CN215084698U

CN215084698U - Badminton automatic picking and collecting device

Info

Publication number: CN215084698U
Application number: CN202120567116.9U
Authority: CN
Inventors: 彭旭阳; 沈佳豪; 唐靖; 王路路; 彭何欢; 胡栋
Original assignee: Zhejiang A&F University ZAFU
Current assignee: Zhejiang A&F University ZAFU
Priority date: 2021-03-19
Filing date: 2021-03-19
Publication date: 2021-12-10
Anticipated expiration: 2031-03-19

Abstract

The utility model relates to a badminton automatic pickup collection device solves current badminton and picks up robot structure complicacy, and the flexibility is poor, requires high problem to the badminton gesture. This device includes the fuselage casing, the leading flank bottom of fuselage casing is provided with a set of or multiunit pair roller, every group pair roller includes the roller of two vertical settings, two adjacent sides of roller rotate from the front to the back, the leading flank of fuselage casing is equipped with the camera in the top of pair roller, be equipped with the pivot that the direction level set up about between the middle part of curb plate about the fuselage casing, pivot both ends symmetry is equipped with the disc shovel frame, be equipped with upper portion open-ended storage ball box between the middle part of two disc shovel frames, the ring week between two disc shovel frames evenly is equipped with a plurality of ball shovels that collect, the left and right sides of fuselage casing is equipped with the gyro wheel. The utility model discloses simple structure uses in a flexible way, and the gesture to the badminton requires lowly, when a large amount of badminton are concentrated in a position, can accomplish fast and pick up the collection.

Description

Badminton automatic picking and collecting device

Technical Field

The utility model belongs to the smart machine field relates to an automatic recovery plant of badminton, in particular to badminton automatic pickup collection device.

Background

When badminton training is carried out, one athlete usually uses a plurality of badmintons for continuous practice, and the method ensures the training continuity and greatly improves the training efficiency. However, the badminton training field is large due to the fact that the number of the badmintons is large and the falling points are scattered, and the badminton picking and collecting work is quite laborious. If the ball is picked up manually, the players need to bend down frequently, which is not friendly to the heavy players for training tasks.

At present, a badminton picking robot takes a laser radar and a camera as sensing units and is driven by a motor. Laser radar samples at visual range, acquires badminton information after, further discernment of reuse camera, and according to the badminton bulb orientation difference, two turbofan realize the adjustment of badminton bulb orientation through changing amount of wind size, then adopt a pair of rotatory soft ball wheel of picking up and the frictional force that produces between the badminton to throw up the badminton, throw into the ball box at the rear of the automobile body, reach the effect of picking up the ball. But the equipment has the advantages that one badminton can be identified and grabbed, so that the grabbing efficiency is very limited; secondly, the orientation of the badminton is adjusted by adopting a turbofan, the fan occupies large space, has more connecting lines, high cost and large power consumption, and is heavy and inflexible, difficult to avoid obstacles and not beneficial to endurance; thirdly, the requirement on the posture of the badminton is high, and the posture of the badminton needs to be adjusted by very accurate fan control; fourthly, although the shuttlecock picking wheel is required to be soft, the shuttlecocks crossed with the shuttlecock picking wheel are still hard to keep enough clamping force, and certain damage can be caused to the soft shuttlecocks. Therefore, no robot capable of picking up shuttlecocks in large batch is available in the market at present.

Meanwhile, with reference to the badminton picking robot, the badminton picking robot can be completely recognized from the background accurately in the photo image by further combining the development of the current visual recognition technology.

Disclosure of Invention

The utility model discloses a solve current badminton and pick up robot structure complicacy, the flexibility is poor, requires high problem to the badminton gesture, provides a badminton automatic picking collection device, and simple structure, use are nimble, require lowly to the badminton gesture, can pick up the collection in batches.

The utility model provides a technical scheme that its technical problem adopted is: the utility model provides a badminton automatic pickup collection device, includes the fuselage casing, its characterized in that: the leading flank bottom of fuselage casing is provided with a set of or multiunit pair roller, every group pair roller includes the roller of two vertical settings, two adjacent sides of roller rotate from the front to the back, the leading flank of fuselage casing is equipped with the camera in the top of pair roller, be equipped with the pivot that the direction level set up about between the middle part of curb plate about the fuselage casing, pivot both ends symmetry is equipped with the disc shovel frame, be equipped with upper portion open-ended storage ball box between the two disc shovel frame middle parts, the ring week between two disc shovel frames evenly is equipped with a plurality of ball shovels that gather, the left and right sides of fuselage casing is equipped with the gyro wheel. This device can use the image data of camera collection as the basis, judges the position of badminton landing point, then through the differential control adjustment direction of both sides gyro wheel, moves ahead to the badminton position along the straight line in the synchro control through two gyro wheels, utilizes the relative rotation of two rollers in the pair roller, changes over into the rear side of pair roller with the badminton, gets into the inside of fuselage casing. When the pair rollers are arranged in one group, the baffles on the two sides of the machine body shell can baffle the shuttlecocks bounced off the two rollers from the opposite sides, the pair rollers can be arranged in multiple groups, and the rollers rotate from inside to outside between the adjacent pair rollers to pull the shuttlecocks outwards, so that the shuttlecocks enter the space between the adjacent rollers of the same group of pair rollers to be rotated. When the machine body shell walks again, the shuttlecocks inside the machine body shell can be collected by the shuttlecock collecting shovel which moves forward. The disc shovel frame is controlled by a rotating shaft stepping control motor, intermittently rotates, and when a certain amount of shuttlecocks are collected by the ball collecting shovel, or after the ball collecting shovel stays at the bottom for a set time, the next ball collecting shovel rotates to the downward position of the disc shovel frame by a certain angle. When the ball collecting shovel rotates to the upper part of the disc shovel frame, the ball collecting shovel overturns to pour the badminton into the ball storage box. The quantity of ball collecting shovels is not suitable to exceed 4, so that the gap between every two adjacent ball collecting shovels can be ensured to be larger than the width of the ball storage box, and after certain shuttlecocks are collected by the ball storage box, the ball storage box can be manually taken out from between the two ball collecting shovels.

Preferably, the roller is a rubber roller surface, and rubber fluff is uniformly distributed on the roller surface. Can let the surface of roller both can not hinder the badminton, can have sufficient grabbing power again, can compare the scheme of background art and adopt the softer rubber of texture. As the preferred, can realize elastic connection through elastic material, for example spring or torsional spring between the roller in the middle of the roll surface of roller and the roller, make the roller can have a space of floating radially for the roller, when the badminton was rolled up, two rollers can be respectively outside elastic floating, and the increase clearance can also keep pressing from both sides tightly the badminton simultaneously.

Preferably, an independently controlled roller motor is arranged on the machine body shell corresponding to each pair of rollers, and two rollers of the same pair of rollers are synchronous through gear transmission or belt transmission; or the machine body shell is provided with an independently controlled roller motor corresponding to each roller. If each roller is controlled independently by the roller motor, the rollers in the same group can also run at a different speed, so that the direction and the posture of the shuttlecock can be adjusted along with the different speed when the shuttlecock is rolled in, a posture which is easier to turn into is automatically achieved, and the damage to the shuttlecock is reduced.

Preferably, ball blocking plates are respectively arranged on two sides of the bottom of the front side surface of the machine body shell, and the ball blocking plates are obliquely unfolded forwards and outwards.

Preferably, the rotating shaft is sleeved with a bearing on the inner side of the disc shovel frame, a ball storage box support is sleeved on the outer side of the bearing, and the ball storage box is erected on the ball storage box support. The ball storage box is erected on the ball storage box support, and when the rotating shaft rotates, the ball storage box can be kept still.

Preferably, one end of the rotating shaft is provided with a rotating shaft stepping control motor.

Preferably, one side of the ball collecting shovel is hinged with one disc shovel frame through a hinged shaft, a ball collecting shovel attitude control motor is arranged between the other side of the ball collecting shovel and the other disc shovel frame, and each ball collecting shovel attitude control motor is an independently controlled stepping motor. Each ball collecting shovel is provided with an independent attitude control motor, so that the ball collecting shovels can be controlled to be always kept at the position, facing outwards, of the periphery of the disc shovel frame, and the space of a ball storage box inside the disc shovel frame is enlarged; and when the badminton collecting shovel rotates to the top, the badminton collecting shovel can be controlled to overturn and pour out the badminton.

Preferably, the lower part of the disc shovel frame rotates forwards, and the ball collecting shovel at the lower part of the disc shovel frame is opened towards the front side.

Preferably, the rollers on the left and right sides of the body shell are driven by walking motors which are independently controlled.

Preferably, the number of the ball collecting shovels is 2-4 uniformly arranged on the periphery of the disc shovel frame.

Preferably, the body casing is a vertically-through casing having an upper side surface and a lower side surface both opened.

The utility model discloses simple structure uses in a flexible way, and the gesture to the badminton requires lowly, when a large amount of badminton are concentrated in a position, can accomplish fast and pick up the collection.

Drawings

The present invention will be further explained with reference to the accompanying drawings.

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

Fig. 2 is a schematic diagram of the internal structure of the housing of the present invention.

Fig. 3 is a schematic diagram of the relative position structure of the roller and the disc shovel frame of the present invention.

Fig. 4 is a schematic structural view of the ball collecting shovel of the present invention.

Fig. 5 is a schematic view of the supporting structure of the ball storage box of the present invention.

In the figure: 1. fuselage casing, 2, camera, 3, pair roller, 4, gyro wheel, 5, ball blocking plate, 6, roller, 7, rubber fine hair, 8, pivot, 9, disc shovel frame, 10, storage ball box, 11, collection ball shovel, 12, articulated shaft, 13, collection ball shovel gesture control motor, 14, storage ball box support.

Detailed Description

The present invention will be further described with reference to the following specific embodiments and accompanying drawings.

Example (b): an automatic shuttlecock picking and collecting device is shown in figure 1. The device comprises a body shell 1, wherein the body shell 1 is provided with a front side plate, a rear side plate, a left side plate and a right side plate, and the upper side surface and the lower side surface of the body shell 1 are both provided with openings. The left side and the right side of the machine body shell are respectively provided with two rollers 4; the left side and the right side of the body shell are respectively provided with a roller 4 near the rear part, and the front end is attached to the ground, so that the ball collecting shovel can shovel the ball in a lower posture. Each roller is driven by a walking motor which is independently controlled.

Two groups of rollers 3 are arranged at the bottom of the front side face of the machine body shell 1 in parallel, as shown in figures 2 and 3, each group of rollers 3 comprises two vertically arranged rollers 6, each roller 6 is a rubber roller surface, and rubber fluff 7 is uniformly distributed on the roller surfaces. The adjacent sides of the two rollers 6 rotate from front to back and are used for rolling the shuttlecocks in front of the machine body shell 1 into the interior of the machine body shell. The rollers rotate forwards at the adjacent positions of the two pairs of rollers to push out the shuttlecocks. Ball blocking plates 5 are respectively arranged on two sides of the bottom of the front side surface of the machine body shell, and the ball blocking plates 5 are obliquely unfolded forwards and outwards. The machine body shell 1 is provided with a roller motor which is independently controlled corresponding to each roller 6. As shown in fig. 1, a camera 2 is provided on the front side of the body case 1 above the counter roller 3 to photograph an image and identify the position of the shuttlecock. The inner wall of the front side surface of the body shell can be provided with controllers of all motors and cameras.

As shown in fig. 2 and 3, a rotating shaft 8 horizontally arranged in the left-right direction is arranged between the middle parts of the left and right side plates of the body shell 1, and a rotating shaft stepping control motor is arranged at one end of the rotating shaft 8. Disk shovel frames 9 are symmetrically arranged at two ends of the rotating shaft 8, a ball storage box 10 with an opening at the upper part is arranged between the middle parts of the two disk shovel frames, and four ball collecting shovels 11 are uniformly arranged on the periphery between the two disk shovel frames. The lower part of the disc shovel frame rotates forwards, and the ball collecting shovel at the lower part of the disc shovel frame is opened towards the front side. As shown in fig. 4, one side of the ball collecting shovel 11 is hinged with one of the disc shovel frames through a hinge shaft 12, a ball collecting shovel attitude control motor 13 is arranged between the other side of the ball collecting shovel and the other disc shovel frame, and each ball collecting shovel attitude control motor is an independently controlled stepping motor. As shown in fig. 5, the rotating shaft 8 is sleeved with a bearing at the inner side of the disc shovel frame, a ball storage box support 14 is sleeved on the outer side of the bearing, and the ball storage box 10 is erected on the ball storage box support.

This device uses the image data of camera collection as the basis, judges the position of badminton landing point, then through the differential control adjustment direction of both sides gyro wheel, moves ahead to the badminton position along the straight line through the synchro control of two gyro wheels, utilizes the relative rotation of two rollers in the pair roller, changes over the badminton into the rear side of pair roller, gets into the inside of fuselage casing. When the machine body shell walks again, the shuttlecocks inside the machine body shell can be collected by the shuttlecock collecting shovel which moves forward. The disc shovel frame is controlled by a rotating shaft stepping control motor, the disc shovel frame intermittently rotates, a certain amount of shuttlecocks are collected by the ball collecting shovel, or the ball collecting shovel stays at the lowest part for a set time and then rotates for 90 degrees, and the next ball collecting shovel is rotated to the downward position of the disc shovel frame. When the ball collecting shovel rotates 180 degrees from bottom to top, the badminton reaches the upper part of the ball storage box, and the badminton collecting shovel is driven to overturn to pour the badminton into the ball storage box through the posture control motor of the ball collecting shovel. After certain badminton is collected to the ball storage box, can artifically take out the ball storage box from between two ball collection shovels.

Claims

1. The utility model provides a badminton automatic pickup collection device, includes the fuselage casing, its characterized in that: the leading flank bottom of fuselage casing is provided with a set of or multiunit pair roller, every group pair roller includes the roller of two vertical settings, two adjacent sides of roller rotate from the front to the back, the leading flank of fuselage casing is equipped with the camera in the top of pair roller, be equipped with the pivot that the direction level set up about between the middle part of curb plate about the fuselage casing, pivot both ends symmetry is equipped with the disc shovel frame, be equipped with upper portion open-ended storage ball box between the two disc shovel frame middle parts, the ring week between two disc shovel frames evenly is equipped with a plurality of ball shovels that gather, the left and right sides of fuselage casing is equipped with the gyro wheel.

2. An automatic shuttlecock picking and collecting device according to claim 1, characterised in that: the roller is a rubber roller surface, and rubber fluff is uniformly distributed on the roller surface.

3. An automatic shuttlecock picking and collecting device according to claim 2, characterised in that: the machine body shell is provided with independently controlled roller motors corresponding to each pair of rollers, and two rollers of the same pair of rollers are synchronous through gear transmission or belt transmission; or the machine body shell is provided with an independently controlled roller motor corresponding to each roller.

4. An automatic shuttlecock picking and collecting device according to claim 1, 2 or 3, characterised in that: and the two sides of the bottom of the front side surface of the machine body shell are respectively provided with a ball blocking plate, and the ball blocking plates are obliquely unfolded forwards and outwards.

5. An automatic shuttlecock picking and collecting device according to claim 1, characterised in that: the bearing is sleeved on the inner side of the disc shovel frame of the rotating shaft, the ball storage box support is sleeved on the outer side of the bearing, and the ball storage box is erected on the ball storage box support.

6. An automatic shuttlecock picking and collecting device according to claim 1 or 5, characterised in that: and a rotating shaft stepping control motor is arranged at one end of the rotating shaft.

7. An automatic shuttlecock picking and collecting device according to claim 1 or 2 or 3 or 5 characterised in that: one side of the ball collecting shovel is hinged with one of the disc shovel frames through a hinged shaft, a ball collecting shovel attitude control motor is arranged between the other side of the ball collecting shovel and the other disc shovel frame, and each ball collecting shovel attitude control motor is an independently controlled stepping motor.

8. An automatic shuttlecock picking and collecting device according to claim 1 or 2 or 3 or 5 characterised in that: the lower part of the disc shovel frame rotates forwards, and the ball collecting shovel at the lower part of the disc shovel frame is opened towards the front side.

9. An automatic shuttlecock picking and collecting device according to claim 1 or 2 or 3 or 5 characterised in that: the rollers on the left side and the right side of the machine body shell are driven by walking motors which are independently controlled.

10. An automatic shuttlecock picking and collecting device according to claim 1 or 2 or 3 or 5 characterised in that: the fuselage casing is the upper and lower through casing of the equal open-ended of last side, downside.