CN214232701U - Robot capable of releasing ball - Google Patents
Robot capable of releasing ball Download PDFInfo
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- CN214232701U CN214232701U CN202023070741.7U CN202023070741U CN214232701U CN 214232701 U CN214232701 U CN 214232701U CN 202023070741 U CN202023070741 U CN 202023070741U CN 214232701 U CN214232701 U CN 214232701U
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Abstract
The utility model provides a robot for releasing a sphere; comprises a frame and a ball catching mechanism; the ball catching mechanism is arranged and installed on the frame; the ball receiving mechanism comprises a ball blocking device, a ball pushing device and a ball discharging inclined plate; the ball body can enter the ball storage accommodating space through the ball inlet; by arranging the ball blocking device; thus, under the action of the ball blocking piece, the ball body can be blocked in the ball storage accommodating space; when the ball needs to be released, the ball blocking piece is driven to be far away from the ball outlet by the ball blocking driving device; the opening of the ball outlet is realized; so that the ball can be released from the ball storage accommodating space; meanwhile, the ball outlet inclined plate is arranged, so that the ball outlet is opened; by arranging the ball discharging inclined plate; under the action of gravity and the supporting force of the ball outlet inclined plate on the ball body; the ball body in the ball storage containing space is close to the ball outlet, and then the ball body is released from the ball outlet; thus the release direction of the ball is directional; and then the ball body can be accurately moved to the designated position.
Description
Technical Field
The utility model relates to a ball trainer, concretely relates to release spheroid robot.
Background
The robot has been widely applied to a plurality of fields of competitive sports and national quality education, strives to improve the technical level of various domestic robots, especially designs an intelligent robot mechanism suitable for various sports training purposes and improves the control level thereof, exerts and popularizes the application and popularization advantages thereof, and further promotes the efficient development and the steady promotion of national health level and competitive sports career. In the prior art, a friction wheel is adopted for serving balls; but the cost is high, the friction wheel is easy to wear, the rotating speed of the motor is enough, and the ball body is damaged due to excessive friction. Because the prior art adopts the friction pulley transmission more, the cost is higher, and the spheroid of fragile, only have single transmission function, it is inconvenient to remove.
To solve the above problems, the chinese application No. 202010858385.0; patent document publication No. 2020.10.30 discloses a wheeled soccer robot; the robot includes: a chassis; the lower end surface is of a polygonal frame structure; the omnidirectional wheel mechanisms are connected to the lower end face of the chassis in an annular array and are used for driving the chassis to move; the translation positioning mechanism is fixedly arranged in the middle of the upper end face of the chassis and is used for recording a coordinate record of the chassis moving driven by the omnidirectional wheel mechanism; the kicking mechanism is arranged on one side of the upper end face of the chassis and is used for driving the football to move; the football retracting mechanism is arranged on the other side of the upper end face of the chassis and is used for receiving and releasing a football.
The robot is in the process of catching the ball; carrying out the receiving table filled with the football by a cylinder; then the bottom cover is opened, so that the football rolls into the designated area; but the bottom cover of the robot is attached to the lower end surface of the bearing table in a horizontally sliding manner; thus, the bottom cover is arranged in parallel with the lower end surface of the bearing platform; the ball body falls into the bearing table through the buffering of the bearing part; the position of the ball on the bearing table is changed; when the bottom cover is opened; the ball body leaves the receiving platform under the action of gravity; the falling direction of the sphere does not have directivity at this time; so that the moving direction of the ball body can be deviated; meanwhile, the balls can fall from the lower part of the bearing table; also from the description of the solution of the drawings; a certain distance is reserved between the bearing platform and the chassis; namely, the bearing platform has a certain height from the ground; so that when the ball is in contact with the ground; under the action of self elasticity; the situation that the moving direction of the device is shifted again occurs; therefore, the movement direction of the ball body after leaving the receiving platform has no directivity; thereby causing the sphere not to accurately reach the designated position.
Disclosure of Invention
The utility model provides a release spheroid robot that assigned position was accurately reachd to spheroid.
In order to achieve the above purpose, the technical scheme of the utility model is that: a robot for releasing a sphere comprises a frame and a sphere receiving mechanism; the ball catching mechanism is arranged on the frame; the ball catching mechanism comprises a ball catching bracket, a ball blocking device, a ball discharging inclined plate and a ball pushing device; the ball receiving bracket is provided with a ball inlet, a ball outlet and a ball storage accommodating space; the ball inlet and the ball outlet are respectively communicated with the ball storage accommodating space; the ball outlet sloping plate is arranged in the ball storage accommodating space and is positioned below the ball inlet, and one end of the ball outlet sloping plate is connected with the ball outlet; the ball outlet inclined plate is obliquely arranged; the inclined direction of the ball outlet inclined plate inclines from high to low from one end far away from the ball outlet to one end close to the ball outlet; the ball pushing device is arranged in the ball storage accommodating space and is connected with the ball blocking device; the ball pushing device comprises a ball pushing support and a ball pushing piece;
the ball blocking device comprises a ball blocking driving device, a ball blocking sliding device, a ball blocking support and a ball blocking piece; the ball blocking sliding device is connected with the ball blocking support and the ball receiving support, the ball blocking support is arranged on the ball receiving support in a sliding mode, the ball blocking driving device is arranged on the ball receiving support, and the movable end of the ball blocking driving device is connected with the ball blocking support; the ball pushing support is connected with the ball blocking support; the ball pushing piece is connected with the ball pushing support; the ball pushing piece and the ball blocking piece are arranged in parallel; the ball blocking piece is close to one side of the ball receiving support provided with the ball outlet and is connected with the ball blocking support; the ball blocking bracket drives the ball blocking piece and the ball pushing piece to move synchronously; the ball blocking support drives the ball blocking piece to open and close the ball outlet.
According to the arrangement, the ball catching mechanism is arranged on the rack and provided with the ball catching support; the ball receiving bracket is provided with a ball inlet, a ball outlet and a ball storage accommodating space; thus, the ball can enter the ball storage accommodating space through the ball inlet; the ball body can release the ball storage space through the ball outlet; meanwhile, when the ball is received, the ball body can collide with the frame; the support strength of the rack is improved by arranging the ball receiving support; by arranging the ball blocking device; thus, under the action of the ball blocking piece, the ball body can be blocked in the ball storage accommodating space; when the ball needs to be released, the ball blocking piece is driven to be far away from the ball outlet by the ball blocking driving device; the opening of the ball outlet is realized; so that the ball can be released from the ball storage accommodating space; meanwhile, the ball outlet inclined plate is arranged, and one end of the ball outlet inclined plate, which is far away from the ball outlet, is inclined to one end close to the ball outlet; and the inclination direction is from high to low; thus, the ball outlet is opened; by arranging the ball discharging inclined plate; under the action of gravity and the supporting force of the ball outlet inclined plate on the ball body; the ball body in the ball storage containing space is close to the ball outlet, and then the ball body is released from the ball outlet; thus the release direction of the ball is directional; and then the ball body can be accurately moved to the designated position.
The ball pushing device is arranged, and the ball pushing piece is connected with the ball pushing support; the ball pushing support is connected with the ball blocking support; when the ball blocking driving device drives the ball blocking piece to open the ball outlet; the ball pushing piece can simultaneously approach the ball outlet; the ball pushing piece can push the ball body to leave the ball storage accommodating space; this accelerates the release of the spheres.
Further, the ball catching support comprises a ball catching transverse support and a ball catching longitudinal support; the ball catching transverse supporting piece and the ball catching longitudinal supporting piece are vertically arranged, and one end of the ball catching transverse supporting piece is connected with one end of the ball catching longitudinal supporting piece; the other end of the ball-catching transverse supporting piece and the other end of the ball-catching longitudinal supporting piece are connected with the rack; the ball inlet is arranged on the ball receiving transverse supporting piece; the ball outlet is arranged on the ball receiving longitudinal support member.
According to the arrangement, the ball inlet is formed in the ball receiving transverse supporting piece, and the ball outlet is formed in the ball receiving longitudinal supporting piece; meanwhile, the ball catching transverse supporting piece and the ball catching longitudinal supporting piece are vertically arranged; thus, the ball inlet direction of the ball inlet and the ball outlet direction of the ball outlet are not on the same straight line; thus, when the ball outlet which is in the same straight line with the ball inlet releases the ball body, the ball outlet can be prevented from releasing the ball body; when the ball body is contacted with the ground, the moving direction of the released ball body is deviated under the elastic action of the ball body; and the ball cannot reach the designated position.
Further, the ball blocking bracket comprises a ball blocking first bracket and a ball blocking second bracket; two first ball blocking brackets are arranged; the two ball blocking first supports are symmetrically arranged relative to the ball receiving transverse support; the first ball blocking supports are arranged in parallel with the transverse ball receiving support, and the second ball blocking supports are connected between the two first ball blocking supports; the ball blocking piece is connected with the ball blocking second support;
the ball blocking sliding device comprises a ball blocking sliding guide rail and a ball blocking sliding moving piece; the ball blocking sliding guide rail is arranged on the ball receiving transverse supporting piece; the blocking ball sliding moving piece is connected with the blocking ball first support; the blocking ball sliding moving piece is arranged on the blocking ball sliding guide rail in a sliding manner; the ball blocking driving device is arranged on the ball receiving longitudinal supporting piece, and the movable end of the ball blocking driving device is connected with the second ball blocking support.
The arrangement is that the ball blocking first bracket is arranged in parallel with the ball receiving transverse supporting piece; meanwhile, the ball blocking first support is in sliding connection with the ball receiving transverse support through a ball blocking sliding device; therefore, the ball blocking driving device drives the ball blocking first support to extend out along the guiding direction of the ball blocking sliding device, namely, the ball blocking piece is far away from the ball outlet, and the ball outlet is opened; so that the ball can be released; meanwhile, the first ball blocking support is arranged in parallel with the ball receiving transverse support, so that the space can be saved.
Furthermore, the ball pushing support is positioned below the ball receiving transverse support member and connected with one end, far away from the ball blocking member, of the ball blocking first support; the ball pushing support is perpendicular to the first ball blocking support.
Further, the ball catching support also comprises a ball catching connecting support; the ball catching support also comprises a ball catching connecting support; two ball receiving connecting support pieces are arranged; the two ball-catching connecting supporting pieces are arranged on two sides of the ball-catching support; the ball catching connecting support is connected with the ball catching longitudinal support. This avoids the ball falling.
Furthermore, the frame is provided with a moving device; more than one mobile device is arranged; the moving device comprises a moving driving motor, a moving transmission part and a moving assembly; the moving assembly comprises a moving first base, a moving second base and a moving wheel; the movable first base is connected with the frame; the movable transmission part is positioned above the movable first base; the moving wheel is arranged on the moving second base; the movable second base is movably arranged on the rack; the movable second base is positioned in the movable first base and the movable transmission part; the movable transmission part is connected with the movable second base; a rotating bearing is connected between the movable second base and the movable first base; the mobile driving motor is connected with a mobile driving piece; the movable driving piece is meshed with the movable transmission piece.
According to the arrangement, the rack is moved by arranging the moving device; by providing a bearing between the moving first mount and the moving second mount; thus, the movable first base and the movable second base can move relatively; the movable transmission piece is connected with the movable second base; the movable transmission part is meshed with the movable driving part; the moving wheel is arranged on the moving second base; the movable wheel can rotate by driving the movable transmission part to drive the movable second base to rotate; thus, the rotation effect is good; the steering speed is high.
Further, the ball receiving connecting support comprises a ball blocking support plate, a first bearing piece and a second bearing piece; the first supporting piece is arranged at one end of the ball blocking support plate; the second supporting piece is arranged at the other end of the ball blocking support plate; the first supporting piece and the second supporting piece are obliquely arranged; the inclination angle of the first supporting piece is larger than that of the second supporting piece; the first supporting piece and the second supporting piece are both arranged on the frame; one end of the ball blocking support plate close to the first bearing piece is provided with a support hole.
Furthermore, the ball outlet sloping plate is provided with a sloping plate supporting device; the inclined plate supporting device is arranged at one end of the ball outlet inclined plate, which is far away from the ball outlet; the inclined plate supporting device comprises an inclined plate fixing piece and an inclined plate supporting shaft; more than one inclined plate fixing piece is arranged; the adjacent sloping plate fixing pieces fix the sloping plate supporting shaft at the bottom end of the ball outlet sloping plate; one end of the ball outlet sloping plate close to the ball outlet is connected with the second bearing piece; the swash plate back shaft sets up on first bearing piece, and the swash plate back shaft wears to establish on the support hole.
Due to the arrangement, the inclination angle of the first bearing piece is larger than that of the second bearing piece; one end of the ball outlet sloping plate close to the ball outlet is arranged on the second supporting piece; thus, the ball outlet sloping plate inclines from one end far away from the ball outlet to one end close to the ball outlet; meanwhile, the inclined plate support shaft penetrates through the support hole; therefore, the ball outlet sloping plate is stably connected with the ball receiving connecting support piece.
Drawings
Fig. 1 is a side view of the present solution.
FIG. 2 is a schematic perspective view of the ball catching mechanism in the present embodiment
Fig. 3 is an exploded view of the ball catching mechanism in the present solution.
Fig. 4 is a schematic perspective view of the mobile device in the present embodiment.
Fig. 5 is an exploded view of the mobile device in the present solution.
Fig. 6 is a bottom view of the ball discharging sloping plate in the scheme.
Fig. 7 is a schematic perspective view of the ball-catching connecting support member in the present embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-7; a robot for releasing a sphere comprises a frame 1 and a sphere receiving mechanism 2. The ball catching mechanism is arranged on the frame. As shown in fig. 1, 4, 5. The frame 1 is provided with a moving device 4; more than one mobile device 4 is arranged; in the present embodiment, the moving devices 4 are provided in four. The moving device 4 comprises a moving driving motor 41, a moving transmission member 42 and a moving component; the moving assembly comprises a moving first base 43, a moving second base 44 and a moving wheel 45; the movable first base is connected with the frame 1; the moving transmission member 42 is located above the moving first base 43; the moving wheel 45 is mounted on the moving second base 44; the movable second base 44 is movably arranged on the machine frame 1; the movable second base 44 is positioned in the movable first base 43 and the movable transmission member 42; the moving transmission member 42 is connected with the moving second base 44; a rotating bearing 46 is connected between the movable second base 44 and the movable first base 43; the moving driving motor 41 is connected with a moving driving member 411; the movable driving member 411 is engaged with the movable transmission member 42. In the present embodiment; the moving drive 411 and the moving transmission 42 are gears.
The movement of the frame 3 is realized by arranging a moving device; by providing a bearing between the moving first mount 43 and the moving second mount 44; thus, the movable first base and the movable second base can move relatively; connected to the mobile second base 44 by means of the mobile transmission 42; and the movable transmission member 42 is engaged with the movable driving member 411; and because the moving wheel 45 is mounted on the moving second base 44; the movable wheel can rotate by driving the movable transmission member 42 to drive the second base 44 to rotate; thus, the rotation effect is good; the steering speed is high.
As shown in figures 1, 2, 3, 6, 7. The ball catching mechanism 2 comprises a ball catching bracket 21, a ball blocking device 22 and a ball discharging inclined plate 23; the ball receiving bracket 21 is provided with a ball inlet 213, a ball outlet 214 and a ball storage accommodating space 215; the ball inlet 213 and the ball outlet 214 are respectively communicated with the ball storage accommodating space 215; the ball outlet sloping plate 23 is arranged in the ball storage accommodating space 215, the ball outlet sloping plate 23 is positioned below the ball inlet 213, and one end of the ball outlet sloping plate 23 is connected with the ball outlet 214; the ball outlet sloping plate 23 is obliquely arranged; the inclination direction of the ball outlet sloping plate 23 is inclined from the end far away from the ball outlet 214 to the end near the ball outlet 214 from high to low. The ball outlet sloping plate 23 is provided with a sloping plate supporting device; the inclined plate supporting device is arranged at one end of the ball outlet inclined plate, which is far away from the ball outlet; the swash plate supporting device includes a swash plate fixing member 231 and a swash plate supporting shaft 232; more than one inclined plate fixing piece 231 is arranged; in the present embodiment, two swash plate fixing members 231 are provided. The adjacent swash plate fixing members 231 fix the swash plate support shaft 231 to the bottom end of the ball discharge swash plate 23.
The ball catching support 21 comprises a ball catching transverse support 211, a ball catching longitudinal support 212 and a ball catching connecting support 216; the ball catching transverse support 211 is perpendicular to the ball catching longitudinal support 212, and one end of the ball catching transverse support 211 is connected with one end of the ball catching longitudinal support 212; the other end of the ball-catching transverse support member 211 and the other end of the ball-catching longitudinal support member 212 are connected with the frame 1; in the present embodiment, two ball-catching connecting supports 216 are provided; two ball-catching connecting supports 216 are provided on both sides of the ball-catching support 21; the ball catching connecting support 216 is connected with the ball catching longitudinal support 212; this prevents the ball from falling. The ball-catching connecting support 216 includes a ball-blocking strip 2161, a first support 2162 and a second support 2163; a first retainer 2162 is provided at one end of the ball stop plate 2161; a second support member 2163 is provided at the other end of the ball stop plate 2161; the first supporting piece 2162 and the second supporting piece 2163 are obliquely arranged; the inclination angle of the first supporting piece 2162 is larger than that of the second supporting piece 2163; the first supporting piece 2162 and the second supporting piece 2163 are both arranged on the frame; a support hole 2164 is provided at an end of the ball stop support plate 2161 adjacent to the first support member 2162.
One end of the ball outlet sloping plate 23 close to the ball outlet 213 is connected with a second supporting piece 2163; the swash plate support shaft 232 is disposed on the first receiver 2162, and an end of the swash plate support shaft 232 is inserted into the support hole 2164. Because the inclination angle of the first support member 2162 is greater than that of the second support member 2163; one end of the ball outlet sloping plate 23 close to the ball outlet 213 is arranged on the second supporting piece 2163; thus, the ball outlet sloping plate 23 inclines from one end far away from the ball outlet 213 to one end close to the ball outlet 213; meanwhile, the inclined plate support shaft 232 penetrates through the support hole 2164; thus, the ball-discharging sloping plate 23 is stably connected with the ball-catching connecting support 216.
The ball inlet 213 is arranged on the ball-catching transverse support 211; the ball outlet 214 is provided on the ball-catching longitudinal support 212. A ball inlet 213 is arranged on the ball-catching transverse support 211, and a ball outlet 214 is arranged on the ball-catching longitudinal support 212; meanwhile, the ball-catching transverse support 211 is vertically arranged with the ball-catching longitudinal support 212; thus, the ball inlet direction of the ball inlet 213 and the ball outlet direction of the ball outlet 214 are not on the same straight line; this prevents the ball outlet 214 aligned with the ball inlet 213 from discharging a ball while ensuring a vertical ball inlet; when the ball body is contacted with the ground, the moving direction of the released ball body is deviated under the elastic action of the ball body; and the ball cannot reach the designated position.
The ball blocking device 22 comprises a ball blocking driving device 221, a ball blocking sliding device 222, a ball blocking bracket 223 and a ball blocking piece 224; the ball blocking sliding device is connected with the ball blocking bracket 223 and the ball receiving bracket 21, the ball blocking bracket 223 is arranged on the ball receiving bracket 21 in a sliding manner, the ball blocking driving device 221 is arranged on the ball receiving longitudinal supporting piece 212, and the movable end of the ball blocking driving device 221 is connected with the ball blocking bracket 223; the ball blocking piece 224 is close to one side of the ball receiving bracket 21 provided with the ball outlet 214 and is connected with the ball blocking bracket 223; the ball blocking bracket 223 drives the ball blocking piece 224 to open and close the ball outlet 214. In this embodiment, the ball retainer driving device 221 is an air cylinder.
The ball blocking support 223 includes a ball blocking first support 2231 and a ball blocking second support 2232; two blocking ball first supports 2231 are provided; the two ball-catching first supports 2231 are symmetrically arranged with respect to the ball-catching lateral support 211; the first ball-blocking support 2231 is arranged in parallel with the lateral ball-catching support 211, and the second ball-blocking support 2232 is connected between the two first ball-blocking supports 2231; the ball retainer 224 is attached to a second ball retainer support 2232.
The ball-stopping sliding device 222 includes a ball-stopping sliding guide 2221 and a ball-stopping sliding moving member 2222; the ball catching sliding guide 2221 is provided on the ball catching lateral support 211; the blocking ball sliding moving part 2222 is connected with the blocking ball first support 2231; the ball stopping sliding moving part 2222 is slidably arranged on the ball stopping sliding guide rail 2221; the movable end of the blocking ball driving unit 221 is connected to the blocking ball second support 2232. A ball-blocking first support 2231 disposed in parallel with the ball-catching lateral support 211; meanwhile, the ball blocking first support 2231 is slidably connected with the ball receiving transverse support 211 through a ball blocking sliding device; thus, the blocking ball driving device 221 drives the first blocking ball support 2231 and the second blocking ball support 2232 to extend along the guiding direction of the blocking ball sliding device 222, that is, the ball blocking piece 224 is far away from the ball outlet 214, so that the ball outlet 214 is opened; so that the ball can be released; meanwhile, the first ball blocking support 2231 arranged in parallel with the ball receiving transverse support 211 is arranged, so that the space can be saved.
The ball catching mechanism 2 further comprises a ball pushing device 24; the ball pushing device 24 is located at one end of the ball storage accommodating space far away from the ball blocking piece 224; the ball pushing device 24 comprises a ball pushing support 241 and a ball pushing piece 242; the ball pushing support 241 is located below the ball receiving lateral support 211, and the ball pushing support 241 is connected to one end of the ball blocking first support 2231 away from the ball blocking member 224; the ball pushing support 241 is arranged perpendicular to the first ball blocking support 2231; the ball pushing piece 242 is connected with the ball pushing support 241; the ball pushing member 242 is disposed in parallel with the ball blocking member 224. By arranging the ball pushing device 24, the ball pushing piece 242 is connected with the ball pushing support 241; the ball pushing support 241 is connected to the ball blocking first support 2231; when the ball blocking driving device 221 drives the ball blocking piece 224 to open the ball outlet 214; the ball pushing member 242 is driven by the first support 2231 to approach the ball outlet 214; the ball pushing member 242 pushes the ball out of the ball storage space 215; this accelerates the release of the spheres.
The ball receiving method comprises the following steps:
(1) the rack moves to a designated area; at the moment, the ball outlet is in a closed state;
(2) the ball receiving bracket receives the ball body, and the ball body passes through the ball inlet and falls into the ball storage accommodating space;
(3) the rack moves to another designated area;
(4) the ball blocking driving device extends out, the ball blocking support drives the ball blocking piece to be far away from the ball outlet, and the ball blocking support drives the ball pushing piece to be close to the ball outlet; opening a ball outlet; the ball body is released from the ball storage containing space under the action of the ball pushing piece.
The ball receiving mechanism 2 is provided with a ball receiving bracket 21; the ball receiving bracket 21 is provided with a ball inlet 213, a ball outlet 214 and a ball storage accommodating space 215; thus, the ball can enter the ball storage accommodating space 215 through the ball inlet 213; the ball can be released from the ball storage space 215 through the ball outlet 214; meanwhile, when the ball is received, the ball body can collide with the frame 1; the support strength of the frame 1 is improved by arranging the ball receiving support 21; by providing the ball stopping device 22; thus, under the action of the ball blocking member 224, the ball is blocked in the ball storage accommodating space 215; when the ball needs to be released, the ball blocking member 224 is driven by the ball blocking driving device 221 to be away from the ball outlet 214; the ball outlet 214 is opened; so that the ball can be released from the ball storage accommodating space 215; meanwhile, by arranging the ball outlet sloping plate 23, one end of the ball outlet sloping plate 23 far away from the ball outlet 214 inclines to one end close to the ball outlet 214; and the inclination direction is from high to low; thus, when the ball outlet 214 is opened; by arranging the ball outlet sloping plate 23; under the action of gravity and the supporting force of the ball outlet inclined plate 23 on the ball body; the ball in the ball storage space 215 approaches the ball outlet 214, and is released from the ball outlet 214; thus the release direction of the ball is directional; and then the ball body can be accurately moved to the designated position.
Claims (9)
1. A robot for releasing a sphere, comprising: comprises a frame and a ball catching mechanism; the ball catching mechanism is arranged on the frame; the ball catching mechanism comprises a ball catching bracket, a ball blocking device, a ball discharging inclined plate and a ball pushing device; the ball receiving bracket is provided with a ball inlet, a ball outlet and a ball storage accommodating space; the ball inlet and the ball outlet are respectively communicated with the ball storage accommodating space; the ball outlet sloping plate is arranged in the ball storage accommodating space and is positioned below the ball inlet, and one end of the ball outlet sloping plate is connected with the ball outlet; the ball outlet inclined plate is obliquely arranged; the inclined direction of the ball outlet inclined plate inclines from high to low from one end far away from the ball outlet to one end close to the ball outlet; the ball pushing device is arranged in the ball storage accommodating space and is connected with the ball blocking device; the ball pushing device comprises a ball pushing support and a ball pushing piece;
the ball blocking device comprises a ball blocking driving device, a ball blocking sliding device, a ball blocking support and a ball blocking piece; the ball blocking sliding device is connected with the ball blocking support and the ball receiving support, the ball blocking support is arranged on the ball receiving support in a sliding mode, the ball blocking driving device is arranged on the ball receiving support, and the movable end of the ball blocking driving device is connected with the ball blocking support; the ball pushing support is connected with the ball blocking support; the ball pushing piece is connected with the ball pushing support; the ball pushing piece and the ball blocking piece are arranged in parallel; the ball blocking piece is close to one side of the ball receiving support provided with the ball outlet and is connected with the ball blocking support; the ball blocking bracket drives the ball blocking piece and the ball pushing piece to move synchronously; the ball blocking support drives the ball blocking piece to open and close the ball outlet.
2. A sphere releasing robot according to claim 1, wherein: the ball catching support comprises a ball catching transverse support and a ball catching longitudinal support; the ball catching transverse supporting piece and the ball catching longitudinal supporting piece are vertically arranged, and one end of the ball catching transverse supporting piece is connected with one end of the ball catching longitudinal supporting piece; the other end of the ball-catching transverse supporting piece and the other end of the ball-catching longitudinal supporting piece are connected with the rack; the ball inlet is arranged on the ball receiving transverse supporting piece; the ball outlet is arranged on the ball receiving longitudinal support member.
3. A sphere releasing robot according to claim 2, wherein: the ball blocking bracket comprises a ball blocking first bracket and a ball blocking second bracket; two first ball blocking brackets are arranged; the two ball blocking first supports are symmetrically arranged relative to the ball receiving transverse support; the first ball blocking supports are arranged in parallel with the transverse ball receiving support, and the second ball blocking supports are connected between the two first ball blocking supports; and the ball blocking piece is connected with the second ball blocking support.
4. A sphere releasing robot according to claim 3, wherein: the ball blocking sliding device comprises a ball blocking sliding guide rail and a ball blocking sliding moving piece; the ball blocking sliding guide rail is arranged on the ball receiving transverse supporting piece; the blocking ball sliding moving piece is connected with the blocking ball first support; the blocking ball sliding moving piece is arranged on the blocking ball sliding guide rail in a sliding manner; the ball blocking driving device is arranged on the ball receiving longitudinal supporting piece, and the movable end of the ball blocking driving device is connected with the second ball blocking support.
5. The robot for releasing balls of claim 4, wherein the ball pushing seat is located below the ball catching cross support, and the ball pushing seat is connected with one end of the ball blocking first support far away from the ball blocking member; the ball pushing support is perpendicular to the first ball blocking support.
6. A sphere releasing robot according to claim 2, wherein: the ball catching support also comprises a ball catching connecting support; two ball receiving connecting support pieces are arranged; the two ball-catching connecting supporting pieces are arranged on two sides of the ball-catching support; the ball catching connecting support is connected with the ball catching longitudinal support.
7. A sphere releasing robot according to claim 1, wherein: the frame is provided with a moving device; more than one mobile device is arranged; the moving device comprises a moving driving motor, a moving transmission part and a moving assembly; the moving assembly comprises a moving first base, a moving second base and a moving wheel; the movable first base is connected with the frame; the movable transmission part is positioned above the movable first base; the moving wheel is arranged on the moving second base; the movable second base is movably arranged on the rack; the movable second base is positioned in the movable first base and the movable transmission part; the movable transmission part is connected with the movable second base; a rotating bearing is connected between the movable second base and the movable first base; the mobile driving motor is connected with a mobile driving piece; the movable driving piece is meshed with the movable transmission piece.
8. A sphere releasing robot according to claim 6, wherein: the ball receiving connecting supporting piece comprises a ball blocking supporting plate, a first supporting piece and a second supporting piece; the first supporting piece is arranged at one end of the ball blocking support plate; the second supporting piece is arranged at the other end of the ball blocking support plate; the first supporting piece and the second supporting piece are obliquely arranged; the inclination angle of the first supporting piece is larger than that of the second supporting piece; the first supporting piece and the second supporting piece are both arranged on the frame; one end of the ball blocking support plate close to the first bearing piece is provided with a support hole.
9. A sphere releasing robot according to claim 8, wherein: the ball outlet sloping plate is provided with a sloping plate supporting device; the inclined plate supporting device is arranged at one end of the ball outlet inclined plate, which is far away from the ball outlet; the inclined plate supporting device comprises an inclined plate fixing piece and an inclined plate supporting shaft; more than one inclined plate fixing piece is arranged; the adjacent sloping plate fixing pieces fix the sloping plate supporting shaft at the bottom end of the ball outlet sloping plate; one end of the ball outlet sloping plate close to the ball outlet is connected with the second bearing piece; the swash plate back shaft sets up on first bearing piece, and the swash plate back shaft wears to establish on the support hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023070741.7U CN214232701U (en) | 2020-12-18 | 2020-12-18 | Robot capable of releasing ball |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023070741.7U CN214232701U (en) | 2020-12-18 | 2020-12-18 | Robot capable of releasing ball |
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| CN214232701U true CN214232701U (en) | 2021-09-21 |
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| CN202023070741.7U Active CN214232701U (en) | 2020-12-18 | 2020-12-18 | Robot capable of releasing ball |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112642130A (en) * | 2020-12-18 | 2021-04-13 | 华南理工大学广州学院 | Ball catching equipment |
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2020
- 2020-12-18 CN CN202023070741.7U patent/CN214232701U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112642130A (en) * | 2020-12-18 | 2021-04-13 | 华南理工大学广州学院 | Ball catching equipment |
| CN112642130B (en) * | 2020-12-18 | 2023-09-01 | 华南理工大学广州学院 | Ball receiving equipment |
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