CN219630565U - Remove ball device of picking up - Google Patents
Remove ball device of picking up Download PDFInfo
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- CN219630565U CN219630565U CN202223207311.4U CN202223207311U CN219630565U CN 219630565 U CN219630565 U CN 219630565U CN 202223207311 U CN202223207311 U CN 202223207311U CN 219630565 U CN219630565 U CN 219630565U
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- 230000000386 athletic effect Effects 0.000 description 2
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Abstract
The utility model provides a mobile ball picking device which comprises a travelling mechanism and a second clamping mechanism, wherein the second clamping mechanism is arranged at the front end of the travelling mechanism. The second clamping mechanism comprises a second clamping device and a second clamping driving device, the second clamping driving device is arranged at the front end of the travelling mechanism, and the second clamping driving device is provided with the second clamping device; the second clamping device comprises a left clamping component and a right clamping component, the left clamping component and the right clamping component are arranged on the second clamping driving device, and a second clamping interval is formed between the right clamping component and the left clamping component; the ball device is picked up in the removal of above-mentioned structure, presss from both sides the hand subassembly through left side and the centre gripping that can realize the ball with the cooperation of right side clamp hand subassembly, and simple structure is just effective, picks up the ball through removing ball device realization to liberation partner's ball picking up work can effectively alleviate partner's work load.
Description
Technical Field
The utility model relates to the technical field of training robots, in particular to a mobile ball picking device.
Background
In order to improve the effectiveness and convenience of training of player balls (such as basketball, football, tennis, etc.), a large number of balls are usually used for training, however, a large number of balls can cause that the quantity of exercise of a training partner is very high, so that the training partner is easy to fatigue, and the training effect can be influenced.
Robots are widely applied to various fields of athletic sports and national quality education, and efforts are made to improve the technical level of various domestic robots, in particular to design intelligent robot mechanisms suitable for various sports training purposes and improve the control level thereof, thereby playing and popularizing the application and popularization advantages thereof, and further promoting the national health level and the efficient development and stable improvement of athletic sports industry.
However, the existing robot assisting training is only provided with a ball serving function, and has no automatic ball picking function, so that the quantity of exercise of a partner can be reduced, but the ball is still required to be picked up, the robot is inconvenient for the partner, the structure is complicated if the ball is picked up through additional ball picking equipment, meanwhile, the reliability of ball clamping through a simple robot arm is not high, and the angle of the existing ball serving device is fixed and cannot be adjusted.
Disclosure of Invention
The utility model aims to provide a mobile ball picking device, which can be used for picking balls in a mobile way, has a simple structure and can realize multi-directional ball serving.
In order to achieve the above purpose, the movable ball picking device comprises a travelling mechanism and a second clamping mechanism, wherein the second clamping mechanism is arranged at the front end of the travelling mechanism.
The second clamping mechanism comprises a second clamping device and a second clamping driving device, the second clamping driving device is arranged at the front end of the travelling mechanism, and the second clamping driving device is provided with the second clamping device; the second clamping device comprises a left clamping component and a right clamping component, the left clamping component and the right clamping component are arranged on the second clamping driving device, and a second clamping interval is formed between the right clamping component and the left clamping component.
The second clamping driving device comprises a second driving installation seat, a second driving motor, a second driving connecting block, a second driving framework and a second driving guide rail, wherein the second driving motor is installed on the travelling mechanism through the second driving installation seat, the second driving framework is arranged on a driving shaft of the second driving motor through the second driving connecting block, the second driving guide rail is arranged at two ends of the second driving framework, and a second hand clamping device is arranged on the second driving guide rail.
The second clamping driving device comprises a second driving installation seat, a second driving motor, a second driving connecting block, a second driving framework and a second driving guide rail, wherein the second driving motor is installed on the travelling mechanism through the second driving installation seat, the second driving framework is arranged on a driving shaft of the second driving motor through the second driving connecting block, the second driving guide rails are arranged at two ends of the second driving framework, and a second hand clamping device is arranged on the second driving guide rail;
the travelling mechanism comprises a travelling wheel device and a travelling base, the travelling wheel device is arranged at the front end and the rear end of the travelling base, and the second clamping mechanism is positioned at the front end of the travelling base.
The travelling wheel device comprises a moving assembly and a steering assembly, the moving assembly comprises a moving installation frame, a moving motor, a moving driving gear, a moving transfer gear, a moving driven gear and a moving wheel, the moving installation frame is arranged on the steering assembly, the moving motor is arranged at the top end of the moving installation frame, the moving wheel is arranged at the bottom end of the moving installation frame through a moving wheel shaft in a rotating mode, the driving shaft of the moving motor is provided with the moving driving gear, the moving wheel shaft is provided with the moving driven gear, the moving transfer gear is arranged on the moving installation frame between the moving driving gear and the moving driven gear, and the moving transfer gear is in meshed connection with the moving driving gear and the moving driven gear;
the steering assembly comprises a steering motor, a steering mounting frame, a steering driving gear and a steering driven gear, wherein the steering driven gear is arranged on a moving base through a steering bearing seat in a rotating mode, a through groove is formed in the center of the steering driven gear, the moving mounting frame is arranged in the through groove and is connected with the steering driven gear, the steering mounting frame is arranged on the moving base on one side of the steering driven gear, the steering motor is arranged on the steering mounting frame, the steering driving gear is arranged on a driving shaft of the steering motor, the steering driving gear is meshed with the steering driven gear, a steering encoder is arranged on the steering mounting frame on one side of the steering motor, and the steering encoder is meshed with the steering driven gear through an encoder gear.
According to the movable ball picking device with the structure, when a ball is required to be picked, the travelling mechanism moves to the position of the ball, the second clamping device is driven by the second clamping driving device to move downwards to the position of the ball, and then the ball is clamped by the left clamping assembly and the right clamping assembly, so that the ball is clamped, the structure is simple and effective, the ball picking device is moved, the ball picking work of a partner is liberated, and the workload of the partner can be effectively reduced; the movable driving gear is driven to rotate by the movable motor and drives the movable transit gear to rotate, so that the movable driven gear is driven to rotate, and the movable wheel is rotated and drives the travelling mechanism to move, so that the structure is simple and effective; above setting, through the setting that turns to the subassembly for the walking wheel device can realize the adjustment of different directions, thereby can make to remove ball picking up the device and can remove to different positions and pick up the ball, turn to motor control and turn to driving gear rotation and drive and turn to driven gear rotation, can drive the removal mounting bracket that is located logical inslot and is connected with driven gear from this and rotate, realize the turning to of removing the wheel from this, simple structure and effective.
Further, the second clamping device comprises a left clamping assembly, a right clamping assembly, a second clamping driving motor, a second driving wheel, a second driving driven wheel, a second driving connecting shaft, a second driving main pulley, a second driving belt and a second driving slave pulley block; the left hand clamping assembly is arranged on a second driving guide rail at one end of the second driving framework in a sliding manner, and the right hand clamping assembly is arranged on a second driving guide rail at the other end of the second driving framework in a sliding manner; the second clamping hand driving motor is arranged on the second driving framework through a second clamping hand driving mounting plate, a second driving wheel is arranged on a driving shaft of the second clamping hand driving motor, a second driving driven wheel meshed with the second driving wheel is arranged on the second driving framework at one side of the second clamping hand driving motor, a second driving connecting shaft is arranged on the second driving driven wheel, and a second driving main pulley is arranged on the second driving connecting shaft; the pulley block is set up on second drive skeleton and second drive guide rail from the assembly pulley, second drive belt twines on second drive main pulley and second drive follow the pulley, and left tong subassembly sets up the one end at second drive belt, and right tong subassembly sets up the other end at second drive belt, left tong subassembly is located the forward direction of movement of second drive belt, right tong subassembly is located the reverse direction of movement of second drive belt.
The arrangement drives the second clamping driving wheel to rotate and drives the second clamping driven wheel to rotate through the second clamping driving motor, so that the second driving main pulley is further driven to rotate, and the second driving belt can be driven to move, thereby driving the left clamping assembly and the right clamping assembly to open and close to clamp the ball, because the left hand component is located in the forward moving direction of the second driving belt, and the right hand component is located in the reverse moving direction of the second driving belt, when the second driving belt moves, the moving directions of the left hand component and the right hand component are opposite, and therefore the left hand component and the right hand component are opened and closed.
Further, the left hand component comprises a left hand, a left hand connecting seat, a left hand guide wheel and a left hand connecting block, wherein the left hand connecting seat is arranged on the second driving guide rail in a sliding way through the left hand guide wheel, the left hand connecting seat is provided with the left hand connecting block, the left hand connecting block is connected with the second driving belt, and one side, close to the right hand component, of the left hand connecting seat is provided with a hand; the right hand clamping assembly and the left hand clamping assembly are of the same structure.
The ball clamping device has the advantages that the ball can be clamped through the mutual matching of the left clamping hand assembly and the right clamping hand assembly, and the structure is simple and effective.
Further, the second driving slave pulley block comprises a first transfer pulley, a second transfer pulley, a left clamping pulley, a third transfer pulley, a fourth transfer pulley, a right clamping pulley and a fifth transfer pulley, wherein the first transfer pulley is arranged on a second driving framework close to one side of the second driving master pulley, the second transfer pulley is arranged at one end of the second driving framework, the left clamping pulley is arranged at the tail end of a second driving guide rail at one end of the second driving framework, the third transfer pulley is arranged on the second driving framework at one side of the second transfer pulley, the fourth transfer pulley is arranged at the other end of the second driving framework, the right clamping pulley is arranged at the tail end of a second driving guide rail at the other end of the second driving framework, and the fifth transfer pulley is arranged on the second driving framework close to the other side of the second driving master pulley.
Above setting, through the setting of second drive slave pulley assembly for can drive left tong subassembly and right tong subassembly and remove in step through a driving motor only, simple structure and effective.
Further, one end of the second driving belt is positioned on the second driving main pulley, and the other end of the second driving belt is sequentially wound on the first transfer pulley, the second transfer pulley, the left clamping pulley, the third transfer pulley, the fourth transfer pulley, the right clamping pulley and the fifth transfer pulley and is connected with one end of the second driving belt to form a closed loop; the left hand clamping assembly is connected to a second driving belt between the left hand clamping pulley and the second transfer pulley; the right hand grip assembly is connected to the second drive belt between the fourth transfer pulley and the right hand grip pulley.
When the left clamping hand assembly and the right clamping hand assembly are required to be opened and closed, the second driving main pulley rotates positively, so that the second driving belt is driven to move, and the left clamping hand assembly is connected to the second driving belt between the left clamping hand pulley and the second transfer pulley; the right hand assembly is connected to the second drive belt between the right hand pulley and the fourth transfer pulley and the right hand pulley, so that when the second drive belt moves, the left hand assembly and the right hand assembly move in opposition with the second drive belt, thereby effecting opening and closing of the left hand assembly and the right hand assembly.
Further, one end of the left hand, far away from the left hand connecting seat, is provided with a hand clamping plate, the hand clamping plate comprises a hand clamping part and a hand clamping connecting part, the hand clamping connecting part is arranged on the left hand, and the hand clamping part extends to the other end of the hand clamping connecting part from one end of the hand clamping connecting part, close to the left hand connecting seat, in a forward and outward arc mode.
Above setting, through the arc setting of clamp hand for left clamp hand can laminate the shape of ball, thereby better press from both sides the ball tightly.
Drawings
Fig. 1 is a schematic structural view of a mobile ball picking device according to the present utility model.
Fig. 2 is an exploded view of the second gripping mechanism.
Fig. 3 is an enlarged view at C in fig. 2.
Fig. 4 is a top view of a second gripping mechanism of the present utility model.
Fig. 5 is a schematic view of the left hand assembly of the present utility model.
Fig. 6 is a schematic view of the position of the second driving slave pulley block according to the present utility model.
Fig. 7 is a schematic structural view of the running mechanism of the present utility model.
Fig. 8 is a schematic structural view of a moving assembly according to the present utility model.
Fig. 9 is a schematic structural view of the steering assembly of the present utility model.
Detailed Description
The utility model is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1 to 9, the mobile ball picking device comprises a travelling mechanism 1 and a second clamping mechanism 3, wherein the second clamping mechanism 3 is arranged at the front end of the travelling mechanism 1.
As shown in fig. 2, the second gripping mechanism 3 includes a second gripping device 31 and a second gripping driving device 32, the second gripping driving device 32 is disposed at the front end of the travelling mechanism 1, and the second gripping driving device 32 is provided with the second gripping device 31.
The second clamping driving device 32 comprises a second driving installation seat 321, a second driving motor 322, a second driving connecting block 323, a second driving framework 324 and a second driving guide rail 325, the second driving motor 322 is installed on the travelling mechanism 1 through the second driving installation seat 321, the second driving framework 324 is arranged on the driving shaft of the second driving motor 322 through the second driving connecting block 323, the second driving guide rails 325 are arranged at two ends of the second driving framework 324, and the second clamping device 31 is arranged on the second driving guide rail 325.
The second driving motor drives the second driving connecting block to rotate so as to drive the second driving framework to swing up and down, and therefore the second hand clamping device can be driven to pick up balls.
As shown in fig. 2-4, the second hand clamping device 31 includes a left hand clamping assembly 311, a right hand clamping assembly 312, a second hand clamping driving motor 313, a second driving wheel 314, a second driving driven wheel 315, a second driving connecting shaft 316, a second driving main pulley 317, a second driving belt 318, and a second driving slave pulley block 319; the left hand clamping assembly 311 is slidably disposed on a second driving rail 325 at one end of the second driving frame 324, and the right hand clamping assembly 312 is slidably disposed on a second driving rail 325 at the other end of the second driving frame 324; the second hand-clamping driving motor 313 is mounted on the second driving framework 324 through a second hand-clamping driving mounting plate 3131, a second driving wheel 314 is arranged on the driving shaft of the second hand-clamping driving motor 313, a second driving driven wheel 315 meshed with the second driving wheel 314 is arranged on the second driving framework 324 at one side of the second hand-clamping driving motor 314, a second driving connecting shaft 316 is arranged on the second driving driven wheel 315, and a second driving main pulley 317 is arranged on the second driving connecting shaft 316; the second driving slave pulley block 319 (shown in fig. 4) is disposed on the second driving backbone 324 and the second driving guide rail 325, the second driving belt 318 is wound around the second driving master pulley 317 and the second driving slave pulley 319, the left grip assembly 311 is disposed at one end of the second driving belt 318, the right grip assembly 312 is disposed at the other end of the second driving belt 318, the left grip assembly 311 is disposed in the forward moving direction of the second driving belt 318, and the right grip assembly 312 is disposed in the reverse moving direction of the second driving belt 318.
In the above arrangement, the second grip driving wheel 314 is driven to rotate by the second grip driving motor 313 and drives the second grip driven wheel 315 to rotate, so that the second driving main pulley 317 is driven to rotate, and thus the second driving belt 318 can be driven to move, and the left grip assembly 311 and the right grip assembly 312 are driven to open and close to clamp the ball.
As shown in fig. 5, the left hand assembly 311 includes a left hand 3111, a left hand connecting seat 3112, a left hand guide wheel 3113 and a left hand connecting block 3114, the left hand connecting seat 3112 is slidably disposed on the second driving rail 325 through the left hand guide wheel 3113, the left hand connecting seat 3112 is provided with a left hand connecting block 3114, the left hand connecting block 3114 is connected to the second driving belt 318, and the left hand 3111 is disposed on a side of the left hand connecting seat 3112 near the right hand assembly 312; the right hand component 312 and the left hand component 311 have the same structure, and a second clamping section 310 is formed between the right hand component 312 and the left hand component 311;
the ball clamping device has the advantages that the ball can be clamped through the mutual matching of the left clamping hand assembly and the right clamping hand assembly, and the structure is simple and effective.
As shown in fig. 4 and 6, the second driving slave pulley block 319 includes a first transfer pulley 3191, a second transfer pulley 3192, a left-hand pulley 3193, a third transfer pulley 3194, a fourth transfer pulley 3195, a right-hand pulley 3196, and a fifth transfer pulley 3197, the first transfer pulley 3191 is disposed on the second driving frame 324 near one side of the second driving master pulley 317, the second transfer pulley 3192 is disposed at one end of the second driving frame 324, the left-hand pulley 3193 is disposed on the second driving frame 324 near one end of the second driving frame 324, the third transfer pulley 3194 is disposed on the second driving frame 324 near one side of the second transfer pulley 3192, the fourth transfer pulley 3195 is disposed at the other end of the second driving frame 324, the right-hand pulley 3196 is disposed on the second driving frame 324 near the other end of the second driving frame 324, and the fifth transfer pulley 3197 is disposed on the second driving frame 324 near the other side of the second driving master pulley 317.
Above setting, through the setting of second drive slave pulley assembly for can drive left tong subassembly and right tong subassembly and remove in step through a driving motor only, simple structure and effective.
One end of the second driving belt 318 is located on the second driving main pulley 317, and the other end of the second driving belt 318 is sequentially wound around the first transfer pulley 3191, the second transfer pulley 3192, the left hand pulley 3193, the third transfer pulley 3194, the fourth transfer pulley 3195, the right hand pulley 3196 and the fifth transfer pulley 3197 and connected to one end of the second driving belt 318 to form a closed loop; the left hand assembly 311 is connected to a second drive belt 318 between a left hand pulley 3193 and a second transfer pulley 3192; the right hand assembly 312 is connected to a second drive belt 318 between the fourth transfer pulley 3195 and the right hand pulley 3196.
In the above arrangement, when the left hand assembly 311 and the right hand assembly 312 need to be opened and closed, the second driving main pulley 317 rotates forward, thereby driving the second driving belt 318 to move, since the left hand assembly 311 is connected to the second driving belt 318 between the left hand pulley 3193 and the second transfer pulley 3192; the right hand assembly 312 is connected to the second drive belt 318 between the fourth transfer pulley 3195 and the right hand pulley 3196, so that when the second drive belt 318 moves, the left hand assembly 311 and the right hand assembly 312 move in opposition (as indicated by the arrow in fig. 6) following the second drive belt 318, thereby effecting the opening and closing of the left hand assembly 311 and the right hand assembly 312.
As shown in fig. 5, a grip plate 3115 is disposed at an end of the left grip 3111 far from the left grip connection base 3112, the grip plate 3115 includes a grip portion 3116 and a grip connection portion 3117, the grip connection portion 3117 is mounted on the left grip 3111, and the grip portion 3116 is disposed from the grip connection portion 3117 near an end of the left grip connection base 3112 to the other end of the grip connection portion 3117 in a forward and outward arc shape.
Above setting, through the arc setting of clamp hand for left clamp hand can laminate the shape of ball, thereby better press from both sides the ball tightly.
As shown in fig. 7, the walking mechanism 1 includes a walking device 11 and a walking base 12, the walking device 11 is disposed at a front end and a rear end of the walking base 12, and the second gripping mechanism 3 is disposed at the front end of the walking base 12.
As shown in fig. 7-9, the walking wheel device 11 includes a moving assembly 13 and a steering assembly 14, the moving assembly 13 includes a moving mounting frame 131, a moving motor 132, a moving driving gear 133, a moving relay gear 134, a moving driven gear 135 and a moving wheel 136, the moving mounting frame 131 is disposed on the steering assembly 14, the moving motor 132 is disposed at the top end of the moving mounting frame 131, the moving wheel 136 is disposed at the bottom end of the moving mounting frame 131 through a moving wheel shaft (not shown in the drawing) in a rotating manner, the moving driving gear 133 is disposed on a driving shaft of the moving motor 132, the moving driven gear 135 is disposed on the moving wheel shaft, the moving relay gear 134 is disposed on the moving mounting frame 131 between the moving driving gear 133 and the moving driven gear 135, and the moving relay gear 134 is in meshed connection with the moving driving gear 133 and the moving driven gear 135.
The above arrangement, the mobile driving gear 133 is driven to rotate by the mobile motor 132 and the mobile transit gear 134 is driven to rotate, so that the mobile driven gear 135 is driven to rotate, and the traveling mechanism 1 is driven to move by the mobile wheel 136.
As shown in fig. 9, the steering assembly 14 includes a steering motor 141, a steering mounting frame 142, a steering driving gear 143 and a steering driven gear 144, the steering driven gear 144 is rotatably disposed on the moving base 12 through a steering bearing seat 145, a through slot 146 is disposed in the center of the steering driven gear 144, the moving mounting frame 131 is disposed in the through slot 146 and is connected with the steering driven gear 144, the steering mounting frame 142 is disposed on the moving base 12 on the side of the steering driven gear 144, the steering motor 141 is disposed on the steering mounting frame 142, the steering driving gear 143 is disposed on the driving shaft of the steering motor 141, the steering driving gear 143 is meshed with the steering driven gear 144, a steering encoder 147 is disposed on the steering mounting frame 142 on the side of the steering motor 141, and the steering encoder 147 is meshed with the steering driven gear 144 through the encoder gear 148.
Above setting, through the setting of steering assembly 14 for walking wheel device 11 can realize the adjustment of different directions, thereby remove ball picking up device and can remove to different positions and pick up the ball, turn to motor 141 control turn to driving gear 143 and rotate and drive turn to driven gear 144 rotation, can drive the removal mounting bracket that is located logical inslot and is connected with driven gear from this and rotate, realize the turning to of removal wheel from this, simple structure and effective. The working principle of the utility model is as follows: when the ball is required to be picked up, the mobile motor drives the mobile wheel to rotate to move, the steering motor controls the mobile wheel to realize steering, so that the mobile ball picking device can move to the ball position, the second clamping driving device drives the second clamping device to move downwards to the ball position, the second clamping driving motor drives the left clamping assembly and the right clamping assembly to clamp the ball, the second clamping driving device drives the second clamping device to move upwards to enable the ball to leave the ground, the ball picking device can be realized.
Claims (7)
1. The utility model provides a remove ball device of picking up which characterized in that: the device comprises a travelling mechanism and a second clamping mechanism, wherein the second clamping mechanism is arranged at the front end of the travelling mechanism;
the second clamping mechanism comprises a second clamping device and a second clamping driving device, the second clamping driving device is arranged at the front end of the travelling mechanism, and the second clamping driving device is provided with the second clamping device; the second clamping device comprises a left clamping component and a right clamping component, the left clamping component and the right clamping component are arranged on the second clamping driving device, and a second clamping interval is formed between the right clamping component and the left clamping component;
the second clamping driving device comprises a second driving installation seat, a second driving motor, a second driving connecting block, a second driving framework and a second driving guide rail, wherein the second driving motor is installed on the travelling mechanism through the second driving installation seat, the second driving framework is arranged on a driving shaft of the second driving motor through the second driving connecting block, the second driving guide rails are arranged at two ends of the second driving framework, and a second hand clamping device is arranged on the second driving guide rail;
the travelling mechanism comprises a travelling wheel device and a travelling base, the travelling wheel device is arranged at the front end and the rear end of the travelling base, and the second clamping mechanism is positioned at the front end of the travelling base;
the walking wheel device comprises a moving assembly and a steering assembly, the moving assembly comprises a moving installation frame, a moving motor, a moving driving gear, a moving transfer gear, a moving driven gear and a moving wheel, the moving installation frame is arranged on the steering assembly, the moving motor is arranged at the top end of the moving installation frame, the moving wheel is arranged at the bottom end of the moving installation frame through a moving wheel shaft in a rotating mode, the moving driving gear is arranged on a driving shaft of the moving motor, the moving driven gear is arranged on the moving wheel shaft, and the moving transfer gear is arranged on the moving installation frame between the moving driving gear and the moving driven gear and is connected with the moving driving gear in a meshed mode.
2. The mobile ball pick-up device of claim 1, wherein: the second clamping device further comprises a second clamping driving motor, a second driving wheel, a second driving driven wheel, a second driving connecting shaft, a second driving main pulley, a second driving belt and a second driving slave pulley block; the left hand clamping assembly is arranged on a second driving guide rail at one end of the second driving framework in a sliding manner, and the right hand clamping assembly is arranged on a second driving guide rail at the other end of the second driving framework in a sliding manner; the second clamping hand driving motor is arranged on the second driving framework through a second clamping hand driving mounting plate, a second driving wheel is arranged on a driving shaft of the second clamping hand driving motor, a second driving driven wheel meshed with the second driving wheel is arranged on the second driving framework at one side of the second clamping hand driving motor, a second driving connecting shaft is arranged on the second driving driven wheel, and a second driving main pulley is arranged on the second driving connecting shaft; the pulley block is set up on second drive skeleton and second drive guide rail from the assembly pulley, second drive belt twines on second drive main pulley and second drive follow the pulley, and left tong subassembly sets up the one end at second drive belt, and right tong subassembly sets up the other end at second drive belt, left tong subassembly is located the forward direction of movement of second drive belt, right tong subassembly is located the reverse direction of movement of second drive belt.
3. A mobile ball pick-up device according to claim 2, wherein: the second driving slave pulley block comprises a first transfer pulley, a second transfer pulley, a left hand pulley, a third transfer pulley, a fourth transfer pulley, a right hand pulley and a fifth transfer pulley, wherein the first transfer pulley is arranged on a second driving framework close to one side of the second driving master pulley, the second transfer pulley is arranged at one end of the second driving framework, the left hand pulley is arranged at the tail end of a second driving guide rail at one end of the second driving framework, the third transfer pulley is arranged on the second driving framework at one side of the second transfer pulley, the fourth transfer pulley is arranged at the other end of the second driving framework, the right hand pulley is arranged at the tail end of the second driving guide rail at the other end of the second driving framework, and the fifth transfer pulley is arranged on the second driving framework close to the other side of the second driving master pulley.
4. A mobile ball pick-up device according to claim 2, wherein: the left hand clamping assembly comprises a left hand, a left hand connecting seat, a left hand guide wheel and a left hand connecting block, wherein the left hand connecting seat is arranged on the second driving guide rail in a sliding way through the left hand guide wheel, the left hand connecting seat is provided with the left hand connecting block, the left hand connecting block is connected with the second driving belt, and a left hand is arranged on one side, close to the right hand assembly, of the left hand connecting seat; the right hand clamping assembly and the left hand clamping assembly are of the same structure.
5. A mobile ball pick-up device according to claim 3, wherein: one end of the second driving belt is positioned on the second driving main pulley, and the other end of the second driving belt is sequentially wound on the first transfer pulley, the second transfer pulley, the left clamping pulley, the third transfer pulley, the fourth transfer pulley, the right clamping pulley and the fifth transfer pulley and is connected with one end of the second driving belt to form a closed loop; the left hand clamping assembly is connected to a second driving belt between the left hand clamping pulley and the second transfer pulley; the right hand grip assembly is connected to the second drive belt between the fourth transfer pulley and the right hand grip pulley.
6. The mobile ball pick-up device of claim 1, wherein: the steering assembly comprises a steering motor, a steering mounting frame, a steering driving gear and a steering driven gear, wherein the steering driven gear is arranged on a moving base through a steering bearing seat in a rotating mode, a through groove is formed in the center of the steering driven gear, the moving mounting frame is arranged in the through groove and is connected with the steering driven gear, the steering mounting frame is arranged on the moving base on one side of the steering driven gear, the steering motor is arranged on the steering mounting frame, the steering driving gear is arranged on a driving shaft of the steering motor, the steering driving gear is meshed with the steering driven gear, a steering encoder is arranged on the steering mounting frame on one side of the steering motor, and the steering encoder is meshed with the steering driven gear through an encoder gear.
7. The mobile ball pick-up device of claim 4, wherein: the one end of keeping away from left tong connecting seat at left tong is equipped with the tong board, the tong board includes tong portion and tong connecting portion, tong connecting portion installs on left tong, the tong portion is close to the other end setting that the outside arc of one end of left tong connecting seat was outwards extended to tong connecting portion from tong connecting portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223207311.4U CN219630565U (en) | 2022-12-01 | 2022-12-01 | Remove ball device of picking up |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223207311.4U CN219630565U (en) | 2022-12-01 | 2022-12-01 | Remove ball device of picking up |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219630565U true CN219630565U (en) | 2023-09-05 |
Family
ID=87811943
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223207311.4U Active CN219630565U (en) | 2022-12-01 | 2022-12-01 | Remove ball device of picking up |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219630565U (en) |
-
2022
- 2022-12-01 CN CN202223207311.4U patent/CN219630565U/en active Active
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