A remote control type ground mobile ball collecting vehicle based on Mecanum wheel omni-directional movement

Abstract

The present application relates to the technical field of sports equipment, in particular to a remote control type ground moving ball collecting vehicle based on Mecanum wheel omni-directional movement, comprising a ball collecting mechanism and a driving mechanism for driving the ball collecting mechanism to move; the ball collecting mechanism comprises a frame collecting device which is floatingly arranged and connected with the driving mechanism; the frame collecting device comprises a back plate, symmetrical and rotationally arranged lateral rotating rods on the back plate, connecting columns arranged at the ends of the two lateral rotating rods away from the back plate, a longitudinal rotating rod rotationally arranged between the two connecting columns, and a plurality of rotating bars arranged on the lateral rotating rods and the longitudinal rotating rod at intervals; the rotating bars are respectively fixed on the lateral rotating rods and the longitudinal rotating rod through adjusting mechanisms. The whole assembly is easy to obtain and assemble, is suitable for long-term training use, and the distance between the rotating bars is adjustable; the distance between two adjacent rotating bars can be adjusted according to the size of different balls to adapt to balls of different sizes, so that the applicability and practicability are high.

Description

Technical Field

[0001] This invention belongs to the field of sports equipment technology, and specifically relates to a remote-controlled ground mobile ball-collecting vehicle based on the omnidirectional movement of Mecanum wheels. Background Technology

[0002] In sports training such as tennis and table tennis, collecting scattered balls is a laborious and inefficient task, currently relying mainly on manual picking or the use of traditional ball retrievers. While common roller-type ball retrievers can alleviate some of the burden, their moving chassis are usually based on conventional wheel systems, possessing only basic forward, backward, and turning functions, resulting in poor flexibility and low ball-collecting efficiency. Furthermore, different equipment needs to be used for different sized balls, limiting their practicality. Although some high-end training venues use large automated ball retrievers, which significantly improve ball-collecting efficiency, their high cost and space requirements prevent widespread adoption in most grassroots training facilities. This forces most enthusiasts to rely on inefficient manual ball-collecting methods, which are time-consuming, labor-intensive, and can also affect training continuity and overall training effectiveness.

[0003] Therefore, developing an economical, practical, easy-to-operate ball-retrieval device suitable for small and medium-sized venues is of great practical significance. Summary of the Invention

[0004] To address the problems of existing technologies, this invention proposes a remote-controlled ground-based ball-collecting vehicle based on omnidirectional movement of Mecanum wheels. The objective of this invention and the technical problem it solves are achieved through the following technical solutions.

[0005] According to the present invention, a remote-controlled ground mobile ball-collecting vehicle based on omnidirectional movement of Mecanum wheels includes a ball-collecting mechanism and a drive mechanism for driving the ball-collecting mechanism to move. The ball-collecting mechanism includes a frame collection device that is suspended in the air and connected to the drive mechanism. The frame collection device includes a back plate and two symmetrically rotatably mounted transverse rotating rods on the back plate. The ends of the two transverse rotating rods away from the back plate are provided with connecting columns. A longitudinal rotating rod is rotatably mounted between the two connecting columns. Several rotating bars are spaced apart on both the transverse and longitudinal rotating rods. The rotating bars are fixed to the transverse and longitudinal rotating rods respectively by an adjustment mechanism.

[0006] Furthermore, the ball-collecting mechanism is connected to the drive mechanism via a pushing mechanism. The pushing mechanism includes a push plate fixed to the drive mechanism, and the two sides of the push plate are fixed to the frame collecting device via inclined downward extending connecting arms.

[0007] Furthermore, the adjustment mechanism includes a through hole at the top of the rotating bar, and a matching stud is provided in the through hole to fix the position of the rotating bar.

[0008] Furthermore, the frame collection device is equipped with baffles corresponding to the horizontal rotating rod and the vertical rotating rod, respectively, and the baffles are located on the outer edge of the frame collection device.

[0009] Furthermore, the drive mechanism includes a base plate and a cover plate arranged parallel to the base plate. The base plate and the cover plate are fixed together by a connecting column. A walking mechanism is provided at the bottom of the base plate. A control component is also provided between the base plate and the cover plate.

[0010] Furthermore, the walking mechanism includes Mecanum wheel sets located around the bottom of the base plate. Each Mecanum wheel set includes a Mecanum wheel coupling. One end of the Mecanum wheel coupling is connected to the Mecanum wheel via a connecting bolt, and the other end is connected to the drive shaft of a DC motor fixed to the base plate. The DC motor is electrically connected to the control components.

[0011] Furthermore, the DC motor is connected to the base plate via a motor bracket.

[0012] Furthermore, the Mailun coupling includes a column connected to the connecting bolt and a cylinder connected to the DC motor drive shaft. The cylinder is sleeved on the DC motor drive shaft, and the cylinder and the DC motor drive shaft are provided with corresponding pin holes, in which a matching fixing pin is inserted.

[0013] Furthermore, the control components include a power module, a Bluetooth module, a main control board, and a vehicle drive board. The power module is electrically connected to the Bluetooth module and the main control board, and the main control board is electrically connected to the vehicle drive board.

[0014] In summary, the present invention has the following advantages: 1. The modular design of the structure and the ball collection mechanism, which combines rotating bars and baffles, are lightweight and simple in structure. They can collect multiple balls in sequence, with high ball collection efficiency and less chance of missing any balls.

[0015] 2. It adopts Mecanum wheels with Bluetooth remote control technology, breaking through the movement limitations of traditional ball-collecting equipment, realizing flexible movement in multiple directions, adapting to the ball-collecting needs of different training venues, and eliminating the need for users to manually adjust the position of the equipment.

[0016] 3. Through program control and collaboration with various modules, the mobile phone Bluetooth remote control responds quickly and is easy to operate. It can adjust the ball receiving path and status in real time to match the training rhythm, ensuring the continuity of training and greatly improving ball receiving efficiency and training experience.

[0017] 4. The overall components are easy to obtain and easy to assemble. The DC power supply is stable and suitable for long-term training. At the same time, the distance between the rotating bars is adjustable. The distance between two adjacent rotating bars can be adjusted according to the size of different balls to accommodate different sized balls. It has strong applicability and practicality.

[0018] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a remote-controlled ground mobile ball-collecting vehicle based on the omnidirectional movement of Mecanum wheels according to the present invention.

[0020] Figure 2 This is a schematic diagram of the ball-collecting mechanism.

[0021] Figure 3 This is a schematic diagram of the Mecanum wheel connection.

[0022] Reference numerals: 1. Base plate; 2. Baffle; 3. Pushing mechanism; 4. Rotating bar; 5. Frame collecting device; 6. Connecting column; 7. Mecanum wheel; 8. DC motor; 9. Motor bracket; 10. Fixing pin; 11. Mecanum wheel coupling; 12. Connecting bolt; 13. Cover plate; 14. Fastening bolt; 15. Bluetooth module; 16. Power module; 17. Vehicle drive board; 18. Main control board. Detailed Implementation

[0023] The technical solution of the present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0024] Please see Figure 1 , Figure 2 A remote-controlled ground mobile ball-collecting vehicle based on omnidirectional movement of Mecanum wheels includes a ball-collecting mechanism and a drive mechanism for driving the ball-collecting mechanism to move. The ball-collecting mechanism is connected to the drive mechanism through a push mechanism. The push mechanism includes a push plate 3 fixedly connected to the drive mechanism. The push plate 3 has connecting arms that extend downward at an angle on both sides. The connecting arms are fixedly connected to the frame collection device 5 by fastening bolts 14.

[0025] The ball-collecting mechanism includes a floating frame collection device 5 (the distance between the frame collection device 5 and the ground must be less than the diameter of the smallest ball-collecting object to prevent the ball from slipping out of the gap). The frame collection device 5 includes a back plate (located on the side closest to the drive mechanism), symmetrically and rotatably mounted transverse rotating rods on the back plate, connecting posts at the ends of the two transverse rotating rods away from the back plate, and a longitudinal rotating rod rotatably mounted between the two connecting posts. Several rotating strips 4 are spaced apart on both the transverse and longitudinal rotating rods (the rotating strips 4 can be made of lightweight plastic to reduce volume). The rotating strips 4 are fixed to the transverse and longitudinal rotating rods respectively by an adjustment mechanism (the transverse and longitudinal rotating rods can be made of lightweight plastic). The material used is gold, such as aluminum alloy, and the interior needs to be hollow. While ensuring strength, the wall thickness is reduced to reduce volume and weight. When used in combination with the rotating bar 4, it is necessary to ensure that the ball (e.g., tennis ball) passively collides with the rotating bar 4 so that the horizontal and vertical rotating rods rotate until the ball passes over the rotating bar 4. Furthermore, when changing the ball to be collected, such as collecting a ping-pong ball, due to its light weight, the frame collecting device 5 may knock the ball away when it moves, causing the rotating bar 4 to not rotate. Therefore, motors can be installed on the back plate and connecting column to actively drive the horizontal and vertical rotating rods to rotate. When collecting the ball, the motor drives the horizontal and vertical rotating rods to actively rotate inward so that the ball enters the frame collecting device 5.

[0026] Furthermore, the adjustment mechanism includes a through hole at the top of the rotating bar 4, and a matching stud is provided in the through hole to fix the position of the rotating bar 4; by loosening or tightening the stud, the distance between adjacent rotating bars 4 can be adjusted to accommodate balls of different sizes, thereby preventing the balls from slipping out of the gap between the two rotating bars 4, and the width of the gap must be smaller than the diameter of the ball being collected.

[0027] Furthermore, the frame collecting device 5 is provided with baffles 2 corresponding to the horizontal rotating rod and the vertical rotating rod respectively. The baffles 2 are set on the outer edge of the frame collecting device 5. The baffles 2 corresponding to the horizontal rotating rod are set on the connecting column on one side and the back plate on the corresponding side, and the baffles 2 corresponding to the vertical rotating rod are set on the two connecting columns. By setting the baffles 2, without setting a motor to drive the horizontal and vertical rotating rods to rotate, the rotating bar 4 can be prevented from rotating outward, thereby preventing the ball from hitting the rotating bar 4 due to inertial force when the frame collecting device 5 moves.

[0028] Please see Figure 1 , Figure 3The ball-collecting vehicle also includes a drive mechanism, which includes a base plate 1 and a cover plate 13 arranged parallel above the base plate 1. The base plate 1 and the cover plate 13 are fixed together by a connecting column 6. A walking mechanism is provided at the bottom of the base plate 1. A control component is also provided between the base plate 1 and the cover plate 13. The control component includes a power module 16, a Bluetooth module 15, a main control board 18, and a vehicle drive board 17. The power module 16 is electrically connected to the Bluetooth module 15 and the main control board 18, respectively. The main control board 18 is electrically connected to the vehicle drive board 17. The walking mechanism includes Mecanum wheel sets located around the bottom of the base plate 1. The Mecanum wheel sets include Mecanum wheel couplings 11. One end of the Mecanum wheel couplings 11 is connected to the Mecanum wheel 7 via connecting bolts 12, and the other end is connected to the drive shaft of a DC motor 8 (the DC motor 8 is connected to the base plate 1 via a motor bracket 9) fixed on the base plate 1. The DC motor 8 is electrically connected to the power module 16.

[0029] The Mecanum wheel coupling 11 includes a column connected to the connecting bolt 12 and a cylinder connected to the drive shaft of the DC motor 8. The cylinder is sleeved on the drive shaft of the DC motor 8, and the cylinder and the drive shaft of the DC motor 8 are provided with corresponding pin holes. A matching fixing pin 10 is inserted into the pin hole to facilitate the installation and removal of the Mecanum wheel 7.

[0030] Working principle: The ball-collecting cart is driven by a DC motor 8 and establishes a connection with the ball-collecting cart via Bluetooth. When the mobile phone sends a command, it transmits the command to the main control board 18 of the ball-collecting cart via the Bluetooth module 15. The main control board 18 outputs an electrical signal to the cart drive board 17, which amplifies the electrical signal and transmits it to the DC motor 8, thereby driving the Mecanum wheel 7 to rotate. The ball-collecting cart moves under the action of the Mecanum wheel 7 and moves the ball-collecting mechanism through the push mechanism 3. The ball-collecting mechanism does not directly contact the ground. When moving, it is given kinetic energy. Then, the interaction force between the tennis ball and the rotating bar 4 causes the rotating bar 4 to drive the longitudinal and transverse rotating rods to rotate, allowing the tennis ball to enter the frame collection device 5. Since the baffle 2 set on the outer part of the rotating bar can prevent the rotating bar 4 from rotating back, it prevents the tennis ball from rolling out of the frame collection device 5, thus completing the ball collection. When the target ball is a small ball such as a ping-pong ball, after the ball is detected, a signal is transmitted to the Bluetooth module 15 via the mobile phone. The mobile phone then controls the motor to rotate actively, driving the horizontal and vertical rotating rods to rotate, while coordinating with the movement of the ball-collecting cart to collect the ball.

[0031] The above description is merely a preferred embodiment of the present invention. Any simple modifications, equivalent changes, and alterations made by those skilled in the art to the above embodiments without departing from the scope of the present invention and based on the technical essence of the present invention shall still fall within the scope of the present invention.

Claims

1. A remote-controlled ground-based mobile ball-collecting vehicle based on omnidirectional movement of Mecanum wheels, characterized in that: Includes a ball-collecting mechanism and a drive mechanism for moving the ball-collecting mechanism; The ball collection mechanism includes a frame collection device (5) that is floating and connected to the drive mechanism. The frame collection device (5) includes a back plate and two symmetrically and rotatably mounted transverse rotating rods on the back plate. The ends of the two transverse rotating rods away from the back plate are provided with connecting columns. A longitudinal rotating rod is rotatably mounted between the two connecting columns. Several rotating bars (4) are spaced apart on the transverse rotating rods and the longitudinal rotating rods. The rotating bars (4) are fixed on the transverse rotating rods and the longitudinal rotating rods respectively by an adjustment mechanism.

2. The remote-controlled ground mobile ball-collecting vehicle based on omnidirectional movement of Mecanum wheels according to claim 1, characterized in that: The ball collecting mechanism is connected to the driving mechanism through the pushing mechanism. The pushing mechanism includes a push plate (3) fixed to the driving mechanism. The two sides of the push plate (3) are fixed to the frame collecting device (5) through the connecting arms that extend downward at an angle.

3. The remote-controlled ground mobile ball-collecting vehicle based on omnidirectional movement of Mecanum wheels according to claim 1, characterized in that: The adjustment mechanism includes a through hole at the top of the rotating bar (4), and a matching stud is provided in the through hole to fix the position of the rotating bar (4).

4. A remote-controlled ground-based mobile ball-collecting vehicle based on omnidirectional Mecanum wheel movement according to claim 1, characterized in that: The frame collection device (5) is provided with baffles (2) corresponding to the horizontal rotating rod and the vertical rotating rod respectively. The baffles (2) are set on the outer edge of the frame collection device (5).

5. A remote-controlled ground-based mobile ball-collecting vehicle based on omnidirectional movement of Mecanum wheels according to claim 1, characterized in that: The drive mechanism includes a base plate (1) and a cover plate (13) arranged parallel above the base plate (1). The base plate (1) and the cover plate (13) are fixed together by a connecting column (6). The bottom of the base plate (1) is provided with a walking mechanism. A control component is also provided between the base plate (1) and the cover plate (13).

6. A remote-controlled ground-based mobile ball-collecting vehicle based on omnidirectional movement of Mecanum wheels according to claim 5, characterized in that: The walking mechanism includes a Mecanum wheel set located around the bottom of the base plate (1). The Mecanum wheel set includes a Mecanum wheel coupling (11). One end of the Mecanum wheel coupling (11) is connected to the Mecanum wheel (7) by a connecting bolt (12), and the other end is connected to the drive shaft of a DC motor (8) fixed on the base plate (1). The DC motor (8) is electrically connected to the control components.

7. A remote-controlled ground-based mobile ball-collecting vehicle based on omnidirectional movement of Mecanum wheels according to claim 6, characterized in that: The DC motor (8) is connected to the base plate (1) via the motor bracket (9).

8. A remote-controlled ground-based mobile ball-collecting vehicle based on omnidirectional movement of Mecanum wheels according to claim 6, characterized in that: The Mailun coupling (11) includes a column connected to the connecting bolt (12) and a cylinder connected to the drive shaft of the DC motor (8). The cylinder is sleeved on the drive shaft of the DC motor (8), and the cylinder and the drive shaft of the DC motor (8) are provided with corresponding pin holes, and a matching fixing pin (10) is inserted into the pin hole.

9. A remote-controlled ground-based mobile ball-collecting vehicle based on omnidirectional movement of Mecanum wheels according to claim 5, characterized in that: The control components include a power module (16), a Bluetooth module (15), a main control board (18), and a vehicle drive board (17). The power module (16) is electrically connected to the Bluetooth module (15) and the main control board (18), respectively. The main control board (18) is electrically connected to the vehicle drive board (17).

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