CN211940954U

CN211940954U - Indoor small round ball picking and placing robot

Info

Publication number: CN211940954U
Application number: CN202020185211.8U
Authority: CN
Inventors: 罗胜; 金富威
Original assignee: Wenzhou University
Current assignee: Wenzhou University
Priority date: 2020-02-19
Filing date: 2020-02-19
Publication date: 2020-11-17
Anticipated expiration: 2030-02-19

Abstract

The utility model discloses an indoor little ball is picked up ball and is put ball robot, which comprises a vehicle rack, the omniwheel, direct current gear motor, elevating system, the storage ball ware, the spiral-lock device, a controller, ultrasonic sensor, the camera, the group battery, the frame is through three direct current gear motor leg joint three direct current gear motor, every direct current gear motor connects an omniwheel, elevating system installs in frame front end top, the storage ball ware is installed on the crane, the spiral-lock device passes through the drum grip block and installs on the crossbeam, the controller is installed at frame central authorities, three ultrasonic sensor passes through the ultrasonic sensor leg joint in the frame top, the camera passes through the camera leg joint in frame front end below, the left rear and the right rear at the frame are installed respectively to two battery cases, the inside is equipped with the group battery. The utility model discloses can save the work of picking up the ball and putting the ball, improve ball person's training efficiency by a wide margin.

Description

Indoor small round ball picking and placing robot

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to indoor small circle ball is picked up ball and is put ball robot.

Background

In the training process of small indoor round balls such as table tennis and indoor golf, the balls are scattered everywhere after being hit, the efficiency of manual recovery is low, the working strength is high, the ball picking mechanism of the existing ball picking robot mainly comprises a roller type and a mechanical claw type, the roller type working efficiency is high, but the size is large, the adaptability is poor, the balls in corners cannot be picked, the balls which can be picked are single, the ball unloading is difficult, the mechanical claw type is small in size, the adaptability is high, the balls with different dead angles can be picked, the working efficiency is low, the mechanical claw is opened and closed every time the ball is picked, one ball is lost into the ball storage device to be picked, the next ball can be picked, meanwhile, the functions of the robots are limited to ball picking, and the problem that how to put the balls affects the training efficiency of players is very few.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an indoor little ball is picked up ball and is put ball robot and method to solve the problem that present ball picking robot adaptability is poor, work efficiency is low, the function is single, sparingly pick up the work of ball putting, improve ball person's training efficiency by a wide margin.

In order to realize the purpose, the technical scheme of the utility model is that: an indoor small round ball picking and placing robot comprises a frame, omnidirectional wheels, direct current speed reducing motors, a lifting mechanism, a ball storage device, a ball catching device, a controller, ultrasonic sensors, cameras, a battery pack and battery boxes, wherein the frame is connected with the three direct current speed reducing motors through three direct current speed reducing motor supports, each direct current speed reducing motor is connected with one omnidirectional wheel, the lifting mechanism is installed above the front end of the frame, the ball storage device is installed on a lifting frame of the lifting mechanism, the ball catching device is installed on a cross beam of the lifting mechanism through a cylindrical clamping block, the controller is installed in the center of the frame, the three ultrasonic sensors are installed above the frame through ultrasonic sensor supports and point to the front, the left rear and the right rear respectively, the cameras are installed below the front end of the frame through the camera supports, and the two battery boxes are installed at the left rear and the right rear of the frame respectively, the battery pack is arranged in the battery box.

Elevating system is by the crane among the above-mentioned scheme, the slide rail, the slider connector, the synchronizing wheel, the hold-in range, the angle sign indicating number, the crossbeam, direct current gear motor constitutes, two slide rails are installed respectively on both sides of controlling of crane, respectively install a slider on every slide rail, slider connector is installed on every slider, two slider connector tops are connected by the crossbeam, the inboard at the crane is installed to two synchronizing wheels, hold-in range and two synchronizing wheel meshing, direct current gear motor is connected with the synchronizing wheel of top, the slider connector is connected to the one end of angle sign indicating number, the hold-in range is connected to one end.

The catching device in the scheme is composed of a cylinder, a steering engine support, a steering wheel, a sliding groove piece, a catching lock, a catching piece, a spring and a catching ring, wherein the cylinder is installed on a cylinder clamping block, the steering engine is installed on the cylinder through the steering engine support, the steering wheel is installed on the steering engine, the sliding groove piece is installed on the steering wheel, the cylinder at the top of the catching lock is tangent to a straight groove opening of the sliding groove piece, the catching ring extends out from the middle of the catching lock, the catching piece is installed in a groove opening at the bottom of the catching lock through trunnions at two sides, and the two ends of the spring are respectively fixed at the top of the groove opening at the bottom of the catching lock and the.

Preferably, the bottom of the front end of the ball storage device is provided with a hole with the same outer diameter as the cylinder of the ball catching device, and the bottom has an inclination of 2 degrees.

Preferably, the cylinder is provided with a 1mm gap, i.e. an internal diameter of 44mm, after the next golf ball is loaded, and the bottom of the cylinder is chamfered inwards.

Preferably, the ball buckling piece can rotate around the trunnion for 0-90 degrees, a chamfer is arranged below the front end, and the length of the ball buckling piece in the cylinder is 4.5 mm.

Preferably, the height of the chute blade from the ground is 43mm, which is the diameter of one golf ball.

The utility model discloses following beneficial effect has at least: compared with the prior ball picking device or robot, the utility model can finish the ball picking action only by lifting the ball catching device, and the balls ejected out of the cylinder can automatically fall into the ball storage device, so that the ball picking efficiency is high; the robot has a ball-dropping function which is not possessed by other similar robots, automatically detects a designated ball-dropping point, can complete the ball-dropping action by opening the ball-catching lock, is fully automatic and intelligent in the ball-picking and ball-dropping process, and can greatly improve the training efficiency of a player only by hitting balls; different types of balls in various corners can be picked up, and the adaptability is strong; the omnidirectional wheel design is adopted, multiple sensors are carried, the movement is flexible, and the safety degree is high; the collecting and storing device adopts a separated design, and the load of the motor is smaller than that of an integrated design; the ball catching piece ensures that the balls cannot fall out, and the ball catching lock ensures that only one ball is placed at each time, so that the reliability is good; the top of the ball storage device is open, so that the problem of difficult ball unloading is solved, and the ball storage device can be taken and used at any time; the lifting height of the lifting mechanism is adjustable, and the ball placing height can be selected at will.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

fig. 2 is a top view of the present invention;

FIG. 3 is a schematic structural view of the middle ball catching device of the present invention;

fig. 4 is a schematic structural view of the middle catching device of the present invention without a cylinder and a steering engine bracket.

In the figure: 1. an omni wheel; 2. a DC gear motor bracket; 3. a first DC geared motor; 4. a frame; 5. a lifting frame; 6. a slider connector; 7. a slider; 8. a cross beam; 9. a slide rail; 10. a ball storage device; 11. a ball catching device; 111. a cylinder; 112. a steering engine; 113. a steering engine bracket; 114. a chute sheet; 115. a rudder wheel; 116. buckling a ball lock; 117. a spring; 118. a ball buckling sheet; 119. buckling a ball ring; 12. A synchronizing wheel; 13. a cylinder clamping block; 14. a synchronous belt; 15. a second DC gear motor; 16. corner connectors; 17. a controller; 18. an ultrasonic sensor; 19. an ultrasonic sensor holder; 20. a camera; 21. a camera head bracket; 22. a battery pack; 23. a battery case.

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.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner" and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

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; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 and 2, the indoor small round ball picking and placing robot comprises a frame 4, omnidirectional wheels 1, direct current speed reducing motors 3, a lifting mechanism, a ball storage 10, a ball catching device 11, a controller 17, an ultrasonic sensor 18, a camera 20 and a battery pack 22, wherein the frame 4 is connected with three first direct current speed reducing motors 3 through three direct current speed reducing motor supports 2, each first direct current speed reducing motor 3 is connected with one omnidirectional wheel 1, the lifting mechanism is installed above the front end of the frame 4, the ball storage 10 is installed on a lifting frame 5 of the lifting mechanism, the ball catching device 11 is installed on a cross beam 8 of the lifting mechanism through a cylinder clamping block 13, the top of a cylinder 111 passes through a bottom opening of the ball storage 10, the controller 17 is installed in the center of the frame 4, the three ultrasonic sensors 18 are installed above the frame 4 through an ultrasonic sensor support 19, the camera 20 is arranged below the front end of the frame 4 through a camera bracket 21, the two battery boxes 23 are respectively arranged at the left rear part and the right rear part of the frame 4, and battery packs 22 are arranged in the battery boxes.

Elevating system is by crane 5, slide rail 9, slider 7, slider connector 6, synchronizing wheel 12, hold-in range 14, the angle sign indicating number 16, crossbeam 8, direct current gear motor 15 is constituteed, two slide rail 9 are installed respectively on crane 5's the left and right sides both sides, slider 7 is respectively installed on every slide rail 9, slider connector 6 is installed on every slider 7, two slider connector 6 tops are connected by crossbeam 8, two synchronizing wheel 12 are installed in crane 5's inboard, hold-in range 14 meshes with two synchronizing wheel 12, direct current gear motor 15 is connected with the synchronizing wheel 12 of top, slider connector 6 is connected to the one end of angle sign indicating number 16, hold-in range 14 is connected to one end.

As shown in fig. 3 and 4, the ball catching device 11 is composed of a cylinder 111, a steering engine 112, a steering engine bracket 113, a rudder plate 115, a sliding slot sheet 114, a ball catching lock 116, a ball catching sheet 118, a spring 117, and a ball catching ring 119, wherein the cylinder 111 is installed on the cylinder clamping block 13, the steering engine 112 is installed on the cylinder 111 through the steering engine bracket 113, the rudder plate 115 is installed on the steering engine 112, the sliding slot sheet 114 is installed on the rudder plate 115, a cylinder at the top of the ball catching lock 116 is tangent to a straight slot opening of the sliding slot sheet 114, the ball catching ring 119 extends out from the middle of the ball catching lock 116, the ball catching sheet 118 is installed in a slot opening at the bottom of the ball catching lock 116 through trunnions at two sides, and two ends of the spring 117 are respectively fixed at the top of the slot opening.

In this embodiment, the bottom of the front end of the ball storage device 10 is provided with a hole having the same outer diameter as the cylinder 111 of the catching device 11, and the bottom has an inclination of 2 °.

In this embodiment, the cylinder 111 has a gap of 1mm, i.e., an inner diameter of 44mm, after the next golf ball is loaded, and the bottom of the cylinder 111 is chamfered inward.

In this embodiment, the ball-catching piece 118 can rotate around the trunnion by 0-90 °, a chamfer is provided below the front end, and the length of the ball-catching piece 118 in the cylinder 111 is 4.5 mm.

In this embodiment, the height of the chute plate 114 from the ground is 43mm, which is the diameter of a golf ball.

Adopt the utility model discloses a ball picking method of indoor small circle ball picking and placing robot, include following step:

step 1, the ball catching device 11 is lifted to a height of 65mm through a lifting mechanism, a camera 20 detects the environment and transmits information to a controller 17, and a microprocessor in the controller 17 calculates the direction and distance of the ball relative to the robot;

step 2, the controller 17 drives the direct current reducing motor 3 according to the kinematics equation of the three-wheeled omnidirectional mobile robot, so that the robot moves towards the ball with the closest distance;

step 3, when the ball catching device 11 moves above the ball, the direct current speed reducing motor 15 drives the synchronous wheel 12 to enable the ball catching device 11 to descend until the ball catching device touches the ground, in the descending process, the ball catching piece 118 is firstly gradually jacked up by the ball and rotates around the rotating shaft, the spring 117 is compressed, if the cylinder 111 is filled with the ball at the moment, the topmost ball is pushed out of the cylinder 111 and falls into the ball storage device 10, when the ball completely enters the cylinder 111, the ball catching piece 118 is not jacked, and meanwhile, the initial state is recovered under the action of the spring 117;

and 4, driving the synchronous wheel 12 to lift the ball catching device 11 by the direct current speed reducing motor 15, wherein the ball is propped by the top of the ball catching piece 118 and cannot fall down, and when the ball catching device 11 is lifted to the height of 65mm again, the ball picking action is finished.

Adopt the utility model discloses a put ball method of indoor small circle ball picking and putting robot, including following step:

step 1, the ball catching device 11 is lifted to a height of 65mm through the lifting mechanism, the robot rotates clockwise, when a designated ball placing point appears in the center of the visual field of the camera 20, the rotation is stopped, and a microprocessor in the controller 17 calculates the distance from the designated ball placing point to the robot;

step 2, the controller drives a direct current speed reduction motor 3 according to a kinematic equation of the three-wheeled omnidirectional mobile robot, so that the robot moves towards a specified ball placing point;

step 3, when the ball catching device 11 moves above the designated ball placing point, the direct current speed reducing motor 15 drives the synchronous wheel 12 to enable the ball catching device 11 to descend until the ball catching device touches the ground, at the moment, the top of the cylinder 111 is flush with the bottom of the ball storage device 10, and because the bottom of the ball storage device 10 has an inclination of 2 degrees, balls in the ball storage device 10 can roll into the cylinder 111 and are blocked by the ball catching sheet 118;

step 4, the steering engine 112 rotates clockwise by 15 degrees (from top to bottom), the ball-catching lock 116 is guided by the sliding groove piece 114 to move towards the outside of the cylinder 111, in the process, the ball-catching piece 118 moves towards the outside of the cylinder 111, and the tail end of the ball-catching ring 119 moves towards the inside of the cylinder 111, so that the ball with the lowest end falls out of the cylinder 111, and the ball with the lowest end is resisted by the ball-catching ring 119;

and 5, driving the synchronous wheel 12 to lift the ball catching device 11 by the direct current speed reducing motor 15, when the ball catching device 11 is lifted to 65mm height again, rotating the steering engine 112 anticlockwise to the initial position and driving the ball catching lock 116 to move towards the cylinder 111, wherein the ball catching piece 118 moves towards the cylinder 111 in the process, the tail end of the ball catching ring 119 moves towards the outside of the cylinder 111, and the penultimate ball is not propped by the ball catching ring 119 to fall and is propped by the top of the ball catching piece 118, so that the ball releasing action is completed.

The indoor small round ball picking and placing robot and the method thereof provided by the embodiment of the utility model are introduced in detail, the specific examples are applied to explain the principle and the implementation mode of the utility model, and the explanation of the above embodiments is only used for helping to understand the method and the core idea of the utility model; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides an indoor little ball is picked up ball and is put ball robot which characterized in that: the device comprises a frame (4), omnidirectional wheels (1), first direct current speed reducing motors (3), a lifting mechanism, a ball storage device (10), a ball buckling device (11), a controller (17), ultrasonic sensors (18), a camera (20), a battery pack (22) and a battery box (23), wherein the frame (4) is connected with the three direct current speed reducing motors (3) through three direct current speed reducing motor supports (2), each direct current speed reducing motor (3) is connected with one omnidirectional wheel (1), the lifting mechanism is arranged above the front end of the frame (4), the ball storage device (10) is arranged on the lifting mechanism, the ball buckling device (11) is arranged on the lifting mechanism through a cylinder clamping block (13), the controller (17) is arranged in the center of the frame (4), the three ultrasonic sensors (18) are arranged above the frame (4) through ultrasonic sensor supports (19), the camera (20) is installed below the front end of the frame (4) through a camera support (21), the two battery boxes (23) are installed on the left rear side and the right rear side of the frame (4) respectively, and a battery pack (22) is installed in each battery box (23).

2. The indoor small round ball picking and placing robot of claim 1, wherein: the lifting mechanism consists of a lifting frame (5), sliding rails (9), sliding blocks (7), sliding block connectors (6), synchronous wheels (12), synchronous belts (14), angle codes (16), a cross beam (8) and a second direct current speed reducing motor (15), wherein the two sliding rails (9) are respectively arranged at the left side and the right side of the lifting frame (5), each sliding rail (9) is respectively provided with one sliding block (7), each sliding block connector (6) is arranged on each sliding block (7), the tops of the two sliding block connectors (6) are connected by the cross beam (8), the two synchronous wheels (12) are arranged at the inner side of the lifting frame (5), the synchronous belts (14) are meshed with the two synchronous wheels (12), the second direct current speed reducing motor (15) is connected with the synchronous wheels (12) above, one end of the angle code (16) is connected with the sliding block connectors (6), one end of the angle code is connected with the synchronous belts (14), and the ball storage device (10) is arranged on, the ball catching device (11) is arranged on the cross beam (8) through a cylinder clamping block (13).

3. The indoor small round ball picking and placing robot of claim 1, wherein: the ball buckling device (11) is composed of a cylinder (111), a steering engine (112), a steering engine support (113), a rudder disc (115), a sliding groove piece (114), a ball buckling lock (116), a ball buckling piece (118), a spring (117) and a ball buckling ring (119), the cylinder (111) is installed on a cylinder clamping block (13), the steering engine (112) is installed on the cylinder (111) through the steering engine support (113), the rudder disc (115) is installed on the steering engine (112), the sliding groove piece (114) is installed on the rudder disc (115), a cylinder at the top of the ball buckling lock (116) is tangent to a straight notch of the sliding groove piece (114), the ball buckling ring (119) extends out of the middle of the ball buckling lock (116), the ball buckling piece (118) is installed in a notch at the bottom of the ball buckling lock (116) through trunnions at two sides, and the top of the notch at the bottom of the ball buckling lock (116) and the surface of the ball buckling piece (118) are fixed at two ends of the.

4. The indoor small round ball picking and placing robot of claim 1, wherein: the bottom of the front end of the ball storage device (10) is provided with a hole of 50mm, and the bottom has an inclination of 2 degrees.

5. The indoor small round ball picking and placing robot of claim 3, wherein: the inner diameter of the cylinder (111) is 44mm, and the bottom of the cylinder is provided with an inward chamfer.

6. The indoor small round ball picking and placing robot of claim 3, wherein: the ball buckling sheet (118) can rotate around the trunnion for 0-90 degrees, a chamfer is arranged below the front end, and the length of the ball buckling sheet (118) in the cylinder (111) is 4.5 mm.

7. The indoor small round ball picking and placing robot of claim 3, wherein: the height of the chute sheet (114) from the ground is 43 mm.