CN210302269U - Table tennis ball picking robot - Google Patents
Table tennis ball picking robot Download PDFInfo
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- CN210302269U CN210302269U CN201920690544.3U CN201920690544U CN210302269U CN 210302269 U CN210302269 U CN 210302269U CN 201920690544 U CN201920690544 U CN 201920690544U CN 210302269 U CN210302269 U CN 210302269U
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Abstract
The utility model relates to a table tennis ball picking robot, which comprises a chassis, a walking mechanism, a ball picking mechanism, a temporary storage ball bin, a ball screening and arranging mechanism and a ball warehouse; the ball picking mechanism comprises a ball collecting plate and a first rotary impeller, the first rotary impeller is arranged above the ball collecting plate, and a temporary ball storage bin is arranged on one side of the first rotary impeller; sieve ball arrangement mechanism includes second rotary impeller, push rod and arc slide, and the second rotary impeller is located the one end in the ball storehouse of keeping in, and one side of the second rotary impeller is located to the arc slide, and the table tennis export of the second rotary impeller is connected to the one end of arc slide, and the ball storehouse is connected to the other end, and the opposite side of the second rotary impeller is located to the push rod. The utility model discloses can pick up the table tennis of scattering on the ground to arrange the back in order and leave in the ball storehouse in good order, it is efficient to pick up the ball, convenient to use.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a table tennis picks up ball robot.
Background
In the training process of small ball sports such as table tennis, badminton, golf and the like, the balls are usually picked up manually, and because the times of picking up the balls in the daily training process are more, the manual ball picking up not only wastes time and affects the training efficiency, but also has higher labor intensity for people picking up the balls; therefore, in recent years, many robots for picking up balls have been developed.
The robot for picking up table tennis balls at present generally has the defects of complex structure, complex operation, low picking-up efficiency, fewer functions and incapability of meeting the requirements.
Disclosure of Invention
The utility model provides a table tennis ball picking robot can pick up the table tennis ball that scatters on the ground to in the ball storehouse is deposited in neatly orderly after putting in order, picks up ball efficiently, convenient to use.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a table tennis ball picking robot comprises a chassis, and a walking mechanism, a ball picking mechanism, a temporary storage ball bin, a ball screening and sorting mechanism and a ball warehouse which are arranged on the chassis; the chassis is driven by the walking mechanism to move; the ball picking mechanism comprises 2 ball collecting plates and a first rotary impeller, wherein the 2 ball collecting plates are symmetrically arranged below the chassis, the first rotary impeller is arranged above the ball collecting plates, one side of the first rotary impeller is provided with a temporary storage ball bin, and table tennis balls positioned between the 2 ball collecting plates are picked into the temporary storage ball bin by the rotation of the first rotary impeller; sieve ball arrangement mechanism includes second rotary impeller, push rod and arc slide, and the second rotary impeller is located the one end in the ball storehouse of keeping in, and the one side of the second rotary impeller is located to the arc slide, and the table tennis export of the second rotary impeller is connected to the one end of arc slide, and the ball storehouse is connected to the other end, and the opposite side of the second rotary impeller is located to the push rod, and the table tennis of collecting the second rotary impeller is followed the arc slide propelling movement to the ball storehouse in through the push rod.
The walking mechanisms are 4 groups, and each group of walking mechanisms consists of a rubber wheel, a wheel shaft, a wheel bearing bracket, a small bevel gear, a large bevel gear, a walking motor bracket and a stepping motor; the walking motor support is fixed below the chassis, a stepping motor is arranged on the chassis above the walking motor support, an output shaft of the stepping motor penetrates through the chassis and then is connected with the walking motor support, and the walking motor support can horizontally rotate under the driving of the stepping motor; the walking motor is arranged below the walking motor bracket, an output shaft of the walking motor is connected with the small bevel gear, the wheel shaft is fixed below the chassis through the wheel bearing bracket, the outer end of the wheel shaft is provided with the rubber wheel, the inner end of the wheel shaft is provided with the large bevel gear, and the small bevel gear is in meshing transmission with the large bevel gear and drives the corresponding rubber wheel to rotate under the driving of the walking motor.
2 ball collecting plate is the splayed and fixes in the chassis below, ball collecting plate's one end and chassis fixed connection, and the other end outwards opens.
The ball picking mechanism consists of a ball picking driving motor, a large gear, a small gear, a first rotary impeller and a rotary impeller cover; the ball picking driving motor is fixed on the chassis through a motor base, and the output end of the ball picking driving motor is provided with a large gear; the first rotating impeller consists of rotating blades and a rotating shaft, the rotating blades are arranged on the rotating shaft along the circumferential direction, and a pinion is arranged at one end of the rotating shaft; under the drive of the ball picking drive motor, the bull gear and the pinion are in meshing transmission and drive the rotating blade to rotate through the rotating shaft; the rotating blades are arc-shaped blades, a rotating impeller cover is arranged on the outer side of the first rotating impeller, and one side, close to the temporary storage ball bin, of the first rotating impeller is of an open structure.
One side of the temporary storage ball bin is connected with the first rotating impeller, and the other side of the temporary storage ball bin is provided with a rear baffle; one end of the temporary storage ball bin is provided with a side baffle, and the other end of the temporary storage ball bin is connected with a second rotating impeller; the bottom surface of the temporary storage ball bin is an arc surface or an inclined surface, and one side close to the side baffle is higher than one side close to the second rotary impeller.
The sieve ball arranging mechanism consists of a push rod motor, a gear, a rack push rod, an impeller rotating motor, a rotating rod and a second rotating impeller; the push rod motor is fixed on the chassis through a corresponding motor base, a gear is arranged at the end of an output shaft of the push rod motor, and the gear is meshed with a rack on the rack push rod for transmission, so that the push rod moves back and forth along the axial direction of the second rotary impeller; the impeller rotating motor is fixed on the chassis through a corresponding motor base, and an output shaft of the impeller rotating motor is connected with a rotating shaft of the second rotating impeller through a rotating rod; the second rotating impeller consists of a rotating shaft and a plurality of blades arranged on the outer side of the rotating shaft along the circumferential direction, and the rotating rod drives the second rotating impeller to rotate under the driving of an impeller rotating motor; the blades are arc-shaped blades or L-shaped blades, and the impeller rotating motor is linked with the push rod motor through a control system.
An entrance goal frame is arranged between the second rotary impeller and the arc-shaped slideway.
One end of the arc-shaped slide way, which is close to the second rotary impeller, is higher than one end of the arc-shaped slide way, which is close to the ball storage.
The ball warehouse is composed of a coaming, an adjusting motor, a screw rod, a T-shaped nut, a guide rod and a push plate; one side of the ball warehouse is close to a rear baffle of the temporary storage ball warehouse, the other three sides of the ball warehouse are enclosed by enclosing plates, and an upper opening of one side of the enclosing plate is connected with the arc-shaped slide way; a push plate is arranged in the middle of the ball warehouse, an adjusting motor is fixed on a rear baffle plate through a motor support, and a bearing seat is arranged on a coaming on the side opposite to the adjusting motor; the output shaft of the adjusting motor is connected with one end of a screw rod, and the other end of the screw rod penetrates through a T-shaped nut fixed on the push plate and then is supported in a bearing seat; guide rods are respectively arranged on two sides of the push plate and are arranged in parallel with the screw rod, one end of each guide rod is fixedly connected with the rear baffle, and the other end of each guide rod penetrates through the push plate and is fixedly connected with the surrounding plate; under the drive of the adjusting motor, the screw rod is in matched transmission with the T-shaped nut, and the push plate moves back and forth along the guide rod.
Compared with the prior art, the beneficial effects of the utility model are that:
1) a series of actions such as picking up, screening, warehousing and sorting of the table tennis balls can be completed, and the functions are complete;
2) the structure is compact and reasonable, the weight of the whole machine is light, the action is flexible, and the operation is convenient;
3) the rack push rod and the second rotary impeller are matched to realize one-by-one sorting and warehousing of the table tennis balls, and the phenomenon that the table tennis balls bounce and get off or are blocked due to disordered rolling in the conveying process is avoided.
Drawings
Fig. 1 is a schematic view of a three-dimensional structure of a table tennis ball picking robot of the present invention.
Fig. 2 is a schematic view (part) of a three-dimensional structure of the table tennis ball picking robot of the present invention.
Fig. 3 is a three-dimensional structure schematic diagram of the table tennis ball picking robot of the present invention.
In the figure: 1. the automatic ball picking machine comprises a walking mechanism 11, a rubber wheel 12, a wheel shaft 13, a wheel bearing support 14, a small bevel gear 15, a large bevel gear 16, a walking motor 17, a walking motor support 2, a ball picking mechanism 21, a ball picking driving motor 22, a large gear 23, a small gear 24, a ball collecting plate 25, a rotating blade 26, a rotating shaft 3, a chassis 4, a ball screening finishing mechanism 41, a push rod motor 42, a gear 43, a rack push rod 44, an impeller rotating motor 45, a rotating rod 46, a second rotating impeller 47, an inlet goal frame 48, an arc-shaped slideway 5, a ball warehouse 51, a coaming 52, a guide rod 53, a motor support 54, a bearing seat 55, a lead screw 56. T-shaped nut 57, a push plate 58, an adjusting motor 6, a temporary ball storage 61, a rear baffle 5
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:
as shown in fig. 1-3, the table tennis ball picking robot of the present invention comprises a chassis 3, and a walking mechanism 1, a ball picking mechanism 2, a temporary storage ball bin 6, a ball screening and sorting mechanism 4 and a ball storage 5 which are arranged on the chassis 3; the chassis 3 is driven by the walking mechanism 1 to move; the ball picking mechanism 2 comprises ball collecting plates 24 and first rotary impellers, the ball collecting plates 24 are arranged below the chassis 3 symmetrically, the first rotary impellers are arranged above the ball collecting plates 24, the temporary ball storage bin 6 is arranged on one side of each first rotary impeller, and table tennis balls between the 2 ball collecting plates 24 are picked into the temporary ball storage bin 6 through rotation of the first rotary impellers; sieve ball arrangement mechanism 4 includes second rotatory impeller 46, push rod and arc slide 48, and second rotatory impeller 46 is located the one end of the ball storehouse 6 of keeping in, and one side of second rotatory impeller 46 is located to arc slide 48, and the table tennis export of second rotatory impeller 46 is connected to the one end of arc slide, and ball storehouse 5 is connected to the other end, and the opposite side of second rotatory impeller 46 is located to the push rod, and the table tennis of collecting second rotatory impeller 46 is followed arc slide 48 propelling movement to ball storehouse 5 through the push rod.
As shown in fig. 2, the number of the traveling mechanisms is 4, and each group of the traveling mechanisms consists of a rubber wheel 11, a wheel shaft 12, a wheel bearing support 13, a small bevel gear 14, a large bevel gear 15, a traveling motor 16, a traveling motor support 17 and a stepping motor 18; the walking motor support 17 is fixed below the chassis 3, the chassis 3 above the walking motor support 17 is provided with a stepping motor 18, an output shaft of the stepping motor 18 penetrates through the chassis 3 and then is connected with the walking motor support 17, and the walking motor support 17 can horizontally rotate under the driving of the stepping motor 18; the walking motor 16 is arranged below the walking motor bracket 17, an output shaft of the walking motor 16 is connected with the small bevel gear 14, the wheel shaft 12 is fixed below the walking motor bracket 17 through the wheel bearing bracket 13, the rubber wheel 11 is arranged at the outer end of the wheel shaft 12, the large bevel gear 15 is arranged at the inner end of the wheel shaft 12, and the small bevel gear 14 and the large bevel gear 15 are in meshing transmission under the driving of the walking motor 16 and drive the corresponding rubber wheel 11 to rotate.
2 ball collecting plate 24 is the splayed and fixes in chassis 3 below, ball collecting plate 24's one end and chassis 3 fixed connection, and the other end outwards opens.
As shown in fig. 2 and 3, the ball picking mechanism 2 is composed of a ball picking driving motor 21, a large gear 22, a small gear 23, a first rotary impeller and a rotary impeller cover; the ball picking driving motor 21 is fixed on the chassis 3 through a motor base, and the output end of the ball picking driving motor 21 is provided with a large gear 22; the first rotary impeller is composed of rotary blades 25 and a rotary shaft 26, wherein the plurality of rotary blades 25 are circumferentially arranged on the rotary shaft 26, and a pinion 23 is arranged at one end of the rotary shaft 26; under the driving of the ball picking driving motor 21, the bull gear 22 is in meshing transmission with the pinion 23 and drives the rotating blade 25 to rotate through the rotating shaft 26; the rotating blades 25 are arc-shaped blades, a rotating blade wheel cover is arranged on the outer side of the first rotating blade wheel, and one side of the first rotating blade wheel, which is close to the temporary storage ball bin 6, is of an open structure.
As shown in fig. 2 and 3, one side of the temporary storage ball bin 6 is connected with the first rotary impeller, and the other side is provided with a rear baffle 61; one end of the temporary storage ball bin 6 is provided with a side baffle, and the other end is connected with a second rotating impeller; the bottom surface of the temporary storage ball bin 6 is an arc surface or an inclined surface, and one side close to the side baffle is higher than one side close to the second rotary impeller.
As shown in fig. 3, the ball sorting mechanism 4 is composed of a push rod motor 41, a gear 42, a rack push rod 43, an impeller rotating motor 44, a rotating rod 45 and a second rotating impeller 46; the push rod motor 41 is fixed on the chassis 3 through a corresponding motor base, a gear 42 is arranged at the end of an output shaft of the push rod motor 41, and the gear 42 is in meshing transmission with a rack on a rack push rod 43, so that the push rod moves back and forth along the axial direction of a second rotating impeller 48; the impeller rotating motor 44 is fixed on the chassis 3 through a corresponding motor base, and an output shaft of the impeller rotating motor 44 is connected with a rotating shaft of a second rotating impeller 46 through a rotating rod 45; the second rotary impeller 46 is composed of a rotary shaft and a plurality of blades arranged on the outer side of the rotary shaft along the circumferential direction, and the rotary rod 45 drives the second rotary impeller 46 to rotate under the driving of the impeller rotating motor 44; the blades are arc-shaped blades or L-shaped blades, and the impeller rotating motor 44 is linked with the push rod motor 41 through a control system.
An entrance goal frame 47 is arranged between the second rotary impeller 46 and the arc-shaped slideway 48.
The end of the arc-shaped chute 48 close to the second rotary impeller 46 is higher than the end close to the ball magazine 5.
As shown in fig. 3, the ball magazine 5 is composed of a coaming 51, an adjusting motor 58, a screw 55, a T-shaped nut 56, a guide rod 52 and a push plate 57; one side of the ball warehouse 5 is close to a rear baffle 61 of the temporary storage ball warehouse 6, the other three sides are enclosed by a coaming 51, and the upper opening of the coaming 51 on one side is connected with the arc-shaped slideway 48; a push plate 57 is arranged in the middle of the ball warehouse 5, an adjusting motor 58 is fixed on a rear baffle plate 61 through a motor bracket 53, and a bearing seat 54 is arranged on the enclosing plate 51 on the side opposite to the adjusting motor 58; an output shaft of the adjusting motor 58 is connected with one end of a screw rod 55, and the other end of the screw rod 55 passes through a T-shaped nut 56 fixed on a push plate 57 and then is supported in a bearing seat 54; the two sides of the push plate 57 are respectively provided with a guide rod 52, the guide rods 52 are arranged in parallel with the screw rod 55, one end of each guide rod 52 is fixedly connected with the rear baffle 61, and the other end of each guide rod 52 penetrates through the push plate 57 and is fixedly connected with the enclosing plate 51; under the drive of the adjusting motor 58, the screw 55 is in transmission with the T-nut 56, and the push plate 57 moves back and forth along the guide rod 52.
Use the utility model relates to a method that table tennis ball picking robot carries out automatic ball picking arrangement to table tennis is as follows:
when the table tennis picking-up robot starts to pick up the table tennis, firstly, the walking motor 16 is started, the table tennis picking-up robot is driven by the walking mechanism 1 to move along a set route, and the walking motor 16 is used for controlling the speed of the rubber wheels 11 in each group of walking mechanism 1, so that the forward, backward and steering operation of the table tennis picking-up robot is realized; the device can be rotated in place by a stepper motor 18; then the ball picking drive motor 21, the push rod motor 41 and the impeller rotating motor 44 are started;
in the walking process of the table tennis ball picking robot, table tennis balls scattered on the ground are collected together through 2 ball collecting plates 24 arranged below the chassis 3, and then the table tennis balls between the 2 ball collecting plates 24 are picked into the temporary storage ball bin 6 through the rotation of the first rotary impeller;
the table tennis balls in the temporary storage ball bin 6 roll to the second rotary impeller 46 along the inclined bottom surface, the table tennis balls are picked up one by the blades of the second rotary impeller 46 and rotate to the position opposite to the rack push rod 43, the table tennis balls are sequentially pushed into the arc-shaped slide way 48 in the reciprocating movement process of the rack push rod 43, and the table tennis balls automatically roll down to the ball storage 5 along the arc-shaped slide way 48 with the inclined bottom;
the adjusting motor 58 is started, and the table tennis balls in the ball storage 5 are arranged in order by the movement of the push plate 57.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (9)
1. A table tennis ball picking robot is characterized by comprising a chassis, and a traveling mechanism, a ball picking mechanism, a temporary storage ball bin, a ball screening and sorting mechanism and a ball warehouse which are arranged on the chassis; the chassis is driven by the walking mechanism to move; the ball picking mechanism comprises 2 ball collecting plates and a first rotary impeller, wherein the 2 ball collecting plates are symmetrically arranged below the chassis, the first rotary impeller is arranged above the ball collecting plates, one side of the first rotary impeller is provided with a temporary storage ball bin, and table tennis balls positioned between the 2 ball collecting plates are picked into the temporary storage ball bin by the rotation of the first rotary impeller; sieve ball arrangement mechanism includes second rotary impeller, push rod and arc slide, and the second rotary impeller is located the one end in the ball storehouse of keeping in, and the one side of the second rotary impeller is located to the arc slide, and the table tennis export of the second rotary impeller is connected to the one end of arc slide, and the ball storehouse is connected to the other end, and the opposite side of the second rotary impeller is located to the push rod, and the table tennis of collecting the second rotary impeller is followed the arc slide propelling movement to the ball storehouse in through the push rod.
2. The table tennis ball picking robot of claim 1, wherein the traveling mechanisms are 4 groups, each group of traveling mechanisms is composed of a rubber wheel, a wheel axle, a wheel bearing support, a small bevel gear, a large bevel gear, a traveling motor support and a stepping motor; the walking motor support is fixed below the chassis, a stepping motor is arranged on the chassis above the walking motor support, an output shaft of the stepping motor penetrates through the chassis and then is connected with the walking motor support, and the walking motor support can horizontally rotate under the driving of the stepping motor; the walking motor is arranged below the walking motor bracket, an output shaft of the walking motor is connected with the small bevel gear, the wheel shaft is fixed below the chassis through the wheel bearing bracket, the outer end of the wheel shaft is provided with the rubber wheel, the inner end of the wheel shaft is provided with the large bevel gear, and the small bevel gear is in meshing transmission with the large bevel gear and drives the corresponding rubber wheel to rotate under the driving of the walking motor.
3. The table tennis ball picking robot of claim 1, wherein the 2 ball collecting plates are fixed below the chassis in a splayed shape, one end of each ball collecting plate is fixedly connected with the chassis, and the other end of each ball collecting plate is opened outwards.
4. The table tennis ball picking robot of claim 1, wherein the ball picking mechanism is composed of a ball picking driving motor, a large gear, a small gear, a first rotary impeller and a rotary impeller cover; the ball picking driving motor is fixed on the chassis through a motor base, and the output end of the ball picking driving motor is provided with a large gear; the first rotating impeller consists of rotating blades and a rotating shaft, the rotating blades are arranged on the rotating shaft along the circumferential direction, and a pinion is arranged at one end of the rotating shaft; under the drive of the ball picking drive motor, the bull gear and the pinion are in meshing transmission and drive the rotating blade to rotate through the rotating shaft; the rotating blades are arc-shaped blades, a rotating impeller cover is arranged on the outer side of the first rotating impeller, and one side, close to the temporary storage ball bin, of the first rotating impeller is of an open structure.
5. The table tennis ball picking robot of claim 1, wherein one side of the temporary storage bin is connected with the first rotary impeller, and the other side is provided with a rear baffle; one end of the temporary storage ball bin is provided with a side baffle, and the other end of the temporary storage ball bin is connected with a second rotating impeller; the bottom surface of the temporary storage ball bin is an arc surface or an inclined surface, and one side close to the side baffle is higher than one side close to the second rotary impeller.
6. The table tennis ball picking robot of claim 1, wherein the ball sorting mechanism comprises a push rod motor, a gear, a rack push rod, an impeller rotating motor, a rotating rod and a second rotating impeller; the push rod motor is fixed on the chassis through a corresponding motor base, a gear is arranged at the end of an output shaft of the push rod motor, and the gear is meshed with a rack on the rack push rod for transmission, so that the push rod moves back and forth along the axial direction of the second rotary impeller; the impeller rotating motor is fixed on the chassis through a corresponding motor base, and an output shaft of the impeller rotating motor is connected with a rotating shaft of the second rotating impeller through a rotating rod; the second rotating impeller consists of a rotating shaft and a plurality of blades arranged on the outer side of the rotating shaft along the circumferential direction, and the rotating rod drives the second rotating impeller to rotate under the driving of an impeller rotating motor; the blades are arc-shaped blades or L-shaped blades, and the impeller rotating motor is linked with the push rod motor through a control system.
7. The table tennis ball picking robot of claim 1, wherein an entry goal frame is provided between the second rotary impeller and the arc-shaped chute.
8. The ping-pong ball picking robot of claim 1, wherein the end of the arc chute near the second rotary impeller is higher than the end near the ball magazine.
9. The table tennis ball picking robot of claim 1, wherein the ball magazine is composed of a coaming, an adjusting motor, a lead screw, a T-shaped nut, a guide rod and a push plate; one side of the ball warehouse is close to a rear baffle of the temporary storage ball warehouse, the other three sides of the ball warehouse are enclosed by enclosing plates, and an upper opening of one side of the enclosing plate is connected with the arc-shaped slide way; a push plate is arranged in the middle of the ball warehouse, an adjusting motor is fixed on a rear baffle plate through a motor support, and a bearing seat is arranged on a coaming on the side opposite to the adjusting motor; the output shaft of the adjusting motor is connected with one end of a screw rod, and the other end of the screw rod penetrates through a T-shaped nut fixed on the push plate and then is supported in a bearing seat; guide rods are respectively arranged on two sides of the push plate and are arranged in parallel with the screw rod, one end of each guide rod is fixedly connected with the rear baffle, and the other end of each guide rod penetrates through the push plate and is fixedly connected with the surrounding plate; under the drive of the adjusting motor, the screw rod is in matched transmission with the T-shaped nut, and the push plate moves back and forth along the guide rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920690544.3U CN210302269U (en) | 2019-05-14 | 2019-05-14 | Table tennis ball picking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920690544.3U CN210302269U (en) | 2019-05-14 | 2019-05-14 | Table tennis ball picking robot |
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| Publication Number | Publication Date |
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| CN210302269U true CN210302269U (en) | 2020-04-14 |
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| CN201920690544.3U Active CN210302269U (en) | 2019-05-14 | 2019-05-14 | Table tennis ball picking robot |
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| CN (1) | CN210302269U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110152256A (en) * | 2019-05-14 | 2019-08-23 | 辽宁科技大学 | A kind of table tennis balls collecting machine people and automatic table tennis ball picking method for sorting |
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2019
- 2019-05-14 CN CN201920690544.3U patent/CN210302269U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110152256A (en) * | 2019-05-14 | 2019-08-23 | 辽宁科技大学 | A kind of table tennis balls collecting machine people and automatic table tennis ball picking method for sorting |
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