CN209734889U - Pick-up structure of robot for picking up intelligent tennis balls - Google Patents
Pick-up structure of robot for picking up intelligent tennis balls Download PDFInfo
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- CN209734889U CN209734889U CN201920318439.7U CN201920318439U CN209734889U CN 209734889 U CN209734889 U CN 209734889U CN 201920318439 U CN201920318439 U CN 201920318439U CN 209734889 U CN209734889 U CN 209734889U
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- collecting
- tennis
- tennis ball
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- wheels
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Abstract
The utility model discloses a pick up structure of intelligence tennis picking up robot, including frame, tennis guide way, collection arm and collection wheel, the front end of frame is provided with a pair of collection arm and constitutes a tennis collection guiding channel that narrows gradually inwards, and the passageway end is provided with a pair of collecting wheel of rotating in opposite directions, and the clearance between two collecting wheels is less than the diameter of tennis, and the output of two collecting wheels is provided with the tennis guide way; the tennis ball guide way is obliquely arranged, the lowest end of the tennis ball guide way is tangent to the bottom surface of the frame, and the collecting wheels are obliquely arranged and are parallel to the bottom surface of the tennis ball guide way. The utility model greatly simplifies the tennis ball collecting process and has high collecting efficiency; when tennis balls touch the collecting wheels, the tennis balls are absorbed by the collecting wheels within 0.3 second, so that even if a plurality of tennis balls are arranged, the tennis balls can be easily collected, the tennis balls are small in size, and no requirement is imposed on the moving speed of the trolley.
Description
Technical Field
The utility model relates to a mechanical structure field specifically is an intelligence tennis picks up structure of picking up of robot.
Background
The tennis ball collectors in the market are all semi-automatic types, and the tennis ball collecting operation is completed by pushing a collecting vehicle by manpower. The robots for fully automatically collecting tennis balls are all in the experimental prototype stage, and the collecting method has more defects. At present, the robot for automatically collecting tennis balls mainly collects tennis balls through two modes: one for robotic arm collection and one for roller collection.
There are two kinds of modes in traditional full-automatic tennis robot collection tennis. One kind uses the mechanical arm to catch the tennis, can collect a tennis only once, and the precision requirement to the mechanical arm is very high, the control procedure is complicated, easy to damage, inefficiency; another method for collecting tennis balls by using a rotary drum is that although a plurality of tennis balls can be collected at one time, the number of collected tennis balls is in direct proportion to the length of the rotary drum, so the rotary drum is usually large in size and not flexible enough, and the other defect is that the rotary drum is of a driven structure, the rotating speed is consistent with the advancing speed of a trolley, the speed is slow, and the tennis balls cannot be collected quickly when a plurality of tennis balls in the longitudinal direction are arranged.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a structure of picking up of robot is picked up to intelligence tennis to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
A picking structure of an intelligent tennis ball picking robot comprises a frame, tennis ball guide ways, collecting arms and collecting wheels, wherein a pair of collecting arms are arranged at the front end of the frame to form an inwards narrowing tennis ball collecting guide channel, a pair of collecting wheels rotating in opposite directions are arranged at the tail end of the channel, a gap between the two collecting wheels is smaller than the diameter of a tennis ball, and the output ends of the two collecting wheels are provided with the tennis ball guide ways; the tennis ball guide way is obliquely arranged, the lowest end of the tennis ball guide way is tangent to the bottom surface of the frame, and the collecting wheels are obliquely arranged and are parallel to the bottom surface of the tennis ball guide way.
As a further aspect of the present invention: the tennis ball guide rail is characterized in that the highest end of the tennis ball guide rail is a tennis ball outlet, a collecting basket is correspondingly arranged behind the tennis ball outlet, a connecting lug formed at one end of the collecting basket is connected with a connecting lug formed behind the frame through a pin, one end of the collecting basket, facing the tennis ball outlet of the tennis ball guide rail, is outwards turned, and ensures that the distance between the collecting basket and the tennis ball outlet is smaller than the radius of tennis balls, and wheels are arranged at the bottom of the collecting basket.
As a further aspect of the present invention: the central rotating shaft of the collecting wheel is connected with an output shaft of a direct current motor through a coupler, the direct current motor is fixedly connected to one end of the corresponding motor mounting frame through a motor base, and the other end of the motor mounting frame is fixedly connected to the side wall of the frame through a screw.
As a further aspect of the present invention: the collecting wheel is composed of a hub and a rubber sleeve sleeved outside the hub.
As a further aspect of the present invention: the collecting arm is right triangle's panel, and the one end of a right-angle side bottom of collecting arm through screw fixed connection piece, the other end of connection piece pass through screw fixed connection in the bottom of frame, and two right triangle set up relatively and constitute outer eight characters.
As a further aspect of the present invention: two wheel shaft mounting holes for mounting wheels are formed in the two sides of the frame.
Compared with the prior art, the beneficial effects of the utility model are that:
The utility model greatly simplifies the tennis ball collecting process and has high collecting efficiency; when tennis balls touch the collecting wheels, the tennis balls are absorbed by the collecting wheels within 0.3 second, so that even if a plurality of tennis balls are arranged, the tennis balls can be easily collected, the tennis balls are small in size, and no requirement is imposed on the moving speed of the trolley.
drawings
Fig. 1 is a schematic perspective view of a picking structure of an intelligent tennis ball picking robot.
Fig. 2 is a schematic cross-sectional structure view of a pick-up structure of the intelligent tennis ball pick-up robot.
fig. 3 is a schematic structural view of a pick-up structure mounting collection basket of the intelligent tennis ball pick-up robot.
In the figure: the tennis ball collecting device comprises a motor mounting frame 1, a camera mounting support 2, a frame 3, a tennis ball guide way 4, a collecting arm 5, a collecting wheel 6, a direct current motor 7, a wheel shaft mounting hole 8, a wheel hub 9, a rubber sleeve 10 and a collecting basket 11.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 to 3, in an embodiment of the present invention, a picking structure of an intelligent tennis ball picking robot includes a motor mounting frame 1, a camera mounting bracket 2, a frame 3, a tennis ball guide channel 4, collecting arms 5, collecting wheels 6, a dc motor 7, and a wheel shaft mounting hole 8, wherein a pair of collecting arms 5 is disposed at the front end of the frame 3 to form an inwardly narrowing tennis ball collecting guide channel, a pair of collecting wheels 6 rotating in opposite directions are disposed at the end of the channel, a gap between the two collecting wheels 6 is smaller than a diameter of a tennis ball (generally, slightly smaller than that of the tennis ball, so as to increase friction and facilitate extrusion to drive tennis ball movement), and a tennis ball guide channel 4 is disposed at an output end of the two collecting wheels 6; the tennis ball guide channel 4 is obliquely arranged, the lowest end of the tennis ball guide channel is tangent to the bottom surface of the frame 3, the highest end of the tennis ball guide channel 4 is a tennis outlet, tennis balls are conveniently discharged into the collecting basket 11 correspondingly installed behind the frame, a connecting lug formed at one end of the collecting basket 11 is connected with a connecting lug formed behind the frame 3 through a pin, the collecting basket 11 is turned outwards towards one end of the tennis ball guide channel 4, the interval between the collecting basket 11 and the tennis outlet is smaller than the radius of the tennis balls, the tennis balls output by the tennis ball guide channel 4 can enter the collecting basket 11 at the maximum probability, and wheels are installed at the bottom of the collecting basket.
The slope of collection wheel 6 sets up and is parallel with the bottom surface of tennis guide way 4, has the clearance of avoiding its direct contact to grind the ground between 6 lowest of collection wheel and the ground, and the output shaft of coupling joint DC motor 7 is passed through in the central pivot of collection wheel 6, and DC motor 7 passes through motor cabinet fixed connection in the one end that corresponds motor mounting bracket 1, and the other end of motor mounting bracket 1 passes through screw fixed connection on the lateral wall of frame to guarantee to collect the relative stability of wheel position, the utility model provides a motor adopt current DC motor can, its power supply mode and control mode all adopt prior art simultaneously.
The collecting wheel 6 is composed of a hub 9 and a rubber sleeve 10 sleeved outside the hub 9, and the rubber sleeve 10 is soft and can be deformed to increase friction force when a tennis ball is extruded, so that picking efficiency is improved.
The collecting arm 5 is a right-angled triangle plate, the bottom of one right-angled side of the collecting arm 5 is fixedly connected with one end of a connecting sheet through a screw, the other end of the connecting sheet is fixedly connected with the bottom of the frame 3 through a screw, the two right-angled triangles are oppositely arranged and form an outer splayed shape, and the outer splayed structure can concentrate tennis balls scattered on the ground to a collecting area with a higher probability in the whole device movement process, so that the collecting efficiency is improved; the connecting sheet is a sheet with through holes at two ends.
The top of frame 3 still is connected with camera installing support 2, and camera installing support 2 is used for installing the camera.
Two wheel axle mounting holes 8 for mounting wheels are formed in the two sides of the frame 3, the mounting mode and the driving mode of the wheels adopt the prior art, and meanwhile, the driving mode of the frame is also the prior art, so that the detailed description is omitted.
The motor mounting frame 1 and the horizontal direction form an included angle of 30 degrees, and the collecting wheel 6 and the horizontal plane also form an included angle of 30 degrees. When the tennis ball collecting device runs, the two collecting wheels rotate reversely to give an oblique acceleration to the tennis ball, so that the tennis ball flies into the rear collecting basket through the tennis ball guide channel 4. The spacing between the two collection wheels was 65 mm.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (6)
1. A picking structure of an intelligent tennis ball picking robot comprises a frame (3), tennis ball guide ways (4), collecting arms (5) and collecting wheels (6), and is characterized in that a pair of collecting arms (5) are arranged at the front end of the frame (3) to form an inwards narrowing tennis ball collecting guide channel, a pair of collecting wheels (6) rotating in opposite directions are arranged at the tail end of the channel, the gap between the two collecting wheels (6) is smaller than the diameter of a tennis ball, and the tennis ball guide ways (4) are arranged at the output ends of the two collecting wheels (6); the tennis ball guide way (4) is obliquely arranged, the lowest end of the tennis ball guide way is tangent to the bottom surface of the frame (3), and the collecting wheels (6) are obliquely arranged and are parallel to the bottom surface of the tennis ball guide way (4).
2. The structure of claim 1, wherein the top end of the tennis ball guide channel (4) is a ball outlet, a collection basket (11) is correspondingly arranged behind the ball outlet, a connecting lug formed at one end of the collection basket (11) is connected with a connecting lug formed at the rear of the frame (3) through a pin, the collection basket (11) is turned outwards towards one end of the ball outlet of the tennis ball guide channel (4) and ensures that the distance between the collection basket and the ball outlet is smaller than the radius of the tennis ball, and wheels are mounted at the bottom of the collection basket.
3. The structure of claim 1, wherein the central rotating shaft of the collecting wheel (6) is connected to the output shaft of the dc motor (7) through a coupling, the dc motor (7) is fixedly connected to one end of the corresponding motor mounting bracket (1) through a motor base, and the other end of the motor mounting bracket (1) is fixedly connected to the side wall of the frame through a screw.
4. A pick-up structure of an intelligent tennis ball pick-up robot according to claim 1 or 3, characterized in that the collecting wheel (6) is constituted by a hub (9) and a rubber sleeve (10) sleeved outside thereof.
5. The structure of claim 1, wherein the collection arm (5) is a plate of right triangle, one bottom of one right-angle side of the collection arm (5) is fixedly connected with one end of the connecting piece by a screw, the other end of the connecting piece is fixedly connected with the bottom of the frame (3) by a screw, and the two right triangles are arranged oppositely and form an outer splayed shape.
6. The structure of claim 1 or 2, wherein two wheel axle mounting holes (8) for mounting wheels are opened on both sides of the frame (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920318439.7U CN209734889U (en) | 2019-03-13 | 2019-03-13 | Pick-up structure of robot for picking up intelligent tennis balls |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920318439.7U CN209734889U (en) | 2019-03-13 | 2019-03-13 | Pick-up structure of robot for picking up intelligent tennis balls |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209734889U true CN209734889U (en) | 2019-12-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920318439.7U Expired - Fee Related CN209734889U (en) | 2019-03-13 | 2019-03-13 | Pick-up structure of robot for picking up intelligent tennis balls |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209734889U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110935147A (en) * | 2019-12-16 | 2020-03-31 | 天水师范学院 | Tennis ball picking machine |
| CN110975245A (en) * | 2019-12-13 | 2020-04-10 | 绍兴文理学院 | Tennis device is picked up to intelligence |
-
2019
- 2019-03-13 CN CN201920318439.7U patent/CN209734889U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110975245A (en) * | 2019-12-13 | 2020-04-10 | 绍兴文理学院 | Tennis device is picked up to intelligence |
| CN110975245B (en) * | 2019-12-13 | 2021-05-18 | 绍兴文理学院 | Tennis device is picked up to intelligence |
| CN110935147A (en) * | 2019-12-16 | 2020-03-31 | 天水师范学院 | Tennis ball picking machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191206 Termination date: 20210313 |