Batch ball picking service machine for court

Abstract

The invention provides a batched ball picking service machine for a court, and relates to the field of ball training instruments. The machine comprises a base, a walking mechanism, a ball picking and dribbling integrated mechanism, a ball collecting container and a protection panel, the ball picking and dribbling integrated mechanism comprises a ball picking tongue, a ball shifting and dribbling blocking strip, a conveying belt device and a ball dribbling cavity, and the combination of the ball picking tongue and the ball shifting and dribbling blocking strip is set to be in a state that when the current impact protection panel is in contact with a barrier on the edge of a court, the ball picking tongue and the ball shifting and dribbling blocking strip are separated from each other. Even if the ball tightly attached to the edge of the court can still effectively make contact with the combined structure of the ball picking tongue and the ball shifting and dribbling blocking strip, and therefore the ball picking action is completed. The ball conveying cavity, the conveying belt and the ball picking and conveying blocking strip are arranged in a combined mode, so that the picked balls are conveyed to the high-position ball basket in a lossless and batched mode. According to the ball picking service machine, efficient picking, conveying and collecting of batches of balls can be achieved not only in general scenes, but also in the scenes where a large number of facing balls need to be picked up efficiently.

Description

Technical Field

[0001] The present application relates to the field of ball training equipment, and in particular to a ball picking service machine for a stadium. Background Art

[0002] In the multi-ball training scenario of tennis, a large number of balls will be left on the court after training, which not only takes up training space and affects the continuity of subsequent training, but also consumes a lot of manpower and time to pick up, significantly reducing training efficiency. Influenced by training methods (such as diagonal hitting training), blocking facilities at the edge of the court (such as edge deceleration iron nets, soft net curtains or soft walls) and player habits (such as the habit of pushing the ball to the edge area or the net belt area in continuous training so as not to affect the player's running and hitting on the court), the distribution of balls on the court has a very obvious feature, that is, the balls that need to be picked up are The distribution of balls across the court is extremely uneven, with a large number of them primarily located along the baseline, along the sides of the court, and close to the center net. Nearly one-third, or even more, of the balls are located close to the edges, resulting in a high density of edge-to-edge balls. This scenario is common due to the unique characteristics of tennis training and court facilities. These balls, located along the edges of the court, or even close to obstacles, are a key component of multi-ball training in tennis. This high-frequency and common distribution of multiple balls also presents significant challenges for efficient ball retrieval solutions. Furthermore, there are other challenges, such as the high-intensity batch handling and transport of 60-90 balls weighing 56.7-58.5 grams at a time; the need to prevent excessive friction damage to the suede surface structure, which is prone to wear; ensuring that the ball retrieval process does not damage the hard surface, and the need to accommodate the varying diameters of balls, allowing for simultaneous retrieval of balls of varying sizes.

[0003] At present, the ball picking equipment in the prior art can be mainly divided into manual ball picking equipment and intelligent ball picking equipment; among them, manual ball picking equipment, such as the unpowered manual pushcart roller type, uses the rear wheel roller to squeeze the ball and rotate to pick up the ball. Since its ball picking structure is rear-positioned, the edge balls cannot enter the ball picking area due to the obstruction of the rear wheel shaft arm, and the balls need to be manually pushed away from the edge. In addition, due to the limitation of the roller lifting height, its receiving frame can only accommodate a single layer of balls, and the ball picking capacity and efficiency are both low; another example is the unpowered gap pressing type equipment, which uses a manual pressing device to squeeze the balls into the container using a fixed gap. It is generally composed of a gap roller constructed by a transverse steel wire and a ball picking basket constructed by a plastic frame. Due to the structural obstruction around the gap, it is also impossible to directly press the edge balls into the gap. At the same time, the device can only pick up one to several balls with a single press, which is inefficient; and intelligent ball picking equipment is usually implemented by a specially designed powered goal-scoring and dribbling transmission structure. For example, patent CN107019883A uses a front-end robotic arm in conjunction with machine vision to simulate manual ball picking, and the robotic arm pushes the balls into the goal one by one. The conveyor belt impeller separates the balls and then lifts them to the upper outlet through the conveyor belt rotation. However, the front-mounted design of the robotic arm causes the distance between the equipment body (goal entrance) and the edge obstacles (such as iron nets) to be too large, and the balls that are close to the edge cannot directly contact the goal entrance. The robotic arm needs to remove the balls that are close to the edge one by one, and the efficiency of batch picking is extremely low. In addition, the impeller separation design cannot accurately control the contact position between the impeller and the balls when facing a batch of randomly arranged balls. It is very easy for the impeller tip to touch the upper half of the ball, causing the conveyor belt to get stuck and the motor to burn out. The ball may be destroyed, or explode or pop out, making it difficult to score goals in batches and efficiently. For example, patent CN110575653A adopts an ultrasonic radar anti-collision + brush structure, which sweeps the ball into the goal hole through the rotation of the front brush, and uses the friction between the upper and lower brushes and the support plate to squeeze and lift the ball. However, the anti-collision design of the front end using laser and ultrasonic radar is restricted by the need to maintain a safe distance from edge obstacles such as wire mesh, making it impossible to pick up balls that are close to the edge. Other forms of manual intervention are needed to solve the problem of picking up balls in this high-frequency scenario.

[0004] It can be seen that the current existing technologies are unable to directly access the large number of balls that are close to the edge due to their structural limitations. They all need to pre-pull the balls away from the edge, which greatly reduces the efficiency of picking up the balls. However, this is a function and efficiency problem that really occurs frequently and needs to be solved in tennis multi-ball training. Therefore, there is an urgent need for a new type of ball picking device that can not only realize the batch picking and transportation of balls in general scenarios, but also can efficiently realize the batch picking and transportation of balls in the above-mentioned scenarios with high density of balls close to the edge. Summary of the Invention

[0005] The purpose of this application is to provide a ball picking service machine for a golf course in batches, so as to solve the problems existing in the ball picking scenario in the above-mentioned background technology.

[0006] The embodiments of the present application can be implemented through the following technical solutions:

[0007] The ball picking machine of claim 1, wherein the ball picking machine is configured to pick up the ball from the ground and to move the ball along the conveyor belt to the next position. The ball picking machine is configured to pick up the ball from the ground and to move the ball along the conveyor belt to the next position. The ball picking machine is configured to pick up the ball from the ground and to move the ball along the conveyor belt to the next position.

[0008] Furthermore, the horizontal distance between the front end of the front impact protection panel and the lowest point of the ball-handling and dribbling stop bar is less than or equal to The maximum straight-line distance from the upper surface of the ball-picking tongue to the conveyor belt surface adjacent to it is less than or equal to The shortest straight-line distance is greater than or equal to dH 条 The vertical distance H between the lower surface of the ball picking tongue and the court ground 舌 Satisfy: Maximum distance is less than or equal to Minimum distance greater than or equal to The angle α between the line connecting the ball-touching point at the front end of the ball-picking tongue and the axis of the driven rotating shaft of the conveyor belt device and the ground is in the range of 45° to 85°.

[0009] Furthermore, the upper surface of the ball picking tongue is an arc-like surface, and the distance between the center of curvature of the arc-like surface and the central axis of the driven rotating shaft does not exceed the radius of the driven rotating shaft.

[0010] Furthermore, the ball picking tongue is made of elastic material, and the distance that the upper surface can rebound when the ball is squeezed is less than or equal to H. 条 .

[0011] Furthermore, the height H of the ball-moving and dribbling bars is 条 The value of satisfies:

[0012] Furthermore, the ball picking and dribbling integrated mechanism further comprises a rear support plate, a front support bar and a side support plate; the rear support plate, the side support plate and the conveyor belt surface close to the front support bar and between the front support bar and the rear support plate together form a dribbling cavity for accommodating batches of balls; the front support bar is arranged on the non-working side of the conveyor belt facing the rear support plate, and there is a gap D between the front support bar and the conveyor belt. 支 , the D 支 satisfy: Used to support the conveyor belt touch ball from behind.

[0013] Furthermore, the front support bar includes a transverse support bar and a longitudinal support bar; and / or, the side surface of the rear support plate, the front support bar and the side support plate close to the dribbling cavity, the conveyor belt working surface, the ball-digging and dribbling stop bar surfaces are all smooth and low-friction surfaces.

[0014] Furthermore, the distance D between two adjacent ball-moving and dribbling bars is 条 The value of satisfies:

[0015] Furthermore, the ball-picking service machine for the field further includes a ball-touching mechanism, which includes a ball-touching sensing base arranged between the ball-picking and dribbling integrated mechanism and the front impact protection panel, a ball-touching micro-delay switch arranged in the ball-touching sensing base, a ball-touching sensing rod slidably connected to the lower end of the ball-touching sensing base, and a ball-touching sleeve sleeved on the bottom end of the ball-touching sensing rod. When the ball-touching sleeve contacts the top of the ball on the ground, it can be lifted and pass over the ball, and in this process, the ball-touching sensing rod is driven to slide upward to touch and activate the ball-touching micro-delay switch. The ball-touching mechanism is made of lightweight material. When the ball-touching mechanism is not in contact with the ball, the distance H between its lowest point and the ground is 触 =d-(2~5)mm.

[0016] Furthermore, the stadium batch ball picking service machine also includes a folding support mechanism to realize the stacking or erection of the ball picking and dribbling mechanism relative to the base. The folding support mechanism includes a support rod and a hinge. The two ends of the support rod are respectively connected to the base and the ball picking and dribbling mechanism. The hinge is arranged at the connection between the base and the ball picking and dribbling mechanism to realize the articulation of the two.

[0017] The embodiments of the present application provide a golf course batch ball picking service machine that has at least the following beneficial effects:

[0018] (1) The ball picking service machine provided by the present application can realize the efficient picking up and transportation collection of balls in batches in the scenario of high-density balls touching the edge. By matching the front impact protection panel, the ball picking tongue and the ball deflecting and dribbling guard bar, and further defining the relevant specific structural parameters of the picking structure composed of the ball picking tongue and the ball deflecting and dribbling guard bar at the front end, it can realize the batch, effective and efficient picking up of balls touching the edge. At the same time, during the picking process, the balls can be appropriately squeezed and pushed and enter the goal mouth by rolling in the same direction of the conveyor belt, avoiding damage to the equipment, balls and surrounding objects caused by excessive squeezing and excessive friction. In addition, it is also compatible with the picking up of balls of different diameters.

[0019] (2) The present application, through the coordinated design of the specific structural parameters related to the conveying structure composed of the support part, the dribbling cavity and the conveyor belt device, can, on the one hand, reduce the damage to the working structure of the sphere surface caused by the relative friction of the sphere during the transportation and lifting process; on the other hand, it can maintain moderate squeezing of a large number of spheres randomly arranged horizontally and vertically, avoiding the problems of sphere accumulation and stagnation in the dribbling cavity caused by different sphere diameters. In addition, by adopting rolling forward, smooth contact surface and other friction-reducing designs, it can also reduce the load of the conveyor belt device and improve efficiency.

[0020] (3) Through the design of the ball-touching mechanism, the present application can control the on-demand startup and operation of the conveyor belt device for a specified period of time, thereby avoiding ineffective idling of the conveyor belt, reducing energy consumption and mechanical wear, and ensuring that all sensed balls can smoothly enter the equipment and be transferred to the ball collection container, significantly improving the ball picking efficiency and the degree of equipment automation.

[0021] (4) The present application adopts the design of a folding support mechanism, which can flexibly adjust the height of key components from the ground according to the ground conditions of different sites, thereby achieving effective picking in different situations, while better protecting the ground and key components. In addition, the overall center of gravity of the machine can be lowered and have a higher ground clearance by adjusting the folding state, which facilitates the rapid transfer of equipment.

[0022] (5) This application can also provide expansion of various interactive scenarios. By combining control panels, touch screens, apps, etc., it is convenient for users to interactively control the device. At the same time, it can also achieve various extended service effects such as providing venue reservations, real-time notification of venue messages, and advertising push. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a diagram showing the surrounding structure of a standard tennis court and the main distribution areas of balls in a multi-ball scenario, especially in the edge areas. Darker colors represent greater distribution probability.

[0024] Figure 2a This is a schematic diagram of a conventional unpowered manual cart roller ball picking device;

[0025] Figure 2b This is a schematic diagram of a non-powered gap press-in ball picking device in the prior art;

[0026] Figure 3 A schematic diagram of the overall structure of a ball picking service machine for a golf course provided in an embodiment of the present application;

[0027] Figure 4 A schematic diagram of the internal structure of a golf course batch ball picking service machine provided in an embodiment of the present application;

[0028] Figure 5 This is an exploded schematic diagram of a partial structure of a golf course batch ball picking service machine provided by an embodiment of the present application;

[0029] Figure 6 This is an exploded diagram of a ball picking and dribbling mechanism of a ball picking service machine for a stadium in batches provided by an embodiment of the present application;

[0030] Figure 7 This is a partially enlarged schematic diagram of the ball picking and dribbling mechanism;

[0031] Figure 8 for Figure 7 Enlarged diagram of circle A.

[0032] Numbers in the figure

[0033] 1-base, 2-walking mechanism, 3-ball picking and dribbling integrated mechanism, 31-ball picking tongue, 32-ball flicking and dribbling stop bar, 33-conveyor belt device, 331-drive motor, 332-conveyor belt, 333-driving shaft, 334-driven shaft, 34-support part, 341-rear support plate, 342-front support bar, 3421-lateral support bar, 3422-longitudinal support bar, 343-side support plate, 35-dribbling cavity, 4-ball collecting container, 5-protective panel, 51-front impact protection panel, 52-upper protection panel, 6-ball contact mechanism, 61-ball contact sensing base, 63-ball contact sensing rod, 64-ball contact sleeve, 7-folding support mechanism; DETAILED DESCRIPTION

[0034] Hereinafter, the present application will be further described based on preferred embodiments with reference to the accompanying drawings.

[0035] In addition, various components in the drawings are enlarged or reduced in size for ease of understanding, but this is not intended to limit the scope of protection of this application.

[0036] Words importing the singular include the plural and vice versa.

[0037] In the description of the embodiments of the present application, it should be noted that if the terms "upper", "lower", "inner", "outer" and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or are the orientation or positional relationship in which the products of the embodiments of the present application are usually placed when in use, they are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, in the description of the present application, in order to distinguish different units, words such as first and second are used in this specification, but these are not limited by the order of manufacture, nor can they be understood as indicating or implying relative importance. Their names may be different in the detailed description and claims of the present application.

[0038] The vocabulary in this specification is used to illustrate the embodiments of the present application, but is not intended to limit the present application. It should also be noted that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or a communication between the two components. For those skilled in the art, the specific meanings of the above terms in this application can be specifically understood.

[0039] In this description, the forward direction of the device is referred to as the front, and the positions of other components are described based on this direction.

[0040] In this specification, d refers to the standard diameter of a sphere, H 条 The height of the finger ball and dribbling bar 32, D 条 Refers to the distance between two adjacent dribbling and dribbling bars, H 触 Refers to the distance between the lowest point of the ball-touching mechanism 6 and the ground when it is not in contact with the ball. 舌 The angle D is the distance between the lower surface of the ball picking tongue 31 and the ground, α is the angle between the line connecting the front end contact point of the ball picking tongue 31 and the axis of the driven shaft 334 of the conveyor belt device 33 and the ground, and 支 Refers to the distance between the front support bar 342 and the conveyor belt 332 on one side thereof.

[0041] As described in the background art, after the tennis multi-ball training is completed, a large number of balls in the field appear as follows Figure 1 The high-density edge distribution characteristics shown in the figure are generally faced with the problem that the edge balls cannot be directly picked up or the efficiency is very low due to structural design defects of traditional ball picking equipment. Figure 2a The non-powered cart-type equipment shown is limited by the rear wheel structure and cannot contact the side ball, and must rely on manual pre-dispatch; Figure 2bThe pressing device shown is blocked by the surrounding structure of the gap on the one hand, and can only pick up a small number of balls with a single press, which is inefficient. The comparative documents CN107019883A and CN110575653A are also unable to achieve efficient batch picking of high-density edge balls due to the limitations of their respective front-end robotic arms or anti-collision equipment. Therefore, in view of the above-mentioned scenario characteristics of densely edged balls, how to enable the device to directly contact the edged balls and achieve efficient batch picking of edged balls has become the core breakthrough direction.

[0042] Combine Figure 3-Figure 8 As shown, the present application proposes a ball picking service machine for a court, which includes a base 1, a walking mechanism 2, a ball picking and dribbling mechanism 3, a ball collecting container 4 and a protective panel 5; wherein the base 1 is a platform for carrying the overall structure of the device, and in some specific embodiments, a metal frame structure can be used to provide stable support for other mechanisms arranged thereon; the walking mechanism 2 is arranged on the base 1, and is a power system for driving the entire device to move, and in some specific embodiments, it may include driving wheels, universal wheels, a driving motor, a power supply, a controller, etc. to enable the entire device to move on the court; the ball picking and dribbling mechanism 3 is connected to the end of the base 1. When working, the ball picking and dribbling mechanism 3 is inclined at a certain angle to the base 1, and can pick up balls on the ground and transfer them upward to the ball collecting container 4 connected to its rear end for storage; the protective panel 5 covers the outside of the ball picking and dribbling mechanism 3 to protect the ball picking and dribbling mechanism 3 inside it;

[0043] Among them, combined Figure 4 and Figure 6As shown, the ball picking and dribbling integrated mechanism 3 includes a ball picking tongue 31, a ball shifting and dribbling stop bar 32, a conveyor belt device 33, a support portion 34 and a dribbling cavity 35; the dribbling cavity 35 has a certain width, and is tilted at an angle to the base 1 when working, and is used to accommodate a batch of balls from the lower end ball inlet to the upper end ball outlet; the conveyor belt device 33 is arranged parallel to the dribbling cavity 35 at its front side, specifically, the conveyor belt device 33 includes a driving motor 331, a driving shaft 333 connected to the output end of the driving motor 331, a driven shaft 334 arranged opposite to the driving shaft 333, and a conveyor belt 332 sleeved on the driving shaft 333 and the driven shaft 334; the ball shifting and dribbling stop bar 33 The support portion 34 includes a rear support plate 341 parallel to the dribbling cavity 35 and disposed on the side of the dribbling cavity 35 away from the conveyor belt 332, and side support plates 343 disposed on the left and right sides of the dribbling cavity 35. The rear support plate 341, the side support plates 343, and the conveyor belt 332 together form the dribbling cavity 35. The ball picking tongue 31 is connected to the lower end of the rear support plate 341, that is, it is located at the lower end of the dribbling cavity 35 and is disposed opposite to the ball deflector and dribbling stop bar 32. The ball picking tongue 31 and the ball deflector and dribbling stop bar 32 disposed opposite to it together constitute a ball picking structure.

[0044] Furthermore, the ball picking tongue 31 and the ball shifting and dribbling stop bar 32 are configured so that when the ball shifting and dribbling stop bar 32 contacts the ball as the conveyor belt 332 moves, or when the surface of the conveyor belt 332 directly contacts the ball on the ground, the ball picking tongue 31 near the bottom of the ball contacts the lower part of the ball on the ground at the same time, and the ball is picked up by relying on the multi-point simultaneous contact and coordination between the ball and the ground, the ball picking tongue 31, the moving ball shifting and dribbling stop bar 32 or the surface of the conveyor belt 332; that is, when the ball shifting and dribbling stop bar 32 is working, As the conveyor belt 332 rotates inward, it contacts one or more balls. Simultaneously, the lower portion of each ball contacts the ball-collecting tongue 31. Driven by the ball-collecting and dribbling bars 32, or directly by the surface of the conveyor belt 332, the ball simultaneously contacts the ball at three or four points, and driven by the moving ball, dribbling bars 32, or the contact points on the surface of the conveyor belt 332, the ball rolls toward the dribbling cavity. Lifted off the ground by the ball-collecting tongue 31, the ball is collected. After being collected, the ball enters the dribbling cavity 35. The conveyor belt 332, the ball-collecting and dribbling bars 32 then lift the ball upward within the dribbling cavity 35, ultimately dropping it into the ball collection container 4.

[0045] In particular, the present application further coordinates the design of the front impact protection panel 51, the ball picking tongue 31 and the ball deflection and dribbling stop bar 32, so that the goal hole of the present application can not only realize the simultaneous pickup of multiple balls in general scenarios, but also meet the requirements of the simultaneous touch and pickup of multiple balls in the horizontal direction in the close-contact edge scenario. Specifically, the ball picking tongue 31 and the ball deflection and dribbling stop bar 32 are configured so that when the front impact protection panel 51 of the protection panel 5 contacts an obstacle (such as a court block or a crossbar, etc.), the ball between the edge of the obstacle and the device can be located at the front impact protection panel 51. The front impact protection panel 51 can contact the ball picking tongue 31 and the ball deflection and dribbling stop bar 32 at the same time; that is, the present application can simultaneously contact the picking structure of the edge ball when the current impact protection panel 51 contacts the obstacle. At this time, the ball can simultaneously apply bottom lifting force (provided by the ball picking tongue 31) and lateral thrust (provided by the ball deflection and dribbling stop bar 32) to the edge ball to achieve effective picking up of the ball close to the edge of the obstacle, and at the same time, it can avoid the collision of key equipment structures such as the ball picking and dribbling mechanism 3 with the blocking net through the front impact protection panel 51.

[0046] Furthermore, by setting the distance between the front end of the front impact protection panel 51 and the lowest point of the ball deflection and dribbling stop bar 32, it is ensured that when the front impact protection panel 51 directly contacts the edge railing or the blocking structure of the court, a ball that is completely close to the edge can also be directly captured by the ball deflection and dribbling stop bar 32 and the ball picking tongue 31. Specifically, the horizontal distance between the front end of the front impact protection panel 51 and the lowest point of the ball deflection and dribbling stop bar 32 is less than or equal to By setting the distance between the upper surface of the ball picking tongue 31 and the surface of the conveyor belt 332, it is possible to ensure that the goal hole has a strong fault tolerance and balls of different sizes can enter smoothly, and to ensure that the ball picking tongue 31 and the ball and dribbling bar 32 can reliably dial in each ball close to the goal hole and avoid excessive squeezing of the ball to cause damage or ejection. Specifically, the maximum straight-line distance from the upper surface of the ball picking tongue 31 to the surface of the conveyor belt 332 close to it is less than or equal to The shortest straight line distance is greater than or equal to (dH 条); by setting the value range of the angle α between the line connecting the front end contact point of the ball picking tongue 31 and the axis of the driven rotating shaft 334 of the conveyor belt device 33 and the ground, the movement trajectory of the ball entering the device is optimized to prevent the angle from being too large or too small and affecting the goal efficiency. Specifically, the value range of the angle α is 45° to 85°; by further limiting the height of the ball picking tongue 31, on the one hand, it is achieved to avoid its damage to the ground of the court (since tennis courts include hard courts, clay courts, grass courts, etc., especially hard courts are the most common, and their surfaces are plastic or special elastic coatings. The surface materials of these courts constitute the main cost part of the court and are very fragile. Therefore, the ball picking device is required to complete the picking action of the ball close to the ground without damaging the surface of the court). On the other hand, it is also avoided that it is too high from the ground, resulting in insufficient lifting force and inability to effectively pick up the ball close to the ground (tennis balls are heavy balls and require sufficient lifting force). Specifically, the vertical distance H between the lower surface of the ball picking tongue 31 and the court ground is 1 / 4 of the height of the ball picking tongue 31. 舌 Satisfy: Maximum distance is less than or equal to Minimum distance greater than or equal to In addition, through the synergistic effect of the above-mentioned parameter designs, when the current impact protection panel 51 contacts the court block, the ball at the edge of the block can simultaneously contact the ball picking tongue 31 and the ball deflection and dribbling stop bar 32. At this time, the ball is in simultaneous contact with the ground, the ball picking tongue 31 and the ball deflection and dribbling stop bar 32, thereby achieving batch and effective pickup of edge balls.

[0047] In some preferred embodiments, the upper surface of the ball-picking tongue 31 is configured as a quasi-arc-shaped surface, with the distance between the center of curvature of the quasi-arc-shaped surface and the central axis of the driven shaft 334 not exceeding the radius of the driven shaft 334. More preferably, the center of curvature of the arc-shaped surface coincides with the axis of the driven shaft 334, so that the tangent direction of any point on the upper surface of the ball-picking tongue 31 is always consistent with the linear velocity direction of the conveyor belt 332, thereby achieving a smooth transition from ball picking to conveying.

[0048] In some preferred embodiments, the ball picking tongue 31 is made of elastic material, and the distance that the upper surface of the tongue can rebound when the ball is squeezed is less than or equal to H. 条 , ensuring that when picking up the ball, the ball picking tongue 31 and the ball-dipping and dribbling stop bar 32, or the ball picking tongue 31 and the surface of the conveyor belt 332, touch the ball and squeeze the ball at the same time on the upper and lower sides, ensuring that the ball is appropriately deformed to generate sufficient upward propulsion force, but does not cause excessive squeezing that causes excessive load on each component, so that the ball can be driven by the surface of the conveyor belt 332 and the ball-dipping and dribbling stop bar 32 during the movement, and at the same time rely on the support of the bottom ball picking tongue 31 to appropriately generate an upward force on the ball.

[0049] In addition, since tennis balls are relatively heavy (mass is 56.7 to 58.5 grams), the ball picking equipment is required to be able to meet the needs of batch picking and transporting heavier balls (relatively large loading force is required on the balls during the picking and dribbling process), and the hairy structure on the surface of tennis balls is made of chemical fiber or wool, which is a key factor in determining its comfort, bounce and other performance, and is also the main difference between high-end and low-end tennis balls. The higher the quality of the tennis balls, the more obvious the hairy structure on the surface of the balls, and the use of high-end wool is also designed to be more susceptible to wear. Once this structure is hooked and worn to a certain extent, the tennis balls will be scrapped. Therefore, the ball picking equipment is required to avoid excessive wear on the hair on the surface of the balls to extend the service life of the balls. For example, the prior art CN110575653A uses a brush structure to lift the balls, which is obviously only suitable for lightweight balls such as table tennis balls. If the hardness of the brush is increased to adapt to heavy balls, it will undoubtedly aggravate the damage to the hairy structure on the surface of the tennis balls. For this reason, the present application further improves the corresponding structure. In some preferred embodiments, the ball-moving and dribbling stop bar 32 is made of elastic material, and the height H of the ball-moving and dribbling stop bar 32 is 条 The value of The lateral width of the ball-moving and dribbling bar 32 is the same as the width of the conveyor belt 332. In some optional embodiments, the ball-moving and dribbling bar 32 can be a continuous structure or a discontinuous structure with a gap in the middle. When there is a gap, the length of the gap is not greater than In some optional embodiments, the ball deflection and dribbling bar 32 may be shaped like a trapezoid, a pointed shape, or another horizontal bar with a narrow upper portion and a wide lower portion. This design ensures the reliable pickup of balls of varying diameters while preventing excessive compression and friction on the ball surface, thereby preventing damage to the ball's primary working structure. Furthermore, it can further cooperate with the ball pickup tongue 31, so that when the ball is contacted, the ball is caused to roll counterclockwise toward the interior of the device by the ball deflection and dribbling bar 32, while the contact area between the ball and the ball pickup tongue 31 remains substantially stationary. This minimizes friction on the ball while also providing moderate compression, allowing the ball to roll into the ball slot.

[0050] In addition, during daily tennis training, the diameters of the balls vary (approximately 5 mm) due to factors such as manufacturer, quality, and usage time. The diameters, volumes, and pressures of children's training balls (red / orange / green balls) vary even more, requiring the ball-picking equipment to be compatible with batches of balls of different diameters. Furthermore, tennis balls are high-pressure balls designed to withstand the violent blows and high-speed bounces of players. Therefore, when a large number of balls enter a space smaller than their diameter, they will experience varying degrees of resistance due to varying degrees of squeezing. The above characteristics bring further challenges to the effective batch lifting of balls in the dribbling cavity. For example, in the solution of patent CN110575653A that uses a single bottom support plate and an upper conveyor brush to lift a large number of tennis balls in batches by friction with each other, when a batch of balls enter continuously, a large number of balls will generate a huge reverse resistance force under the action of squeezing, so that one side of the conveyor brush will be lifted up at the same time, thereby greatly reducing the friction. However, due to the different diameters of the balls, some balls with smaller diameters will directly lose the squeezing force, causing a large number of balls to stagnate during the dribbling process and be unable to continue to be transported and lifted upward. In addition, due to the high elasticity of the tennis balls, this huge reverse force will further cause load and damage to the conveyor belt related drive device. To this end, in some preferred embodiments of the present application, the support portion 34 also includes a front support bar 342, which is arranged on the non-working surface (i.e., non-ball contact surface) of the conveyor belt 332 near the side of the rear support plate 341, and there is a gap D between the front support bar 342 and the conveyor belt 332. 支 , the D 支 satisfy In some specific embodiments, the front support bar 342 is composed of a transverse support bar 3421 and a longitudinal support bar 3422, and can be made of a high-strength and smooth-surface material such as aluminum alloy; the setting of the front support bar 342 can ensure that it does not contact the conveyor belt, avoiding adding additional resistance to affect the conveying efficiency of the conveyor belt or causing wear to the conveyor belt, and on the other hand, it can also ensure that when a large number of balls enter the dribbling cavity 35 in batches, for balls of different diameters arranged horizontally and distributed vertically, there can still be sufficient and appropriate extrusion force to drive the batch of balls to continue to be conveyed and lifted, and neither excessive extrusion will occur to cause damage to related structures such as the conveyor belt device 33, the balls, and the support part 34, nor will excessive load be added to the drive motor of the conveyor belt device 33 to cause it to overload.

[0051] In some preferred embodiments, the surfaces of the rear support plate 341, the front support bar 342, and the side support plate 343 close to the dribbling cavity 35, the working surface of the conveyor belt 332 (i.e., the ball-touching surface), and the surfaces of the ball-dipping and dribbling stop bars 32 are all smooth surfaces to further reduce friction and avoid damaging the surface working wool structure of the ball.

[0052] In some preferred embodiments, by setting the distance between adjacent ball-striking and dribbling bars 32, it is possible to avoid the problem that a large distance causes the balls to accumulate and thus affects the efficiency of picking up and conveying a batch of balls, or that a small distance causes excessive squeezing and thus causes the balls to be easily worn, the conveyor belt device drive motor is overloaded, and energy consumption is increased. Specifically, the distance D between two adjacent ball-striking and dribbling bars 32 is set to 条 satisfy:

[0053] Furthermore, through the synergistic effect of the design of the relevant components of the above-mentioned conveying structure, it is possible to ensure that during the process of conveying the ball from the goal entrance to the goal exit, moderate squeezing of a large number of balls entering the dribbling cavity 35 simultaneously in the horizontal and vertical directions can be maintained with minimal friction, without causing excessive damage to the surface structure of the ball.

[0054] In some preferred embodiments, Figure 4 and Figure 5 As shown, the stadium batch ball picking service machine of the present application also includes a ball touching mechanism 6. Through the setting of the ball touching mechanism 6, the conveyor belt device 33 can be controlled to start and run for a specified period of time as needed, which not only avoids the ineffective idling of the conveyor belt, reduces energy consumption and mechanical wear, but also ensures that all sensed balls can smoothly enter the equipment and be transferred to the ball collecting container 4, significantly improving the ball picking efficiency and the degree of equipment automation. Specifically, the ball-touching mechanism 6 is arranged between the front impact protection panel 51 and the ball-picking and dribbling mechanism 3, and includes a ball-touching sensing base 61, a ball-touching micro-motion delay switch, a ball-touching sensing rod 63 and a ball-touching sleeve 64. The ball-touching sensing base 61 is fixedly connected between the front impact protection panel 51 and the ball-picking and dribbling mechanism 3, the ball-touching micro-motion delay switch is arranged inside the ball-touching sensing base 61, and the ball-touching sensing rod 63 is a U-shaped structure composed of two longitudinal rods and a transverse rod, wherein the ends of the two longitudinal rods are slidably connected to the bottom ends of the ball-touching sensing base 61, and the ball-touching sleeve 64 is movably sleeved on the transverse rod of the ball-touching sensing rod 63; when the ball-touching mechanism is in a state of not contacting the ball, the distance H between its lowest point and the ground is 触 =d-(2~5)mm. When the ball-touching sleeve 64 touches the ball, it can roll relative to the ball-touching sensing rod 63, and under the action of the ball, it drives the ball-touching sensing rod 63 to slide upward and then touch the ball-touching micro-delay switch. The ball-touching micro-delay switch can control the operation of the conveyor belt device 33. After being triggered, it will start the conveyor belt device 33 and make it run for a specified time period, ensuring that the operation during this time period can enable the touched ball to enter the equipment and be conveyed and lifted into the ball collecting container 4.

[0055] In some specific embodiments, the operating time specified by the ball-touching micro-delay switch can be adjusted according to the size of the device, the transmission distance, the power, etc. In some preferred embodiments, the ball-touching mechanism 6 is entirely made of a lightweight material, which can be selected from carbon fiber or aluminum. When it encounters an obstacle on the ground (such as the top of a single or multiple balls, or other obstacles on the field), the ball-touching sensing rod 63 and the ball-touching sleeve 64 mounted thereon can be lifted upward due to its lightweight. In some preferred embodiments, the ball-touching sleeve 64 is lightweight and has a smooth surface, and can be made of materials such as aluminum or carbon fiber tubes. In this case, once it contacts the ball, it does not generate additional lateral thrust on the ball, but instead lifts upward and rolls over the ball, causing the ball to enter the back side of the ball-touching sensing rod 63.

[0056] In some preferred embodiments, the ball-collecting service machine for a court of the present application further includes a folding support mechanism 7 to enable the ball-collecting and dribbling mechanism 3 to be stacked or erected relative to the base 1. Specifically, the folding support mechanism 7 includes a support rod and a hinge. The ends of the support rod are respectively connected to the base 1 and the ball-collecting and dribbling mechanism 3. The hinge is provided at the connection between the base 1 and the ball-collecting and dribbling mechanism 3 to achieve an articulated connection between the two. When the equipment is working, the inclination angle of the ball picking and dribbling mechanism 3 relative to the base 1 and the height of the ball picking tongue 31 from the ground can be adjusted by the support rod, so that it can be adjusted to the appropriate angle and height for different types of venues such as dirt venues, grass venues, hard venues, etc. For example, when the ground is uneven and has gaps, such as dirt venues and grass venues, a larger ground clearance is required to ensure the normal operation of the equipment, while when it is on a hard venue or a relatively flat venue, a lower ground clearance can be used; when the equipment is not working and needs to be transferred, since the road surface may be an ordinary road, road, green space or other non-court venue road surface, the support mechanism 7 can be folded and laid flat on the base 1, so that the overall center of gravity of the machine is lowered and has a higher ground clearance, which is convenient for manual or automatic driving of the equipment to quickly complete the transfer and is not easy to damage the key components of the equipment.

[0057] In some preferred embodiments, the stadium batch ball picking service machine of the present application also includes an application interaction module, which can be set on the protective panel 5. In some specific embodiments, the application interaction module can be an information interaction and touch control screen, which can complete the scan code subscription of ball picking service, other venue reservations and use, venue operation services, competition organization, messages and advertising notifications and other application services.

[0058] In some specific embodiments, the stadium batch ball picking service machine of the present application also includes a control system, which is electrically connected to other mechanisms such as the walking mechanism 2 and the ball picking and dribbling integrated mechanism 3 to control the operation and stop of other mechanisms.

[0059] The above is a detailed introduction to the specific implementation methods of the present application. For those skilled in the art, several improvements and modifications can be made to the present application without departing from the principles of the present application. These improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A ball picking service machine for a court, comprising a base (1), a walking mechanism (2) arranged on the base (1), a ball picking and dribbling mechanism (3) connected to the base (1), a ball collecting container (4) arranged at the rear end of the ball picking and dribbling mechanism (3), and a protective panel (5) covering the outside of the ball picking and dribbling mechanism (3), characterized in that: The ball picking and dribbling integrated mechanism (3) comprises a dribbling cavity (35) arranged at an angle to the base (1) when in operation, a conveyor belt device (33) arranged parallel to the dribbling cavity (35), ball-moving and dribbling bars (32) spaced apart on the conveyor belt (332) along the running direction of the conveyor belt (332), and a ball picking tongue (31) located below the dribbling cavity (35) and arranged opposite to the ball-moving and dribbling bars (32); The ball picking tongue (31) and the ball shifting and dribbling stop bar (32) are configured so that when the ball shifting and dribbling stop bar (32) moves along with the conveyor belt (332) and contacts a ball on the ground, the ball picking tongue (31) contacts the lower part of the ball at the same time, thereby completing the picking up of the ball together; when the front impact protection panel (51) of the protection panel (5) contacts a fixed obstacle on the field, the ball between the obstacle and the ball picking and dribbling integrated mechanism (3) can contact the ball picking tongue (31) and the ball shifting and dribbling stop bar (32) at the same time, or can contact the surface of the conveyor belt (332) on both sides of the ball picking tongue (31) and the stop bar at the same time.

2. The ball picking service machine for a golf course in batches according to claim 1, characterized in that: The horizontal distance between the front end of the front impact protection panel (51) and the lowest point of the ball-moving and dribbling stop bar (32) is less than or equal to The maximum straight-line distance between the upper surface of the ball-picking tongue (31) and the surface of the conveyor belt (332) adjacent thereto is less than or equal to The shortest straight-line distance is greater than or equal to dH 条 ; The vertical distance H between the lower surface of the ball picking tongue (31) and the ground of the court 舌 Satisfy: Maximum distance is less than or equal to Minimum distance greater than or equal to The angle α between the line connecting the front end contact point of the ball picking tongue (31) and the axis of the driven rotating shaft (334) of the conveyor belt device (33) and the ground is in the range of 45° to 85°.

3. The ball picking service machine for a golf course in batches according to claim 2, characterized in that: The upper surface of the ball picking tongue (31) is an arc-shaped surface, and the distance between the center of curvature of the arc-shaped surface and the central axis of the driven rotating shaft (334) does not exceed the radius of the driven rotating shaft (334).

4. The ball picking service machine for a golf course in batches according to claim 2, characterized in that: The ball picking tongue (31) is made of elastic material, and the distance that the upper surface of the tongue can rebound when the ball is squeezed is less than or equal to H. 条 .

5. The ball picking service machine for a golf course in batches according to claim 2, characterized in that: The height H of the ball-moving and dribbling bar (32) 条 The value of satisfies:

6. The ball picking service machine for a golf course in batches according to claim 1 or 2, characterized in that: The ball picking and dribbling integrated mechanism (3) further comprises a rear support plate (341), a front support bar (342) and a side support plate (343); the rear support plate (341), the side support plate (343) and the surface of the conveyor belt (332) close to the front support bar (342) and between the front support bar (342) and the rear support plate (341) jointly form a dribbling cavity (35) for accommodating batches of balls for transport; the front support bar (342) is arranged on the non-working side of the conveyor belt (332) facing the rear support plate (341), and a gap D is formed between the front support bar (342) and the conveyor belt (332). 支 , the D 支 satisfy: Used to support the conveyor belt touch ball from behind.

7. The ball picking service machine for a golf course in batches according to claim 6, characterized in that: The front support bar (342) includes a transverse support bar (3421) and a longitudinal support bar (3422); And / or, the side surfaces of the rear support plate (341), the front support bar (342) and the side support plate (343) close to the dribbling cavity (35), the working surface of the conveyor belt (332), and the surfaces of the ball-moving and dribbling stop bars (32) are all smooth surfaces.

8. The ball picking service machine for golf courses in batches according to claim 7, characterized in that: The distance D between two adjacent ball-moving and dribbling bars (32) 条 The value of satisfies:

9. The ball picking service machine for golf courses in batches according to claim 1, characterized in that: The device further comprises a ball-touching mechanism (6), wherein the ball-touching mechanism (6) comprises a ball-touching sensing base (61) arranged between the ball-picking and dribbling integrated mechanism (3) and the front impact protection panel (51), a ball-touching micro-motion delay switch arranged in the ball-touching sensing base (61), a ball-touching sensing rod (63) slidably connected to the lower end of the ball-touching sensing base (61), and a ball-touching sleeve (64) sleeved on the lower end of the ball-touching sensing rod (63). When the ball-touching sleeve (64) contacts the top of the ball on the ground, it can be lifted and pass over the ball, and in this process, the ball-touching sensing rod (63) is driven to slide upward to touch and activate the ball-touching micro-motion delay switch. The ball contact mechanism (6) is made of lightweight material; When the ball contact mechanism (6) is not in contact with the ball, the distance H between its lowest point and the ground is 触 =d-(2~5)mm.

10. The ball picking service machine for a golf course in batches according to claim 1, characterized in that: The device further comprises a folding support mechanism (7) for realizing stacking or erecting the ball-picking and dribbling mechanism (3) relative to the base (1). The folding support mechanism (7) comprises a support rod and a hinge. The two ends of the support rod are respectively connected to the base (1) and the ball-picking and dribbling mechanism (3). The hinge is provided at the connection between the base (1) and the ball-picking and dribbling mechanism (3) to realize hinged connection between the two.

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