WO2016049904A1 - 子弹收集机器人及其子弹收集装置、以及射击游戏系统 - Google Patents

子弹收集机器人及其子弹收集装置、以及射击游戏系统 Download PDF

Info

Publication number
WO2016049904A1
WO2016049904A1 PCT/CN2014/088027 CN2014088027W WO2016049904A1 WO 2016049904 A1 WO2016049904 A1 WO 2016049904A1 CN 2014088027 W CN2014088027 W CN 2014088027W WO 2016049904 A1 WO2016049904 A1 WO 2016049904A1
Authority
WO
WIPO (PCT)
Prior art keywords
bullet
collecting
motor
collection
collecting device
Prior art date
Application number
PCT/CN2014/088027
Other languages
English (en)
French (fr)
Inventor
贝世猛
关毅骏
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201480007285.XA priority Critical patent/CN104981278B/zh
Priority to JP2017512382A priority patent/JP6433580B2/ja
Priority to PCT/CN2014/088027 priority patent/WO2016049904A1/zh
Publication of WO2016049904A1 publication Critical patent/WO2016049904A1/zh
Priority to US15/471,239 priority patent/US10209039B2/en

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
    • F41J13/00—Bullet catchers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
    • A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
    • A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F9/00—Games not otherwise provided for
    • A63F9/02—Shooting or hurling games
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A9/00—Feeding or loading of ammunition; Magazines; Guiding means for the extracting of cartridges
    • F41A9/60—Empty-cartridge-case or belt-link collectors or catchers

Definitions

  • the present invention relates to a robot, and more particularly to a bullet collecting robot and a bullet collecting device thereof, and a shooting game system using the same.
  • the shooting robot will use two different types of bullets, one with a diameter of 17mm and a weight of 5g, and the other with a diameter of 42.64mm and a weight of 45.93g.
  • the two sides fired bullets and hit each other.
  • the flash bullets and golf balls were scattered all over the field. After the game, manually recover the flash bullets and golf balls, recover the flash bullets and golf balls on the field, and continue the next use.
  • the present invention to provide a bullet collecting device capable of automatically collecting bullets and collecting bullets.
  • a bullet collecting device includes:
  • a collection bin comprising a bullet receiving cavity and a collecting port communicating with the bullet receiving cavity, the inner wall of the collecting opening is provided with a collecting surface for the bullet to roll;
  • a friction roller disposed at the collecting port and freely rotatable; a rotating shaft of the friction roller is disposed at a distance from the collecting surface such that a predetermined gap exists between a peripheral surface of the friction roller and the collecting surface;
  • the friction roller rotates to wind the bullet from the preset gap into the collection opening, and roll the bullet along the collecting surface Hold the cavity.
  • the above bullet collecting device has at least the following advantages:
  • the above-described bullet collecting device drives the friction roller to rotate by the collecting driving member, so that the friction roller winds the bullet from the predetermined gap into the collecting port, and rolls the bullet along the collecting surface It is housed in the cavity to facilitate the collection of bullets on the ground.
  • the bullet collecting device is configured to wind the bullet from the predetermined gap into the collecting port through the friction roller, and roll into the bullet receiving cavity along the collecting surface, but the particle diameter is smaller than Other objects of the predetermined gap between the peripheral surface of the friction roller and the collecting surface may automatically leak from the collecting port, for example, the debris having a particle diameter smaller than the predetermined gap on the ground cannot be
  • the friction roller is wound into the collection bin so that the bullet collection device can selectively collect the bullet.
  • the friction roller includes an inner tube and a sponge sleeve fixedly sleeved on the inner tube.
  • the inner tube is a carbon fiber tube.
  • the collection drive member is a brushless motor
  • a rotor of the brushless motor is received in an open end of the inner tube and is fixedly coupled to an open end of the inner tube such that The inner tube rotates together with the rotor of the brushless motor.
  • the friction roller includes a fixed shaft and a rubber roller fixedly sleeved on the fixed shaft;
  • the rubbing roller includes a rubber roller and two fixed shafts respectively fixed to both ends of the rubber roller and disposed coaxially with the rubber roller.
  • the collection drive member is a brushed motor, and a drive shaft of the brushed motor is coaxially fixedly coupled to the fixed shaft.
  • the collecting surface is a rising ramp surface through which the bullet rolls into the bullet receiving cavity.
  • the ramp surface is a planar or curved surface.
  • the collection bin includes a bottom plate, two side plates, an upper cover, and a shield, the upper cover is disposed opposite to the bottom plate, and one end of the upper cover and one end of the bottom plate Connecting, the other end is connected to the protective cover, the two side plates are relatively spaced apart, and the two side plates are respectively fixedly connected with the bottom plate and the opposite side edges of the protective cover; the protective cover
  • the collecting port is formed together with an end of the bottom plate away from the upper cover; the collecting surface is disposed on the bottom plate.
  • one end of the upper cover is detachably connected to one end of the bottom plate, and the other end is rotatably connected to the shield.
  • the collection drive members are two, respectively fixed to the two side plates, and drive the two ends of the friction roller, respectively.
  • the collection bin is a circular casing structure
  • the collection port is plural, and is disposed around a circumference of the collection bin
  • the friction roller is plural, and corresponds to a plurality of The collection port is set.
  • the plurality of collection driving members are plural, and each of the collection driving members simultaneously drives the rotation of two adjacent friction rollers by a transmission mechanism.
  • the transmission mechanism includes at least one of the following: a worm gear mechanism, a helical gear set transmission mechanism, and a belt transmission mechanism.
  • a bullet sorting mechanism for separating different types of bullets is also included, the bullet sorting mechanism being installed in the collection bin.
  • the bullet sorting mechanism includes a partition, the partition is installed at an entrance of the bullet receiving chamber, and the partition is provided with a hollow screening groove.
  • the screening tank is plural, and each of the screening tanks is an elongated slot.
  • the partition is disposed obliquely such that the bullet that does not pass through the screening groove rolls along the partition under its own weight.
  • a portion of the partition near the entrance of the bullet receiving cavity is provided with a bent portion to form a V-shaped limiting rib, and the bullet turns over the limiting rib. Then enter the area where the screening slot is located.
  • the bullet sorting mechanism includes a main pipe and a plurality of sub pipes, wherein the main pipe is provided with a V-shaped cross section, the plurality of sub pipes are connected to the main pipe, and Corresponding to different widths of the main pipes, the different sizes of the bullets roll along different widths of the channel of the main pipe.
  • a bullet collection robot comprising:
  • a driving drive mechanism for driving the movement of the bullet collecting device
  • the controller is communicatively coupled to the collection drive member and the travel drive mechanism for controlling the collection drive member and the travel drive mechanism.
  • the travel drive mechanism includes two differential drive wheel assemblies that are spaced apart from one another and are disposed on opposite sides of the bottom of the collection bin, respectively.
  • each of the differential drive wheel assemblies includes a traveling wheel, an axle, and a chassis motor, the chassis motor being fixedly coupled to the traveling wheel by the axle and driving the traveling wheel to rotate.
  • each of the differential drive wheel assemblies further includes a motor mount that is a U-shaped structure having two arms that are driveably passed through the motor mount An arm, the chassis motor is fixedly coupled to another arm of the motor base, and a drive shaft of the chassis motor is rotatably passed through another arm of the motor base for fixed connection with the axle The bottom of the motor base is fixedly connected to the bottom of the collection bin.
  • each of the differential drive wheel assemblies further includes a coupling, the coupling including an upper housing portion having an upper mounting slot and a lower housing portion having a lower mounting slot, The upper housing portion and the lower housing portion are detachably spliced together, and the upper mounting slot and the lower mounting slot together form a connecting shaft hole, and one end of the axle and the driving shaft of the chassis motor are fixed Within the connecting shaft bore.
  • the connecting shaft hole is a stepped hole
  • the stepped hole includes a large hole portion and a small hole portion communicating with the large hole portion, the upper case portion and the lower case a pin hole communicating with the large hole portion is provided in at least one of the body portions, and one end of the large hole portion of the wheel shaft inserted into the connecting shaft hole is provided with a fixing hole, the fixing hole and the pin hole Corresponding and used for the limit pin to pass through.
  • each of the differential drive wheel assemblies further includes a bearing mounted in a through hole of one of the arms of the motor block through which the axle passes, the axle Pass through the bearing.
  • the travel drive mechanism further includes two universal wheels that are relatively spaced apart and mounted at the bottom of the collection bin.
  • the two differential drive wheel assemblies are disposed in front of the bottom of the collection bin, and the two universal wheels are disposed behind the bottom of the collection bin to form a front travel mechanism.
  • the travel drive mechanism further includes two guide wheels, the two guide wheels are relatively spaced apart and mounted in front of the bottom of the collection bin, and the two differential drive wheel assemblies are Behind the bottom of the collection bin to form a rear drive mechanism.
  • the travel drive mechanism is a four-wheel omni-directional chassis mechanism or a three-wheel omni-directional chassis mechanism.
  • the method further includes a bullet replenishing device communicatively coupled to the controller for outputting the bullet in the bullet housing cavity.
  • the bullet replenishing device includes a replenishing motor, a rotating disc and an output rail, and the replenishing motor drives the rotating disc to rotate, and the rotating disc is provided with a radial extension along the rotating disc. Pushing a plate, one end of the output track extends outside the collection bin, the other end abuts the edge of the rotating disk, and the output track is provided with a sliding slot for the bullet to roll;
  • the pushing plate rotates to rotate the rotating disk to push the bullet on the rotating disk, so that the bullet is pushed into the sliding slot of the output track, and the bullet is in its own gravity Rolling along the chute to the outside of the collection bin.
  • the bottom of the bullet accommodating chamber is provided with a shutter mechanism for the bullet to roll out
  • the bullet replenishing device includes a replenishing driving device and a plurality of bullet boxes
  • the replenishing driving device includes a driving cylinder And a push rod fixedly connected to the telescopic rod of the driving cylinder for pushing the bullet box
  • the bullet box is installed under the bullet receiving cavity, when the bullet is filled with one of the bullet boxes
  • the replenishing drive device pushes the cartridge that fills the bullet out of the collection bin and pushes the empty cartridge into a position directly below the shutter mechanism.
  • the method further includes a wireless transmission device communicatively coupled to the controller, the controller accepting a bullet replenishment request signal of the external to-be-supplied device through the wireless transmission device, and issuing a preparation for performing a bullet replenishment signal.
  • a shooting game system comprising:
  • At least one of the above-described bullet collecting robots At least one of the above-described bullet collecting robots
  • a plurality of remotely controlled vehicles capable of launching the bullets, the plurality of remotely controlled vehicles being divided into two sides of the game;
  • the bullet collecting robot can automatically dock with the remote control vehicle to be replenished, and perform bullet replenishment.
  • the bullet collection robot is plural, and is divided into two teams for respectively supplying bullets to the remote control vehicles of both sides; the remote control vehicle has a lower remaining bullet amount in itself.
  • the remote control vehicle automatically issues a bullet supply request signal;
  • the bullet collecting robot when the bullet collecting robot receives the bullet replenishment request signal of the remote control vehicle of the party, it automatically follows the remote control vehicle to perform bullet replenishment.
  • the bullet collecting robot moves in a preset bullet replenishing area, and performs bullet replenishment on the remotely controlled vehicle that enters the sub-refueling area.
  • a bullet collection robot comprising:
  • a travel drive mechanism for driving the movement of the bullet collection device, the travel drive mechanism comprising two differential drive wheel assemblies, the two differential drive wheel assemblies being spaced apart from each other, and respectively disposed on the bullet collection device The bottom is opposite to the sides.
  • each of the differential drive wheel assemblies includes a traveling wheel, an axle, and a chassis motor, the chassis motor being fixedly coupled to the traveling wheel by the axle and driving the traveling wheel to rotate.
  • each of the differential drive wheel assemblies further includes a motor mount that is a U-shaped structure having two arms that are driveably passed through the motor mount An arm, the chassis motor is fixedly coupled to another arm of the motor base, and a drive shaft of the chassis motor is rotatably passed through another arm of the motor base for fixed connection with the axle The bottom of the motor base is fixedly connected to the bottom of the bullet collecting device.
  • a motor mount that is a U-shaped structure having two arms that are driveably passed through the motor mount An arm, the chassis motor is fixedly coupled to another arm of the motor base, and a drive shaft of the chassis motor is rotatably passed through another arm of the motor base for fixed connection with the axle The bottom of the motor base is fixedly connected to the bottom of the bullet collecting device.
  • each of the differential drive wheel assemblies further includes a coupling, the coupling including an upper housing portion having an upper mounting slot and a lower housing portion having a lower mounting slot, The upper housing portion and the lower housing portion are detachably spliced together, and the upper mounting slot and the lower mounting slot together form a connecting shaft hole, and one end of the axle and the driving shaft of the chassis motor are fixed Within the connecting shaft bore.
  • the connecting shaft hole is a stepped hole
  • the stepped hole includes a large hole portion and a small hole portion communicating with the large hole portion, the upper case portion and the lower case a pin hole communicating with the large hole portion is provided in at least one of the body portions, and one end of the large hole portion of the wheel shaft inserted into the connecting shaft hole is provided with a fixing hole, the fixing hole and the pin hole Corresponding and used for the limit pin to pass through.
  • each of the differential drive wheel assemblies further includes a bearing mounted in a through hole of one of the arms of the motor block through which the axle passes, the axle Pass through the bearing.
  • the travel drive mechanism further includes two universal wheels that are relatively spaced apart and mounted at the bottom of the bullet collection device.
  • the two differential drive wheel assemblies are disposed in front of the bottom of the bullet collection device, and the two universal wheels are disposed behind the bottom of the bullet collection device to form a front travel mechanism. .
  • the travel drive mechanism further includes two guide wheels that are relatively spaced apart and mounted in front of the bottom of the bullet collection device, the two differential drive wheel assemblies It is disposed at the rear of the bottom of the bullet collecting device to form a rear drive traveling mechanism.
  • a bullet replenishing device for outputting the bullet in the chamber is further included.
  • the bullet replenishing device includes a replenishing motor, a rotating disc and an output rail, and the replenishing motor drives the rotating disc to rotate, and the rotating disc is provided with a radial extension along the rotating disc. Pushing a plate, one end of the output track extends outside the bullet collecting device, the other end abuts the edge of the rotating disk, and the output track is provided with a sliding slot for the bullet to roll;
  • the pushing plate rotates to rotate the rotating disk to push the bullet on the rotating disk, so that the bullet is pushed into the sliding slot of the output track, and the bullet is in its own gravity
  • the roller is rolled along the chute to the outside of the bullet collecting device.
  • the bottom of the bullet accommodating chamber is provided with a shutter mechanism for the bullet to roll out
  • the bullet replenishing device includes a replenishing driving device and a plurality of bullet boxes
  • the replenishing driving device includes a driving cylinder And a push rod fixedly connected to the telescopic rod of the driving cylinder for pushing the bullet box
  • the bullet box is installed under the bullet receiving cavity, when the bullet is filled with one of the bullet boxes
  • the replenishing drive device pushes the bullet cartridge filled with the bullet out of the bullet collecting device and pushes the empty cartridge into a position directly below the shutter mechanism.
  • FIG. 1 is a schematic diagram of the principle of a bullet collecting robot according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of the bullet collecting robot shown in FIG. 1;
  • FIG. 3 is a schematic structural view of the bullet collecting robot shown in FIG. 2 after removing the upper cover, the protective cover and one of the side plates;
  • FIG. 4 is a schematic structural view of the bullet collecting robot shown in FIG. 2 after removing the side plates;
  • FIG 5 is an exploded view of the bullet collecting robot shown in Figure 2;
  • Figure 6 is an exploded view of another perspective view of the bullet collecting robot shown in Figure 2;
  • FIG. 7 is a schematic structural view of the collecting drive member of the bullet collecting robot shown in FIG. 2 assembled with the roller;
  • Figure 8 is a cross-sectional view taken along line VIII-VIII of Figure 7;
  • Figure 9 is a cross-sectional view of the collecting drive member and the roller shown in Figure 7;
  • Figure 10 is a perspective view of the travel drive mechanism of the bullet collecting robot shown in Figure 2;
  • Figure 11 is a cross-sectional view taken along line XI-XI of Figure 10;
  • Figure 12 is an exploded view of the travel drive mechanism shown in Figure 10;
  • Figure 13 is an exploded view of another perspective view of the travel drive mechanism shown in Figure 10;
  • Figure 14 is a plan view of the partition of the bullet collecting robot shown in Figure 2;
  • Figure 15 is a schematic diagram showing the principle of a shooting game system according to an embodiment of the present invention.
  • Embodiments of the present invention disclose a bullet collecting robot including a bullet collecting device for automatically picking up bullets, and a walking drive mechanism for driving the movement of the bullet collecting device.
  • the bullet collecting device can be moved to different areas by the travel drive mechanism to collect the bullets in different areas.
  • the bullet collecting device includes a collecting bin for containing the collected bullets, a rubbing roller for rolling the bullet to wind the bullet into the collecting bin, and a collecting drive for driving the rubbing roller to rotate Pieces.
  • the friction roller is an elastic roller that elastically deforms when the bullet is rolled, increasing the friction between the friction roller and the bullet, thereby facilitating the entrapment of the bullet into the collection bin.
  • the friction roller may include an inner tube and a sponge sleeve fixedly sleeved on the inner tube, and the sponge sleeve is deformed when the bullet is pressed.
  • the rubbing roller is a rubber roller which elastically deforms when pressed against the bullet.
  • the collection drive member can be a brushless motor or a brushed motor that is coaxially coupled to the ends of the friction rollers.
  • the friction roller can have a hollow shaft and the drive shaft of the motor can be received within the hollow shaft.
  • the friction roller can also be a solid shaft, and the drive shaft of the motor is coaxially connected with the solid shaft of the friction roller.
  • the collection bin is provided with a bullet accommodating cavity and a ramp surface for the bullet to roll and extend to the bullet accommodating cavity, so that the bullet rolls along the ramp surface to the bullet accommodating cavity of the collection bin, and follows The debris that rolls together with the bullets will automatically slide out of the collection bin along the ramp surface, thus having the function of screening debris.
  • the collection bin is provided with a collection port
  • the collection port may be plural, and disposed around the circumference of the collection bin, each collection port may be provided with one or more friction rollers, so that the bullet collection device can be arbitrarily Collect bullets in the direction.
  • adjacent ones of the plurality of friction rollers may share a single collection drive member, for example, each of the collection drive members simultaneously drives two adjacent friction rollers to rotate by a transmission mechanism.
  • the bullet collection device further includes a bullet sorting mechanism for separating different types of bullets.
  • the travel drive mechanism may be a differential chassis mechanism including two differential drive wheel assemblies, the two differential drive wheel assemblies being spaced apart from each other and disposed in the collection bin The bottom is opposite to the sides.
  • the bullet collecting robot further includes a bullet replenishing device communicably coupled to the controller for outputting the bullet in the bullet housing cavity.
  • an embodiment of the present invention also provides a shooting game system.
  • the shooting game system includes a plurality of remotely controlled vehicles, and at least one of the above-described bullet collection robots.
  • the plurality of remotely controlled vehicles may launch the bullets and divide into two sides of the game for a match shooting game.
  • the bullet collecting robot can automatically dock with the remote control vehicle to be replenished, and perform bullet replenishment.
  • the bullet collecting robot can collect different types of bullets, and can perform bullet replenishment on the remotely controlled vehicles of both sides of the game. For example, the bullet collecting robot moves in a preset bullet replenishing area, and performs bullet replenishment on the remotely controlled vehicle that enters the subwoofer replenishing area.
  • the bullet collection robot is capable of recognizing both sides of the game and only replenishing the own remotely controlled vehicle.
  • the bullet collecting robots are plural and are divided into two teams for respectively supplying bullets to the remotely controlled vehicles of both sides; the remotely controlled vehicles are in a state in which the current remaining amount of bullets is lower than the preset amount of bullets.
  • the remote control vehicle automatically issues a bullet supply request signal.
  • the bullet collecting robot receives the bullet replenishment request signal of the remote control vehicle, it automatically follows the remote control vehicle to perform bullet replenishment.
  • a bullet collecting robot 10 includes a bullet collecting device 100 , a traveling drive mechanism 200 , and a controller 300 .
  • the travel drive mechanism 200 is used to drive the bullet collection device 100 to move.
  • the controller 300 is communicatively coupled to the bullet collection device 100 and the travel drive mechanism 200 for controlling the bullet collection device 100 and the travel drive mechanism 200.
  • the bullet collection device 100 includes a collection bin 110, a friction roller 120, and a collection drive member 130.
  • the collection bin 110 is used to hold the collected bullets.
  • the rubbing roller 120 is used to pick up a bullet.
  • the collecting drive member 130 is for driving the friction roller 120 to rotate.
  • the collection bin 110 is provided with a bullet accommodating cavity 111 and a collecting port 113 communicating with the bullet accommodating cavity 111.
  • the inner wall of the collecting port 113 is provided with a collecting surface 113a for the bullet to roll.
  • the number of collection ports 113 can be set according to different needs.
  • the collection port 113 is one, which is disposed at one end of the collection bin 110.
  • the collection port 113 may also be plural.
  • the collection bin 110 is a circular casing structure
  • the collection port 113 is plural, and is disposed around the circumference of the collection bin 110
  • the friction roller 120 is A plurality of them are provided corresponding to the plurality of collection ports 113, respectively. Since a plurality of collection ports 113 are disposed around the circumference of the collection bin 110, it is convenient to collect the bullets in any direction.
  • the collection bin 110 includes a bottom plate 110a, two side panels 110b, an upper cover 110c, and a shield 110d.
  • the upper cover 110c is disposed opposite to the bottom plate 110a, and one end of the upper cover 110c is connected to one end of the bottom plate 110a, and the other end is connected to the shield 110d.
  • the two side plates 110b are relatively spaced apart, and the two side plates 110b are fixedly connected to the opposite side edges of the bottom plate 110a and the shield 110d, respectively.
  • the shield 110d and the end of the bottom plate 110a away from the upper cover 110c together form a collection opening 113.
  • the collecting surface 113a is provided on the bottom plate 110a.
  • one end of the upper cover 110c is detachably connected to one end of the bottom plate 110a, and the other end is rotatably connected to the shield 110d.
  • the collecting surface 113a is a rising ramp surface, and the bullet rolls into the bullet receiving cavity 111 through the ramp surface. Since the upper ramp surface is rolled into the bullet accommodating cavity 111, the debris that follows the bullet rolling into the collecting port 113 is automatically slid out of the collecting bin 110 along the rising ramp surface, thereby being wound into the friction roller 120. The debris is screened.
  • the shape of the ramp face can be designed according to different needs, for example, in the illustrated embodiment, the ramp face is planar.
  • the collecting surface 113a may also be a curved curved surface.
  • a buffer layer (not shown) is disposed on the collecting surface 113a to reduce the noise generated by the collision of the bullet into the collecting chamber 110 and the inner collecting surface 113a.
  • the cushioning pad can be placed on the collecting surface 113a to reduce the noise. noise.
  • the rubbing roller 120 is provided at the collecting port 113 of the collecting bin 110 and is freely rotatable.
  • the rotating shaft of the rubbing roller 120 is disposed at a distance from the collecting surface 113a of the collecting bin 110.
  • the rotating shaft of the rubbing roller 120 is disposed parallel to the collecting surface 113a such that the peripheral surface of the rubbing roller 120 and the collecting bin 110
  • the collection surface 113a has a preset gap.
  • the rotating shaft of the rubbing roller 120 may also be inclined with respect to the collecting surface 113a, so that the preset gap is uneven or irregular.
  • the friction roller 120 includes an inner tube 121 and is fixedly disposed on the inner tube 121.
  • Sponge cover 123 Specifically, the inner tube 121 has a cylindrical structure, and the sponge sleeve 123 also has a cylindrical structure.
  • the inner tube 121 can be made of a material having a lighter weight and a higher structural strength.
  • the inner tube 121 can be a carbon fiber tube.
  • the friction roller 120 includes a stationary shaft and a rubber roller that is fixedly disposed over the stationary shaft.
  • the fixed shaft may be made of a material having a relatively good rigidity.
  • the fixed shaft may be a steel shaft to increase the structural strength of the entire friction roller 120.
  • the friction roller 120 includes a rubber roller and two fixed shafts that are respectively fixed at both ends of the rubber roller and disposed coaxially with the rubber roller.
  • the collection drive member 130 is coupled to the friction roller 120. Wherein, when the bullet is located outside the friction roller 120, the collecting driving member 130 drives the friction roller 120 to rotate to wind the bullet from the predetermined gap into the collecting port 113, and roll into the bullet receiving cavity 111 along the collecting surface 113a.
  • the collecting drive member 130 may be a brushless motor or a brushed motor.
  • the collection drive member 130 is a brushless motor
  • the rotor of the brushless motor is housed in the open end of the inner tube 121 and is fixedly coupled to the open end of the inner tube 121 to allow the inner tube 121 follows the rotor of the brushless motor to rotate together. Due to the noise generated by the high-speed rotation of the brushless motor, the rotor of the brushless motor is housed in the open end of the inner tube 121 so that the brushless motor is wrapped inside, so that the sound can be transmitted to the outside.
  • the collection drive member 130 is a brushed motor and the drive shaft of the brushed motor is coaxially fixedly coupled to the stationary shaft.
  • the number of the collecting driving members 130 may also be set according to different requirements.
  • the collecting driving members 130 are two, respectively fixed on the two side plates 110b, and respectively drive the two of the friction rollers 120. end.
  • the collecting driving member 130 may also be one, the collecting driving member 130 is connected to one end of the friction roller 120, and the other end of the friction roller 120 is rotatably connected to one of the side plates 110b.
  • the transmission mechanism comprises at least one of the following: a worm gear transmission mechanism, a helical gear set transmission mechanism, and a belt transmission mechanism.
  • the transmission mechanism is a worm gear transmission mechanism
  • the opposite ends of the adjacent two friction wheels are connected with a worm wheel
  • the collecting driving member 130 is connected with the worm and drives the worm to rotate together; the worm simultaneously meshes with the two worm wheels, thereby At the same time, the two worm wheels are rotated, and each worm wheel drives the corresponding friction roller 120 to rotate.
  • the helical gear set transmission mechanism comprises two driven helical gears and one active helical gear, and the two driven helical gears respectively end with opposite ends of the adjacent two friction rollers 120 a connecting portion;
  • the collecting driving member 130 is coupled to the driving helical gear, and drives the driving helical gear to rotate;
  • the driving helical gear simultaneously meshes with the two driven helical gears, thereby driving the two driven helical gears to rotate,
  • Each of the driven helical gears respectively drives the respective friction rollers 120 to rotate.
  • the belt is two, one of the belt sleeves is disposed on a rotating shaft of one of the friction rollers 120 and a driving shaft of the collecting driving member 130, and the other one is sleeved.
  • the driving shaft of the collecting driving member 130 simultaneously drives the two friction rollers 120 to rotate by the two belts.
  • the bullet collecting device 100 further includes a bullet sorting mechanism 140 for separating different types of bullets, and the bullet sorting mechanism 140 is installed in the collecting bin 110.
  • the bullet sorting mechanism 140 is a partition, and the partition is installed at the entrance of the bullet receiving chamber 111, and the partition is provided. There is a hollow screening slot 141.
  • the number and shape of the screening slots 141 can be designed according to different situations.
  • the spacers may be disposed obliquely such that the bullets that do not pass through the screening slot 141 roll along the spacer under their own weight. Since the bullet can roll along the bulkhead under its own weight, there is no need for an additional conveyor to transport the bullet.
  • a bent portion 143 is disposed at one end of the partition near the entrance of the bullet receiving cavity 111 to form a V-shaped limiting rib, and the bullet is turned over the limiting rib. Enter the area where the screening slot 141 is located.
  • the bullet sorting mechanism 140 may also be other structures.
  • the bullet sorting mechanism 140 includes a main pipe and a plurality of sub-pipes, and the main pipe is provided with a V-shaped cross section.
  • a plurality of sub-pipes are connected to the main pipe, and respectively correspond to different widths of the main pipe, and bullets of different sizes are rolled along different widths of the channel of the main pipe.
  • the bullets of different sizes are rolled at different positions, thereby screening the bullets of different sizes, and then collecting the corresponding sub-pipes.
  • the travel drive mechanism 200 may be a differential wheel chassis mechanism, a four-wheel omnidirectional chassis mechanism, or a three-wheel omnidirectional chassis mechanism or the like. As shown in FIG. 5, specifically in the illustrated embodiment, the travel drive mechanism 200 includes two differential drive wheel assemblies 200a that are spaced apart from one another and are disposed at the bottom of the collection bin 110, respectively. Relative sides.
  • each of the differential drive wheel assemblies 200a includes a traveling wheel 210, an axle 220, and a chassis motor 230.
  • the chassis motor 230 is fixedly coupled to the traveling wheel 210 via the axle 220 and drives the traveling wheel 210 to rotate.
  • each differential drive wheel assembly 200a further includes a motor mount 240.
  • the motor base 240 is a U-shaped structure having two arms, the axle 220 is drivably transmitted through one of the arms of the motor base 240, and the chassis motor 230 and the other branch of the motor base 240 The arms are fixedly coupled and the drive shaft of the chassis motor 230 is rotatably passed through the other arm of the motor base 240 for fixed connection with the axle 220.
  • the bottom of the motor mount 240 is fixedly coupled to the bottom of the collection bin 110.
  • each differential drive wheel assembly 200a further includes a coupling 250 that includes an upper housing portion 251 having an upper mounting slot 251a and a lower housing portion 253 having a lower mounting slot 253a, the upper housing The lower portion 251 and the lower housing portion 253 are detachably spliced together, and the upper mounting groove 251a and the lower mounting groove 253a together form a connecting shaft hole, and one end of the axle 220 and the driving shaft of the chassis motor 230 are fixed in the connecting shaft hole.
  • a coupling 250 that includes an upper housing portion 251 having an upper mounting slot 251a and a lower housing portion 253 having a lower mounting slot 253a, the upper housing The lower portion 251 and the lower housing portion 253 are detachably spliced together, and the upper mounting groove 251a and the lower mounting groove 253a together form a connecting shaft hole, and one end of the axle 220 and the driving shaft of the chassis motor 230 are fixed in the connecting shaft hole.
  • the shape of the connecting shaft hole of the coupling 250 can be designed according to different requirements.
  • the connecting shaft hole of the coupling 250 is a stepped hole, and the stepped hole includes a large hole portion and a large hole.
  • At least one of the upper casing portion 251 and the lower casing portion 253 is provided with a pin hole communicating with the large hole portion, and the wheel shaft 220 is inserted into one end of the large hole portion connecting the shaft hole.
  • each of the differential drive wheel assemblies 200a further includes a bearing 260 mounted in a through hole of one of the arms of the motor base 240 through which the axle 220 passes, and the axle 220 passes through the bearing 260.
  • the travel drive mechanism 200 further includes two universal wheels 270, which are relatively spaced apart and mounted at the bottom of the collection bin 110.
  • the two differential drive wheel assemblies 200a may constitute a front travel structure or may constitute a rear drive travel mechanism. Specifically, in the illustrated embodiment, two differential drive wheel assemblies 200a are disposed in front of the bottom of the collection bin 110, and two universal wheels 270 are disposed behind the bottom of the collection bin 110 to form a front travel mechanism.
  • the travel drive mechanism 200 further includes two guide wheels that are spaced apart from each other and are mounted in front of the bottom of the collection bin 110.
  • Two differential drive wheel assemblies 200a are disposed at the bottom of the collection bin 110. Rear to form a rear drive walking mechanism.
  • the bullet collecting robot 10 further includes a bullet that is communicably connected to the controller 300 for outputting the bullet in the bullet receiving chamber 111. Replenishment device 400.
  • the bullet replenishing device 400 may be replenished in the form of a bullet bulk or may be replenished in the form of a box.
  • the bullet replenishing device 400 includes a replenishing motor, a rotating disc and an output rail, and the replenishing motor drives the rotating disc to rotate.
  • the rotating disc is provided with a pushing plate extending in a radial direction of the rotating disc, and one end of the output rail protrudes The outside of the collection bin 110 is attached, and the other end is docked with the edge of the rotating disk, and the output track is provided with a chute for the bullet to roll.
  • the pushing plate rotates along the rotating disk to push the bullet on the rotating disk, so that the bullet is pushed into the sliding groove of the output track, and the bullet rolls along the sliding groove to the outside of the collecting bin 110 under the gravity of its own.
  • the bottom of the bullet accommodating chamber 111 is provided with a shutter mechanism for the bullet to roll out.
  • the bullet replenishing device 400 includes a replenishing drive device and a plurality of bullet cartridges, and the replenishing driving device includes a driving cylinder and a telescopic rod that drives the cylinder. Fixed connection, push rod for pushing the bullet box.
  • the bullet box is installed under the bullet accommodating chamber 111.
  • the replenishing drive device pushes the bullet box filled with the bullet out of the collecting bin 110, and pushes the empty bullet box directly below the shutter mechanism. .
  • the bullet collecting robot 10 further includes a wireless transmission device 500 communicatively coupled to the controller 300 for receiving and transmitting wireless signals.
  • the controller 300 receives the bullet replenishment request signal of the external to-be-supplied device through the wireless transmission device 500, and issues a preparation for the bullet replenishment signal.
  • the high-speed rotating friction roller 120 in front of the bullet collecting robot 10 will wind the bullet or the cannon into the collecting bin 110.
  • the collection surface 113a is passed into the bullet accommodating chamber 111 of the collection bin 110.
  • the collection bin 110 of the bullet collecting robot 10 has a bullet sorting mechanism 140 (separator), and a screening groove 141 is provided in the middle of the partition.
  • the baffle will automatically classify the bullets, and the flash ball can fall through the screening slot 141 of the baffle to the bottom of the collection bin 110.
  • the larger diameter golf ball cannot pass through the screening slot 141 and will be left on the upper layer of the partition.
  • the hollow partitions enable automatic classification of bullets. After the recovery, the upper cover 110c is opened, and the golf ball can be taken out. After the golf ball is taken, the partition plate is removed, and the lower layer of the glittering ball is taken out.
  • the above-described bullet collecting robot 10 has at least the following advantages:
  • the above-described bullet collecting device 100 drives the rubbing roller 120 to rotate by the collecting driving member 130, so that the rubbing roller 120 winds the bullet from the predetermined gap into the collecting port 113, and along the collecting surface
  • the 113a is rolled into the bullet accommodating chamber 111 to conveniently collect the bullets on the ground.
  • the bullet collecting device 100 is wound into the collecting port 113 from the predetermined gap by the rubbing roller 120, and is rolled into the bullet receiving chamber 111 along the collecting surface 113a.
  • other objects having a particle diameter smaller than a predetermined gap between the peripheral surface of the rubbing roller 120 and the collecting surface 113a are automatically leaked from the collecting port 113, for example, the particle diameter on the ground is smaller than the pre-predetermined
  • the debris of the gap is not caught in the collection bin 110 by the rubbing roller 120, so that the bullet collecting device 100 can selectively collect the bullet.
  • the traveling drive mechanism 200 of the above-described bullet collecting robot 10 employs a differential wheel chassis, the middle of the bullet collecting robot 10 is provided with two driving wheels, and the rear portion is provided with two follower wheels (universal wheel 270), the differential wheel Only two drive motors are required, which saves a lot of cost compared to the three-wheel omni-directional chassis and the four-wheel omni-directional chassis.
  • the traveling drive mechanism 200 of the above-described bullet collecting robot 10 employs a differential wheel chassis, which saves space compared to the three-wheel and four-wheel omnidirectional chassis, and can free up more space for storing the recovered bullets.
  • the present invention also provides a shooting game system.
  • a shooting game system 1 includes the above-described bullet collecting robot 10 and a plurality of remote control vehicles 20 capable of emitting the bullets.
  • the plurality of remote control vehicles 20 are divided into two sides of the game, that is, the remote control vehicle 20A and the remote control vehicle 20B, and the bullet collection robot 10 can automatically dock with the remotely controlled vehicle 20 to be replenished to perform bullet supply.
  • the specific structure of the bullet collecting robot 10 is as described above, and will not be described in detail herein.
  • the bullet collecting robot 10 can serve as a medical soldier of the shooting game system 1.
  • the manner of performing the bullet replenishment can be designed according to different needs.
  • the bullet collecting robot 10 is plural and can be divided into two sides of the game. That is, the bullet collecting robot 10A and the bullet collecting robot 10B, each of the bullet collecting robots 10 can perform bullet replenishment on the remote control vehicle 20; or the bullet collecting robot 10 can have one or more The remote control vehicle 20 performs bullet supply.
  • the remote control vehicle 20 automatically issues a bullet supply request signal.
  • the bullet collecting robot 10 receives the bullet replenishment request signal of the remote control vehicle 20, it automatically follows the remote control vehicle 20 to perform bullet replenishment.
  • the bullet collecting robot 10 moves in a preset bullet replenishing area and performs bullet replenishment on the remotely controlled vehicle 20 that has entered the sub-refueling area.
  • the related apparatus and method disclosed may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the modules or units is only a logical function division.
  • there may be another division manner for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer processor to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Toys (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

一种子弹收集机器人及其子弹收集装置、以及射击游戏系统，该子弹收集装置（100）包括：收集仓（110），设有子弹容置腔（111）以及与所述子弹容置腔（111）相连通的收集口（113），所述收集口（113）的内壁设有供子弹滚动的收集面（113a）；摩擦辊（120），设于所述收集口（113），并且可自由转动；所述摩擦辊（120）的转轴与所述收集面（113a）相对间隔设置，使所述摩擦辊（120）的周缘表面与所述收集面存在预设间隙；收集驱动件（130），与所述摩擦辊（120）连接，用于驱动所述摩擦辊（120）绕所述转轴转动。上述子弹收集装置（100）通过收集驱动件（130）驱动摩擦辊（120）转动，使所述摩擦辊（120）将所述子弹从所述预设间隙内卷进所述收集口（113），并沿所述收集面（113a）滚进所述子弹容置腔（111）内，从而方便收集地面上的子弹。

Description

子弹收集机器人及其子弹收集装置、以及射击游戏系统 技术领域
本发明涉及一种机器人，特别涉及一种子弹收集机器人及其子弹收集装置、以及采用该子弹收集机器人的射击游戏系统。
背景技术
在进行射击机器人对抗赛时，射击机器人将使用两种不同类型的子弹，一种直径为17mm、重量为5g的闪光子弹，另外一种为直径42.64mm、重量为45.93g的高尔夫球炮弹。比赛开始前，双方各有大概500~400发闪光子弹，30发高尔夫球炮弹；比赛进行时，双方发射子弹击打对方；比赛结束后，闪光子弹与高尔夫球炮弹遍布在场地上。比赛后，人工去回收闪光子弹和高尔夫球炮弹，将场地上的闪光子弹和高尔夫球炮弹回收后，继续下次的使用。
然而，上述收集子弹的方式采用人工来收集，需要人用手去拾取子弹，其收集子弹的方式较为不便。
发明内容
鉴于此，本发明有必要提供一种能够自动收集子弹、并且收集子弹较为方便的子弹收集装置。
一种子弹收集装置，包括：
收集仓，设有子弹容置腔以及与所述子弹容置腔相连通的收集口，所述收集口的内壁设有供子弹滚动的收集面；
摩擦辊，设于所述收集口，并且可自由转动；所述摩擦辊的转轴与所述收集面相对间隔设置，使所述摩擦辊的周缘表面与所述收集面存在预设间隙；以及
收集驱动件，与所述摩擦辊连接，用于驱动所述摩擦辊绕所述转轴转动；
其中，当所述子弹位于所述摩擦辊的外侧时，所述摩擦辊转动而将所述子弹从所述预设间隙内卷进所述收集口，并沿所述收集面滚进所述子弹容置腔。
相较于传统的技术，上述子弹收集装置至少具有以下优点：
（1）上述子弹收集装置通过收集驱动件驱动摩擦辊转动，使所述摩擦辊将所述子弹从所述预设间隙内卷进所述收集口，并沿所述收集面滚进所述子弹容置腔内，从而方便收集地面上的子弹。
（2）上述子弹收集装置通过所述摩擦辊将所述子弹从所述预设间隙内卷进所述收集口，并沿所述收集面滚进所述子弹容置腔内，然而粒径小于所述摩擦辊的周缘表面与所述收集面之间的预设间隙的其他物体则会自动从所述收集口漏出，例如，地面上的粒径小于所述预设间隙的杂物并不能被摩擦辊卷进收集仓内，使得子弹收集装置能够选择性的收集子弹。
在其中一个实施例中，所述摩擦辊包括内管及固定地套设在所述内管上的海绵套。
在其中一个实施例中，所述内管为碳纤管。
在其中一个实施例中，所述收集驱动件为无刷电机，并且所述无刷电机的转子收容在所述内管的开口端内，并且与所述内管的开口端固定连接，以使所述内管跟随所述无刷电机的转子一起转动。
在其中一个实施例中，所述摩擦辊包括一个固定轴以及固定地套设在所述固定轴上的橡胶辊；
或者，所述摩擦辊包括橡胶辊以及分别固定在所述橡胶辊两端、并且与所述橡胶辊共轴设置的两个固定轴。
在其中一个实施例中，所述收集驱动件为有刷电机，并且所述有刷电机的驱动轴与所述固定轴共轴固定连接。
在其中一个实施例中，所述收集面为上升的坡道面，所述子弹通过所述坡道面滚动到所述子弹容置腔内。
在其中一个实施例中，所述坡道面为平面或弧形曲面。
在其中一个实施例中，所述收集仓包括底板、两个侧板、上盖、以及防护罩，所述上盖与所述底板相对设置，并且所述上盖的一端与所述底板的一端连接，另外一端与所述防护罩连接，所述两个侧板相对间隔设置，并且所述两个侧板分别与所述底板、所述防护罩的相对两侧边固定连接；所述防护罩与所述底板远离所述上盖的一端共同形成所述收集口；所述收集面设于所述底板上。
在其中一个实施例中，所述上盖的一端与所述底板的一端可拆卸连接，另外一端与所述防护罩可转动连接。
在其中一个实施例中，所述收集驱动件为两个，分别固定在所述两个侧板上，并且分别驱动所述摩擦辊的两端。
在其中一个实施例中，所述收集仓为圆形的壳体结构，所述收集口为多个，并且围绕所述收集仓的周缘设置，所述摩擦辊为多个，并且分别对应多个所述收集口设置。
在其中一个实施例中，所述收集驱动件为多个，并且每个所述收集驱动件通过传动机构同时驱动相邻两个所述摩擦辊转动。
在其中一个实施例中，所述传动机构包括如下至少一种：蜗轮蜗杆传动机构，斜齿轮组传动机构，皮带传动机构。
在其中一个实施例中，还包括用于将不同类型的子弹进行分离的子弹分类机构，所述子弹分类机构安装在所述收集仓内。
在其中一个实施例中，所述子弹分类机构包括隔板，所述隔板安装在所述子弹容置腔的入口处，并且所述隔板上设有镂空的筛选槽。
在其中一个实施例中，所述筛选槽为多个，每个所述筛选槽为狭长槽。
在其中一个实施例中，所述隔板倾斜设置，使未穿过所述筛选槽的所述子弹在自身重力作用下沿所述隔板滚动。
在其中一个实施例中，所述隔板靠近所述子弹容置腔的入口处的一端设有弯折部，以形成V形的限位凸肋，所述子弹翻过所述限位凸肋后进入所述筛选槽所在区域。
在其中一个实施例中，所述子弹分类机构包括主管道及多个分管道，所述主管道内设有横截面为V形的通道，所述多个分管道与所述主管道连通，并且分别对应所述主管道的不同宽度，不同尺寸的所述子弹沿所述主管道的所述通道中不同宽度的区域滚动。
一种子弹收集机器人，包括：
上述的子弹收集装置；
用于带动所述子弹收集装置移动的行走驱动机构；以及
控制器，与所述收集驱动件及所述行走驱动机构通讯连接，用于控制所述收集驱动件及所述行走驱动机构。
在其中一个实施例中，所述行走驱动机构包括两个差速驱动轮组件，所述两个差速驱动轮组件相对间隔设置，并且分别设于所述收集仓的底部相对两侧。
在其中一个实施例中，每个所述差速驱动轮组件包括行走轮、轮轴以及底盘电机，所述底盘电机通过所述轮轴与所述行走轮固定连接，并且驱动所述行走轮转动。
在其中一个实施例中，每个所述差速驱动轮组件还包括电机座，所述电机座为具有两个支臂的U型结构，所述轮轴可传动地穿过所述电机座的其中一个支臂，所述底盘电机与所述电机座的另外一个支臂固定连接，并且所述底盘电机的驱动轴可转动地穿过所述电机座的另外一个支臂，与所述轮轴固定连接；所述电机座的底部与所述收集仓的底部固定连接。
在其中一个实施例中，每个所述差速驱动轮组件还包括联轴器，所述联轴器包括具有上安装槽的上壳体部以及具有下安装槽的下壳体部，所述上壳体部与所述下壳体部可拆卸拼接在一起，并且所述上安装槽及所述下安装槽共同形成一个连接轴孔，所述轮轴的一端及所述底盘电机的驱动轴固定在所述连接轴孔内。
在其中一个实施例中，所述连接轴孔为阶梯孔，并且所述阶梯孔包括大孔部及与所述大孔部相连通的小孔部，所述上壳体部及所述下壳体部中的至少一个上设有与所述大孔部相连通的销孔，所述轮轴插入所述连接轴孔的大孔部的一端设有固定孔，所述固定孔与所述销孔相对应，并且用于供限位销穿过。
在其中一个实施例中，每个所述差速驱动轮组件还包括轴承，所述轴承安装在所述电机座的其中一个支臂上的供所述轮轴穿过的通孔内，所述轮轴穿过所述轴承。
在其中一个实施例中，所述行走驱动机构还包括两个万向轮，所述两个万向轮相对间隔设置，并且安装在所述收集仓的底部。
在其中一个实施例中，所述两个差速驱动轮组件设于所述收集仓的底部前方，所述两个万向轮设于所述收集仓的底部后方，以形成前驱行走机构。
在其中一个实施例中，所述行走驱动机构还包括两个导向轮，所述两个导向轮相对间隔设置，并且安装在所述收集仓的底部前方，所述两个差速驱动轮组件设于所述收集仓的底部后方，以形成后驱行走机构。
在其中一个实施例中，所述行走驱动机构为四轮全向底盘机构，或者三轮全向底盘机构。
在其中一个实施例中，还包括与所述控制器通讯连接、用于将所述子弹容置腔内的所述子弹输出的子弹补给装置。
在其中一个实施例中，所述子弹补给装置包括补给电机、旋转盘及输出轨道，所述补给电机驱动所述旋转盘转动，所述旋转盘上设有沿所述旋转盘的径向延伸的推动板，所述输出轨道的一端伸出所述收集仓的外部，另外一端与所述旋转盘的边缘对接，并且所述输出轨道设有供所述子弹滚动的滑槽；
其中，所述推动板跟随所述旋转盘转动而推动所述旋转盘上的所述子弹，使所述子弹被推入所述输出轨道的所述滑槽内，并且所述子弹在自身的重力作用下沿所述滑槽滚动到所述收集仓的外部。
在其中一个实施例中，所述子弹容置腔的底部设有供所述子弹滚出的活门机构，所述子弹补给装置包括补给驱动装置及多个子弹盒，所述补给驱动装置包括驱动气缸及与所述驱动气缸的伸缩杆固定连接、用于推动所述子弹盒的推杆；所述子弹盒安装在所述子弹容置腔的下方，当所述子弹装满其中一个所述子弹盒时，所述补给驱动装置将装满所述子弹的所述子弹盒推出所述收集仓，并将空的所述子弹盒推到所述活门机构的正下方。
在其中一个实施例中，还包括与所述控制器通讯连接的无线传输装置，所述控制器通过所述无线传输装置接受外部待补给装置的子弹补给请求信号、以及发出准备进行子弹补给信号。
一种射击游戏系统，包括：
至少一个上述的子弹收集机器人；以及
多个能够发射所述子弹的遥控战车，所述多个遥控战车分成游戏双方；
其中，所述子弹收集机器人能够自动与待补给的所述遥控战车对接，进行子弹补给。
在其中一个实施例中，所述子弹收集机器人为多个，并且分成两队，分别用于给双方的所述遥控战车进行子弹补给；所述遥控战车在自身的当前剩余子弹量低于预设子弹量时，所述遥控战车自动发出子弹补给请求信号；
其中，当所述子弹收集机器人收到已方的所述遥控战车的子弹补给请求信号时，自动跟随到所述遥控战车身边进行子弹补给。
在其中一个实施例中，所述子弹收集机器人在预设的子弹补给区域运动，并且对进入到所述子弹补给区域内的所述遥控战车进行子弹补给。
一种子弹收集机器人，包括：
用于收集子弹的子弹收集装置；
用于带动所述子弹收集装置移动的行走驱动机构，所述行走驱动机构包括两个差速驱动轮组件，所述两个差速驱动轮组件相对间隔设置，并且分别设于所述子弹收集装置的底部相对两侧。
在其中一个实施例中，每个所述差速驱动轮组件包括行走轮、轮轴以及底盘电机，所述底盘电机通过所述轮轴与所述行走轮固定连接，并且驱动所述行走轮转动。
在其中一个实施例中，每个所述差速驱动轮组件还包括电机座，所述电机座为具有两个支臂的U型结构，所述轮轴可传动地穿过所述电机座的其中一个支臂，所述底盘电机与所述电机座的另外一个支臂固定连接，并且所述底盘电机的驱动轴可转动地穿过所述电机座的另外一个支臂，与所述轮轴固定连接；所述电机座的底部与所述子弹收集装置的底部固定连接。
在其中一个实施例中，每个所述差速驱动轮组件还包括联轴器，所述联轴器包括具有上安装槽的上壳体部以及具有下安装槽的下壳体部，所述上壳体部与所述下壳体部可拆卸拼接在一起，并且所述上安装槽及所述下安装槽共同形成一个连接轴孔，所述轮轴的一端及所述底盘电机的驱动轴固定在所述连接轴孔内。
在其中一个实施例中，所述连接轴孔为阶梯孔，并且所述阶梯孔包括大孔部及与所述大孔部相连通的小孔部，所述上壳体部及所述下壳体部中的至少一个上设有与所述大孔部相连通的销孔，所述轮轴插入所述连接轴孔的大孔部的一端设有固定孔，所述固定孔与所述销孔相对应，并且用于供限位销穿过。
在其中一个实施例中，每个所述差速驱动轮组件还包括轴承，所述轴承安装在所述电机座的其中一个支臂上的供所述轮轴穿过的通孔内，所述轮轴穿过所述轴承。
在其中一个实施例中，所述行走驱动机构还包括两个万向轮，所述两个万向轮相对间隔设置，并且安装在所述子弹收集装置的底部。
在其中一个实施例中，所述两个差速驱动轮组件设于所述子弹收集装置的底部前方，所述两个万向轮设于所述子弹收集装置的底部后方，以形成前驱行走机构。
在其中一个实施例中，所述行走驱动机构还包括两个导向轮，所述两个导向轮相对间隔设置，并且安装在所述子弹收集装置的底部前方，所述两个差速驱动轮组件设于所述子弹收集装置的底部后方，以形成后驱行走机构。
在其中一个实施例中，还包括用于将所述子弹容置腔内的所述子弹输出的子弹补给装置。
在其中一个实施例中，所述子弹补给装置包括补给电机、旋转盘及输出轨道，所述补给电机驱动所述旋转盘转动，所述旋转盘上设有沿所述旋转盘的径向延伸的推动板，所述输出轨道的一端伸出所述子弹收集装置的外部，另外一端与所述旋转盘的边缘对接，并且所述输出轨道设有供所述子弹滚动的滑槽；
其中，所述推动板跟随所述旋转盘转动而推动所述旋转盘上的所述子弹，使所述子弹被推入所述输出轨道的所述滑槽内，并且所述子弹在自身的重力作用下沿所述滑槽滚动到所述子弹收集装置的外部。
在其中一个实施例中，所述子弹容置腔的底部设有供所述子弹滚出的活门机构，所述子弹补给装置包括补给驱动装置及多个子弹盒，所述补给驱动装置包括驱动气缸及与所述驱动气缸的伸缩杆固定连接、用于推动所述子弹盒的推杆；所述子弹盒安装在所述子弹容置腔的下方，当所述子弹装满其中一个所述子弹盒时，所述补给驱动装置将装满所述子弹的所述子弹盒推出所述子弹收集装置，并将空的所述子弹盒推到所述活门机构的正下方。
 附图说明
图1为本发明的实施方式的子弹收集机器人的原理示意图；
图2为图1所示的子弹收集机器人的结构示意图；
图3为图2所示的子弹收集机器人去掉上盖、防护罩及其中一个侧板后的结构示意图；
图4为图2所示的子弹收集机器人去掉侧板后的结构示意图；
图5为图2所示的子弹收集机器人的分解图；
图6为图2所示的子弹收集机器人的另一视角的分解图；
图7为图2所示的子弹收集机器人的收集驱动件与滚轮装配后的结构示意图；
图8为沿图7中VIII-VIII线的剖面图；
图9为图7所示的收集驱动件与滚轮装配后的剖面图；
图10为图2所示的子弹收集机器人的行走驱动机构的立体图；
图11沿图10中XI-XI线的剖面图；
图12为图10所示的行走驱动机构的分解图；
图13为图10所示的行走驱动机构的另一视角的分解图；
图14为图2所示的子弹收集机器人的隔板的俯视图；
图15为本发明的实施方式的射击游戏系统的原理示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及／或”包括一个或多个相关的所列项目的任意的和所有的组合。
本发明的实施方式公开一种子弹收集机器人，所述子弹收集机器人包括用于自动拾取子弹的子弹收集装置，以及用于带动子弹收集装置移动的行走驱动机构。通过行走驱动机构可以将子弹收集装置移动到不同区域，从而在不同区域收集子弹。
所述子弹收集装置包括用于盛装收集到的子弹的收集仓，用于滚压所述子弹而将所述子弹卷进所述收集仓内的摩擦辊，以及用于驱动摩擦辊转动的收集驱动件。
在其中一些实施例中，所述摩擦辊为弹性辊，使其与子弹滚压时发生弹性形变，增大摩擦辊与子弹之间的摩擦力，从而便于子弹卷进收集仓内。
例如，所述摩擦辊可以包括内管及固定地套设在所述内管上的海绵套，海绵套与子弹挤压时发生形变。或者，所述摩擦辊为橡胶辊，其与子弹挤压时发生弹性形变。
在其中一些实施例中，收集驱动件可以为无刷电机或有刷电机，其与摩擦辊的端部共轴连接。
在其中一些实施例中，摩擦辊可以具有空心轴，电机的驱动轴可收容在空心轴内。摩擦辊也可以为实心轴，电机的驱动轴与摩擦辊的实心轴共轴连接。
在其中一些实施例中，收集仓内设有子弹容置腔及供子弹滚动并且延伸至子弹容置腔的坡道面，使子弹沿坡道面滚动到收集仓的子弹容置腔，而且跟随子弹一起滚动的杂物会沿着坡道面自动滑出收集仓外，从而具有筛选杂物的功能。
在其中一些实施例中，收集仓设有收集口，收集口可以多个，并且围绕收集仓的周缘设置，每个收集口可以设有一个或多个摩擦辊，以便于子弹收集装置可以在任意方向进行收集子弹。
在其中一些实施例中，相邻多个摩擦辊可以共用一个收集驱动件，例如，每个所述收集驱动件通过传动机构同时驱动相邻两个所述摩擦辊转动。
在其中一些实施例中，所述子弹收集装置还包括用于将不同类型的子弹进行分离的子弹分类机构。
在其中一些实施例中，所述行走驱动机构可以为差速底盘机构，其包括两个差速驱动轮组件，所述两个差速驱动轮组件相对间隔设置，并且分别设于所述收集仓的底部相对两侧。
在其中一些实施例中，所述子弹收集机器人还包括与所述控制器通讯连接、用于将子弹容置腔内的所述子弹输出的子弹补给装置。
基于上述子弹收集机器人，本发明的实施方式还提供一种射击游戏系统。
该射击游戏系统包括多个遥控战车、以及至少一个上述子弹收集机器人。所述多个遥控战车可以发射所述子弹，并且分成游戏双方进行对战射击比赛。所述子弹收集机器人能够自动与待补给的所述遥控战车对接，进行子弹补给。
在其中一些实施例中，所述子弹收集机器人可以收集不同类型的子弹，可以对游戏双方的遥控战车进行子弹补给。例如，所述子弹收集机器人在预设的子弹补给区域运动，并且对进入到所述子弹补给区域内的所述遥控战车进行子弹补给。
在其中一些实施例中，所述子弹收集机器人能够识别游戏双方，并且仅对己方的遥控战车进行子弹补给。例如，所述子弹收集机器人为多个，并且分成两队，分别用于给双方的所述遥控战车进行子弹补给；所述遥控战车在自身的当前剩余子弹量低于预设子弹量时，所述遥控战车自动发出子弹补给请求信号。当所述子弹收集机器人收到已方的所述遥控战车的子弹补给请求信号时，自动跟随到所述遥控战车身边进行子弹补给。
下面结合附图，对本发明的一些实施方式作详细说明。
请参阅图1及图2，本发明的实施方式的子弹收集机器人10，包括子弹收集装置100、行走驱动机构200、以及控制器300。行走驱动机构200用于带动子弹收集装置100移动。控制器300与子弹收集装置100及行走驱动机构200通讯连接，用于控制子弹收集装置100及行走驱动机构200。
请参阅图3，子弹收集装置100包括收集仓110、摩擦辊120、以及收集驱动件130。收集仓110用于盛装收集的子弹。摩擦辊120用于拾取子弹。收集驱动件130用于驱动摩擦辊120转动。
请同时参阅图4至图6，收集仓110设有子弹容置腔111以及与子弹容置腔111相连通的收集口113，收集口113的内壁设有供子弹滚动的收集面113a。
收集口113的数量可以根据不同的需求来设置，例如，在图示的实施例中，收集口113为一个，其设于收集仓110的一端。
当然，收集口113也可以为多个，例如，在其他实施例中，收集仓110为圆形的壳体结构，收集口113为多个，并且围绕收集仓110的周缘设置，摩擦辊120为多个，并且分别对应多个收集口113设置。由于多个收集口113围绕收集仓110的周缘设置，以方便在任意方向均可以收集子弹。
收集仓110的具体结构可以根据不同需求来设计，例如，具体在图示的实施例中，收集仓110包括底板110a、两个侧板110b、上盖110c、以及防护罩110d。上盖110c与底板110a相对设置，并且上盖110c的一端与底板110a的一端连接，另外一端与防护罩110d连接。两个侧板110b相对间隔设置，并且两个侧板110b分别与底板110a、防护罩110d的相对两侧边固定连接。防护罩110d与底板110a远离上盖110c的一端共同形成收集口113。收集面113a设于底板110a上。
进一步的，上盖110c的一端与底板110a的一端可拆卸连接，另外一端与防护罩110d可转动连接。当打开上盖110c时，则可以方便地从收集仓110内取出收集的子弹。
进一步的，收集面113a为上升的坡道面，子弹通过坡道面滚动到子弹容置腔111内。由于通过上坡道面滚动到子弹容置腔111内，使得跟随子弹滚进收集口113内的杂物会自动沿着上升的坡道面滑出收集仓110外，从而对摩擦辊120卷进的杂物进行筛选。
坡道面的形状可以根据不同需求来设计，例如，在图示的实施例中，坡道面为平面。当然，在其他实施例中，收集面113a也可以为弧形曲面。
进一步的，收集面113a上设有缓冲层（图未示），以降低子弹卷进收集仓110与内收集面113a碰撞产生的噪音，例如，可以在收集面113a上贴缓冲的海绵垫来降低噪声。
摩擦辊120设于收集仓110的收集口113，并且可自由转动。摩擦辊120的转轴与收集仓110的收集面113a相对间隔设置，例如，在图示的实施例中，摩擦辊120的转轴平行于收集面113a设置，使摩擦辊120的周缘表面与收集仓110的收集面113a存在预设间隙。当然，在本发明中，摩擦辊120的转轴也可以相较于收集面113a倾斜设置，使预设间隙不均匀或为异形。
摩擦辊120的具体结构可以根据不同需求来设计，例如，如图7至图9所示，在图示的实施例中，摩擦辊120包括内管121及固定地套设在内管121上的海绵套123。具体地，内管121为圆筒形结构，海绵套123也为圆筒形结构。
内管121可以采用质量较轻、结构强度较高的材质制成，例如，内管121可以为碳纤管。
在其他实施例中，摩擦辊120包括一个固定轴以及固定地套设在固定轴上的橡胶辊。该固定轴可以采用刚性较好的材质制成，例如，该固定轴可以为钢轴，以增加整个摩擦辊120的结构强度。
在另外一个实施例中，摩擦辊120包括橡胶辊以及分别固定在橡胶辊两端、并且与橡胶辊共轴设置的两个固定轴。
收集驱动件130与摩擦辊120连接。其中，当子弹位于摩擦辊120的外侧时，收集驱动件130驱动摩擦辊120转动而将子弹从该预设间隙内卷进收集口113，并沿收集面113a滚进子弹容置腔111。
收集驱动件130可以为无刷电机，也可以为有刷电机。例如，在图示的实施例中，收集驱动件130为无刷电机，并且无刷电机的转子收容在内管121的开口端内，并且与内管121的开口端固定连接，以使内管121跟随无刷电机的转子一起转动。由于无刷电机高速旋转会产生的噪音，无刷电机的转子收容在内管121的开口端内，以使无刷电机包裹在内部，从而可以减少声音传播到外面。
在其他实施例中，收集驱动件130为有刷电机，并且有刷电机的驱动轴与固定轴共轴固定连接。
收集驱动件130的数量也可以根据不同需求来设置，例如，在图示的实施例中，收集驱动件130为两个，分别固定在两个侧板110b上，并且分别驱动摩擦辊120的两端。
当然，在本发明中，收集驱动件130也可以为一个，收集驱动件130与摩擦辊120的一端连接，摩擦辊120的另外一端与其中一个侧板110b可转动连接。
另外，当摩擦辊120有多个时，收集驱动件130可以为多个，并且每个收集驱动件130通过传动机构同时驱动相邻两个摩擦辊120转动。其中，传动机构包括如下至少一种：蜗轮蜗杆传动机构，斜齿轮组传动机构，皮带传动机构。
例如，当传动机构为蜗轮蜗杆传动机构时，相邻两个摩擦轮的相对的一端连接有蜗轮，收集驱动件130与蜗杆连接，并带动蜗杆一起转动；蜗杆同时与两个蜗轮相啮合，从而同时带动两个蜗轮转动，每个蜗轮带动各自对应的摩擦辊120转动。
当传动结构为斜齿轮组传动机构时，该斜齿轮组传动机构包括两个从动斜齿轮及一个主动斜齿轮，两个从动斜齿轮分别与相邻两个摩擦辊120的相对一端的端部连接；收集驱动件130与所述主动斜齿轮连接，并且驱动所述主动斜齿轮转动；所述主动斜齿轮同时与两个从动斜齿轮相啮合，从而带动两个从动斜齿轮转动，每个从动斜齿轮分别带动各自对应的摩擦辊120转动。
当传动结构为皮带传动机构时，所述皮带为两根，其中一个所述皮带套设在其中一个摩擦辊120的转轴及所述收集驱动件130的驱动轴上，另外一个所述皮带套设在另外一个摩擦辊120的转轴及所述收集驱动件130的驱动轴上，所述收集驱动件130的驱动轴通过所述两根皮带同时带动所述两个摩擦辊120转动。
进一步的，如图5所示，子弹收集装置100还包括用于将不同类型的子弹进行分离的子弹分类机构140，子弹分类机构140安装在收集仓110内。
子弹分类机构140的具体结构可以根据不同需求来设计，例如，在图示的实施例中，子弹分类机构140为隔板，隔板安装在子弹容置腔111的入口处，并且隔板上设有镂空的筛选槽141。
进一步的，筛选槽141的数量及形状可以根据不同情况来设计，例如，在图示的实施例中，筛选槽141为多个，每个筛选槽141为狭长槽。
进一步的，隔板可以倾斜设置，使未穿过筛选槽141的子弹在自身重力作用下沿隔板滚动。由于子弹可以在自身重力下沿隔板滚动，而无需额外的传送装置来传送子弹。
进一步的，如图5及图14所示，隔板靠近子弹容置腔111的入口处的一端设有弯折部143，以形成V形的限位凸肋，子弹翻过限位凸肋后进入筛选槽141所在区域。
当然，在本发明中，子弹分类机构140也可以为其他结构，例如，在其他实施例中，子弹分类机构140包括主管道及多个分管道，主管道内设有横截面为V形的通道，多个分管道与主管道连通，并且分别对应主管道的不同宽度，不同尺寸的子弹沿主管道的通道中不同宽度的区域滚动。
在上述实施例中，由于主管道的通道的横截面为V形，使得不同大小的子弹在不同位置滚动，从而对不同大小的子弹进行筛选，再采用对应的分管道进行收集。
行走驱动机构200可以为差速轮底盘机构、四轮全向底盘机构，或者三轮全向底盘机构等等。如图5所示，具体在图示的实施例中，行走驱动机构200包括两个差速驱动轮组件200a，两个差速驱动轮组件200a相对间隔设置，并且分别设于收集仓110的底部相对两侧。
请参阅图10至图13，每个差速驱动轮组件200a包括行走轮210、轮轴220以及底盘电机230，底盘电机230通过轮轴220与行走轮210固定连接，并且驱动行走轮210转动。
进一步的，每个差速驱动轮组件200a还包括电机座240。具体在图示的实施例中，电机座240为具有两个支臂的U型结构，轮轴220可传动地穿过电机座240的其中一个支臂，底盘电机230与电机座240的另外一个支臂固定连接，并且底盘电机230的驱动轴可转动地穿过电机座240的另外一个支臂，与轮轴220固定连接。电机座240的底部与收集仓110的底部固定连接。
进一步的，每个差速驱动轮组件200a还包括联轴器250，联轴器250包括具有上安装槽251a的上壳体部251以及具有下安装槽253a的下壳体部253，上壳体部251与下壳体部253可拆卸拼接在一起，并且上安装槽251a及下安装槽253a共同形成一个连接轴孔，轮轴220的一端及底盘电机230的驱动轴固定在连接轴孔内。
联轴器250的连接轴孔的形状可以根据不同需求来设计，例如，在图示的实施例中，联轴器250的连接轴孔为阶梯孔，并且阶梯孔包括大孔部及与大孔部相连通的小孔部，上壳体部251及下壳体部253中的至少一个上设有与大孔部相连通的销孔，轮轴220插入连接轴孔的大孔部的一端设有固定孔，固定孔与销孔相对应，并且用于供限位销穿过。
进一步的，每个差速驱动轮组件200a还包括轴承260，轴承260安装在电机座240的其中一个支臂上的供轮轴220穿过的通孔内，轮轴220穿过轴承260。
进一步的，如图5所示，行走驱动机构200还包括两个万向轮270，两个万向轮270相对间隔设置，并且安装在收集仓110的底部。
两个差速驱动轮组件200a可以构成前驱行走结构，也可以构成后驱行走机构。具体在图示的实施例中，两个差速驱动轮组件200a设于收集仓110的底部前方，两个万向轮270设于收集仓110的底部后方，以形成前驱行走机构。
在其他实施例中，行走驱动机构200还包括两个导向轮，两个导向轮相对间隔设置，并且安装在收集仓110的底部前方，两个差速驱动轮组件200a设于收集仓110的底部后方，以形成后驱行走机构。
进一步的，请再次参阅图1，为了使子弹收集机器人10具有子弹补给的功能，所述子弹收集机器人10还包括与控制器300通讯连接、用于将子弹容置腔111内的子弹输出的子弹补给装置400。
子弹补给装置400可以按照子弹散装的形式进行补给，也可以按照盒装的形式进行补给。在其中一个实施例中，子弹补给装置400包括补给电机、旋转盘及输出轨道，补给电机驱动旋转盘转动，旋转盘上设有沿旋转盘的径向延伸的推动板，输出轨道的一端伸出收集仓110的外部，另外一端与旋转盘的边缘对接，并且输出轨道设有供子弹滚动的滑槽。其中，推动板跟随旋转盘转动而推动旋转盘上的子弹，使子弹被推入输出轨道的滑槽内，并且子弹在自身的重力作用下沿滑槽滚动到收集仓110的外部。
在其他实施例中，子弹容置腔111的底部设有供子弹滚出的活门机构，子弹补给装置400包括补给驱动装置及多个子弹盒，补给驱动装置包括驱动气缸及与驱动气缸的伸缩杆固定连接、用于推动子弹盒的推杆。子弹盒安装在子弹容置腔111的下方，当子弹装满其中一个子弹盒时，补给驱动装置将装满子弹的子弹盒推出收集仓110，并将空的子弹盒推到活门机构的正下方。
进一步的，为了使上述子弹收集机器人10能够对外部待补给装置自动进行子弹补给，所述子弹收集机器人10还包括与控制器300通讯连接、且用于接收与发射无线信号的无线传输装置500。所述控制器300通过所述无线传输装置500接受外部待补给装置的子弹补给请求信号、以及发出准备进行子弹补给信号。
当子弹收集机器人10遇到前方地面上的子弹（例如，用闪光球或高尔夫球作为子弹发射）时，子弹收集机器人10前方的高速旋转的摩擦辊120，会将子弹或炮弹卷到收集仓110内，越过收集面113a进入收集仓110的子弹容置腔111内。子弹收集机器人10的收集仓110有一个子弹分类机构140（隔板），隔板的中间设有筛选槽141。隔板将会对子弹进行自动的分类，闪光球能通过隔板的筛选槽141落到收集仓110的底部，直径较大的高尔夫球无法通过筛选槽141，将被留在隔板上层，通过镂空的隔板实现子弹的自动分类。回收完后，打开上盖110c，即可取出高尔夫球，取完高尔夫球后，取下隔板，再取出下层的闪光球。
相较于传统的技术，上述子弹收集机器人10至少具有以下优点：
（1）上述子弹收集装置100通过收集驱动件130驱动摩擦辊120转动，使所述摩擦辊120将所述子弹从所述预设间隙内卷进所述收集口113，并沿所述收集面113a滚进所述子弹容置腔111内，从而方便收集地面上的子弹。
（2）上述子弹收集装置100通过所述摩擦辊120将所述子弹从所述预设间隙内卷进所述收集口113，并沿所述收集面113a滚进所述子弹容置腔111内，然而粒径小于所述摩擦辊120的周缘表面与所述收集面113a之间的预设间隙的其他物体则会自动从所述收集口113漏出，例如，地面上的粒径小于所述预设间隙的杂物并不能被摩擦辊120卷进收集仓110内，使得子弹收集装置100能够选择性的收集子弹。
（3）上述子弹收集机器人10的行走驱动机构200采用差速轮底盘，子弹收集机器人10的中部设有两个驱动轮，后部设有两个随动轮（万向轮270），差速轮系只需要两个驱动电机，比三轮全向底盘和四轮全向底盘节约了很大的成本。
（4）上述子弹收集机器人10的行走驱动机构200采用差速轮底盘，其比三轮和四轮全向底盘节省了空间，可以腾出更大的空间储存回收后的子弹。
基于上述子弹收集机器人10，本发明还提供一种射击游戏系统。
请参阅图15，本发明的实施方式的射击游戏系统1，包括上述子弹收集机器人10、以及多个能够发射所述子弹的遥控战车20。多个遥控战车20分成游戏双方，即，遥控战车20A、遥控战车20B，子弹收集机器人10能够自动与待补给的遥控战车20对接，进行子弹补给。子弹收集机器人10的具体结构如上述所述，在此不再详细赘述。
所述子弹收集机器人10可以充当射击游戏系统1的医疗兵的角色，其进行子弹补给的方式可以根据不同需求来设计，例如，所述子弹收集机器人10为多个，并且可以分为游戏双方，即，子弹收集机器人10A、子弹收集机器人10B，每一方的子弹收集机器人10可以对已方的遥控战车20进行子弹补给；或者，所述子弹收集机器人10为一个或多个，可以对所有的遥控战车20进行子弹补给。
具体在图示的实施例中，子弹收集机器人10为多个，并且分成两队，分别用于给双方的遥控战车20进行子弹补给；遥控战车20在自身的当前剩余子弹量低于预设子弹量时，遥控战车20自动发出子弹补给请求信号。当子弹收集机器人10收到已方的遥控战车20的子弹补给请求信号时，自动跟随到遥控战车20身边进行子弹补给。
在其他实施例中，子弹收集机器人10在预设的子弹补给区域运动，并且对进入到子弹补给区域内的遥控战车20进行子弹补给。
在本发明所提供的几个实施例中，应该理解到，所揭露的相关装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得计算机处理器（processor）执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、磁盘或者光盘等各种可以存储程序代码的介质。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (50)

  1. 一种子弹收集装置，其特征在于，包括：
    收集仓，设有子弹容置腔以及与所述子弹容置腔相连通的收集口，所述收集口的内壁设有供子弹滚动的收集面；
    摩擦辊，设于所述收集口，并且可自由转动；所述摩擦辊的转轴与所述收集面相对间隔设置，使所述摩擦辊的周缘表面与所述收集面存在预设间隙；以及
    收集驱动件，与所述摩擦辊连接，用于驱动所述摩擦辊绕所述转轴转动；
    其中，当所述子弹位于所述摩擦辊的外侧时，所述摩擦辊转动而将所述子弹从所述预设间隙内卷进所述收集口，并沿所述收集面滚进所述子弹容置腔。
  2. 根据权利要求1所述的子弹收集装置，其特征在于，所述摩擦辊包括内管及固定地套设在所述内管上的海绵套。
  3. 根据权利要求2所述的子弹收集装置，其特征在于，所述内管为碳纤管。
  4. 根据权利要求2所述的子弹收集装置，其特征在于，所述收集驱动件为无刷电机，并且所述无刷电机的转子收容在所述内管的开口端内，并且与所述内管的开口端固定连接，以使所述内管跟随所述无刷电机的转子一起转动。
  5. 根据权利要求1所述的子弹收集装置，其特征在于，所述摩擦辊包括一个固定轴以及固定地套设在所述固定轴上的橡胶辊；
    或者，所述摩擦辊包括橡胶辊以及分别固定在所述橡胶辊两端、并且与所述橡胶辊共轴设置的两个固定轴。
  6. 根据权利要求5所述的子弹收集装置，其特征在于，所述收集驱动件为有刷电机，并且所述有刷电机的驱动轴与所述固定轴共轴固定连接。
  7. 根据权利要求1所述的子弹收集装置，其特征在于，所述收集面为上升的坡道面，所述子弹通过所述坡道面滚动到所述子弹容置腔内。
  8. 根据权利要求7所述的子弹收集装置，其特征在于，所述坡道面为平面或弧形曲面。
  9. 根据权利要求7所述的子弹收集装置，其特征在于，所述收集仓包括底板、两个侧板、上盖、以及防护罩，所述上盖与所述底板相对设置，并且所述上盖的一端与所述底板的一端连接，另外一端与所述防护罩连接，所述两个侧板相对间隔设置，并且所述两个侧板分别与所述底板、所述防护罩的相对两侧边固定连接；所述防护罩与所述底板远离所述上盖的一端共同形成所述收集口；所述收集面设于所述底板上。
  10. 根据权利要求9所述的子弹收集装置，其特征在于，所述上盖的一端与所述底板的一端可拆卸连接，另外一端与所述防护罩可转动连接。
  11. 根据权利要求9所述的子弹收集装置，其特征在于，所述收集驱动件为两个，分别固定在所述两个侧板上，并且分别驱动所述摩擦辊的两端。
  12. 根据权利要求1所述的子弹收集装置，其特征在于，所述收集仓为圆形的壳体结构，所述收集口为多个，并且围绕所述收集仓的周缘设置，所述摩擦辊为多个，并且分别对应多个所述收集口设置。
  13. 根据权利要求12所述的子弹收集装置，其特征在于，所述收集驱动件为多个，并且每个所述收集驱动件通过传动机构同时驱动相邻两个所述摩擦辊转动。
  14. 根据权利要求13所述的子弹收集装置，其特征在于，所述传动机构包括如下至少一种：蜗轮蜗杆传动机构，斜齿轮组传动机构，皮带传动机构。
  15. 根据权利要求1~14任一项所述的子弹收集装置，其特征在于，还包括用于将不同类型的子弹进行分离的子弹分类机构，所述子弹分类机构安装在所述收集仓内。
  16. 根据权利要求15所述的子弹收集装置，其特征在于，所述子弹分类机构包括隔板，所述隔板安装在所述子弹容置腔的入口处，并且所述隔板上设有镂空的筛选槽。
  17. 根据权利要求16所述的子弹收集装置，其特征在于，所述筛选槽为多个，每个所述筛选槽为狭长槽。
  18. 根据权利要求16所述的子弹收集装置，其特征在于，所述隔板倾斜设置，使未穿过所述筛选槽的所述子弹在自身重力作用下沿所述隔板滚动。
  19. 根据权利要求18所述的子弹收集装置，其特征在于，所述隔板靠近所述子弹容置腔的入口处的一端设有弯折部，以形成V形的限位凸肋，所述子弹翻过所述限位凸肋后进入所述筛选槽所在区域。
  20. 根据权利要求15所述的子弹收集装置，其特征在于，所述子弹分类机构包括主管道及多个分管道，所述主管道内设有横截面为V形的通道，所述多个分管道与所述主管道连通，并且分别对应所述主管道的不同宽度，不同尺寸的所述子弹沿所述主管道的所述通道中不同宽度的区域滚动。
  21. 一种子弹收集机器人，其特征在于，包括：
    权利要求1~20任一项所述的子弹收集装置；
    用于带动所述子弹收集装置移动的行走驱动机构；以及
    控制器，与所述收集驱动件及所述行走驱动机构通讯连接，用于控制所述收集驱动件及所述行走驱动机构。
  22. 根据权利要求21所述的子弹收集机器人，其特征在于，所述行走驱动机构包括两个差速驱动轮组件，所述两个差速驱动轮组件相对间隔设置，并且分别设于所述收集仓的底部相对两侧。
  23. 根据权利要求22所述的子弹收集机器人，其特征在于，每个所述差速驱动轮组件包括行走轮、轮轴以及底盘电机，所述底盘电机通过所述轮轴与所述行走轮固定连接，并且驱动所述行走轮转动。
  24. 根据权利要求23所述的子弹收集机器人，其特征在于，每个所述差速驱动轮组件还包括电机座，所述电机座为具有两个支臂的U型结构，所述轮轴可传动地穿过所述电机座的其中一个支臂，所述底盘电机与所述电机座的另外一个支臂固定连接，并且所述底盘电机的驱动轴可转动地穿过所述电机座的另外一个支臂，与所述轮轴固定连接；所述电机座的底部与所述收集仓的底部固定连接。
  25. 根据权利要求24所述的子弹收集机器人，其特征在于，每个所述差速驱动轮组件还包括联轴器，所述联轴器包括具有上安装槽的上壳体部以及具有下安装槽的下壳体部，所述上壳体部与所述下壳体部可拆卸拼接在一起，并且所述上安装槽及所述下安装槽共同形成一个连接轴孔，所述轮轴的一端及所述底盘电机的驱动轴固定在所述连接轴孔内。
  26. 根据权利要求25所述的子弹收集机器人，其特征在于，所述连接轴孔为阶梯孔，并且所述阶梯孔包括大孔部及与所述大孔部相连通的小孔部，所述上壳体部及所述下壳体部中的至少一个上设有与所述大孔部相连通的销孔，所述轮轴插入所述连接轴孔的大孔部的一端设有固定孔，所述固定孔与所述销孔相对应，并且用于供限位销穿过。
  27. 根据权利要求24所述的子弹收集机器人，其特征在于，每个所述差速驱动轮组件还包括轴承，所述轴承安装在所述电机座的其中一个支臂上的供所述轮轴穿过的通孔内，所述轮轴穿过所述轴承。
  28. 根据权利要求22所述的子弹收集机器人，其特征在于，所述行走驱动机构还包括两个万向轮，所述两个万向轮相对间隔设置，并且安装在所述收集仓的底部。
  29. 根据权利要求28所述的子弹收集机器人，其特征在于，所述两个差速驱动轮组件设于所述收集仓的底部前方，所述两个万向轮设于所述收集仓的底部后方，以形成前驱行走机构。
  30. 根据权利要求22所述的子弹收集机器人，其特征在于，所述行走驱动机构还包括两个导向轮，所述两个导向轮相对间隔设置，并且安装在所述收集仓的底部前方，所述两个差速驱动轮组件设于所述收集仓的底部后方，以形成后驱行走机构。
  31. 根据权利要求21所述的子弹收集机器人，其特征在于，所述行走驱动机构为四轮全向底盘机构，或者三轮全向底盘机构。
  32. 根据权利要求21~31任一项所述的子弹收集机器人，其特征在于，还包括与所述控制器通讯连接、用于将所述子弹容置腔内的所述子弹输出的子弹补给装置。
  33. 根据权利要求32所述的子弹收集机器人，其特征在于，所述子弹补给装置包括补给电机、旋转盘及输出轨道，所述补给电机驱动所述旋转盘转动，所述旋转盘上设有沿所述旋转盘的径向延伸的推动板，所述输出轨道的一端伸出所述收集仓的外部，另外一端与所述旋转盘的边缘对接，并且所述输出轨道设有供所述子弹滚动的滑槽；
    其中，所述推动板跟随所述旋转盘转动而推动所述旋转盘上的所述子弹，使所述子弹被推入所述输出轨道的所述滑槽内，并且所述子弹在自身的重力作用下沿所述滑槽滚动到所述收集仓的外部。
  34. 根据权利要求32所述的子弹收集机器人，其特征在于，所述子弹容置腔的底部设有供所述子弹滚出的活门机构，所述子弹补给装置包括补给驱动装置及多个子弹盒，所述补给驱动装置包括驱动气缸及与所述驱动气缸的伸缩杆固定连接、用于推动所述子弹盒的推杆；所述子弹盒安装在所述子弹容置腔的下方，当所述子弹装满其中一个所述子弹盒时，所述补给驱动装置将装满所述子弹的所述子弹盒推出所述收集仓，并将空的所述子弹盒推到所述活门机构的正下方。
  35. 根据权利要求32所述的子弹收集机器人，其特征在于，还包括与所述控制器通讯连接的无线传输装置，所述控制器通过所述无线传输装置接受外部待补给装置的子弹补给请求信号、以及发出准备进行子弹补给信号。
  36. 一种射击游戏系统，其特征在于，包括：
    至少一个权利要求35所述的子弹收集机器人；以及
    多个能够发射所述子弹的遥控战车，所述多个遥控战车分成游戏双方；
    其中，所述子弹收集机器人能够自动与待补给的所述遥控战车对接，进行子弹补给。
  37. 根据权利要求36所述的射击游戏系统，其特征在于，所述子弹收集机器人为多个，并且分成两队，分别用于给双方的所述遥控战车进行子弹补给；所述遥控战车在自身的当前剩余子弹量低于预设子弹量时，所述遥控战车自动发出子弹补给请求信号；
    其中，当所述子弹收集机器人收到已方的所述遥控战车的子弹补给请求信号时，自动跟随到所述遥控战车身边进行子弹补给。
  38. 根据权利要求36所述的射击游戏系统，其特征在于，所述子弹收集机器人在预设的子弹补给区域运动，并且对进入到所述子弹补给区域内的所述遥控战车进行子弹补给。
  39. 一种子弹收集机器人，其特征在于，包括：
    用于收集子弹的子弹收集装置；
    用于带动所述子弹收集装置移动的行走驱动机构，所述行走驱动机构包括两个差速驱动轮组件，所述两个差速驱动轮组件相对间隔设置，并且分别设于所述子弹收集装置的底部相对两侧。
  40. 根据权利要求39所述的子弹收集机器人，其特征在于，每个所述差速驱动轮组件包括行走轮、轮轴以及底盘电机，所述底盘电机通过所述轮轴与所述行走轮固定连接，并且驱动所述行走轮转动。
  41. 根据权利要求40所述的子弹收集机器人，其特征在于，每个所述差速驱动轮组件还包括电机座，所述电机座为具有两个支臂的U型结构，所述轮轴可传动地穿过所述电机座的其中一个支臂，所述底盘电机与所述电机座的另外一个支臂固定连接，并且所述底盘电机的驱动轴可转动地穿过所述电机座的另外一个支臂，与所述轮轴固定连接；所述电机座的底部与所述子弹收集装置的底部固定连接。
  42. 根据权利要求41所述的子弹收集机器人，其特征在于，每个所述差速驱动轮组件还包括联轴器，所述联轴器包括具有上安装槽的上壳体部以及具有下安装槽的下壳体部，所述上壳体部与所述下壳体部可拆卸拼接在一起，并且所述上安装槽及所述下安装槽共同形成一个连接轴孔，所述轮轴的一端及所述底盘电机的驱动轴固定在所述连接轴孔内。
  43. 根据权利要求42所述的子弹收集机器人，其特征在于，所述连接轴孔为阶梯孔，并且所述阶梯孔包括大孔部及与所述大孔部相连通的小孔部，所述上壳体部及所述下壳体部中的至少一个上设有与所述大孔部相连通的销孔，所述轮轴插入所述连接轴孔的大孔部的一端设有固定孔，所述固定孔与所述销孔相对应，并且用于供限位销穿过。
  44. 根据权利要求41所述的子弹收集机器人，其特征在于，每个所述差速驱动轮组件还包括轴承，所述轴承安装在所述电机座的其中一个支臂上的供所述轮轴穿过的通孔内，所述轮轴穿过所述轴承。
  45. 根据权利要求39所述的子弹收集机器人，其特征在于，所述行走驱动机构还包括两个万向轮，所述两个万向轮相对间隔设置，并且安装在所述子弹收集装置的底部。
  46. 根据权利要求45所述的子弹收集机器人，其特征在于，所述两个差速驱动轮组件设于所述子弹收集装置的底部前方，所述两个万向轮设于所述子弹收集装置的底部后方，以形成前驱行走机构。
  47. 根据权利要求39所述的子弹收集机器人，其特征在于，所述行走驱动机构还包括两个导向轮，所述两个导向轮相对间隔设置，并且安装在所述子弹收集装置的底部前方，所述两个差速驱动轮组件设于所述子弹收集装置的底部后方，以形成后驱行走机构。
  48. 根据权利要求39所述的子弹收集机器人，其特征在于，还包括用于将所述子弹容置腔内的所述子弹输出的子弹补给装置。
  49. 根据权利要求48所述的子弹收集机器人，其特征在于，所述子弹补给装置包括补给电机、旋转盘及输出轨道，所述补给电机驱动所述旋转盘转动，所述旋转盘上设有沿所述旋转盘的径向延伸的推动板，所述输出轨道的一端伸出所述子弹收集装置的外部，另外一端与所述旋转盘的边缘对接，并且所述输出轨道设有供所述子弹滚动的滑槽；
    其中，所述推动板跟随所述旋转盘转动而推动所述旋转盘上的所述子弹，使所述子弹被推入所述输出轨道的所述滑槽内，并且所述子弹在自身的重力作用下沿所述滑槽滚动到所述子弹收集装置的外部。
  50. 根据权利要求48所述的子弹收集机器人，其特征在于，所述子弹容置腔的底部设有供所述子弹滚出的活门机构，所述子弹补给装置包括补给驱动装置及多个子弹盒，所述补给驱动装置包括驱动气缸及与所述驱动气缸的伸缩杆固定连接、用于推动所述子弹盒的推杆；所述子弹盒安装在所述子弹容置腔的下方，当所述子弹装满其中一个所述子弹盒时，所述补给驱动装置将装满所述子弹的所述子弹盒推出所述子弹收集装置，并将空的所述子弹盒推到所述活门机构的正下方。
PCT/CN2014/088027 2014-09-30 2014-09-30 子弹收集机器人及其子弹收集装置、以及射击游戏系统 WO2016049904A1 (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN201480007285.XA CN104981278B (zh) 2014-09-30 2014-09-30 子弹收集机器人及其子弹收集装置、以及射击游戏系统
JP2017512382A JP6433580B2 (ja) 2014-09-30 2014-09-30 銃弾収集ロボット及びその銃弾収集装置、及び射撃ゲームシステム
PCT/CN2014/088027 WO2016049904A1 (zh) 2014-09-30 2014-09-30 子弹收集机器人及其子弹收集装置、以及射击游戏系统
US15/471,239 US10209039B2 (en) 2014-09-30 2017-03-28 Bullet collecting robot, bullet collecting device thereof and shooting game system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2014/088027 WO2016049904A1 (zh) 2014-09-30 2014-09-30 子弹收集机器人及其子弹收集装置、以及射击游戏系统

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US15/471,239 Continuation US10209039B2 (en) 2014-09-30 2017-03-28 Bullet collecting robot, bullet collecting device thereof and shooting game system

Publications (1)

Publication Number Publication Date
WO2016049904A1 true WO2016049904A1 (zh) 2016-04-07

Family

ID=54277078

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2014/088027 WO2016049904A1 (zh) 2014-09-30 2014-09-30 子弹收集机器人及其子弹收集装置、以及射击游戏系统

Country Status (4)

Country Link
US (1) US10209039B2 (zh)
JP (1) JP6433580B2 (zh)
CN (1) CN104981278B (zh)
WO (1) WO2016049904A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113813577A (zh) * 2021-10-07 2021-12-21 南通大学 一种乒乓球自动捡拾设备

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106741403B (zh) * 2016-12-23 2022-04-08 桂林电子科技大学 能实现侧向移动双独轮辅助行走装置
CN107297081B (zh) * 2017-06-20 2023-06-16 东莞广声五金塑胶制品有限公司 一种模拟飞机型儿童操控玩具

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2756978A (en) * 1952-05-05 1956-07-31 Richard A Wachsmith Apparatus for recovering lead shot from the earth
CN101439227A (zh) * 2007-11-23 2009-05-27 富准精密工业(深圳)有限公司 乒乓球捡拾机器人
KR20100065428A (ko) * 2008-12-08 2010-06-17 김한수 게임기용 탄알 공급장치
CN201653286U (zh) * 2010-01-09 2010-11-24 中国矿业大学 靶场子弹壳回收装置
CN204275487U (zh) * 2014-09-30 2015-04-22 深圳市大疆创新科技有限公司 子弹收集机器人及其子弹收集装置、以及射击游戏系统

Family Cites Families (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2729046A (en) * 1954-08-20 1956-01-03 James D Patterson Nut and fruit harvester
US3102647A (en) * 1961-01-11 1963-09-03 Roland W Bonney Golf ball picker
US3485398A (en) * 1967-10-02 1969-12-23 Maximilian Offner Tennis ball pick-up and collecting machine
US3888370A (en) * 1971-04-26 1975-06-10 William E S Gamblin Ball retrieval system
US3784037A (en) * 1972-10-17 1974-01-08 L Woodall Golf ball retriever
US3989151A (en) * 1975-05-02 1976-11-02 Lawrence Peska Associates, Inc. Golf ball retriever
US3995759A (en) * 1975-06-13 1976-12-07 Hollrock Richard H Golf ball retriever
US4077533A (en) * 1976-08-16 1978-03-07 John Meyer Tennis ball retrieving device
US4157141A (en) * 1977-09-26 1979-06-05 Ryan Timothy A Golf ball pick-up apparatus
JPS5786370A (en) * 1980-11-19 1982-05-29 Takagi Mfg Recovery device for ball of regulation-ball tennis
US4735544A (en) * 1986-03-31 1988-04-05 Stotts Dennis K Portable ball retriever, holder and carrier apparatus
US5141383A (en) * 1987-03-20 1992-08-25 Phillips Avon G Golf ball retriever
JPH04164464A (ja) * 1990-10-26 1992-06-10 Takeshi Nakagawa ゴルフ練習場のボール自動連続拾球回収装置
JP3136763B2 (ja) * 1992-04-30 2001-02-19 株式会社セガ 砲撃遊戯乗物および砲撃遊戯設備
GB2274787B (en) * 1993-02-08 1995-08-30 Graham Wilde Apparatus for scooping an article from the ground
CN2234936Y (zh) * 1995-07-21 1996-09-11 宝山钢铁(集团)公司 一种电动辊道
US5980392A (en) * 1998-03-13 1999-11-09 Cox; Alvin Emison Moving practice green and ball pickup apparatus
US6079930A (en) * 1998-11-09 2000-06-27 Valdes-Rodriguez; Robert Apparatus for tennis ball retrieval
JP2000205792A (ja) * 1999-01-18 2000-07-28 Masanori Takasugi 地雷処理ロボット
EP1191982B1 (fr) * 1999-06-17 2004-06-02 Solar & Robotics S.A. Dispositif automatique de ramassage d'objets
US6470618B1 (en) * 2002-02-07 2002-10-29 David A. White Cartridge shell casing collector and method therefor
CN2907812Y (zh) * 2006-05-30 2007-06-06 李书建 互动射击游戏战车
CN201268008Y (zh) * 2008-08-01 2009-07-08 丁明明 一种采用外转子电机驱动的轴辊
DE102008039837B4 (de) * 2008-08-27 2012-06-06 Sew-Eurodrive Gmbh & Co. Kg Rollenantrieb und System von Rollenantrieben
CN201482115U (zh) * 2009-07-16 2010-05-26 云美君 一种全方位智能乒乓球拾球机器人
US9561403B2 (en) * 2010-01-12 2017-02-07 Foxtenn Bgreen, S.L. Apparatus and system for automatic collection and delivery of spherical game elements
US9114285B2 (en) * 2013-03-26 2015-08-25 Alexander K. Guo Tennis ball pick-up cart
CN103955150A (zh) * 2013-09-12 2014-07-30 上海交通大学 半自主智能捡网球机器人及其控制方法
US10011208B2 (en) * 2015-02-25 2018-07-03 Haitham Eletrabi Dual function robot and storage bin

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2756978A (en) * 1952-05-05 1956-07-31 Richard A Wachsmith Apparatus for recovering lead shot from the earth
CN101439227A (zh) * 2007-11-23 2009-05-27 富准精密工业(深圳)有限公司 乒乓球捡拾机器人
KR20100065428A (ko) * 2008-12-08 2010-06-17 김한수 게임기용 탄알 공급장치
CN201653286U (zh) * 2010-01-09 2010-11-24 中国矿业大学 靶场子弹壳回收装置
CN204275487U (zh) * 2014-09-30 2015-04-22 深圳市大疆创新科技有限公司 子弹收集机器人及其子弹收集装置、以及射击游戏系统

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113813577A (zh) * 2021-10-07 2021-12-21 南通大学 一种乒乓球自动捡拾设备
CN113813577B (zh) * 2021-10-07 2022-07-29 南通大学 一种乒乓球自动捡拾设备

Also Published As

Publication number Publication date
CN104981278A (zh) 2015-10-14
US20170199014A1 (en) 2017-07-13
CN104981278B (zh) 2017-10-27
JP2017532094A (ja) 2017-11-02
US10209039B2 (en) 2019-02-19
JP6433580B2 (ja) 2018-12-05

Similar Documents

Publication Publication Date Title
WO2016049904A1 (zh) 子弹收集机器人及其子弹收集装置、以及射击游戏系统
WO2016183734A1 (zh) 云台
WO2016137252A1 (ko) 로봇 청소기 및 그의 제어 방법
WO2017150829A1 (ko) 진공 청소기
WO2017146425A1 (ko) 보안경
WO2016032205A1 (ko) 이물질 제거용 캐스터
CN108437949A (zh) 便于更换的电动汽车电池包系统
EP3027974A1 (en) Air washer
WO2020111406A1 (ko) 거치대겸 셀카봉
CN104660753A (zh) 对手机摄像头内藏并可弹出进行360度旋转拍摄的设计
CN107999383A (zh) 一种带干燥功能的冶金矿山开采用除杂机械设备
US8189340B2 (en) Mobile digital video recorder
WO2024010165A1 (ko) 전기구동 트랙터 배터리 교환 장치
CN211533242U (zh) 一种便于移动的远程教育终端
CN112689450B (zh) 一种云计算机数据中心机柜
WO2019009476A1 (en) AUTONOMOUS CLEANING APPARATUS
CN104573578A (zh) 一种平板电脑的保护方法
CN206775669U (zh) 户外便携音箱保护支架及应用该支架的户外便携音箱
CN211862182U (zh) 一种鞋控专用箱包
CN211351769U (zh) 一种锂电池移动电源
JP2868173B2 (ja) 連続式ショットブラスト設備
WO2017135735A1 (ko) 청소기
US11828563B1 (en) Hopper with removable camera
CN215589723U (zh) 一种带动自动弹出功能的适配器加工用模具
CN210363679U (zh) 一种带保护套的汽车线束

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 14903155

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2017512382

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 14903155

Country of ref document: EP

Kind code of ref document: A1