CN216909104U - Golf ball picking robot - Google Patents

Abstract

The utility model belongs to the technical field of sports equipment, and discloses a golf ball picking robot which comprises a rack assembly, a ball picking assembly, a ball feeding assembly, a storage assembly and a walking assembly, wherein the rack assembly comprises an outer frame, an inner frame, a rectangular frame, a pendant frame and a guide rail; the utility model solves the problems of complex structure, complex operation, low picking success rate and picking efficiency of the ball picking robot for picking golf balls in the prior art, and is suitable for picking golf balls.

Description

Golf ball picking robot

Technical Field

The utility model relates to the technical field of sports equipment, in particular to a golf ball picking robot.

Background

With the improvement of living standard, golf is no longer the sport of riches and honours, and is more and more popular with the nation. It is known that in the golf game, when a golfer hits hundreds of golf balls one day, a standard golf course occupies 50 to 75 hectares, and a large area of accumulated golf balls appears in a relatively short time in the golf game mode, which may not only affect the game experience of the golfer but also may be stepped on by the golfer to cause damage to the balls and injury to the fall of the golfer. When balls which are scattered on a court are to be picked up, the balls can be picked up by manually bending over or manually holding the ball picking tool when the balls are not piled in a large area, and the balls can be picked up by manually driving an engineering vehicle to drag the ball picking tool when the balls are piled in a large area. Because the area that needs to pick up the ball in the golf course is big, the quantity is many, and the ball is picked up in the manual work walking not only needs the world long, and moreover to the people who picks up the ball intensity of labour great, the manual work drives engineering vehicle, picks up the ball and leads to the damage of golf again easily.

With the progress of science and technology, a plurality of robots for picking up balls are developed in recent years, and a Chinese patent (patent publication number: CN 112370751A) discloses an amphibious golf ball picking machine, which mainly adopts the technical scheme that: the amphibious golf ball picking machine consists of carriage, ball picking mechanism, ball feeding mechanism and ball storing and storing mechanism. When the technical scheme is used for picking up the balls on the land, the working principle is as follows: the storage battery drives the steering wheel to rotate, so that the carriage moves on the land, the bottom surface of the collecting wheel and the ground surface of the steering wheel are positioned on the same horizontal plane, the inclination directions of the adjacent collecting wheels are opposite, the horizontal plane of the collecting plate is higher than the horizontal plane of the collecting wheel, the carriage drives the collecting wheel to move to the front of a golf ball, the golf ball is touched and squeezed between the adjacent collecting wheels, the clamped golf ball rotates upwards by rolling of the collecting wheel, and the golf ball touches the baffle plate and is scraped to fall into a follow-up mechanism to achieve a ball picking effect. However, in the technical scheme provided by the patent, the effective ball clamping area is small due to the opposite inclination directions of the adjacent collecting wheels, and the golf balls are easy to roll and cannot enter the effective ball clamping positions of the collecting wheels accurately; and the inclination directions of the adjacent collecting wheels are opposite, and at least two collecting wheels are spaced from the first effective ball clamping position of the collecting wheels to the next effective ball clamping position of the collecting wheels. Therefore, during the rolling process of the collecting wheels, only a few golf balls enter the effective ball clamping positions of two adjacent collecting wheels, and even when the golf balls are clamped at the effective ball clamping positions and sent to the top, the position area is also in the enlarged part of the collecting wheels, namely the non-ball-picking area, so that the golf balls are not picked up and the collecting wheels are idle. The golf ball picking machine also has the problems of long ball picking time, picking success rate and the like, when all golf balls are picked up, the golf balls need to continuously roll the collecting wheel, or the position of the ball picking machine is continuously adjusted to change the position of the effective ball clamping position of the collecting wheel, so that the golf balls are positioned in the effective ball clamping range of the collecting wheel, the adjusting process is very complicated, the picking success rate and the ball picking efficiency are greatly reduced, and the use range of the golf ball picking machine is only limited to land sections without relatively large pits on the ground when the golf ball picking machine is used on land.

Another Chinese patent (patent publication No. CN 107875597A) discloses a golf ball picking machine based on artificial intelligence, which provides the technical proposal that: the detection device of the ball picking machine identifies the position of a golf ball, the first driving device enables the ball picking machine to move through the roller, when the ball picking machine encounters the golf ball, the golf ball is pushed onto the ball shovel, then the ball pushing plate is driven by the rotation of the ball collecting roller, the golf ball is flushed through the elastic rope by the aid of the rotating thrust of the ball pushing plate, and the elastic rope enters the ball storage position, and therefore ball picking operation is completed. Although the technical scheme solves the problem of limited ball picking, in the working process, the ball picking machine is driven by a power device to open a golf ball at a higher speed, and the golf ball is shoveled by a ball shovel through the inertia of the golf ball, but because the golf ball is lighter in weight and easy to bounce, when the moving speed of the ball picking machine does not meet the requirement, the golf ball is easy to bounce to other places or slide off, and the process is repeated repeatedly as long as the whole golf ball is picked up and then accelerated to move, so that the success rate of ball picking is low, and the efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a golf ball picking robot, which solves the problems of complex structure, complex operation, low picking success rate and low picking efficiency of the golf ball picking robot in the prior art.

In order to achieve the above purpose, the utility model provides the following technical scheme:

a golf ball picking robot comprises a rack assembly, a ball picking assembly, a ball sending assembly, a storage and arrangement assembly and a walking assembly, wherein the walking assembly is connected to the lower side of the rack assembly, the ball picking assembly, the ball sending assembly and the storage and arrangement assembly are connected to the upper side of the rack assembly, and the ball sending assembly is arranged between the ball picking assembly and the storage and arrangement assembly;

the frame assembly comprises an outer frame, an inner frame, a rectangular frame, a pendant frame and guide rails, the inner frame is fixedly connected to the inner side of the outer frame, the rectangular frame is fixedly connected to the upper side of the inner frame, the pendant frame is fixedly connected to the inner side of the rectangular frame, the guide rails are provided with two parts, and the two parts of the guide rails are respectively connected with two vertical shafts of the rectangular frame;

the ball picking assembly comprises an air cylinder, a miniature air pump, an air tank, an electromagnetic valve, a buckling block, a guide plate, a ball picking cylinder and a telescopic ball picking transmission assembly, the air cylinder is connected with the pendant frame, the air cylinder penetrates through the rectangular frame, the buckling block is connected with an output shaft of the air cylinder, the buckling block is arranged on the lower side of the pendant frame, the buckling block is fixedly connected with the guide plate, two ends of the guide plate are respectively connected with two guide rails in a sliding manner, the ball picking cylinder is rotatably connected with a central shaft, the central shaft is connected to the lower side of the guide plate, a plurality of adjusting holes are formed in the left side and the right side of the ball picking cylinder, a plurality of ball collecting wheels are connected to the outer side of the ball picking cylinder, the distance between two adjacent ball collecting wheels is matched with the diameter of a golf ball, a plurality of ball scraping portions are arranged on the ball collecting wheels, and the miniature air pump and the air tank, The electromagnetic valve is communicated with the air cylinder in sequence, the miniature air pump is used for compressing air, the air tank is used for storing air, the electromagnetic valve is used for controlling the operation of the air cylinder, the telescopic ball picking transmission assembly comprises a first servo motor, a driving pulley, a belt, a driven pulley and a ball picking spring damper, the first servo motor is fixedly connected with the pendant rack, the driving pulley is connected with an output shaft of the first servo motor, the driven pulley and the ball picking spring damper are respectively provided with a plurality of pieces, the driven pulley and the ball picking spring damper are in one-to-one correspondence with the adjusting holes, the driven pulleys are respectively connected with a pulley shaft in a penetrating way, the pulley shafts are simultaneously connected with a plurality of pieces of shaft sleeves, the shaft sleeves are rotatably connected to the outer side of the central shaft, and one end of the pulley shafts are in one-to-one-to-correspondence sliding connection with the adjusting holes, the other end of the belt wheel shaft is connected with the ball picking spring damper, the free end of the ball picking spring damper is connected with the shaft sleeve, and a plurality of driven pulleys are connected with the driving pulley through the belt;

the ball picking assembly comprises an air cylinder, a miniature air pump, an air tank, an electromagnetic valve, a buckling block, a guide plate, a ball picking cylinder and a telescopic ball picking transmission assembly, the air cylinder is connected with the pendant frame, the air cylinder penetrates through the rectangular frame, the buckling block is connected with an output shaft of the air cylinder, the buckling block is arranged on the lower side of the pendant frame, the buckling block is fixedly connected with the guide plate, two ends of the guide plate are respectively in sliding connection with two guide rails, the ball picking cylinder is rotatably connected to the lower side of the guide plate, a plurality of adjusting holes are formed in the left side and the right side of the ball picking cylinder, a plurality of ball collecting wheels are connected to the outer side of the ball picking cylinder, the distance between every two adjacent ball collecting wheels is matched with the diameter of a plurality of golf balls, each ball collecting wheel is provided with a ball scraping part, and the miniature air pump, the air tank, the electromagnetic valve and the air cylinder are sequentially communicated, the micro air pump is used for compressing air, the air tank is used for storing air, the electromagnetic valve is used for controlling the operation of the air cylinder, the telescopic ball picking transmission component comprises a first servo motor, a driving belt wheel, a belt, a driven belt wheel and a ball picking spring damper, the first servo motor is fixedly connected with the pendant rack, the driving belt wheel is connected with an output shaft of the first servo motor, the driven belt wheel and the ball picking spring damper are respectively provided with a plurality of pieces, the driven belt wheel and the ball picking spring damper are in one-to-one correspondence with the adjusting holes, the driven belt wheel is connected with the adjusting hole in a sliding way, one end of the ball picking spring damper is connected with the driven belt wheel, the other end of the ball picking spring damper is connected with a central rotating shaft of the ball picking barrel, and a plurality of pieces of driven pulleys are connected with the driving pulley through the belt;

the ball feeding assembly comprises a second servo motor, a ball feeding transmission assembly, a ball feeding rotating shaft, a ball feeding blade and a ball scraping assembly, the second servo motor and the ball feeding transmission assembly are both connected with the outer frame, the ball feeding rotating shaft is connected with the second servo motor through the ball feeding transmission assembly, the ball feeding rotating shaft is rotatably connected with the outer frame, the ball feeding blade is fixedly connected with the ball feeding rotating shaft, the ball feeding blade is matched with a golf ball, and the ball scraping assembly is matched with the ball scraping part;

the storage and arrangement component comprises a third servo motor, a storage and arrangement driving bevel gear, a screw rod, a ball bin and a storage and arrangement net rack, wherein the third servo motor and the ball bin are connected with the inner frame, the storage and arrangement driving bevel gear is connected with an output shaft of the third servo motor, the screw rod is rotationally connected with the ball bin, the screw rod is connected with a storage and arrangement driven bevel gear, the storage and arrangement driven bevel gear is meshed with the storage and arrangement driving bevel gear, the storage and arrangement net rack is in sliding connection with the ball bin, the storage and arrangement net rack is in threaded connection with the screw rod, a storage and arrangement hole is formed in the storage and arrangement net rack, and the storage and arrangement hole is matched with a golf ball;

the walking subassembly includes walking drive assembly, walking wheel subassembly, track and walking spring attenuator, walking drive assembly with interior frame connection, the action wheel with walking drive assembly's output shaft, walking wheel subassembly includes action wheel, skeleton, auxiliary wheel and supplementary loose wheel, the action wheel the auxiliary wheel with supplementary loose wheel all with the skeleton rotates to be connected, walking wheel subassembly has two, two walking wheel subassembly passes through walking spring attenuator connects, the track cup joints two the outside of walking wheel subassembly, walking assembly has two, two walking assembly about the central plane mirror symmetry of frame sets up.

Further, rectangular frame is equipped with back shape fixed slot, back shape fixed slot with the cylinder cooperation sets up, the cylinder wears to locate back shape fixed slot.

Further, the output shaft of the first servo motor is connected with a detachable component through threads, the detachable component is arranged on the outer side of the driving belt wheel, the two ends of the lower side of the guide plate are respectively connected with an arc-shaped transmission plate, and the two ends of the central shaft are respectively connected with the two arc-shaped transmission plates.

Furthermore, the ball collecting wheel is made of rubber materials, a ball collecting groove is formed between every two adjacent ball collecting wheels, and the ball collecting groove is in a wedge shape with a large outer part and a small inner part.

Furthermore, the driving belt wheel and the driven belt wheel are synchronous belt wheels, the belt is a synchronous belt, five driven belt wheels, the ball picking spring dampers and the adjusting holes are all arranged on the ball picking cylinder, the five driven belt wheels, the ball picking spring dampers and the adjusting holes are evenly distributed on the ball picking cylinder, the two telescopic ball picking transmission assemblies are arranged in a mirror symmetry mode about the central plane of the ball picking cylinder.

Further, the walking transmission assembly comprises a fourth servo motor and a transmission shaft, the fourth servo motor is connected with the inner frame, an output shaft of the fourth servo motor is connected with a first driving bevel gear, the transmission shaft is connected with the inner frame in a rotating mode, the transmission shaft is fixedly connected with a first driven bevel gear and a second driving bevel gear, the first driven bevel gear is meshed with the first driving bevel gear, a connecting shaft of the driving wheel is connected with a second driven bevel gear, and the second driven bevel gear is meshed with the second driving bevel gear.

The principle and the beneficial effects of the technical scheme are as follows:

1. the rack assembly is used for connecting the ball picking assembly, the ball conveying assembly, the storing and discharging assembly and the walking assembly of the ball picking robot, the rack assembly adopts a frame type rack, the structure is reasonable in arrangement, the weight of the whole device is also beneficial to and lightened, guide rails are arranged on two vertical shafts of the rectangular frame, the guide plate slides up and down along the guide rails, and the guide rails limit and guide the guide plate, so that the practicability of the whole ball picking robot is improved;

2. the ball picking assembly is used for picking golf balls, the air tank is used for containing air compressed by the miniature air pump, the electromagnetic valve controls the operation of the air cylinder, the air cylinder operates under the action of the clamping block and the guide plate to drive the ball picking barrel to move up and down, the ball picking barrel is picked up by the plurality of ball collecting wheels connected with the ball picking barrel, wherein the ball collecting wheels are made of rubber materials and have certain flexibility, the wedge-shaped ball collecting grooves formed between two adjacent ball collecting grooves improve the picking efficiency of the golf balls and simultaneously avoid the phenomenon that the picked golf balls fall off, the positions of the first servo motor and the driving belt wheel are not changed in the process of the up-and-down movement of the ball picking barrel, the ball picking spring damper is stretched, the belt wheel shaft slides along the adjusting hole to change the center distance between the driving belt wheel and the driven belt wheel so as to realize the up-and-down movement of the ball picking barrel, and the principle is similar to the application in stepless speed change transmission, the walking transmission assembly drives the ball picking cylinder to rotate, the first servo motor drives the driving belt wheel to rotate, the driving belt wheel drives a plurality of driven belt wheels to rotate, the belt wheel shafts rotate along with the driven belt wheels, the belt wheel shafts rotate around the central shaft at the same time, the belt wheel shafts drive the ball picking cylinder to rotate, the plurality of golf balls are picked, the picked golf balls rotate along with the ball picking cylinder, the ball scraping assembly scrapes the golf balls on the ball picking cylinder at the ball scraping part, the golf balls roll to the ball feeding assembly part along the ball scraping assembly, the detachable assembly is connected to the outer side of the output shaft of the first servo motor, and after the detachable assembly is detached, the driving belt wheel, the belt, the driven belt wheel, the ball picking spring damper and other parts of the telescopic ball picking transmission assembly can be sequentially detached, and the convenience in disassembly and assembly is improved;

3. the ball feeding assembly is used for feeding golf balls falling from the ball picking cylinder into the storage and arrangement assembly, the second servo motor drives the ball feeding transmission assembly to rotate, and the ball feeding blades periodically feed the golf balls into the storage and arrangement assembly in batches under the action of the ball feeding rotating shaft;

4. the storage and arrangement component is used for storing and arranging golf balls, the golf balls rolled out from the ball feeding component enter the ball bin from a hole of the storage and arrangement net rack, the third servo motor drives the storage and arrangement bevel gear assembly to rotate, the lead screw rotates to drive the storage and arrangement net rack to horizontally and uniformly move along one side of the ball bin, which is far away from the ball feeding component, and the golf balls are uniformly and stably fed to one side of the ball bin for storage;

5. the walking assembly is used as a moving part of the ball picking robot, a crawler type walking mode is adopted, the passing performance is good, the single-side crawler adopts two walking wheel assemblies and is connected by a walking spring damper, the stability of the walking device is ensured, the transmission part adopts a bevel gear set for transmission, and the transmission part is symmetrically arranged in the front, back, left and right directions, so that the passing performance and the stability of the whole robot are further improved;

6. the whole device has reasonable design and simple structural arrangement principle, can finish the picking of the golf balls by only controlling the operation of the servo motor, has simple and easy learning operation, can pick a plurality of golf balls by one-time rotation of the ball picking cylinder of the ball picking assembly, has high picking efficiency, adopts the ball collecting wheels made of rubber, and forms a wedge-shaped ball collecting groove between two adjacent ball collecting wheels, thereby having high success rate of picking the golf balls.

Drawings

FIG. 1 is a schematic structural view of a golf ball picking robot according to the present invention;

FIG. 2 is a schematic structural view of a golf ball picking robot frame assembly according to the present invention;

FIG. 3 is a schematic structural view of a ball picking assembly of the golf ball picking robot according to the present invention;

FIG. 4 is a schematic structural view of a guide plate and a guide rail of a golf ball picking robot according to the present invention;

FIG. 5 is a schematic view of a telescopic ball-picking transmission assembly of the golf ball-picking robot of the present invention;

fig. 6 is a schematic structural view of a ball picking barrel of a golf ball picking robot according to the present invention;

FIG. 7 is a schematic view of a golf ball picking barrel and a ball scraping assembly of a golf ball picking robot according to the present invention;

FIG. 8 is a schematic structural view of a ball delivery assembly and a ball storage assembly of the golf ball picking robot according to the present invention;

FIG. 9 is a schematic structural view of a walking assembly of the golf ball picking robot according to the present invention;

FIG. 10 is a bottom view of a walking assembly of the golf ball picking robot of the present invention;

the names of the corresponding labels in the drawings are:

the device comprises a rack assembly 100, an outer frame 101, an inner frame 102, a rectangular frame 103, a pendant rack 104, a guide rail 105, a ball picking assembly 200, an air cylinder 201, a micro air pump 202, an air tank 203, an electromagnetic valve 204, a buckling block 205, a guide plate 206, an arc-shaped driving plate 207, a ball picking cylinder 208, a first servo motor 209, a driving pulley 210, a belt 211, a driven pulley 212, a ball picking spring damper 213, an adjusting hole 214, a ball collecting wheel 215, a ball scraping part 216, a shaft sleeve 217, a detachable assembly 218, a central shaft 219, a belt wheel shaft 220, a ball feeding assembly 300, a second servo motor 301, a ball feeding driving assembly 302, a ball feeding rotating shaft 303, a ball feeding blade 304, a ball scraping assembly 305, a storage assembly 400, a third servo motor 401, a storage driving bevel gear 402, a screw 403, a ball bin 404, a storage rack 405, a walking assembly 500, a fourth servo motor 501, a first driving bevel gear 502, a first driven bevel gear 503, a transmission shaft 504, A second driving bevel gear 505, a second driven bevel gear 506, a driving wheel 507, a frame 508, an auxiliary wheel 509, a crawler 510, an auxiliary movable wheel 511, a walking spring damper 512, and a golf ball 600.

Detailed Description

The utility model is described in further detail below with reference to the following figures and embodiments:

as shown in fig. 1 to 10, a golf ball picking robot comprises a frame assembly 100, a ball picking assembly 200, a ball delivery assembly 300, a storage assembly 400 and a walking assembly 500, wherein the walking assembly 500 is connected to the lower side of the frame assembly 100 through a bolt combination, the ball picking assembly 200, the ball delivery assembly 300 and the storage assembly 400 are connected to the upper side of the frame assembly 100 through a bolt combination, and the ball delivery assembly 300 is arranged between the ball picking assembly 200 and the storage assembly 400;

the rack assembly 100 comprises an outer frame 101, an inner frame 102, a rectangular frame 103, a pendant frame 104 and guide rails 105, wherein the inner frame 102 is fixedly connected to the inner side of the outer frame 101, the rectangular frame 103 is fixedly connected to the upper side of the inner frame 102, a clip-shaped fixing groove is formed in the middle of an upper transverse shaft of the rectangular frame 103, the pendant frame 104 is fixedly connected to the inner side of the rectangular frame 103, the guide rails 105 are divided into two parts, and the two guide rails 105 are respectively connected with left and right vertical shafts of the rectangular frame 103;

the ball picking assembly 200 comprises an air cylinder 201, a miniature air pump 202, an air tank 203, an electromagnetic valve 204, a buckling block 205, a guide plate 206, a ball picking cylinder 208 and a telescopic ball picking transmission assembly, wherein the middle part of the air cylinder 201 is penetrated through a clip-shaped placing groove, the lower part of the air cylinder 201 is connected with a pendant frame 104, the buckling block 205 is connected with an output shaft of the air cylinder 201, the buckling block 205 is arranged at the lower side of the pendant frame 104, the buckling block 205 is fixedly connected with the guide plate 206, two ends of the guide plate 206 are respectively connected with two guide rails 105 in a sliding manner, the left and right ends of the lower side of the guide plate 206 are respectively and fixedly connected with an arc-shaped transmission plate 207, the ball picking cylinder 208 is rotatably connected with a central shaft 219 through a bearing, two ends of the central shaft 219 are respectively connected with two arc-shaped transmission plates 207, five adjusting holes 214 are respectively arranged at the left and right sides of the ball picking cylinder 208, a plurality of ball picking wheels 215 are connected with the outer side of the ball picking cylinder 208, and the plurality of ball collecting wheels 215 are all made of rubber materials, a ball collecting groove is arranged between two adjacent ball collecting wheels 215, the ball collecting groove is in a wedge shape with a large outer part and a small inner part, the size of the wedge groove is matched with the diameter of a golf ball 600, a plurality of ball collecting wheels 215 are all provided with a ball scraping part 216, a micro air pump 202, an air tank 203, an electromagnetic valve 204 and an air cylinder 201 are communicated by an air pipe in sequence, the micro air pump 202 is used for compressing air, the air tank 203 is used for storing air, the electromagnetic valve 204 is used for controlling the operation of the air cylinder 201, a telescopic ball transmission assembly comprises a first servo motor 209, a driving pulley 210, a belt 211, a driven pulley 212 and a ball picking spring damper 213, the driving pulley 210 and the driven pulley 212 are synchronous pulleys, the belt 211 is a synchronous belt, the first servo motor 209 is fixedly connected with the pendant frame 104, the driving pulley 210 is in key connection with an output shaft of the first servo motor 209, an output shaft of the first servo motor 209 is in threaded connection with a detachable assembly 218, the detachable component 218 is arranged on the outer side of the driving belt wheel 210, the driven belt wheel 212 and the ball picking spring damper 213 are respectively provided with five parts, the driven belt wheel 212 and the ball picking spring damper 213 are in one-to-one correspondence with the adjusting hole 214, the driven belt wheel 212 is fixedly connected with a belt wheel shaft 220 in a penetrating way, the belt wheel shaft 220 is connected with a shaft sleeve 217, the shaft sleeve 217 is rotatably sleeved on the outer side of the central shaft 219, the right end of the belt wheel shaft 220 is in sliding connection with the adjusting hole 214, the left end of the belt wheel shaft 220 is connected with the upper end of the ball picking spring damper 213, the lower end of the ball picking spring damper 213 is fixedly connected with the shaft sleeve 217, the five parts of the driven belt wheel 212, the ball picking spring damper 213 and the adjusting hole 214 are uniformly distributed on the ball picking barrel 208, and the five parts of the driven belt wheel 212 are connected with the driving belt wheel 210 through a belt 211, the two telescopic ball picking transmission assemblies are arranged in a mirror symmetry mode about the central plane of the ball picking cylinder 208;

the ball feeding assembly 300 comprises a second servo motor 301, a ball feeding transmission assembly 302, a ball feeding rotating shaft 303, a ball feeding blade 304 and a ball scraping assembly 305, the second servo motor 301 and the ball feeding transmission assembly 302 are both connected with the outer frame 101, the ball feeding rotating shaft 303 is connected with the second servo motor 301 through the ball feeding transmission assembly 302, the ball feeding rotating shaft 303 is rotatably connected with the outer frame 101 through a bearing, the ball feeding blade 304 is fixedly connected with the ball feeding rotating shaft 303, the ball feeding blade 304 is matched with the golf ball 600, and the ball scraping assembly 305 is matched with the ball scraping portion 216;

the storage and arrangement assembly 400 comprises a third servo motor 401, a storage and arrangement driving bevel gear 402, a screw 403, a ball bin 404 and a storage and arrangement net rack 405, wherein the third servo motor 401 and the ball bin 404 are both connected with the inner frame 102 through bolt combination, the storage and arrangement driving bevel gear 402 is in key connection with an output shaft of the third servo motor 401, the screw 403 is in rotary connection with the ball bin 404, the screw 403 is connected with a storage and arrangement driven bevel gear through a key, the storage and arrangement driven bevel gear is meshed with the storage and arrangement driving bevel gear 402, the storage and arrangement net rack 405 is in sliding connection with the ball bin 404, the storage and arrangement net rack 405 is in threaded connection with the screw 403, a storage and arrangement hole is formed in the storage and arrangement net rack 405, and the storage and arrangement hole is matched with the golf ball 600;

the walking assembly 500 comprises a walking transmission assembly, a walking wheel assembly, a caterpillar track 510 and a walking spring damper 512, the walking transmission assembly comprises a fourth servo motor 501 and a transmission shaft 504, the fourth servo motor 501 is connected with the inner frame 102 through a bolt combination, an output shaft of the fourth servo motor 501 is connected with a first drive bevel gear 502 through a key, the transmission shaft 504 is rotatably connected with the inner frame 102 through a bearing, the front end and the rear end of the transmission shaft 504 are fixedly connected with a first driven bevel gear 503 and a second drive bevel gear 505 through keys respectively, the first driven bevel gear 503 is meshed with the first drive bevel gear 502, a driving wheel 507 connecting shaft is connected with a second driven bevel gear 506 through a key, the second driven bevel gear 506 is meshed with the second drive bevel gear 505, the walking wheel assembly comprises a driving wheel 507, a framework 508, an auxiliary wheel 509 and an auxiliary movable wheel 511, the driving wheel 507, the auxiliary wheel 509 and the auxiliary movable wheel 511 are rotatably connected with the framework 508 through a bearing, the walking wheel assembly has two, and two walking wheel assemblies pass through walking spring attenuator 512 to be connected, and track 510 cup joints the outside at two walking wheel assemblies, and walking assembly 500 has two, and two walking assemblies 500 are in the mirror symmetry setting of the central plane of frame.

The specific implementation mode is as follows:

when the golf ball 600 is picked up by using the ball picking robot, the fourth servo motor 501 is started to drive the walking assembly 500 to run so as to drive the whole robot to walk, the micro air pump 202 is started to obtain compressed air, the solenoid valve 204 is used for controlling the operation of the air cylinder 201, so that the ball picking cylinder 208 moves downwards, after the ball picking cylinder moves downwards to a certain position, the first servo motor 209 is started to drive the ball picking cylinder 208 to rotate under the action of the synchronous belt and the synchronous belt wheel, the wedge-shaped ball collecting groove formed between the two ball collecting wheels 215 picks up the golf ball 600, the rotating ball picking cylinder 208 can finish picking up a plurality of golf balls 600, the solenoid valve 204 is used for controlling the ball picking cylinder 208 to move upwards again, after the ball scraping assembly 305 moves upwards to a specified position, the ball scraping assembly 216 scrapes the golf ball 600 on the ball picking cylinder 208, the golf ball 600 enters the ball conveying blade 304 of the ball conveying assembly 300 along the ball scraping assembly 305, the second servo motor 301 is started to drive the ball feeding blade 304 to rotate so as to scrape the golf balls 600 into the edge of the ball bin 404 of the storage and arrangement component 400, the third servo motor 401 is started to enable the storage and arrangement net rack 405 to do linear motion along the ball bin 404 under the action of the storage and arrangement bevel gear combination and the screw rod 403, the golf balls 600 sequentially enter the ball bin 404 under the action of the storage and arrangement holes of the storage and arrangement net rack 405, and the storage and arrangement of the golf balls 600 are completed; the walking assembly 500 walks along the position of the golf ball 600 to be picked, and the ball picking assembly 200, the ball sending assembly 300 and the storage assembly 400 are repeatedly operated to pick up and store the golf ball 600 in the field.

The above description is only an example of the present invention, and the common general knowledge of the technical solutions or characteristics known in the solutions is not described herein too much. It should be noted that, for those skilled in the art, without departing from the technical solution of the present invention, several variations and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims (6)

1. A golf ball picking robot is characterized in that: the automatic ball picking machine comprises a rack assembly (100), a ball picking assembly (200), a ball conveying assembly (300), a storage assembly (400) and a walking assembly (500), wherein the walking assembly (500) is connected to the lower side of the rack assembly (100), the ball picking assembly (200), the ball conveying assembly (300) and the storage assembly (400) are connected to the upper side of the rack assembly (100), and the ball conveying assembly (300) is arranged between the ball picking assembly (200) and the storage assembly (400);

the frame assembly (100) comprises an outer frame (101), an inner frame (102), a rectangular frame (103), a pendant frame (104) and guide rails (105), wherein the inner frame (102) is fixedly connected to the inner side of the outer frame (101), the rectangular frame (103) is fixedly connected to the upper side of the inner frame (102), the pendant frame (104) is fixedly connected to the inner side of the rectangular frame (103), the guide rails (105) are provided with two parts, and the two parts of the guide rails (105) are respectively connected with two vertical shafts of the rectangular frame (103);

the ball picking assembly (200) comprises an air cylinder (201), a miniature air pump (202), an air tank (203), an electromagnetic valve (204), a buckling block (205), a guide plate (206), a ball picking cylinder (208) and a telescopic ball picking transmission assembly, the air cylinder (201) is connected with the pendant frame (104), the air cylinder (201) penetrates through the rectangular frame (103), the buckling block (205) is connected with an output shaft of the air cylinder (201), the buckling block (205) is arranged on the lower side of the pendant frame (104), the buckling block (205) is fixedly connected with the guide plate (206), two ends of the guide plate (206) are respectively in sliding connection with the two guide rails (105), the ball picking cylinder (208) is rotatably connected with a central shaft (219), the central shaft (219) is connected to the lower side of the guide plate (206), and a plurality of adjusting holes (214) are formed in the left side and the right side of the ball picking cylinder (208), a plurality of ball collecting wheels (215) are connected to the outer side of the ball picking barrel (208), the distance between two adjacent ball collecting wheels (215) is matched with the diameter of a golf ball (600), each ball collecting wheel (215) is provided with a ball scraping part (216), the micro air pump (202), the air tank (203), the electromagnetic valve (204) and the air cylinder (201) are sequentially communicated, the micro air pump (202) is used for compressing air, the air tank (203) is used for storing air, the electromagnetic valve (204) is used for controlling the operation of the air cylinder (201), the telescopic ball picking transmission assembly comprises a first servo motor (209), a driving pulley (210), a belt (211), a driven pulley (212) and a ball picking spring damper (213), the first servo motor (209) is fixedly connected with the pendant frame (104), and the driving pulley (210) is connected with an output shaft of the first servo motor (209), the driven belt wheel (212) and the ball-picking spring damper (213) are provided with a plurality of pieces, the driven belt wheel (212) and the ball-picking spring damper (213) correspond to the adjusting hole (214) in a one-to-one manner, the driven belt wheels (212) are connected with a belt wheel shaft (220) in a penetrating manner, a shaft sleeve (217) is connected to the plurality of belt wheel shafts (220), the shaft sleeve (217) is rotatably connected to the outer side of the central shaft (219), one end of each of the plurality of belt wheel shafts (220) is slidably connected with the corresponding adjusting hole (214), the other end of each belt wheel shaft (220) is connected with the ball-picking spring damper (213), the free end of each ball-picking spring damper (213) is connected with the shaft sleeve (217), and the plurality of driven belt wheels (212) are connected with the driving belt wheel (210) through the belts (211);

the ball feeding assembly (300) comprises a second servo motor (301), a ball feeding transmission assembly (302), a ball feeding rotating shaft (303), a ball feeding blade (304) and a ball scraping assembly (305), the second servo motor (301) and the ball feeding transmission assembly (302) are connected with the outer frame (101), the ball feeding rotating shaft (303) is connected with the second servo motor (301) through the ball feeding transmission assembly (302), the ball feeding rotating shaft is rotatably connected with the outer frame (101), the ball feeding blade (304) is fixedly connected with the ball feeding rotating shaft (303), the ball feeding blade (304) is matched with a golf ball (600), and the ball scraping assembly (305) is matched with the ball scraping portion (216);

the storage and arrangement assembly (400) comprises a third servo motor (401), a storage and arrangement driving bevel gear (402), a screw rod (403), a ball bin (404) and a storage and arrangement net rack (405), the third servo motor (401) and the ball bin (404) are both connected with the inner frame (102), the storage driving bevel gear (402) is connected with an output shaft of the third servo motor (401), the screw rod (403) is rotationally connected with the ball bin (404), the screw rod (403) is connected with a storage and discharge driven bevel gear, the storage row driven bevel gear is meshed with the storage row driving bevel gear (402), the storage row net rack (405) is connected with the ball bin (404) in a sliding way, the storage net rack (405) is connected with the screw rod (403) through threads, the storage and arrangement net rack (405) is provided with storage and arrangement holes, and the storage and arrangement holes are matched with the golf balls (600);

the walking assembly (500) comprises a walking transmission assembly, a walking wheel assembly, a crawler belt (510) and a walking spring damper (512), the walking transmission component is connected with the inner frame (102), the walking wheel component comprises a driving wheel (507), a framework (508), an auxiliary wheel (509) and an auxiliary movable wheel (511), the driving wheel (507) is connected with an output shaft of the walking transmission component, the driving wheel (507), the auxiliary wheel (509) and the auxiliary movable wheel (511) are all rotationally connected with the framework (508), the two walking wheel assemblies are connected through the walking spring damper (512), the crawler belt (510) is sleeved on the outer sides of the two walking wheel assemblies, the two walking wheel assemblies (500) are arranged, and the two walking wheel assemblies (500) are arranged in a mirror symmetry mode relative to the central plane of the rack assembly (100).

2. The golf ball picking robot of claim 1, wherein: rectangular frame (103) are equipped with back shape fixed slot, back shape fixed slot with cylinder (201) cooperation sets up, cylinder (201) wear to locate back shape fixed slot.

3. The golf ball picking robot of claim 1, wherein: the output shaft of first servo motor (209) has detachable assembly (218) through threaded connection, detachable assembly (218) locates the outside of driving pulley (210), the both ends of deflector (206) downside are connected with arc driving plate (207) respectively, the both ends of center pin (219) respectively with two arc driving plate (207) are connected.

4. The golf ball picking robot of claim 1, wherein: the ball collecting wheels (215) are made of rubber materials, a ball collecting groove is formed between every two adjacent ball collecting wheels (215), and the ball collecting groove is in a wedge shape with a large outer part and a small inner part.

5. The golf ball picking robot of claim 1, wherein: the ball picking device is characterized in that the driving belt wheel (210) and the driven belt wheel (212) are synchronous belt wheels, the belt (211) is a synchronous belt, the driven belt wheel (212), the ball picking spring damper (213) and the adjusting hole (214) are all five in number, the driven belt wheel (212), the ball picking spring damper (213) and the adjusting hole (214) are evenly distributed on the ball picking barrel (208), the telescopic ball picking transmission assembly is provided with two parts, and the two parts of the telescopic ball picking transmission assembly are arranged in mirror symmetry with respect to the central plane of the ball picking barrel (208).

6. The golf ball picking robot of claim 1, wherein: the walking transmission assembly comprises a fourth servo motor (501) and a transmission shaft (504), the fourth servo motor (501) is connected with the inner frame (102), an output shaft of the fourth servo motor (501) is connected with a first driving bevel gear (502), the transmission shaft (504) is connected with the inner frame (102) in a rotating mode, the transmission shaft (504) is fixedly connected with a first driven bevel gear (503) and a second driving bevel gear (505), the first driven bevel gear (503) is meshed with the first driving bevel gear (502), a connecting shaft of the driving wheel (507) is connected with a second driven bevel gear (506), and the second driven bevel gear (506) is meshed with the second driving bevel gear (505).

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