A ball picking and dribbling competition robot and a ball picking and dribbling competition method

Abstract

The present invention relates to a ball-picking and dribbling competition robot. The robot comprises a trolley, a ball-moving mechanism, a ball-picking mechanism for receiving and picking up balls moved in by the ball-moving mechanism, and a multi-ball transport channel for receiving balls moved in by the ball-picking mechanism and capable of transporting multiple balls. The robot not only enables accurate ball picking but also enables multi-ball transport, thereby improving work efficiency. Furthermore, the robot has simple operating components, is easy to operate, occupies a small area, and has good performance. The present invention also relates to a ball-picking and dribbling competition method using the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of ball picking and dribbling competition, in particular to a ball picking and dribbling competition robot, and also to a ball picking and dribbling competition method. Background Art

[0002] With the continuous advancement of social science and technology, people's demand for intelligence is constantly increasing. Therefore, the research on ball-picking carts or ball-picking robots is becoming more and more popular. At present, in this field, the work efficiency is mostly determined by the number of balls picked up by the robot within a certain period of time. Usually, competition robots mainly for student competitions mostly adopt a single-ball single-dribble method, which reduces efficiency. Ball-picking robots that are mainly used to pick up balls on the sports field often have many power components, which makes the operation cumbersome, and the components are scattered, resulting in a large footprint. Summary of the Invention

[0003] The present invention provides a ball picking and dribbling competition robot. By remotely controlling the competition robot to pick up and dribble the ball, not only can accurate ball picking be achieved, but also multiple balls can be carried and transported at the same time, thereby improving work efficiency. The competition robot is suitable for use in ball picking and dribbling robot competitions, as well as in ball games and training grounds, and has good use effects.

[0004] The technical solution adopted by the present invention is: a ball picking and dribbling competition robot, including a small car with a base, and a ball-moving mechanism installed at one end of the base, the ball-moving mechanism including a fixed base installed on the base, and a lever assembly driven by a first servo installed on the fixed base to swing and move the ball; the robot also includes a ball-picking mechanism for receiving the ball dialed in by the ball-moving mechanism and picking up the ball, and a multi-ball carrying and conveying channel for receiving the ball picked up by the ball-picking mechanism and capable of carrying multiple balls, the ball-picking mechanism including a lifting assembly installed on the base that can be lifted and lowered by a lifting assembly. The ball-carrying conveying channel comprises a base, a fixed holding plate installed on the base, and a movable holding plate assembly installed on the base and capable of opening and closing relative to the fixed holding plate. The multi-ball conveying channel comprises a vertical channel for receiving the balls picked up by the ball picking mechanism, and an inclined channel connected to the vertical channel. The channel also comprises a first ball-blocking bolt arranged on one side of the inlet end of the vertical channel and a second ball-blocking bolt arranged on one side of the outlet end of the inclined channel. A ball-squeezing bolt capable of squeezing the balls into the inclined channel is arranged at the connection between the vertical channel and the inclined channel.

[0005] The ball picking and dribbling competition robot of the present invention is provided with a trolley, a ball shifting mechanism, a ball picking mechanism for receiving the balls shifted in by the ball shifting mechanism and picking up the balls, and a multi-ball carrying and conveying channel for receiving the balls picked up by the ball picking mechanism and capable of carrying multiple balls. The robot can not only achieve accurate ball picking, but also achieve multi-ball carrying and conveying, thereby improving work efficiency. At the same time, the robot has simple action parts, is easy to operate, occupies a small area, and has good use effect.

[0006] The present invention also provides a method for dribbling a ball in competition, wherein a competitor remotely controls the aforementioned robot for dribbling a ball via a handheld remote controller, wherein the first servo drives the lever assembly to swing back and forth to form a ball-handling area, and the movable holding plate assembly opens and closes relative to the fixed holding plate to form a ball-handling area. The method comprises the following steps:

[0007] a. The lever assembly of the ball-moving mechanism is fully extended, and the movable holding plate assembly of the ball-picking mechanism is fully opened relative to the fixed holding plate;

[0008] b. Under the drive of the first servo, the lever assembly of the ball-moving mechanism swings to move the ball from the ball-moving area to the ball-retrieving area, and the lever assembly moves upward;

[0009] c. The movable holding plate assembly is closed relative to the fixed holding plate to hold the ball in place and compress it between the fixed holding plate and the movable holding plate assembly. Driven by the lifting assembly, the movable holding plate assembly rises to squeeze the first ball retaining bolt and transfer the ball to the vertical channel of the multi-ball carrying and conveying channel. The lifting assembly then descends to its initial position.

[0010] d. Repeat steps a to c until the multi-ball conveying channel is full of balls, and the contestant operates the handheld remote control to control the trolley to the designated ball unloading position.

[0011] As a further limitation of the above technical solution, the shift lever assembly includes a first swing arm transmission-connected to the first servo, and a second swing arm driven by a second servo mounted on the first swing arm to swing; and further includes a ball shift lever driven by a third servo mounted on the second swing arm to swing, the ball shift lever including a rod body, a hook plate provided at a free end of the rod body and arranged at an obtuse angle to the rod body, and a wedge plate movably mounted on the rod body via a butterfly nut, wherein a ball-locking space is enclosed between the hook plate, the rod body, and the wedge plate. In step b, the following steps are included:

[0012] b1. The first servo operates to drive the first swing arm to swing toward the ball until a distance of one ball diameter is left between the first swing arm and the ball;

[0013] b2. The second servo is actuated to drive the second swing arm to swing toward the ball. Simultaneously, the first servo drives the first swing arm to slightly swing until it is close to the ball.

[0014] b3, the third steering gear is actuated to drive the ball lever to swing downward until the ball is locked in the ball locking space;

[0015] b4. The second servo is actuated to drive the second swing arm to swing, and the first servo drives the first swing arm to slightly swing, pushing the ball from the ball-pushing area to the ball-collecting area;

[0016] b5. The third servo performs a reverse action relative to step b3, driving the ball-moving rod to move upward to release the ball from the ball-locking space. The second servo performs a reverse action relative to step b4, driving the second swing arm to swing in the opposite direction. Simultaneously, the first servo performs a reverse action relative to step b4, driving the first swing arm to slightly swing in the opposite direction.

[0017] As a further limitation of the above technical solution, the movable holding plate assembly includes a fourth servo installed on the base, and a movable blocking arm transmission-connected to the fourth servo and capable of swinging relative to the fixed holding plate; and also includes a movable baffle connected to the free end of the movable blocking arm, wherein the fixed holding plate, the movable blocking arm and the movable baffle form a ball holding space, and the inner surfaces of the fixed holding plate, the movable blocking arm and the movable baffle are all arranged in an arc-shaped surface. The movable holding plate assembly is installed on the base via a base body, and the base body includes a mounting groove opened on its top for mounting the fourth servo, and slots communicating with adjacent side walls thereof for the movable blocking arm to swing back and forth. In step c, the following steps are included:

[0018] c1. The fourth steering gear drives the movable blocking arm to swing inward in the slot, thereby driving the movable blocking plate to close relative to the fixed holding plate, thereby holding the ball into the holding space;

[0019] c2. The ball holding space gradually shrinks until the ball contacts the inner surfaces of the fixed holding plate, the movable blocking arm and the movable baffle respectively, and then the ball is pressed tightly between the fixed holding plate, the movable blocking arm and the movable baffle.

[0020] As a further limitation of the above technical solution, the lifting assembly includes a lifting rod fixed to the base, and a fifth steering gear mounted on the free end of the lifting rod; and further includes a turntable drivingly connected to the fifth steering gear, a pull rope for pulling the base body up and down relative to the lifting rod being wound around the turntable, and a through slot for the fixed end of the lifting rod to pass through is formed in the base body. In step c, the following steps are also included:

[0021] c3. The fifth steering gear drives the turntable to rotate, which in turn pulls the base upward via the pull rope, thereby driving the fixed holding plate, the ball, and the movable holding plate assembly to rise until the ball is squeezed through the first ball stop pin and is retained above the first ball stop pin;

[0022] c4. The fifth steering gear performs a reverse motion relative to step c3, driving the turntable to rotate in the reverse direction, that is, driving the base to descend, and further driving the fixed holding plate and the movable holding plate assembly to descend to the initial position.

[0023] As a further limitation of the above technical solution, the first ball stop bolt and the second ball stop bolt each include a first mounting plate and a first shell mounted on the first mounting plate; further include an electromagnetic armature mounted in the first shell, and a bolt head formed at the free end of the electromagnetic armature, a first spring is provided between the bolt head and the electromagnetic armature, a slope is formed on the bolt head, the slope of the first ball stop bolt is arranged facing the direction of the goal, and the slope of the second ball stop bolt is arranged facing away from the direction of the goal, notches are provided on both sides of the vertical channel away from the end connected to the inclined channel, and when the fixed holding plate, the ball and the movable holding plate assembly rise, the fixed holding plate and the movable baffle can respectively cover the corresponding notches, and in step c3, the following steps are included:

[0024] c31, the fifth steering gear drives the turntable to rotate, and the base is pulled up via the pull rope, thereby driving the fixed holding plate, the ball and the movable holding plate assembly to rise;

[0025] c32. The ball is brought to the position of the first ball-stopping bolt. As the base plate continues to rise, the ball presses the slope of the first ball-stopping bolt, which in turn presses the first spring, and squeezes past the first ball-stopping bolt. The bolt head returns to its original position under the reverse action of the first spring, and the ball is retained above the first ball-stopping bolt.

[0026] c33. The fourth steering gear performs reverse movement relative to step c1, driving the movable baffle arm to swing outward in the slot, thereby driving the movable baffle to open relative to the fixed holding plate.

[0027] As a further limitation of the above technical solution, the ball squeezing bolt includes a second mounting plate and a second shell mounted on the second mounting plate; it also includes a ball squeezing head inserted in the second shell, and a second spring provided between the second shell and the ball squeezing head. A second mounting seat for mounting the second mounting plate is provided on the vertical channel, and a through hole for the ball squeezing head to pass through is provided on the second mounting seat. In step d, when step c is repeated, multiple balls are successively blocked above the first ball blocking bolt until the ball squeezing head is squeezed in the vertical channel. The ball squeezing head squeezes the second spring, and under the action of the second spring, the balls are successively squeezed into the inclined channel. Due to the action of the second ball blocking bolt, the balls are successively stacked in the inclined channel until the inclined channel and the vertical channel are full of balls.

[0028] As a further limitation of the above technical solution, in step d, the contestant operates the handheld remote control to control the trolley to the designated ball unloading position and presses the ball unloading button. The first ball blocking bolt and the second ball blocking bolt are energized, the electromagnetic armature produces a magnetic attraction, and the bolt head retracts under the magnetic attraction, so that the ball can be unloaded at the same time at the entrance end of the vertical channel and the exit end of the inclined channel. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the assembly structure of a ball-picking and dribbling competition robot according to the present invention;

[0030] Figure 2 for Figure 1 Another angle diagram of the assembly structure;

[0031] Figure 3 Schematic diagram of the structure of the ball-moving mechanism of the present invention;

[0032] Figure 4 It is a structural schematic diagram of the ball-moving mechanism of the present invention from another angle;

[0033] Figure 5 Schematic diagram of the structure of the wedge plate of the present invention;

[0034] Figure 6 Schematic diagram of the assembly structure of the ball picking mechanism of the present invention;

[0035] Figure 7 This is a schematic diagram of the assembly structure of the ball picking mechanism of the present invention from another angle;

[0036] Figure 8 It is a partial structural schematic diagram of the ball picking mechanism of the present invention;

[0037] Figure 9 for Figure 8 Another perspective structural diagram of the fourth steering gear removed;

[0038] Figure 10 Schematic diagram of the structure of the fourth steering gear of the present invention;

[0039] Figure 11 It is a structural schematic diagram of the lifting assembly of the present invention;

[0040] Figure 12 This is a schematic diagram of the exploded structure of the lifting assembly of the present invention;

[0041] Figure 13 This is a diagram showing the ball picking mechanism of the present invention in use;

[0042] Figure 14 This is a partial structural diagram of the multi-ball conveying channel of the present invention;

[0043] Figure 15 for Figure 14 A structural diagram from another angle;

[0044] Figure 16 for Figure 14 Schematic diagram of the structure with a squeeze ball stop bolt;

[0045] Figure 17 This is a diagram of the first ball-blocking bolt of the present invention in an extended state;

[0046] Figure 18 This is a diagram of the first ball stopper of the present invention in a retracted state;

[0047] Figure 19 This is a diagram showing the use of the multi-ball conveying channel of the present invention;

[0048] Figure 20 This is another use state diagram of the multi-ball conveying channel of the present invention;

[0049] Figure 21 It is a structural schematic diagram of the trolley of the present invention;

[0050] Figure 22 This is a diagram showing the ball-moving mechanism being fully deployed and the ball-picking mechanism being fully opened in step a of the present invention;

[0051] Figure 23 This is a state diagram of the first swing arm in step b1 of the present invention when it swings to a distance of one ball diameter from the ball;

[0052] Figure 24 This is a state diagram of the ball being placed in the ball-locking space by the cue stick in step b3 of the present invention;

[0053] Figure 25 This is a state diagram of the ball being released from the ball-locking space by the ball-moving rod in step b5 of the present invention;

[0054] Figure 26This is a state diagram showing the ball being pressed between the fixed holding plate, the movable blocking arm and the movable blocking plate in step c2 of the present invention;

[0055] Figure 27 This is a diagram showing the state in which the fixed holding plate, the ball, and the movable holding plate assembly rise to the point where the ball is squeezed through the first ball-stopping bolt in step c3 of the present invention;

[0056] Figure 28 This is a state diagram of the fixed holding plate and the movable holding plate assembly descending to the initial position in step c4 of the present invention;

[0057] Figure 29 This is a diagram showing the movable holding plate assembly of the present invention being fully opened relative to the fixed holding plate;

[0058] Figure 30 This is a diagram showing the movable holding plate assembly of the present invention being closed relative to the fixed holding plate.

[0059] In the picture:

[0060] 1-trolley, 11-base, 12-independent drive steering device, 13-battery pack, 14-single chip controller, 2-ball mechanism, 21-fixed seat, 211-first servo, 22-first swing arm, 221-second servo, 23-second swing arm, 231-third servo, 24-ball lever, 241-rod body, 242-hook plate, 243-butterfly nut, 244-wedge plate, 3-ball picking mechanism, 31-base, 311-through slot, 32-lifting assembly, 321-lifting rod, 322-fifth servo, 323-turntable, 324-fixed seat block, 33-fixed holding plate, 34-movable holding plate assembly, 341-fourth servo, 34 2- movable baffle arm, 343- movable baffle, 344- ball holding space, 345- seat body, 3451- mounting groove, 3452- slot, 4- multi-ball carrying and conveying channel, 41- vertical channel, 411- second mounting seat, 4111- through hole, 412- end cover, 413- notch, 42- inclined channel, 43- first ball stop bolt, 431- first mounting plate, 432- first shell, 433- bolt head, 4331- slope, 44- second ball stop bolt, 45- squeezing ball bolt, 451- second mounting plate, 452- second shell, 453- squeezing ball head, 454- second spring, 46- first mounting seat, 461- through groove. DETAILED DESCRIPTION

[0061] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0062] Example 1

[0063] Depend on Figures 1 to 2As shown in, a ball picking and dribbling competition robot includes a trolley 1 with a base 11, and a ball-digging mechanism 2 installed at one end of the base 11, and also includes a ball-picking mechanism 3 for receiving the ball dialed in by the ball-digging mechanism 2 and picking up the ball, and a multi-ball carrying and conveying channel 4 for receiving the ball picked up by the ball-picking mechanism 3 and capable of carrying multiple balls. By setting up the trolley 1, the ball-digging mechanism 2, the ball-picking mechanism 3 for receiving the ball dialed in by the ball-digging mechanism 2 and picking up the ball, and the multi-ball carrying and conveying channel 4 for receiving the ball picked up by the ball-picking mechanism 3 and capable of carrying multiple balls, not only can accurate ball picking be achieved, but also multi-ball carrying and conveying can be achieved, thereby improving work efficiency. At the same time, the action parts are simple, the operation is convenient, the floor space is small, and it has a good use effect. Specifically, by Figure 21 As shown in the figure, the two rear wheels of the car 1 are independently driven and steered, that is, the two rear wheels of the car 1 are driven and installed with independently driven steering devices 12. At the same time, a battery pack 13 for providing power and a single-chip controller 14 are installed on the car 1. In this embodiment, the single-chip controller 14 adopts STM32. The automatic dribbling competition robot also includes a handheld remote control connected to the single-chip controller 14 by signal. The movement of the car 1 is controlled by the handheld remote control, and the following operation buttons of various action components such as the ball-moving mechanism 2 and the ball-picking mechanism 3 are provided on the handheld remote control. The actions of the following action components such as the ball-moving mechanism 2 and the ball-picking mechanism 3 are operated by the handheld remote control, which will not be repeated here.

[0064] Depend on Figures 3 to 5As shown in FIG, the ball-moving mechanism 2 includes a fixed seat 21 mounted on the base 11, and a lever assembly that is driven by a first servo 211 mounted on the fixed seat 21 to swing and move the ball. Specifically, the lever assembly includes a first swing arm 22 connected to the first servo 211, and a second swing arm 23 driven by a second servo 221 mounted on the first swing arm 22 to swing; and further includes a ball-moving lever 24 driven by a third servo 231 mounted on the second swing arm 23 to swing. By configuring the ball-moving mechanism 2 to include three degrees of freedom, the ball-moving range of the ball-moving mechanism 2 can be expanded, thereby increasing the scope of use of the ball-moving mechanism 2. Specifically, the ball deflector rod 24 includes a rod body 241, and a hook plate 242 provided at the free end of the rod body 241 and arranged at an obtuse angle to the rod body 241, and also includes a wedge plate 244 movably mounted on the rod body 241 via a butterfly nut 243, and the inner surface of the wedge plate 244 is formed by a transition between an arc surface and an oblique surface. A ball-locking space is enclosed by the hook plate 242, the rod body 241 and the wedge plate 243. The front view and the top view of the ball-locking space are both arranged in an outward-facing "X" shape. A groove for the wedge plate 243 to slide is opened in the length direction of the rod body 241, and the distance between the wedge plate 243 and the hook plate 242 can be adjusted via the butterfly nut 243. In this embodiment, the first steering gear 211, the second steering gear 221, and the third steering gear 231 have the same structures as those in the prior art and are not described in detail here. Specifically, a first steering gear mounting seat is provided on the fixing seat 21, the first steering gear 211 is mounted on the first steering gear mounting seat, a second steering gear mounting seat is mounted on the first swing arm 22, the second steering gear 221 is mounted on the second steering gear mounting seat, a third steering gear mounting seat is mounted on the second swing arm 23, and the third steering gear 231 is mounted on the third steering gear mounting seat.

[0065] In this embodiment, the ball-pushing mechanism 2 pushes the ball into the ball-holding space 344, and the ball-picking mechanism 3 receives the ball pushed in by the ball-pushing mechanism 2. Figure 6 Combine Figure 7 As shown in FIG, the ball picking mechanism 3 includes a base 31 mounted on the base 11 via a lifting assembly 32, a fixed holding plate 33 mounted on the base 31, and a movable holding plate assembly 34 mounted on the base 31 and capable of opening and closing relative to the fixed holding plate 33. Figures 8 to 10 As shown in the figure, the movable holding plate assembly 34 includes a fourth servo 341 installed on the base 31, and a movable blocking arm 342 that is transmission-connected to the fourth servo 341 and can swing relative to the fixed holding plate 33, and also includes a movable baffle 343 connected to the free end of the movable blocking arm 342. The fixed holding plate 33, the movable blocking arm 342 and the movable baffle 343 form a ball holding space 344.

[0066] When the cam 342 is in the unlock state, the lever 343 is unlocked and the spring 330 is unlocked, so that the cam 343 can be unlocked.

[0067] Depend on Figure 6 、 Figure 7 Combine Figure 11 and Figure 12 As shown in , the lifting assembly 32 includes a lifting rod 321 fixed to the base 11, and a fifth steering gear 322 mounted on the free end of the lifting rod 321, and also includes a turntable 323 transmission-connected to the fifth steering gear 322. A pull rope is wound around the turntable 323 for pulling the base 31 up and down relative to the lifting rod 321. A through slot 311 is provided on the base 31 for the fixed end of the lifting rod 321 to pass through. The fixed end of the lifting rod 321 passes through the through slot 311 and is fixed to the base 11. To facilitate the installation of the fifth steering gear 322, a fixed seat block 324 is mounted on the free end of the lifting rod 321. The fifth steering gear 322 is mounted on the fixed seat block 324. The transmission shaft of the fifth steering gear 322 is connected to the turntable 323 via a key, so that the fifth steering gear 322 drives the turntable 323 to rotate, thereby loosening or tightening the pull rope wound around the turntable 323. In this embodiment, the fourth steering gear 341 and the fifth steering gear 322 can adopt the steering gear structure in the prior art, which will not be described in detail here.

[0068] To conform to the shape of the ball, the inner surfaces of the fixed holding plate 33, movable retaining arm 342, and movable retaining plate 343 are all curved. To improve ball retrieval efficiency and stability, the height of the fixed holding plate 33 is greater than that of the movable retaining plate 343. In this embodiment, to increase friction with the ball and prevent the ball from falling out after entering the ball holding space 344, an anti-slip film is applied to the inner surfaces of the fixed holding plate 33 and movable retaining plate 343. Specifically, the anti-slip film can be applied in varying thicknesses, depending on the ball diameter, to expand its applicability.

[0069] When used, Figure 13As shown in FIG, the handheld remote control controls the trolley 1 to the ball position, starts the button, and the fourth servo 341 drives the movable blocking arm 342 to swing, thereby driving the movable baffle 343 to move, and picks up the ball into the ball holding space 344. After entering the ball holding space 344, the fourth servo 341 is started, driving the turntable 323 to rotate, and the pull rope drives the base 31 to rise relative to the lifting rod 321 until it reaches the position shown in FIG. Figure 13 Specifically, a first ball-blocking bolt 43 is provided in the multi-ball conveying channel 4 to prevent the balls from falling in the vertical section of the multi-ball conveying channel 4.

[0070] In this embodiment, the multi-ball conveying channel 4 receives the balls picked up by the ball picking mechanism 3. Figures 14 to 20 As shown in the figure, the multi-ball conveying channel 4 includes a vertical channel 41 and an inclined channel 42 connected to the vertical channel 41. It also includes a first ball-blocking bolt 43 provided on one side of the inlet end of the vertical channel 41 and a second ball-blocking bolt 44 provided on one side of the outlet end of the inclined channel 42. A ball-squeezing bolt 45 for squeezing balls into the inclined channel 42 is provided at the connection between the vertical channel 41 and the inclined channel 42. Specifically, when the multi-ball conveying channel 4 is mounted on the trolley 1, the inclined channel 42 is mounted on the trolley 1 via a mounting column to ensure the center of gravity between the trolley 1 and the conveying channel.

[0071] By setting up the vertical channel 41 and the inclined channel 42 connected to the vertical channel 41, space can be provided for carrying and transporting multiple balls at the same time. By setting up the first ball-blocking bolt 43 on the side of the entrance end of the vertical channel 41, the picked-up ball can enter the vertical channel 41 in a one-way manner and avoid falling from the entrance end of the vertical channel 41. Similarly, by setting up the second ball-blocking bolt 44 on the side of the exit end of the inclined channel 42, the ball can be prevented from falling from the exit end of the inclined channel 42 during transportation. A ball-squeezing bolt 45 that can squeeze the ball into the inclined channel 42 is set at the connection between the vertical channel 41 and the inclined channel 42, which can facilitate the picked-up ball to enter the inclined channel 42 via the vertical channel 41. The overall structure is simple, the operation is convenient, and it can carry and transport multiple balls at the same time, and is highly efficient.

[0072] Specifically, by Figures 17 to 20As shown in, the first ball stop bolt 43 and the second ball stop bolt 44 both include a first mounting plate 431 and a first shell 432 mounted on the first mounting plate 431; they also include an electromagnetic armature mounted in the first shell 432, and a bolt head 433 formed at the free end of the electromagnetic armature, a first spring is provided between the bolt head 433 and the electromagnetic armature, a slope 4331 is formed on the bolt head 433, the slope 4331 of the first ball stop bolt 43 is set facing the direction of goal, and the slope 4331 of the second ball stop bolt 44 is set back to the direction of goal. When in use, the first ball stop bolt 43 and the second ball stop bolt 44 are powered off, and the Figure 17 As shown in , the bolt head 433 is in an extended state. Since the slope 4331 of the first ball-blocking bolt 43 is set to face the direction of goal, the picked-up ball enters the entrance end of the vertical channel 41 and is pushed by the external force to push the bolt head 433 of the first ball-blocking bolt 43. This bolt head 433 shrinks and allows the ball to enter the vertical channel 41. The bolt head 433 then returns to its original position under the action of the first spring, and prevents the ball that enters the vertical channel 41 from falling, and the goal is completed in sequence. Similarly, since the slope 4331 of the second ball-blocking bolt 44 is set to face away from the direction of goal, in the power-off state, the bolt head 433 of the second ball-blocking bolt 44 is always in an extended state, and prevents the ball that enters the inclined channel 42 from falling at the exit end of the inclined channel 42. When transported to the designated location, the first ball-blocking bolt 43 and the second ball-blocking bolt 44 are energized, and the electromagnetic armature installed in the first shell 432 generates a magnetic attraction, and the bolt head 433 retracts under the magnetic attraction. Figure 18 As shown in , the balls can be unloaded simultaneously at both the inlet end of the vertical channel 41 and the outlet end of the inclined channel 42.

[0073] During the specific installation, Figure 14 Combine Figure 15 As shown in the figure, first mounting seats 46 mounted with the first mounting plate 431 are respectively provided at the inlet end of the vertical channel 41 and the outlet end of the inclined channel 42. Each first mounting seat 46 is provided with a through slot 461 for the latch head 433 to penetrate.

[0074] Depend on Figure 16 As shown in the figure, the ball-squeezing bolt 45 includes a second mounting plate 451 and a second shell 452 mounted on the second mounting plate 451; it also includes a ball-squeezing head 453 inserted in the second shell 452, and a second spring 454 provided between the second shell 452 and the ball-squeezing head 453. Specifically, when the uppermost ball entering the vertical channel 41 reaches the position of the ball-squeezing bolt 45, as the ball below enters, the ball reaching the position of the ball-squeezing bolt 45 squeezes the ball-squeezing head 453, and the ball-squeezing head 453 compresses the second spring 454. Under the action of the restoring force of the second spring 454, the ball is squeezed into the inclined channel 42. During the specific installation, Figure 16As shown in FIG, a second mounting seat 411 for mounting the second mounting plate 451 is provided on the vertical channel 41 , and a through hole 4111 for the squeezing ball head 453 to penetrate is opened on the second mounting seat 411 .

[0075] In this embodiment, Figures 15 and 16 As shown in the figure, an end cover 412 is installed at the other end of the vertical channel 41 relative to the inlet end of the vertical channel 41. The end cover 412 is hemispherical and is arranged in the shape of a ball. Specifically, the vertical channel 41 is cylindrical and has notches 413 on both sides of the inlet end of the vertical channel 41. This can reduce weight and, at the same time, the fixed holding plate 33 and the movable baffle 343 can respectively cover the corresponding notches 413 when they rise.

[0076] Example 2

[0077] This embodiment relates to a method for picking up and dribbling a ball for competition. A competition player remotely controls the dribbling robot of the first embodiment to pick up and dribble the ball. Specifically, Figure 22 and Figure 25 As shown in FIG, the first servo 211 drives the lever assembly to swing back and forth to form a ball-driving area. The movable holding plate assembly 34 opens and closes relative to the fixed holding plate 33 to form a ball-collecting area. The ball-driving area and the ball-collecting area have an intersection. The competition ball-collecting method includes the following steps:

[0078] a. The lever assembly of the ball-moving mechanism 2 is fully extended, and the movable holding plate assembly 34 of the ball-picking mechanism 3 is fully opened relative to the fixed holding plate 33;

[0079] b. Under the drive of the first servo 211, the lever assembly of the ball-moving mechanism 2 swings to move the ball from the ball-moving area to the ball-receiving area, and the lever assembly moves upward;

[0080] c. The movable holding plate assembly 34 is closed relative to the fixed holding plate 33 to hold the ball in place and compress it between the fixed holding plate 33 and the movable holding plate assembly 34. Driven by the lifting assembly 32, the movable holding plate assembly 34 rises to squeeze the first ball stopper 43 and transfer the ball to the vertical channel 41 of the multi-ball carrying and conveying channel 4. The lifting assembly 32 then descends to its initial position.

[0081] d. Repeat steps a to c until the multi-ball conveying channel 4 is full of balls. The contestant operates the handheld remote control to control the trolley 1 to the designated ball unloading position.

[0082] Specifically, in step b, the following steps are included:

[0083] b1, the first servo 211 is actuated to drive the first swing arm 22 to swing toward the ball, until a distance of one ball diameter is left between the first swing arm 22 and the ball; Figure 23As shown in FIG, the first swing arm 22 is swung toward the ball until a distance of one ball diameter is left between the first swing arm 22 and the ball. Of course, the first swing arm 22 can also be swung toward the ball until a distance of less than one ball diameter is left between the first swing arm 22 and the ball.

[0084] b2. The second servo 221 is actuated to drive the second swing arm 23 to swing toward the ball. At the same time, the first servo 211 drives the first swing arm 22 to swing slightly until it is close to the ball and has a tendency to clamp the ball.

[0085] b3. The third servo 231 is actuated to drive the ball-moving rod 24 downward until the ball is locked in the ball-locking space; Figure 24 FIG2 shows a state diagram of the ball-moving rod 24 being placed in the ball-moving space; because the ball-moving space is arranged in an outward-facing "X" shape in both the front view and the top view, the second swing arm 23 swings toward the ball and the swing of the ball-moving rod 24 is coordinated to place the ball in the ball-moving space;

[0086] b4. The second servo 221 is actuated to drive the second swing arm 23 to swing, and at the same time, the first servo 211 drives the first swing arm 22 to swing slightly, pushing the ball from the ball-pushing area to the ball-retrieving area;

[0087] b5. The third servo 231 performs the reverse action relative to step b3, driving the ball lever 24 to move upward to release the ball from the ball-locking space. The second servo 221 performs the reverse action relative to step b4, driving the second swing arm 23 to swing in the opposite direction. At the same time, the first servo 211 performs the reverse action relative to step b4, driving the first swing arm 22 to slightly swing in the opposite direction. Figure 25 , which is a state diagram of the ball-moving rod 24 releasing the ball-moving space from the ball.

[0088] In step c, the following steps are included:

[0089] c1. The fourth servo 341 drives the movable retaining arm 342 to swing inward within the slot 3452, thereby driving the movable retaining plate 343 to close relative to the fixed retaining plate 33, thereby holding the ball into the ball holding space 344;

[0090] c2. The ball holding space 344 gradually shrinks until the ball contacts the inner surfaces of the fixed holding plate 33, the movable blocking arm 342 and the movable baffle 343 respectively, and then the ball is pressed tightly between the fixed holding plate 33, the movable blocking arm 342 and the movable baffle 343. Figure 26 , which is a state diagram in which the ball is pressed between the fixed holding plate 33, the movable blocking arm 342 and the movable baffle 343.

[0091] In step a, Figure 22 As shown in FIG, when the lever assembly of the ball-moving mechanism 2 is fully extended, the lever is perpendicular to the axis of the vertical channel 41, and when the movable holding plate assembly 34 of the ball-picking mechanism 3 is fully opened relative to the fixed holding plate 33, Figure 29 As shown in FIG, the line between the hinge point of the movable blocking arm 342 and the fourth steering gear 341 and the axis of the movable baffle 343 is relative to Figure 29 The angle between the mid-horizontal lines is set to 110 degrees. Figure 30 As shown in FIG, when the movable holding plate assembly 34 of the ball picking mechanism 3 is closed relative to the fixed holding plate 33, the line connecting the hinge point between the movable blocking arm 342 and the fourth steering engine 341 and the axis of the movable baffle 343 is relative to Figure 30 The angle between the mid-horizontal lines is set to 45 degrees.

[0092] Specifically, in step c, the following steps are also included:

[0093] c3. The fifth servo 322 drives the turntable 323 to rotate, and the base 31 is pulled up via the pull rope, thereby driving the fixed holding plate 33, the ball and the movable holding plate assembly 34 to rise, until the ball is squeezed through the first ball stop pin 43 and is blocked above the first ball stop pin 43; Figure 27 As shown in FIG, the fixed holding plate 33, the ball and the movable holding plate assembly 34 rise to the state where the ball is squeezed through the first ball stop bolt 43.

[0094] c4, the fifth steering engine 322 performs reverse movement relative to step c3, and drives the turntable 323 to rotate in the opposite direction, that is, drives the base 31 to descend, and then drives the fixed holding plate 33 and the movable holding plate assembly 34 to descend to the initial position. Figure 28 As shown in , it is a state diagram of the fixed holding plate 33 and the movable holding plate assembly 34 descending to the initial position.

[0095] Specifically, in step c3, the following steps are included:

[0096] c31, the fifth servo 322 drives the turntable 323 to rotate, and the base 31 is pulled up via the pull rope, thereby driving the fixed holding plate 33, the ball and the movable holding plate assembly 34 to rise;

[0097] c32. The ball is brought to the position of the first ball-stopping stopper 43. As the base plate continues to rise, the ball presses the slope 4331 of the first ball-stopping stopper 43, which in turn presses the first spring and squeezes through the first ball-stopping stopper 43. The stopper head 433 returns to its original position under the reverse action of the first spring, and the ball is retained above the first ball-stopping stopper 43.

[0098] c33 , the fourth steering gear 341 performs reverse movement relative to step c1 , driving the movable blocking arm 342 to swing outward in the slot 3452 , thereby driving the movable baffle 343 to open relative to the fixed holding plate 33 .

[0099] In step d, when step c is repeated, multiple balls are blocked in turn above the first ball blocking bolt 43 until they are piled up in the vertical channel 41 and the squeezing head 453 squeezes the second spring 454, and under the action of the second spring 454, the balls are squeezed into the inclined channel 42 in turn, and due to the action of the second ball blocking bolt 44, the balls are stacked in turn in the inclined channel 42 until both the inclined channel 42 and the vertical channel 41 are full of balls.

[0100] In step d, the competitor operates the handheld remote control to move the trolley 1 to the designated ball unloading position and presses the ball unloading button. The first ball-blocking latch 43 and the second ball-blocking latch 44 are energized, and the electromagnetic armature generates a magnetic attraction. The latch head 433 retracts under the magnetic attraction, and the ball can be unloaded at both the entrance end of the vertical channel 41 and the exit end of the inclined channel 42 at the same time, thereby improving the ball unloading efficiency.

[0101] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technical solution obtained by any technician familiar with the field within the technical scope disclosed by the present invention and by equivalent replacement or modification based on the technical concept of the present invention should be covered by the scope of protection of the present invention.

Claims

1. A method for dribbling a ball in competition, wherein a competitor controls a dribbling robot via a handheld remote controller, characterized in that: The ball picking and dribbling competition robot includes a trolley with a base, and a ball-moving mechanism installed at one end of the base, the ball-moving mechanism includes a fixed seat installed on the base, and a lever assembly driven by a first servo installed on the fixed seat to swing and move the ball; it also includes a ball-picking mechanism that receives the ball dialed in by the ball-moving mechanism and picks up the ball, and a multi-ball carrying and conveying channel that receives the ball picked up by the ball-picking mechanism and can carry multiple balls, the ball-picking mechanism includes a base installed on the base that can be lifted and lowered via a lifting component, and a fixed holding plate installed on the base, and also includes a base installed on the base that can be moved relative to the fixed holding plate The movable holding plate assembly is opened and closed, and the multi-ball carrying and conveying channel includes a vertical channel for receiving the balls picked up by the ball picking mechanism, and an inclined channel connected to the vertical channel, and also includes a first ball blocking bolt provided on one side of the inlet end of the vertical channel, and a second ball blocking bolt provided on one side of the outlet end of the inclined channel. A ball squeezing bolt is provided at the connection between the vertical channel and the inclined channel for squeezing the ball into the inclined channel; the first steering gear drives the shifting rod assembly to swing back and forth to form a ball shifting area, and the movable holding plate assembly opens and closes relative to the fixed holding plate to form a ball picking area. The competitive ball picking and dribbling method includes the following steps: a. The lever assembly of the ball-moving mechanism is fully extended, and the movable holding plate assembly of the ball-receiving mechanism is fully opened relative to the fixed holding plate; b. Under the drive of the first servo, the lever assembly of the ball-moving mechanism swings to move the ball from the ball-moving area to the ball-retrieving area, and the lever assembly moves upward; c. The movable holding plate assembly is closed relative to the fixed holding plate to hold the ball in place and compress it between the fixed holding plate and the movable holding plate assembly. Driven by the lifting assembly, the movable holding plate assembly rises to squeeze the first ball retaining bolt and transfer the ball to the vertical channel of the multi-ball carrying and conveying channel. The lifting assembly then descends to its initial position. d. Repeat steps a to c until the multi-ball conveying channel is full of balls, and the contestant operates the handheld remote control to control the trolley to the designated ball unloading position.

2. A method for picking up and dribbling a ball for competition according to claim 1, characterized in that: The shift lever assembly includes a first swing arm connected to the first steering gear, and a second swing arm driven by a second steering gear mounted on the first swing arm to swing; and also includes a ball shift lever driven by a third steering gear mounted on the second swing arm to swing. The ball shift lever includes a rod body, a hook plate provided at a free end of the rod body and arranged at an obtuse angle to the rod body, and a wedge plate mounted on the rod body in a movably positionable manner via a butterfly nut. A ball-locking space is enclosed by the hook plate, the rod body, and the wedge plate. In step b, the following steps are included: b1. The first servo operates to drive the first swing arm to swing toward the ball until a distance of one ball diameter is left between the first swing arm and the ball; b2. The second servo is actuated to drive the second swing arm to swing toward the ball. Simultaneously, the first servo drives the first swing arm to slightly swing until it is close to the ball. b3, the third steering gear is actuated to drive the ball lever to swing downward until the ball is locked in the ball locking space; b4. The second servo is actuated to drive the second swing arm to swing, and the first servo drives the first swing arm to slightly swing, pushing the ball from the ball-pushing area to the ball-collecting area; b5. The third servo performs a reverse action relative to step b3, driving the ball-moving rod to move upward to release the ball from the ball-locking space. The second servo performs a reverse action relative to step b4, driving the second swing arm to swing in the opposite direction. Simultaneously, the first servo performs a reverse action relative to step b4, driving the first swing arm to slightly swing in the opposite direction.

3. A method for picking up and dribbling a ball for competition according to claim 2, characterized in that: The movable holding plate assembly includes a fourth steering gear mounted on the base, and a movable blocking arm drivingly connected to the fourth steering gear and capable of swinging relative to the fixed holding plate; and also includes a movable blocking plate connected to the free end of the movable blocking arm. The fixed holding plate, the movable blocking arm, and the movable blocking plate form a ball holding space. The inner surfaces of the fixed holding plate, the movable blocking arm, and the movable blocking plate are all arranged in an arc-shaped surface. The movable holding plate assembly is mounted on the base via a base body. The base body includes a mounting groove on its top for mounting the fourth steering gear, and slots communicating with adjacent side walls thereof for the movable blocking arm to swing back and forth. In step c, the following steps are included: c1. The fourth steering gear drives the movable blocking arm to swing inward in the slot, thereby driving the movable blocking plate to close relative to the fixed holding plate, thereby holding the ball into the holding space; c2. The ball holding space gradually shrinks until the ball contacts the inner surfaces of the fixed holding plate, the movable blocking arm and the movable baffle respectively, and then the ball is pressed tightly between the fixed holding plate, the movable blocking arm and the movable baffle.

4. A method for picking up and dribbling a ball for competition according to claim 3, characterized in that: The lifting assembly includes a lifting rod fixed to the base, and a fifth steering gear mounted on the free end of the lifting rod; and further includes a turntable in transmission connection with the fifth steering gear, a pull rope for pulling the base body up and down relative to the lifting rod being wound around the turntable, and a through slot for the fixed end of the lifting rod to pass through being formed in the base body. In step c, the following steps are also included: c3. The fifth steering gear drives the turntable to rotate, which in turn pulls the base upward via the pull rope, thereby driving the fixed holding plate, the ball, and the movable holding plate assembly to rise until the ball is squeezed through the first ball stop pin and is retained above the first ball stop pin; c4. The fifth steering gear performs a reverse motion relative to step c3, driving the turntable to rotate in the reverse direction, that is, driving the base to descend, and further driving the fixed holding plate and the movable holding plate assembly to descend to the initial position.

5. A method for picking up and dribbling a ball for competition according to claim 4, characterized in that: The first ball-blocking bolt and the second ball-blocking bolt both include a first mounting plate and a first shell mounted on the first mounting plate; they also include an electromagnetic armature mounted in the first shell and a bolt head formed at the free end of the electromagnetic armature, a first spring being provided between the bolt head and the electromagnetic armature, a slope being formed on the bolt head, the slope of the first ball-blocking bolt being arranged facing the direction of the goal, and the slope of the second ball-blocking bolt being arranged facing away from the direction of the goal, notches being provided on both sides of the vertical channel away from the end connected to the inclined channel, and when the fixed holding plate, the ball and the movable holding plate assembly are raised, the fixed holding plate and the movable baffle can respectively cover the corresponding notches, and in step c3, the following steps are included: c31, the fifth steering gear drives the turntable to rotate, and the base is pulled up via the pull rope, thereby driving the fixed holding plate, the ball and the movable holding plate assembly to rise; c32. The ball is brought to the position of the first ball-stopping bolt. As the base body continues to rise, the ball presses the slope of the first ball-stopping bolt, which in turn presses the first spring, and squeezes past the first ball-stopping bolt. The bolt head returns to its original position under the reverse action of the first spring, and the ball is retained above the first ball-stopping bolt. c33. The fourth steering gear performs reverse movement relative to step c1, driving the movable baffle arm to swing outward in the slot, thereby driving the movable baffle to open relative to the fixed holding plate.

6. A method for picking up and dribbling a ball for competition according to claim 5, characterized in that: The ball squeezing bolt includes a second mounting plate and a second shell mounted on the second mounting plate; it also includes a ball squeezing head inserted in the second shell and a second spring provided between the second shell and the ball squeezing head. A second mounting seat for mounting the second mounting plate is provided on the vertical channel, and a through hole for the ball squeezing head to pass through is provided on the second mounting seat. In step d, when step c is repeated, a plurality of balls are sequentially blocked above the first ball blocking bolt until the ball squeezing head is squeezed in the vertical channel. The ball squeezing head squeezes the second spring, and under the action of the second spring, the balls are sequentially squeezed into the inclined channel. Due to the action of the second ball blocking bolt, the balls are sequentially stacked in the inclined channel until both the inclined channel and the vertical channel are full of balls.

7. A method for picking up and dribbling a ball for competition according to claim 6, characterized in that: In step d, the contestant operates the handheld remote control to control the trolley to the designated ball unloading position and presses the ball unloading button. The first ball blocking bolt and the second ball blocking bolt are energized, the electromagnetic armature produces a magnetic attraction, and the bolt head retracts under the magnetic attraction, so that the ball can be unloaded at the entrance end of the vertical channel and the exit end of the inclined channel at the same time.

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