar (15) and casing (16) are hinged, the other end and driving wheel of the rotating bar (15)
(14) separate circle centre position is hinged.
3. the service robot with pingpong collection and ball-collecting disk choke preventing function as claimed in claim 2, which is characterized in that described
The inside of main body (1) is additionally provided with connecting tube (19), and one end of the connecting tube (19) is connect with suction nozzle (18), the connecting tube
(19) the other end is connect with drive chamber (20), and the other end of the connecting tube (19) is arranged in push plate (26) and screen plate (21)
Between.
4. the service robot with pingpong collection and ball-collecting disk choke preventing function as described in claim 1, which is characterized in that described
Height of the one end of the close ball-collecting disk (4) of inclined tube (30) apart from main body (1) is less than the close delivery pipe (27) of inclined tube (30)
Height of the one end apart from main body (1).
5. the service robot with pingpong collection and ball-collecting disk choke preventing function as described in claim 1, which is characterized in that described
The top of drive chamber (20) is equipped with air pump, and one end of the air pump is arranged between push plate (26) and screen plate (21), the gas
Top of the other end setting of pump in main body (1).
6. the service robot with pingpong collection and ball-collecting disk choke preventing function as described in claim 1, which is characterized in that described
Bellows is equipped between ball-collecting disk (4) and goal tube (5), the lower section of the ball-collecting disk (4) passes through bellows and goal tube (5)
Top connects.
7. the service robot with pingpong collection and ball-collecting disk choke preventing function as described in claim 1, which is characterized in that described
Main body (1) is equipped with camera.
8. the service robot with pingpong collection and ball-collecting disk choke preventing function as described in claim 1, which is characterized in that described
First motor (6) is servo motor.
9. the service robot with pingpong collection and ball-collecting disk choke preventing function as described in claim 1, which is characterized in that described
Main body (1) is internally provided with PLC, and the loose mechanism and recovering mechanism are electrically connected with PLC.
10. the service robot with pingpong collection and ball-collecting disk choke preventing function as described in claim 1, which is characterized in that institute
That states main body (1) is internally provided with antenna.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820114091.5U CN207970437U (en) | 2018-01-23 | 2018-01-23 | A kind of service robot with pingpong collection and ball-collecting disk choke preventing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820114091.5U CN207970437U (en) | 2018-01-23 | 2018-01-23 | A kind of service robot with pingpong collection and ball-collecting disk choke preventing function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207970437U true CN207970437U (en) | 2018-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820114091.5U Expired - Fee Related CN207970437U (en) | 2018-01-23 | 2018-01-23 | A kind of service robot with pingpong collection and ball-collecting disk choke preventing function |
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| Country | Link |
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| CN (1) | CN207970437U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107982893A (en) * | 2018-01-23 | 2018-05-04 | 阜阳师范学院 | A kind of service robot with pingpong collection and ball-collecting disk choke preventing function |
| CN110314350A (en) * | 2019-08-13 | 2019-10-11 | 武汉轻工大学 | Ball collection device and Ball Game Robots |
| CN111672075A (en) * | 2020-06-22 | 2020-09-18 | 江苏经贸职业技术学院 | Robot is picked up to sports training tennis |
| CN112704868A (en) * | 2020-12-20 | 2021-04-27 | 武汉市但他林科技有限公司 | Billiards storage method and device |
| CN113426667A (en) * | 2021-06-18 | 2021-09-24 | 农业农村部南京农业机械化研究所 | Linseed results screening plant |
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2018
- 2018-01-23 CN CN201820114091.5U patent/CN207970437U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107982893A (en) * | 2018-01-23 | 2018-05-04 | 阜阳师范学院 | A kind of service robot with pingpong collection and ball-collecting disk choke preventing function |
| CN107982893B (en) * | 2018-01-23 | 2023-07-14 | 阜阳师范学院 | Service robot with table tennis collection and ball collecting disc anti-blocking function |
| CN110314350A (en) * | 2019-08-13 | 2019-10-11 | 武汉轻工大学 | Ball collection device and Ball Game Robots |
| CN111672075A (en) * | 2020-06-22 | 2020-09-18 | 江苏经贸职业技术学院 | Robot is picked up to sports training tennis |
| CN111672075B (en) * | 2020-06-22 | 2021-03-16 | 江苏经贸职业技术学院 | Robot is picked up to sports training tennis |
| CN112704868A (en) * | 2020-12-20 | 2021-04-27 | 武汉市但他林科技有限公司 | Billiards storage method and device |
| CN112704868B (en) * | 2020-12-20 | 2024-04-05 | 武汉市但他林科技有限公司 | Billiard storage method |
| CN113426667A (en) * | 2021-06-18 | 2021-09-24 | 农业农村部南京农业机械化研究所 | Linseed results screening plant |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20181016 Termination date: 20200123 |