A roller dial type autonomous ball picking robot

Abstract

The present invention discloses a roller-dial type autonomous ball-picking robot, which at least comprises a frame, wheels arranged at the bottom of the frame for driving the robot to move autonomously, a ball storage tube arranged above the frame, a ball-picking device arranged below the ball storage tube for sending table tennis balls into the ball storage tube, and a roller arranged at the front and / or rear side of the frame for pushing table tennis balls toward the ball-picking device. The roller-dial type autonomous ball-picking robot of the present invention can move autonomously on the floor, and push table tennis balls scattered on the floor into the bottom of the frame by means of the roller, and then use the ball-picking device in the frame to send the table tennis balls into the ball storage tube, thereby greatly reducing the labor intensity of ball-picking personnel. At the same time, the robot has a simple structure, low cost, and is suitable for use in ordinary table tennis halls.

Description

Technical Field

[0001] The patent of this invention relates to the field of robots, and specifically to a roller dial type autonomous ball picking robot. Background Art

[0002] In recent years, with the national guidance of strengthening the body through sports, sports have been greatly promoted. Among them, small ball sports such as table tennis and tennis have become a form of exercise for the general public. However, in sports such as table tennis and tennis, it is often necessary to frequently pick up balls, which has become a very heavy and arduous task. Currently, manual ball picking is usually adopted, which is time-consuming and labor-intensive, with a slow ball picking speed and low work efficiency, and cannot meet the training needs of various forms of table tennis teams. Special table tennis ball picking devices have complex structures and high costs, are not suitable for non-professional table tennis team training, and are difficult to popularize. There is an urgent need for a table tennis ball picker with a simple structure, low cost, and suitable for the general public. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to design a roller dial type autonomous ball picking robot that can autonomously move to collect table tennis balls or tennis balls scattered in a venue.

[0004] The present invention provides a roller-dial type autonomous ball-picking robot, which comprises at least a frame, wheels arranged at the bottom of the frame for driving the robot to move autonomously, a ball storage tube arranged above the frame, a ball-picking device arranged below the ball storage tube for sending table tennis balls into the ball storage tube, and a roller arranged at the front and / or rear side of the frame for pushing table tennis balls toward the ball-picking device; wherein the frame and the wheels can adopt a wheeled chassis structure of any structure that can achieve autonomous movement in the prior art; the inner diameter of the ball storage tube is slightly larger than the outer diameter of the table tennis balls, ensuring that the table tennis balls can be regularly arranged in the ball storage tube and can move freely, and the table tennis balls stored in the ball storage tube can be extracted using an existing negative pressure suction device.

[0005] The ball picking device includes a driving motor, a driving gear, a dial gear, a ball transmission conveyor belt, a vertical guide hollow column and an arc-shaped ball inlet; the upper end of the vertical guide hollow column is connected to the ball storage tube, and the dial gear is outer-circumferentially mounted on the vertical guide hollow column. The dial gear includes a torus, a gear ring fixed to the upper end face of the torus, and a plurality of paddles fixed to the lower end face of the torus and distributed along the circumference. One side of the paddle forms an arc surface adapted to the outer contour of the table tennis ball, ensuring that it can stably drive the table tennis ball to move; an opening is provided on the side wall near the lower end of the vertical guide hollow column, and the dial gear is connected to the torus. An arc-shaped guide plate is provided between the vertical guide hollow columns and connected to the opening to form an arc-shaped goal entrance; a strip groove is provided on the guide plate to allow the paddle to pass through; a driving gear is installed on the output shaft of the drive motor, and the driving gear and the dial gear are engaged with each other to drive the dial gear to rotate; the dial gear drives the table tennis ball pushed by the drum to move along the arc-shaped goal entrance to the lower end of the vertical guide hollow column through the paddle; mounting grooves for mounting a ball conveyor belt are provided along the generatrix on both side walls of the vertical guide hollow column; the ball conveyor belt is used to drive the table tennis ball upward to the ball storage tube;

[0006] Furthermore, the roller is driven to rotate by a roller driving device; preferably two rollers are provided and are arranged on the front and rear sides of the frame respectively, so that the robot can use the roller to collect ping-pong balls regardless of moving forward or backward; the roller driving device includes a roller driving motor, two synchronous belt transmission mechanisms and two transmission gears; the roller driving motor is installed in the middle of the longitudinal beam on one side of the frame; the roller driving motor drives the two mutually meshing transmission gears to rotate synchronously in opposite directions; the two transmission gears are coaxially mounted with a driving pulley, and the two rollers are respectively coaxially mounted with a driven pulley, so that the power of the roller driving motor is transmitted to the rollers located on the front and rear sides of the frame through the two synchronous belt transmission mechanisms, and drives the rollers to rotate synchronously in opposite directions.

[0007] Furthermore, the roller is provided with spikes for pushing the table tennis ball into the bottom of the frame; the frame is fixed with a ball guide rod for guiding the table tennis ball to move toward the roller, and two "eight"-shaped ball guide rods are provided on the front and rear sides of the frame respectively, so as to facilitate guiding the ball into the robot chassis.

[0008] Furthermore, the wheels include two front wheels and two rear wheels; the front wheels are universal wheels, which are follower wheels; the rear wheels are rubber wheels, and the two rear wheels are directly driven to rotate by two travel drive motors respectively. The synchronous rotation of the two travel drive motors can drive the vehicle to move in a straight line, and when there is a speed difference between the two travel drive motors, the robot can be turned.

[0009] Furthermore, the ball storage tube is a curved configuration tube, which can effectively increase the number of table tennis balls that can be stored in the ball storage tube.

[0010] Furthermore, the frame is made of eight aluminum alloy square tubes, including two longitudinal beams, two transverse beams and four columns. The top of the frame is provided with an upper plate for supporting the ball storage tube, and the front and rear sides are provided with roller support frames for installing rollers. A dial auxiliary rotating wheel for supporting the rotation of the dial gear is provided inside the frame, and the bottom is provided with a front wheel fixing support for installing the front wheel and a rear wheel motor support for installing the travel drive motor.

[0011] The beneficial effects of the present invention are as follows: the roller dial type autonomous ball picking robot of the present invention can move autonomously on the floor, and push the table tennis balls scattered on the floor into the bottom of the rack through the roller, and then use the ball picking device in the rack to send the table tennis balls into the ball storage tube, which greatly reduces the labor intensity of the ball picking personnel. At the same time, it has a simple structure, low cost, and is suitable for use in ordinary table tennis halls. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0013] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0014] Figure 2 Schematic diagram of the structure of the ball storage tube in the present invention;

[0015] Figure 3 It is a structural schematic diagram of the rack in the present invention;

[0016] Figure 4 Schematic diagram of the structure of the roller driving device in the present invention;

[0017] Figure 5 Schematic diagram of the structure of the ball picking device in the present invention;

[0018] Figure 6 This is a schematic diagram of the installation of the vertical guide hollow column in the present invention;

[0019] Figure 7 It is a structural schematic diagram of the ball picking device in the present invention.

[0020] 1-Upper shell; 2-Ball storage tube; 3-Front and rear baffles; 4-Drum; 5-Front wheel; 6-Ball picking device; 7-Rear wheel; 8-Side panel; 9-Frame; 10-Drum drive device; 11-Fixed plate; 6-1-Drive motor; 6-2-Drive gear; 6-3-Dial gear; 6-4-Ball transmission conveyor belt; 6-5-Vertical guide hollow column; 6-6-Arc-shaped ball inlet; 9-1-Upper plate; 9-2-Aluminum alloy square tube; 9-3-Drum support frame; 9-4-Ball guide rod; 9-5-Front wheel fixed support; 9-6-Dial auxiliary rotating wheel; 9-7-Rear wheel motor support; 10-1-Driven pulley; 10-2-Timing belt; 10-3-Drum drive motor; 10-4-Motor fixing frame; 10-5-Transmission gear; 10-6-Shaft bracket I; 10-7-Shaft bracket II. DETAILED DESCRIPTION

[0021] like Figure 1 As shown, a roller dial type autonomous ball picking robot of the present embodiment includes a frame 9, wheels arranged at the bottom of the frame 9 for driving the robot to move autonomously, a ball storage tube 2 arranged above the frame 9, an upper shell 1 arranged above the ball storage tube 2, front and rear baffles 3 arranged at the front and rear ends of the frame 9, side panels 8 arranged on both sides of the frame 9, a ball picking device 6 arranged below the ball storage tube 2 for sending table tennis balls into the ball storage tube 2, rollers 4 arranged at the front and rear sides of the frame 9 for dialing table tennis balls toward the ball picking device 6, and a roller driving device 10 for driving the roller 4 to rotate.

[0022] like Figure 2 As shown, the top of the frame 9 is provided with an upper plate 9-1 for supporting the ball storage tube 2. The ball storage tube 2 is a curved tube, which can effectively increase the number of table tennis balls that can be stored in the ball storage tube 2. The inner diameter of the ball storage tube 2 is slightly larger than the outer diameter of the table tennis balls, ensuring that the table tennis balls can be regularly arranged in the ball storage tube 2 and can move freely. The outer end of the ball storage tube 2 is exposed outside the upper shell 1, and the user can use a negative pressure device to connect it and suck the table tennis balls out of it.

[0023] like Figure 3As shown, the frame 9 is made of several aluminum alloy square tubes 9-2, which are four longitudinal beams, two transverse beams and four columns. Roller support frames 9-3 for mounting the roller 4 are provided on the front and rear sides of the frame 9. The rotating shaft of the roller 4 is installed between the two roller support frames 9-3 and can rotate freely. Two dial auxiliary rotating wheels 9-6 for supporting the rotation of the dial gear 6-3 are respectively installed on the two longitudinal beams at the lower part of both sides of the frame 9. Ball guide rods 9-4 are fixedly installed at the front and rear ends of the two longitudinal beams below the frame 9. The two ball guide rods 9-4 at the front and rear ends are in an "eight" shape. It is convenient to guide the ball into the robot chassis; the two columns in the front of the frame 9 are fixedly mounted with a front wheel fixed support 9-5, and the front wheel 5 is a universal wheel and is mounted on the front wheel fixed support 9-5; the two columns in the rear of the frame 9 are fixedly mounted with a rear wheel motor support 9-7; the travel drive motor is fixedly mounted on the rear wheel motor support; the rear wheel 7 is a rubber wheel, and the two rear wheels 7 are directly driven to rotate by two travel drive motors respectively. The synchronous rotation of the two travel drive motors can drive the vehicle to move in a straight line, and the robot can be turned when there is a speed difference between the two travel drive motors.

[0024] like Figure 4 As shown, the rollers 4 located at the front and rear ends of the frame 9 are driven to rotate by a roller driving device 10; preferably, two rollers 4 are provided, and are arranged on the front and rear sides of the frame 9 respectively, so that the robot can use the rollers 4 to collect ping-pong balls regardless of whether it is moving forward or backward; the rollers 4 are provided with spikes for pushing the ping-pong balls into the bottom of the frame 9, and the spacing between two adjacent spikes should be smaller than the outer diameter of the ping-pong balls; the roller driving device 10 includes a roller driving motor 10-3, two synchronous belt transmission mechanisms and two transmission gears 10-5; the roller driving motor 10-3 is installed on the frame 9 through a motor fixing frame 10-4; the two transmission gears 10-5 are respectively installed in the middle of the longitudinal beam through shaft bracket I 10-6 and shaft bracket II 10-7, and the two transmission gears 10-5 are both coaxially installed with a driving pulley, and the two rollers 4 are respectively coaxially installed with a driven pulley 10-1, and the roller driving motor 10-3 directly drives one of the transmission gears 10-5 to rotate, thereby making the two transmission gears 10-5 mesh with each other The two transmission gears 10-5 rotate synchronously in the opposite direction. The power is transmitted to the rollers 4 located at the front and rear sides of the frame 9 through two synchronous belt transmission mechanisms, and drives the rollers 4 to rotate synchronously in the opposite direction.

[0025] like Figure 5-7As shown, the ball picking device 6 includes a driving motor 6-1, a driving gear 6-2, a dial gear 6-3, a ball transmission conveyor belt 6-4, a vertical guide hollow column 6-5 and an arc-shaped ball entrance; the vertical guide hollow column 6-5 is installed in the middle of the frame 9 through a fixing plate 11, and its upper end is connected to the ball storage tube 2, and the dial gear 6-3 is concentrically outer-circumferentially fitted on the vertical guide hollow column 6-5, and the dial gear 6-3 includes a torus, a gear ring fixed to the upper end face of the torus, and a plurality of paddles fixed to the lower end face of the torus and arranged along the circumference. The outer circle of the dial auxiliary rotating wheel 9-6 is provided with an annular groove which can be externally clamped on the torus to support its rotation, and one side of the paddle forms an arc surface adapted to the outer contour of the table tennis ball, ensuring that it can stably drive the table tennis ball to move; the vertical An opening is provided on the side wall near the lower end of the guide hollow column 6-5, and an arc-shaped guide plate is provided between the dial gear 6-3 and the vertical guide hollow column 6-5, connected to the opening to form an arc-shaped goal entrance; a strip groove is provided on the guide plate for allowing the paddle to pass through; the output shaft of the drive motor 6-1 is installed with a drive gear 6-2, and the drive gear 6-2 and the dial gear 6-3 are engaged with each other to drive the dial gear 6-3 to rotate; the dial gear 6-3 drives the table tennis ball pushed by the drum 4 to move along the arc-shaped goal entrance to the lower end of the vertical guide hollow column 6-5 through the paddle; installation grooves for installing ball conveyor belts are provided on both side walls of the vertical guide hollow column 6-5 along the busbar, and the ball transmission conveyor belt 6-4 is used to drive the table tennis ball to move upward into the ball storage tube 2.

[0026] The ball picking process of the roller dial type autonomous ball picking robot of this embodiment is as follows: the robot as a whole moves on the ground driven by the wheels, and the rollers 4 at the front and rear ends of the frame 9 rotate in opposite directions driven by the roller driving device 10. The rollers 4 use the spikes distributed on their cylindrical surfaces to push the table tennis balls scattered on the ground to the bottom of the frame 9. The driving motor 6-1 of the ball picking device 6 drives the dial gear 6-3 to rotate, and the paddle on the dial gear 6-3 pushes the table tennis balls to rotate into the arc-shaped goal entrance, and under the guidance of the arc-shaped goal entrance, it enters the bottom of the vertical guide hollow column 6-5. The ball transmission conveyor belts 6-4 on both sides of the vertical guide hollow column 6-5 operate synchronously to drive the table tennis balls to move upward into the ball storage tube 2. The user can use the existing negative pressure suction device to suck the table tennis balls out of the ball storage tube 2.

[0027] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A roller dial type autonomous ball picking robot, characterized in that: The robot comprises at least a frame, wheels disposed at the bottom of the frame for driving the robot to move autonomously, a ball storage tube disposed above the frame, a ball picking device disposed below the ball storage tube for delivering table tennis balls into the ball storage tube, and rollers disposed at the front and / or rear side of the frame for pushing table tennis balls toward the ball picking device. The ball picking device includes a driving motor, a driving gear, a dial gear, a ball transmission conveyor belt, a vertical guide hollow column and an arc-shaped goal entrance; the upper end of the vertical guide hollow column is connected to the ball storage tube, and the dial gear is externally mounted on the vertical guide hollow column, and has multiple paddles evenly distributed along the circumferential direction; the driving motor is used to drive the dial gear to rotate through the driving gear, and the dial gear drives the table tennis ball to move along the arc-shaped goal entrance to the lower end of the vertical guide hollow column through the paddles; the ball transmission conveyor belt is arranged on both sides of the vertical guide hollow column to drive the table tennis ball to move upward into the ball storage tube; the ball storage tube is a curved configuration tube.

2. The roller-dial type autonomous ball-picking robot according to claim 1, characterized in that: The roller is driven to rotate by a roller driving device; the roller driving device includes a roller driving motor, two synchronous belt transmission mechanisms and two transmission gears; the roller driving motor is used to drive the two mutually meshing transmission gears to rotate synchronously in opposite directions; the power of the two transmission gears is transmitted to the rollers located on the front and rear sides of the frame respectively through two synchronous belt transmission mechanisms, and drives the rollers to rotate synchronously in opposite directions.

3. The roller-dial type autonomous ball-picking robot according to claim 1, characterized in that: The drum is provided with spikes for pushing the table tennis ball into the bottom of the frame; the frame is fixed with a ball guide rod for guiding the table tennis ball to move toward the drum.

4. The roller-dial type autonomous ball-picking robot according to claim 1, characterized in that: The wheels include two front wheels and two rear wheels; the front wheels are universal wheels; the rear wheels are rubber wheels, and the two rear wheels are driven to rotate by two travel drive motors respectively.

5. The roller-dial type autonomous ball-picking robot according to claim 1, characterized in that: The frame is made of several aluminum alloy square tubes, and is provided with an upper plate for supporting the ball storage tube on the top, and roller support frames for installing rollers on the front and rear sides. A dial auxiliary rotating wheel for supporting the rotation of the dial gear is provided inside, and a front wheel fixing support for installing the front wheel and a rear wheel motor support for installing the travel drive motor are provided at the bottom.

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