CN208160989U - golf robot - Google Patents

Abstract

The utility model discloses a kind of golf robots, including chassis, power running gear, shell and club placing tube, the shell is equipped with video camera and operation main screen, is equipped with control system, rail system, the first manipulator, the second manipulator and radar in the shell.Club is stored by club placing tube by the golf robot, it can be that user replace different clubs by the lever system that changes in club placing tube, after ball is got, the golf robot can utilize video camera and radar tracking, position the ball got, find pick-up point, then ball is picked up by the first manipulator and is put into internal rail system, ball is transferred to the second manipulator by rail system, ball is placed on predeterminated position by the second manipulator again, it no longer needs to employ caddie using the golf robot, reduce cost of labor, convenience is provided for sportsman and match, improve the enjoyment and convenience played ball.

Description

Golf robot

Technical field

The utility model relates to robotic technology fields, more particularly to a kind of golf robot.

Background technique

Modern society, as the problem of food and clothing of people is resolved, spiritual pleasure is increasingly by everybody attention. Golf is most initially gentleman's movement of noble a kind of as the ball game of a movement origin very early.Its predecessor can To trace back to the tool that shepherd puts sheep out to pasture, it can also move and be linked together with the hammer ball of Ming Dynasty Chinese.

In the modern times, golf has not been the exclusive movement of the upper class, it has come into the public visual field, gives some public affairs yet The contact that carries on trade, discussion are taken charge of, convenience interactive together is provided.In the world, golf also attracts global look steadily Mesh, its contest are divided into three categories, i.e. the tour of man's occupation golf, the tour of woman's occupation golf, Ryder Cup and total System cup.

In the prior art, when playing golf, caddie is needed, caddie helps sportsman to carry club, and according to rule It helps sportsman to pick up ball, and manually carries club, picks up ball, it is not only inconvenient, it is also necessary to spend a large amount of human cost.

Utility model content

The purpose of this utility model is that proposing a kind of golf robot, to solve artificial carrying club, pick up ball, grasp Make inconvenience, spend the problem of a large amount of human costs, provides convenience for sportsman and match.

A kind of golf robot, including chassis, power running gear, shell and club placing tube, the shell with The club placing tube is mounted on the chassis, and the shell is equipped with video camera and operation main screen, and the video camera is used for The ball that tracking, positioning are got, the shell is interior to be equipped with control system, rail system, the first manipulator, the second manipulator and thunder It reaches, the radar is used for the pick-up point with the Camera Positioning ball, and interior be equipped with of the club placing tube changes lever system, described First manipulator is for grabbing the ball to fall to the ground, and the rail system is for the ball that first manipulator grabs to be transferred to Second manipulator, second manipulator are used to ball being placed on predeterminated position, first manipulator and second machine The structure of tool hand is identical, and first manipulator includes pedestal and the catching hand that is mounted on the pedestal, the pedestal and institute Catching hand flexible connection is stated, ball grasping hand includes turntable, the first gusset piece, the second gusset piece and claw, first connection Detent slot is equipped on plate and second gusset piece, the claw is slidably mounted in the detent slot, and the detent slot is used In the movement for limiting the claw.

According to the utility model proposes golf robot, club is stored by club placing tube, is passed through The lever system that changes in club placing tube can be that user replace different clubs, after ball is got, the golf robot energy The ball enough got using video camera and radar tracking, positioning, finds pick-up point, is then picked up ball simultaneously by the first manipulator It is put into internal rail system, ball is transferred to by the second manipulator by rail system, then passed ball by the second manipulator User no longer needs to employ caddie, reduces cost of labor using the golf robot, provides convenience for sportsman and match, Improve the enjoyment and convenience played ball.

In addition, can also have following additional technical characteristic according to golf robot provided by the utility model：

Further, the golf robot further includes small machine people, and the small machine people includes small machine people bottom Disk, small machine people walking mechanism, small machine people camera and the small machine people being mounted on small machine people chassis grab ball Pawl, the small machine people grab ball pawl and are connect with small machine people chassis by link mechanism.

Further, the rail system includes the first track, the second track, third track, the 4th track, the 5th rail Road, small machine people be driven out to guide rail, deposit ball case, preceding runner, rear runner, interior catching hand case, catching hand put ball case, it is interior put player's case, The small machine people be driven out to guide rail, first track, second track, the preceding runner, the third track, it is described after Runner, the 4th track successively dock, and the ball of the first manipulator crawl is transferred to second track first, then successively By the preceding runner, the third track, it is described after runner, the 4th track be transferred to second manipulator, it is described Catching hand is put ball case and is mounted on the interior catching hand case, it is described deposit ball case and be mounted in described put player's case behind face, and with 5th track, the 4th orbital docking, when executing recycling ball function, the ball case of depositing is transported downwards by spring containing It is dynamic, so that the 5th track is docked with third track realization.

Further, the club placing tube includes stack shell, and the stack shell is equipped with by bar door, puts bar door and moveable hinge Chain.

Further, the lever system that changes includes gear assembly, motor, pivoted frame, runner and shift fork, and the runner is located at institute It states in pivoted frame, the outside of the pivoted frame, which is equipped with, puts bar slot, and the bar slot of putting is for placing club, and the runner is equipped with pivoted frame Outer boom and cam, the motor supply power to the gear assembly, and the cam is driven to move, and the shift fork is equipped with card Slot, the card slot do pendular movement under the cam driven, and then the outer boom of the pivoted frame is driven to move in a circle, to make The pivoted frame is obtained to be driven.

Further, the motor uses stepper motor.

Further, several damping springs are equipped in the power running gear.

Further, the operation main screen uses touch screen.

The additional aspect and advantage of the utility model will be set forth in part in the description, partially will be from following description In become obvious, or recognized by the practice of the utility model.

Detailed description of the invention

The above-mentioned and/or additional aspect and advantage of the utility model from the description of the embodiment in conjunction with the following figures will Become obvious and is readily appreciated that, wherein：

Fig. 1 is the structural schematic diagram of the golf robot of an embodiment of the present invention；

Fig. 2 is the structural schematic diagram of the first manipulator in the golf robot of an embodiment of the present invention；

Fig. 3 is the structural schematic diagram of catching hand in Fig. 2；

Fig. 4 is the structural schematic diagram of the Zhong little robot of golf robot of an embodiment of the present invention；

Fig. 5 is the structural schematic diagram of the golf robot middle orbit system of an embodiment of the present invention；

Fig. 6 is the structural schematic diagram of club placing tube in the golf robot of an embodiment of the present invention；

Fig. 7 be an embodiment of the present invention golf robot in change the structural schematic diagram of lever system；

Fig. 8 is the structural schematic diagram of power running gear in the golf robot of an embodiment of the present invention.

Specific embodiment

It is practical to this with reference to the accompanying drawing to keep the purpose of this utility model, feature and advantage more obvious and easy to understand Novel specific embodiment is described in detail.Several embodiments of the utility model are given in attached drawing.But this is practical It is novel to realize in many different forms, however it is not limited to embodiment described herein.On the contrary, providing these implementations The purpose of example is to keep the disclosure to the utility model more thorough and comprehensive.

It should be noted that it can directly on the other element when element is referred to as " being fixedly arranged on " another element Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ", " right side ", "upper", "lower" and similar statement for illustrative purposes only, rather than the device or member of indication or suggestion meaning Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.

In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood as the case may be Concrete meaning in the present invention.Term " and or " used herein includes one or more relevant listed items Any and all combinations.

Referring to Fig. 1, the golf robot that an embodiment of the utility model proposes, including chassis 10, power row Walking system 20, shell 30 and club placing tube 40.

The shell 30 is mounted on the chassis 10 with the club placing tube 40, and the shell 30 is equipped with video camera 31 and operation main screen 32, the video camera 31 for tracking, position the ball got, in the shell 30 equipped with control system, Rail system 33, the first manipulator 34, the second manipulator and radar.The radar is used to match and the video camera 31 positions ball Pick-up point.Operation main screen 32 is communicated with the control system, and user can issue control instruction by operating main screen 32, specifically , operation main screen 32 uses touch screen.

It is equipped in the club placing tube 40 and changes lever system 41.The lever system 41 that changes is for carrying out more the club of placement It changes.

First manipulator 34 is used for mechanical by described first for grabbing the ball to fall to the ground, the rail system 33 The ball that hand 34 grabs is transferred to second manipulator, and second manipulator is used to ball being placed on predeterminated position, such as is placed on The predeterminated position in court, specifically, first manipulator 34 is identical with the structure of second manipulator.In Fig. 2, two cabins The first manipulator 34 and the second manipulator are placed respectively in door.

Below by taking the first manipulator 34 as an example, its structure is described in detail.Please refer to figs. 2 and 3, first machine Tool hand 34 includes pedestal 341 and the catching hand 342 being mounted on the pedestal 341, the pedestal 341 and ball grasping hand 342 It is flexibly connected, ball grasping hand 342 includes turntable 3421, the first gusset piece 3422, the second gusset piece 3423 and claw 3424, institute It states and is equipped with detent slot 3425 on the first gusset piece 3422 and second gusset piece 3423, the claw 3424 is slidably mounted on In the detent slot 3425, the detent slot 3425 is used to limit the movement of the claw 3424.Specifically, turntable 3421 drives First gusset piece 3422 movement, the second gusset piece 3423 be with the first gusset piece 3422 connect by hinges, thus by First gusset piece 3422 drives, and the second gusset piece 3423 drives claw 3424 to move along detent slot 3425 again, so that claw 3424 collapse.

Referring to Fig. 4, the golf robot further includes small machine people 50,50 ruler of small machine people in the present embodiment The very little size much smaller than shell 30, the control system in small machine people 50 are communicated with the control system in shell 30, normal condition Under, the small machine people 50 is placed in shell 30, when user has found that ball enters bushes or other first manipulators 34 are difficult to When the position of touching, small machine people 50 can be opened by operation main screen 32 and worked.Specifically, the small machine people 50 includes small Robot chassis 501, the small machine people walking mechanism 502 being mounted on small machine people chassis 501, small machine people's camera 503 and small machine people grab ball pawl 504, the small machine people grabs ball pawl 504 and small machine people chassis 501 and passes through connecting rod machine Structure connection 505.The quantity of small machine people camera 503 is two, and the rear and front end on small machine people chassis 501 is arranged in distribution.

Referring to Fig. 5, the rail system 33 includes the first track 331, the second track 332, third rail in the present embodiment Road 333, the 4th track 334, the 5th track 335, small machine people are driven out to guide rail 336, deposit ball case 337, preceding runner 338, rear runner 339, interior catching hand case 340, catching hand put ball case 341, it is interior put player's case 342, the small machine people is driven out to guide rail 336, described First track 331, second track 332, the preceding runner, the third track 333, the rear runner, the 4th rail Road 334 successively docks, and the ball that first manipulator 34 grabs is transferred to second track 331 first, then successively passes through institute It states preceding runner, the third track 333, the rear runner, the 4th track 334 and is transferred to second manipulator, it is described Catching hand is put ball case 341 and is mounted on the interior catching hand case 340, it is described deposit ball case 337 be mounted on it is described in put player's case 342 Behind face, and with the 5th track, the 4th orbital docking, when execute recycle ball function when, the ball case of depositing is by spring Containing moves downward, so that the 5th track is docked with third track realization.

Referring to Fig. 6, the club placing tube 40 includes stack shell 401, the stack shell 401 is equipped with by bar door 402, puts bar Door 403 and hinges 404.

Referring to Fig. 7, the lever system 41 that changes includes gear assembly 411, motor 412, pivoted frame 413, runner 414 and shift fork 416, the runner 414 is located in the pivoted frame 413, and the outside of the pivoted frame 413, which is equipped with, puts bar slot 415, described to put bar slot 415 for placing club, and it is multiple for putting the quantity of bar slot 415, and is evenly distributed on the outside of pivoted frame 413, on the runner 414 Equipped with boom 417 outside pivoted frame and cam 418, the motor 412 supplies power to the gear assembly 411, drives the cam 418 movements, the shift fork 416 are equipped with card slot 419, and the card slot 419 moves in a circle under the cam 418 drive, into And boom 417 outside the pivoted frame is driven to do pendular movement, so that the pivoted frame 413 is driven, realizes and put bar slot 415 The switching set.Specifically, the motor 412 uses stepper motor.

Referring to Fig. 8, several damping springs 201 are equipped in the power running gear 20, so that machine in the present embodiment Movement of the device people in golf competition field is more steady, is not susceptible to the problems such as jolting, overturning.

The working principle of the golf robot is：Firstly, when sportsman enters competition field, sportsman can be first from operation main screen It is pressed on 32 and takes ball function choosing-item, deposited ball case 337 at this time and automatically open, sportsman can be first direct in ball case 337 from depositing for robot Take out ball.When sportsman wants to take out the club of oneself needs, it can also be pressed in operation main screen 32 and take bar function choosing-item, can then gone out Existing alternative club picture and title.After sportsman presses desired club corresponding picture, by bar door 402, bar door 403 is put It can automatically open, then press button in bucket and just can be taken off the club of oneself needs.

After ball is got, the ball got using the tracking of video camera 31, positioning, and with the radar fix ball with inside Pick-up point.When the ball-picking functions option in sportsman's pushing operation main screen 32, under motor internal drive, robot is run to rapidly Golf, and under the Image Acquisition of video camera 31, identification, the positioning with radar, continuous adjustment direction go to golf Position.When robot reaches the short distance of ball, continue with the help of video camera 31, stretches out mechanical internal first Ball is picked up and is put on internal rail system 33, then sent out ball by the second manipulator by hand 34.

If robot during running to ball, is in by the position of the Image Acquisition of video camera 31, identification discovery ball and is filled When in wood, it can voluntarily stop and internal small machine people 50 is driven out to guide rail 336 by small machine people and release, small machine people 50 With the help of small machine people camera 503, looks for suitable position and enter bushes.After entering bushes, former and later two Small machine people camera 503 starts simultaneously at work, and Image Acquisition around is got off.At this point, at 50 internal processes of small machine people The image information being collected into is managed, action path is determined and records path.When the short distance position for reaching bead, small machine people 50 It stretches out small machine people and grabs ball pawl 504, embraced from the left-right position of ball, and will by the reset that small machine people grabs ball pawl 504 It on spherical zone to vehicle body, is then returned by the path recorded originally, the ball found is placed in rail system 33.

According to the golf robot that the present embodiment proposes, club is stored by club placing tube, passes through ball The lever system that changes in bar placing tube can be that user replace different clubs, and after ball is got, which can The ball got using video camera and radar tracking, positioning, finds pick-up point, and then ball is picked up and put by the first manipulator Enter in internal rail system, ball is transferred to by the second manipulator by rail system, then pass ball to use by the second manipulator Family no longer needs to employ caddie, reduces cost of labor using the golf robot, provides convenience for sportsman and match, mentions The high enjoyment and convenience played ball.

In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term Stating may not refer to the same embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be It can be combined in any suitable manner in any one or more embodiment or examples.

Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed, But it should not be understood as limiting the scope of the patent of the utility model.It should be pointed out that for the common of this field For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to In the protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.

Claims (8)

1. a kind of golf robot, which is characterized in that including chassis, power running gear, shell and club placing tube, institute It states shell and the club placing tube is mounted on the chassis, the shell is equipped with video camera and operation main screen, described to take the photograph Camera is equipped with control system, rail system, the first manipulator, the second machine in the shell for tracking, positioning the ball got Tool hand and radar, the radar are used for the pick-up point with the Camera Positioning ball, and interior be equipped with of the club placing tube changes bar System, first manipulator are used to grab on first manipulator for grabbing the ball to fall to the ground, the rail system Ball be transferred to second manipulator, second manipulator is used to for ball being placed on predeterminated position, first manipulator and The structure of second manipulator is identical, and first manipulator includes pedestal and the catching hand that is mounted on the pedestal, institute It states pedestal to be flexibly connected with ball grasping hand, ball grasping hand includes turntable, the first gusset piece, the second gusset piece and claw, institute It states and is equipped with detent slot on the first gusset piece and second gusset piece, the claw is slidably mounted in the detent slot, institute Detent slot is stated for limiting the movement of the claw.

2. golf robot according to claim 1, which is characterized in that the golf robot further includes small Robot, the small machine people include small machine people chassis, the small machine people's vehicle with walking machine being mounted on small machine people chassis Structure, small machine people camera and small machine people grab ball pawl, and the small machine people grabs ball pawl and passes through with small machine people chassis Link mechanism connection.

3. golf robot according to claim 2, which is characterized in that the rail system include the first track, Second track, third track, the 4th track, the 5th track, small machine people are driven out to guide rail, deposit ball case, is preceding runner, rear runner, interior Catching hand case, catching hand put ball case, it is interior put player's case, the small machine people is driven out to guide rail, first track, second rail Road, the preceding runner, the third track, the rear runner, the 4th track successively dock, the first manipulator crawl Ball be transferred to second track first, then successively by the preceding runner, the third track, it is described after runner, described 4th track is transferred to second manipulator, and ball grasping hand is put ball case and is mounted on the interior catching hand case, described to deposit ball Case is mounted in described and puts player's case behind face, and with the 5th track, the 4th orbital docking, recycle ball function when executing When energy, the ball case of depositing is moved downward by spring containing, so that the 5th track is docked with third track realization.

4. golf robot according to claim 1, which is characterized in that the club placing tube includes stack shell, institute Stack shell is stated to be equipped with by bar door, put bar door and hinges.

5. golf robot according to claim 1, which is characterized in that it is described change lever system include gear assembly, Motor, pivoted frame, runner and shift fork, the runner are located in the pivoted frame, and the outside of the pivoted frame, which is equipped with, puts bar slot, described to put Bar slot is for placing club, and the runner is equipped with the outer boom of pivoted frame and cam, the motor supply power to the gear set Part drives the cam to move, and the shift fork is equipped with card slot, and the card slot does pendular movement under the cam driven, into And boom outside the pivoted frame is driven to move in a circle, so that the pivoted frame is driven.

6. golf robot according to claim 5, which is characterized in that the motor uses stepper motor.

7. golf robot according to claim 1, which is characterized in that be equipped in the power running gear several A damping spring.

8. golf robot according to claim 1, which is characterized in that the operation main screen uses touch screen.