CN219685627U

CN219685627U - Ball picking and shooting robot

Info

Publication number: CN219685627U
Application number: CN202321268035.4U
Authority: CN
Inventors: 殷宇龙; 谢深远; 王佳文; 张明宇
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-05-24
Filing date: 2023-05-24
Publication date: 2023-09-15
Anticipated expiration: 2033-05-24

Abstract

The utility model discloses a ball picking and shooting robot which comprises a chassis, a vehicle body frame, a cradle head, a shooting mechanism, a rotating claw arm and a basketball claw, wherein the vehicle body frame is fixedly arranged on the chassis, the cradle head is fixedly arranged in the vehicle body frame, the shooting mechanism is fixedly arranged on the cradle head, the rotating claw arm is fixedly arranged at one end, far away from the cradle head, of the vehicle body frame, the basketball claw is fixedly arranged at the top of the rotating claw arm, and a code wheel is arranged in the center of the chassis. The rotary claw arm is fixedly provided with a grabbing mounting plate, and compared with the prior art, the utility model has the advantages that: the launching mechanism and the basketball claw provided by the utility model realize the launching function and the ball picking function, so that the device has multiple use functions, the ball picking and shooting integration can be realized at the same time, and the arranged chassis, the vehicle body frame and the tripod head can enable the device to pick balls on a ball stand or the ground and enable the field arrangement to be simple.

Description

Ball picking and shooting robot

Technical Field

The utility model relates to the field of ball picking and shooting robots, in particular to a ball picking and shooting robot.

Background

Most basketball transmitters and training machines in the market collect the shot balls through a large string bag, and guide the balls to a basketball input port of a service mechanism through the string bag, a fixed rail and the gravity action of the balls, so that the balls accurately enter the transmitting device. The basketball that basket position falls is collected to current basketball transmitter and training machine after can only accomplish the user and throws the ball, again with the ball conveying for the user, and application scenario is comparatively single, can only satisfy simple shooting training's requirement, and if get the function of ball from ball frame or subaerial then can't accomplish, can't deal with more demands of user. Meanwhile, the basketball machine or the basketball transmitter is complicated in field arrangement.

However, the ball picking and shooting robots existing in the market all have certain defects and shortcomings, such as single use function, incapability of ball picking and shooting integration, incapability of picking balls on a ball rack or the ground and relatively complicated field arrangement.

Disclosure of Invention

The utility model aims to overcome the technical defects, and provides a ball picking and shooting robot which solves the problems that the ball picking and shooting robot is single in use function, cannot be used for ball picking and shooting integration, cannot be used for picking balls on a ball frame or the ground, and is complicated in place arrangement.

In order to solve the technical problems, the technical scheme provided by the utility model is as follows: the utility model provides a pick up ball and penetrate ball robot, includes chassis, automobile body frame, cloud platform, emission mechanism, rotatory claw arm, basketball claw, the chassis on fixedly be provided with automobile body frame, the chassis on fixedly be provided with the cloud platform, the cloud platform fixedly set up inside the automobile body frame, the cloud platform on fixedly be provided with emission mechanism, the automobile body frame keep away from cloud platform one end fixedly be provided with rotatory claw arm, rotatory claw arm top fixedly be provided with basketball claw.

Further, the chassis adopts steering wheel chassis, the chassis shape be taking the fillet triangle, chassis triangle department be provided with the steering wheel, the steering wheel be provided with three, chassis center install the code wheel.

Further, the vehicle body frame is welded and processed to be a rectangular frame, and is fixed on the chassis.

Further, the tripod head is fixedly arranged on the vehicle body frame, a tripod head bearing is fixedly arranged in the middle of the tripod head, the tripod head bearing is connected with a vehicle body mounting plate, a large motor is fixedly arranged in the middle of the inside of the vehicle body mounting plate, a pinion on a large motor shaft is meshed with an internal gear of the tripod head, and the internal gear of the tripod head is fixedly arranged on a tripod head fixing plate.

Further, the fixed two launching frames that are provided with of launching mechanism, launching frame fixed mounting on the cloud platform fixed plate, a side fixed mounting of launching frame have big moment of torsion motor, big moment of torsion motor opposite department fixed mounting have the attenuator, launching frame top fixed be provided with the launching frame, launching frame intermediate position fixed be provided with friction wheel board, friction wheel board on install the friction wheel, the launching frame in the middle of be close to launching frame position fixed be provided with temporary storage boring, temporary storage boring on fixed four groups band pulley tracks, the inside both sides of launching frame fixed be provided with big cylinder.

Further, rotatory claw arm fixedly be provided with and snatch the mounting panel, snatch the fixed board in middle of mounting panel intermediate position, the intermediate fixed board outside be close to and snatch the fixed big motor that is provided with of mounting panel position, snatch mounting panel and intermediate fixed board on fixed mounting have the rotation axis, rotation axis both ends fixed be provided with the synchronizing wheel, synchronizing wheel on movable mounting have the hold-in range, the hold-in range keep away from synchronizing wheel one end and be connected with the claw cap, big motor output install the pinion, pinion and claw arm internal gear meshing, rotation axis both ends outside be provided with axle external gear a, axle external gear and claw arm external gear meshing.

Further, basketball claw connect on the claw cap, basketball claw connect the both ends of claw cap and fixedly be provided with control board, control board on transversely fixedly be provided with thumb cylinder, thumb cylinder on fixedly connected with curved surface claw, control board on vertical fixedly be provided with little cylinder, little cylinder on fixedly connected with band pulley claw board, curved surface claw side fixedly connected with well cylinder fixed plate, well cylinder fixed plate on fixedly be provided with well cylinder, well cylinder fixed plate keep away from well cylinder one side fixedly be provided with basketball pawl.

Compared with the prior art, the utility model has the advantages that: the launching mechanism and the basketball claw provided by the utility model realize the launching function and the ball picking function, so that the device has multiple use functions, the ball picking and shooting integration can be realized at the same time, and the arranged chassis, the vehicle body frame and the tripod head can enable the device to pick balls on a ball stand or the ground and enable the field arrangement to be simple.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a ball picking and shooting robot according to the present utility model.

Fig. 2 is a schematic diagram of the overall structure of a ball picking and shooting robot according to the present utility model.

Fig. 3 is a schematic diagram of the overall structure of a ball picking and shooting robot according to the present utility model.

Fig. 4 is a schematic diagram of the overall structure of a ball picking and shooting robot according to the present utility model.

Fig. 5 is a schematic view of the overall structure of a ball picking and shooting robot according to the present utility model.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

In the description of the embodiments of the present utility model, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate an azimuth or a positional relationship based on that shown in the drawings, or an azimuth or a positional relationship in which the product of the present utility model is conventionally put when used, it is merely for convenience of describing the present utility model and simplifying the description, and it does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal," "vertical," "overhang" and the like, if any, do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the embodiments of the present utility model, "plurality" means at least 2.

In the description of the embodiments of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Examples:

the utility model provides a pick up ball and penetrate ball robot, includes chassis 1, automobile body frame 2, cloud platform 3, emitting mechanism 4, rotatory claw arm 5, basketball claw 6, chassis 1 above fixed automobile body frame 2 that is provided with, chassis 1 above fixed cloud platform 3 that is provided with, cloud platform 3 fixed setting inside automobile body frame 2, cloud platform 3 on fixed emitting mechanism 4 that is provided with, automobile body frame 2 keep away from cloud platform 3 one end fixed rotating claw arm 5 that is provided with, rotatory claw arm 4 top fixed basketball claw 5 that is provided with.

The steering wheel chassis is adopted by the chassis 1, the chassis 1 is in a shape of a regular triangle with round corners, steering wheels 101 are arranged at the round triangle of the chassis 1, three steering wheels 101 are arranged, and a code wheel 102 is arranged at the center of the chassis 1.

The automobile body frame 2 adopts welding processing, is a rectangle frame, the automobile body frame 2 fix on chassis 1, the overall design modularization is convenient for maintenance, dismantlement and change. The vehicle body frame is welded. The overall stability is good.

The cradle head 3 is fixedly arranged on the car body frame 2, a cradle head bearing 301 is fixedly arranged in the middle of the cradle head 3, the cradle head bearing 301 is connected with a car body mounting plate 302, a large motor 303 is fixedly arranged in the middle of the inside of the car body mounting plate 302, a pinion on a shaft of the large motor 303 is meshed with a cradle head internal gear 304, and the cradle head internal gear 304 is fixedly arranged on a cradle head fixing plate 305, so that the device can adjust the emission angle.

The launching mechanism 4 is fixedly provided with two launching frames 401, the launching frames 401 are fixedly arranged on a holder fixing plate 305, one side of each launching frame 401 is fixedly provided with a large torque motor 402, the opposite side of each large torque motor 402 is fixedly provided with a damper 403, the opposite side of each large torque motor is symmetrically provided with a damper, micro motion and idle motion are prevented from affecting the launching angle, each large torque motor is arranged on each launching frame, each large torque motor is connected with a launching frame, the launching frame launching angle is adjusted during operation, the top of each launching frame 401 is fixedly provided with a launching frame 404, the middle position of each launching frame 404 is fixedly provided with a friction wheel plate 405, each friction wheel plate 405 is provided with a friction wheel 406, each friction wheel is arranged on each friction wheel plate, each friction wheel plate is arranged on each launching frame, a temporary storage boring hole is advanced during operation, balls enter the friction range of each friction wheel to be launched by friction force, the middle of each launching frame 401 is fixedly provided with a temporary storage boring 407 near the position of the launching frame 404 for temporarily storing a basketball, each temporary storage 407 is fixedly provided with four groups of belt wheels 408, each launching frame is fixedly provided with a large cylinder and is fixedly arranged on two sides of a temporary storage cylinder bracket, and a large cylinder is fixedly arranged on the two sides of the cylinder and a temporary storage cylinder is connected with a sliding rail 409.

The rotary claw arm 5 is fixedly provided with a grabbing mounting plate 501, a middle fixing plate 502 is fixedly arranged in the middle of the grabbing mounting plate 501, a large motor 503 is fixedly arranged outside the middle fixing plate 502 and close to the grabbing mounting plate 501, a rotary shaft 504 is fixedly arranged on the grabbing mounting plate 501 and the middle fixing plate 502, synchronous wheels 505 are fixedly arranged at two ends of the rotary shaft 504, a synchronous belt 506 is movably arranged on the synchronous wheels 505, one end, far away from the synchronous wheels 505, of the synchronous belt 506 is connected with a claw cap 507, a small gear 508 is arranged at the output end of the large motor 503, the small gear 508 is meshed with an inner gear 509 of the claw arm, an outer gear 504a is arranged at the outer side of two ends of the rotary shaft 504, the outer gear 504a is meshed with the outer gear 509a of the claw arm, during operation, the large motor shaft rotationally drives the small gear to rotate, and the outer gear is driven by the small gear to rotate, and the inner gear rotationally drives the synchronous wheels to rotate, so that the claw arm is rotationally driven by the shaft. When the claw cap is in operation, the large motor shaft rotates to drive the pinion to rotate, the pinion drives the claw arm internal gear to rotate, the synchronizing wheel is driven to rotate through the shaft, and the synchronizing wheel drives the other synchronizing wheel to rotate through the synchronizing belt, so that the claw cap is rotated.

Basketball claw 6 connect on claw cap 507, basketball claw 6 connect the both ends of claw cap 507 fixedly and be provided with left and right plates 601, left and right plates 601 on transversely fixedly be provided with thumb cylinder 602, the during operation thumb cylinder opens and shuts, realize that the curved surface claw snatchs the basketball, thumb cylinder 602 on fixedly connected with curved surface claw 603, left and right plates 601 on vertical fixedly be provided with little cylinder 604, little cylinder 604 on fixedly connected with band pulley claw plate 605, during operation band pulley claw plate opens and shuts and realizes the snatching of basketball, curved surface claw 603 side fixedly connected with well cylinder fixed plate 606, well cylinder fixed plate 606 on fixedly be provided with well cylinder 607, well cylinder fixed plate 606 keep away from well cylinder 607 one side fixedly provided with basketball pushing jaw 608, during operation is released the basketball, covers behind the basketball, little cylinder and thumb cylinder open and shut, the claw plate restriction falls out, the curved surface claw is responsible for snatching the band pulley. Meanwhile, when the small cylinder is opened, the space allowance is increased by the belt wheel claw plate, so that the ball can be conveniently covered, and the ball can be prevented from falling out after the small cylinder is closed.

When the method is implemented, the scene positioning used specifically is an indoor field, cameras are generally arranged in the field, and the field of view of the robot is enlarged by taking the scene positioning as the cameras of the robot through the Internet of things and communication technology. Structurally, after the ball is positioned, the ball taking claw is placed down, power is provided for grabbing through the pneumatic cylinder, then the motor drives the ball to be sent into a temporary storage track of the launching mechanism, the launching mechanism adjusts the left angle and the right angle through the cradle head, the large torque motor adjusts the pitch angle, the temporary storage track sends the ball into the launching mechanism through the pneumatic cylinder, and the ball is launched out through the friction wheel. The coded disc is arranged on the ground disc, so that the position of the robot can be fed back and adjusted.

The utility model and its embodiments have been described above with no limitation, and the actual construction is not limited to the embodiments of the utility model as shown in the drawings. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the present utility model.

Claims

1. The utility model provides a pick up ball and penetrate ball robot, includes chassis (1), automobile body frame (2), cloud platform (3), emitting mechanism (4), swivel claw arm (5), basketball claw (6), its characterized in that, chassis (1) above fixed automobile body frame (2) that is provided with, chassis (1) above fixed cloud platform (3) that is provided with, cloud platform (3) fixed setting inside automobile body frame (2), cloud platform (3) on fixed emitting mechanism (4) that is provided with, automobile body frame (2) keep away from cloud platform (3) one end fixed rotary claw arm (5) that is provided with, swivel claw arm (5) top fixed basketball claw (6) that is provided with.

2. The ball picking and shooting robot according to claim 1, wherein the chassis (1) is a steering wheel chassis, the chassis (1) is in a shape of a right triangle with a round angle, steering wheels (101) are arranged at the round triangle of the chassis (1), three steering wheels (101) are arranged, and a code wheel (102) is arranged at the center of the chassis (1).

3. The ball picking and shooting robot as claimed in claim 1, wherein the body frame (2) is a rectangular frame by welding, and the body frame (2) is fixed on the chassis (1).

4. The ball picking and shooting robot according to claim 1, wherein the tripod head (3) is fixedly installed on the vehicle body frame (2), a tripod head bearing (301) is fixedly arranged at the middle part of the tripod head (3), the tripod head bearing (301) is connected with a vehicle body mounting plate (302), a large motor (303) is fixedly arranged in the middle of the inside of the vehicle body mounting plate (302), a pinion on a shaft of the large motor (303) is meshed with a tripod head internal gear (304), and the tripod head internal gear (304) is fixedly installed on a tripod head fixing plate (305).

5. The ball picking and shooting robot according to claim 1, wherein the launching mechanism (4) is fixedly provided with two launching frames (401), the launching frames (401) are fixedly installed on a holder fixing plate (305), a side edge of each launching frame (401) is fixedly provided with a large torque motor (402), a damper (403) is fixedly installed at the opposite position of each large torque motor (402), a launching frame (404) is fixedly arranged at the top of each launching frame (401), a friction wheel plate (405) is fixedly arranged in the middle of each launching frame (404), friction wheels (406) are installed on the friction wheel plates (405), temporary storage boring (407) are fixedly arranged in the middle of each launching frame (401) close to the positions of the launching frames (404), four groups of belt wheel tracks (408) are fixedly arranged on the temporary storage boring (407), and large air cylinders (409) are fixedly arranged at two sides inside the launching frames (404).

6. The ball picking and shooting robot according to claim 1, wherein the rotary claw arm (5) is fixedly provided with a grabbing mounting plate (501), an intermediate fixing plate (502) is fixedly arranged in the middle of the grabbing mounting plate (501), a large motor (503) is fixedly arranged on the outer side of the intermediate fixing plate (502) close to the grabbing mounting plate (501), a rotating shaft (504) is fixedly arranged on the grabbing mounting plate (501) and the intermediate fixing plate (502), synchronous wheels (505) are fixedly arranged at two ends of the rotating shaft (504), a synchronous belt (506) is movably arranged on the synchronous wheels (505), a claw cap (507) is connected to one end, far away from the synchronous wheels (505), of the synchronous belt (506), a pinion (508) is arranged at the output end of the large motor (503), the pinion (508) is meshed with an inner gear (509), shaft outer gears (504 a) are arranged on the outer sides of two ends of the rotating shaft (504), and the shaft outer gears (504 a) are meshed with the outer gears of the claw arms (509 a).

7. The ball picking and shooting robot according to claim 1, wherein the basketball claw (6) is connected to the claw cap (507), two ends of the basketball claw (6) connected to the claw cap (507) are fixedly provided with left and right plates (601), thumb cylinders (602) are transversely fixedly arranged on the left and right plates (601), curved claws (603) are fixedly connected to the thumb cylinders (602), small cylinders (604) are vertically fixedly arranged on the left and right plates (601), belt pulley claw plates (605) are fixedly connected to the small cylinders (604), middle cylinder fixing plates (606) are fixedly connected to the side faces of the curved claws (603), middle cylinders (607) are fixedly arranged on the middle cylinder fixing plates (606), and basketball pushing claws (608) are fixedly arranged on one sides, far away from the middle cylinders (607).