Robot for automatically picking up table tennis balls

Abstract

The utility model relates to the technical field of robots, and provides an automatic table tennis ball picking robot. Comprising a walking chassis, the walking chassis is connected with a temporary storage device in a suction device through a first supporting rod and a cross beam, and the walking chassis is connected with a second guide pipe in the suction device through a second supporting rod; one end of the temporary storage is connected with the second conduit, the other end of the temporary storage is connected with the first conduit, and the first conduit is connected with the picker; the second conduit is connected with a third conduit in the detection device, the top of the third conduit is a pressure sensor, and the bottom of the third conduit is a bouncing device. The automatic table tennis ball picking robot has the beneficial effects that after the automatic table tennis ball picking robot picks up table tennis balls, the to-be-detected table tennis balls are bounced through the bouncing device, the bounced table tennis balls impact the pressure sensor, and when the pressure value detected by the pressure sensor is within the threshold value range, the table tennis balls are intact; when the pressure value detected by the pressure sensor is not within the threshold range, the table tennis ball is damaged, and the damaged table tennis ball can be effectively recognized.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an automatic table tennis ball picking robot. Background Art

[0002] In a table tennis hall, athletes play a lot of table tennis every day, and many table tennis balls are scattered on the ground. Manual ball picking is inefficient, labor-intensive, and affects the training of athletes.

[0003] The existing ball picking robot can only pick up the ball, but cannot identify the damaged table tennis ball. In view of this, the utility model is proposed. Utility Model Content

[0004] The utility model aims to provide a robot for automatically picking up table tennis balls, so as to solve the technical problems existing in the prior art.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: an automatic table tennis picking robot, comprising: a walking chassis, the walking chassis is connected to a temporary storage device in a suction and picking device through a first support rod and a cross beam, and the walking chassis is connected to a second conduit in the suction and picking device through a second support rod; one end of the temporary storage device is connected to the second conduit, and the other end of the temporary storage device is connected to the first conduit, and the first conduit is connected to a picker; the second conduit is connected to a third conduit in a detection device, the top of the third conduit is a pressure sensor, and the bottom of the third conduit is a launcher.

[0006] In an optional embodiment, a first fan is provided in the temporary storage chamber of the temporary storage device, a sealing net is provided at the suction port of the first fan, an output end face of the suction port is tilted as a whole, and the sealing net fits the output end face of the suction port.

[0007] In an optional embodiment, a valve plate for opening and closing the second conduit is provided in the second conduit.

[0008] In an optional embodiment, the detection device is connected to a separation device, a second fan is provided at one end of a sixth duct of the separation device, and a plurality of through holes are provided at the other end of the sixth duct.

[0009] In an optional embodiment, the sixth conduit is detachably connected to the second storage via the fourth conduit, and the sixth conduit is detachably connected to the first storage via the fifth conduit.

[0010] In an optional embodiment, a plurality of traveling wheels are disposed at the bottom of the traveling chassis; and a plurality of obstacle avoidance sensors are disposed at the side of the traveling chassis.

[0011] In an optional embodiment, a camera is connected to the top of the temporary storage device via a pan / tilt head.

[0012] The beneficial effect of the utility model is that after picking up the ping-pong ball, the automatic table tennis ball picking robot uses a lifter to bounce the ping-pong ball to be detected, and the bounced ping-pong ball hits the pressure sensor. When the pressure value detected by the pressure sensor is within the threshold range, it means that the ping-pong ball is intact. When the pressure value detected by the pressure sensor is not within the threshold range, it means that the ping-pong ball is damaged. The damaged ping-pong ball can be effectively identified. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 The structure of the automatic table tennis picking robot provided in one embodiment of the utility model is schematically shown. Figure 1 .

[0015] Figure 2 The structure of the automatic table tennis picking robot provided in one embodiment of the utility model is schematically shown. Figure 2 .

[0016] Figure 3 The structure of the automatic table tennis picking robot provided in one embodiment of the utility model is schematically shown. Figure 3 .

[0017] Figure 4 The figure is a top view of an automatic table tennis ball picking robot provided in one embodiment of the utility model.

[0018] Figure 5 for Figure 4 AA section view.

[0019] Figure 6 for Figure 4 Middle BB section view.

[0020] Among them, the accompanying drawings are marked as: 1-walking chassis, 11-walking wheel, 12-first support rod, 13-crossbeam, 14-second support rod; 2-suction and picking device, 21-pickup device, 22-first conduit, 23-temporary storage device, 231-temporary storage chamber, 24-first fan, 241-adsorption port, 242-sealing net, 25-second conduit, 251-valve plate; 3-detection device, 31-lifter, 32-pressure sensor, 33-third conduit; 4-separation device, 41-first storage device, 42-second storage device, 43-second fan, 44-fourth conduit, 45-fifth conduit, 46-through hole. DETAILED DESCRIPTION

[0021] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0022] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be directly or indirectly located on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on the present technical solution. The terms "first" and "second" are only used for the convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0023] Please refer to the attached Figure 1-6 The purpose of this embodiment is to provide an automatic table tennis picking robot, including: a walking chassis 1, a plurality of walking wheels 11 are arranged at the bottom of the walking chassis 1, driving the entire robot to walk and pick up table tennis balls. A plurality of obstacle avoidance sensors are arranged on the side of the walking chassis 1 to effectively avoid obstacles. The walking chassis 1 is connected to the temporary storage 23 in the suction and picking device 2 through two first support rods 12 and a crossbeam 13, and the walking chassis 1 is connected to the second conduit 25 in the suction and picking device 2 through a second support rod 14; one end of the temporary storage 23 is connected to the second conduit 25, and the other end of the temporary storage 23 is connected to the first conduit 22, and the first conduit 22 is connected to the picker 21, and the picker 21 is used to pick up table tennis balls.

[0024] Specifically, a first fan 24 is provided in the temporary storage chamber 231 of the temporary storage device 23, a sealing net 242 is provided at the suction port 241 of the first fan 24, the output end face of the suction port 241 is tilted as a whole, and the sealing net 242 fits the output end face of the suction port 241. Since the output end face of the suction port 241 is tilted as a whole and is provided with the sealing net 242, the adsorbed ping-pong ball will not block the suction port 241. A valve plate 251 for opening and closing the second duct 25 is provided in the second conduit 25. A camera is connected to the top of the temporary storage device 23 through a pan-tilt head. When in use, the robot identifies the position of the ping-pong ball through the camera, the first fan 24 works, and the ping-pong balls enter the temporary storage chamber 231 one by one through the pick-up device 21 and the first conduit 22, and the valve plate 251 is closed at this time; when a certain amount of ping-pong balls are stored in the temporary storage chamber 231, the first fan 24 stops working.

[0025] Then the valve plate 251 works, opening the valve plate 251 to allow one ping-pong ball to enter the detection device at a time. The second conduit 25 is connected to the third conduit 33 in the detection device 3. The top of the third conduit 33 is a pressure sensor 32, and the bottom of the third conduit 33 is a lifter 31. When the lifter 31 lifts the ping-pong ball to be detected, the lifted ping-pong ball hits the pressure sensor 32. When the pressure value detected by the pressure sensor 32 is within the threshold range, it means that the ping-pong ball is intact. When the pressure value detected by the pressure sensor 32 is not within the threshold range, it means that the ping-pong ball is damaged, which can effectively identify the damaged ping-pong ball.

[0026] Finally, the detection device 3 is connected to the separation device 4, and one end of the sixth conduit of the separation device 4 is provided with a second fan 43, and the other end of the sixth conduit is provided with a plurality of through holes 46. The sixth conduit is detachably connected to the second storage 42 through the fourth conduit 44, and the sixth conduit is detachably connected to the first storage 41 through the fifth conduit 45. When a damaged table tennis ball is identified, the second fan 43 rotates forward, and the damaged table tennis ball enters the second storage 42. When a normal table tennis ball is identified, the second fan 43 rotates reversely, and the damaged table tennis ball enters the first storage 41. When a certain number of table tennis balls are stored in the second storage 42 and the first storage 41, the second storage 42 and the first storage 41 are removed and poured into a ball serving machine or other storage device for use by athletes.

[0027] Any modifications, equivalent substitutions and improvements made within the spirit and principles of this utility model should be included in the protection scope of this utility model.

Claims

1. A robot for automatically picking up table tennis balls, comprising: A walking chassis (1), the walking chassis (1) being connected to a temporary storage device (23) in a suction and picking device (2) via a first support rod (12) and a crossbeam (13), and the walking chassis (1) being connected to a second conduit (25) in the suction and picking device (2) via a second support rod (14); one end of the temporary storage device (23) being connected to the second conduit (25), the other end of the temporary storage device (23) being connected to a first conduit (22), and the first conduit (22) being connected to a picker (21); The invention is characterized in that the second conduit (25) is connected to the third conduit (33) in the detection device (3), the top of the third conduit (33) is a pressure sensor (32), and the bottom of the third conduit (33) is a spring (31).

2. The automatic table tennis ball picking robot according to claim 1, characterized in that: A first fan (24) is arranged in the temporary storage chamber (231) of the temporary storage device (23); a sealing net (242) is arranged at the suction port (241) of the first fan (24); an output end surface of the suction port (241) is arranged to be tilted as a whole; and the sealing net (242) fits the output end surface of the suction port (241).

3. The automatic table tennis ball picking robot according to claim 1, characterized in that: The second conduit (25) is provided with a valve plate (251) for opening and closing the second conduit (25).

4. The automatic table tennis ball picking robot according to claim 1, characterized in that: The detection device (3) is connected to the separation device (4); a second fan (43) is provided at one end of a sixth conduit of the separation device (4); and a plurality of through holes (46) are provided at the other end of the sixth conduit.

5. The automatic table tennis ball picking robot according to claim 4, characterized in that: The sixth conduit is detachably connected to the second storage device (42) via the fourth conduit (44), and the sixth conduit is detachably connected to the first storage device (41) via the fifth conduit (45).

6. The automatic table tennis ball picking robot according to claim 1, characterized in that: A plurality of running wheels (11) are arranged at the bottom of the running chassis (1); and a plurality of obstacle avoidance sensors are arranged at the side of the running chassis (1).

7. The automatic table tennis ball picking robot according to claim 1, characterized in that: The top of the temporary storage device (23) is connected to a camera via a pan / tilt platform.

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