Soft ball conveying device

Abstract

The utility model particularly relates to a soft ball conveying device which comprises a base body frame, an advancing ball channel conveying mechanism, an ascending ball channel conveying mechanism, a color sensor and a control system. The control system is in signal connection with the advancing fairway conveying mechanism, the ascending fairway conveying mechanism and the color sensor and is used for acquiring, analyzing and processing color information of the soft balls so as to control the advancing fairway conveying mechanism and the ascending fairway conveying mechanism to be opened and closed; the control system starts the forward fairway conveying mechanism and the rising fairway conveying mechanism to operate according to the recognition result of the color sensor, so that the soft balls in the target color are discharged through the rising fairway conveying mechanism; or, by starting the forward fairway conveying mechanism to operate, the soft balls with non-target colors are discharged through the forward fairway conveying mechanism.

Description

Technical Field

[0001] The utility model relates to the field of robot transmission, in particular to a soft ball transmission device. Background Art

[0002] In situations such as robot competitions, launch tests, and daily training, soft balls have become a common test and training object due to their high safety and low collision force. However, the handling of soft balls in these scenarios puts forward higher requirements, that is, how to recognize the color of soft balls during the transmission process and classify soft balls of different colors and transmit them to designated locations accordingly, which is crucial to improving work efficiency and automation.

[0003] Traditional ball conveying technologies mostly rely on basic structures such as rollers, conveyor belts and extrusion wheels. These structures rely on a single conveying track and a simple motor drive, lacking a mechanism for color classification and effective guidance of soft balls, resulting in a high sorting error rate and failing to meet the needs of fast and accurate sorting of balls of specific colors in efficient automated production or competition training. The stability of soft balls during the conveying process is also a challenge. Due to the soft texture of soft balls, they are prone to uneven rolling, offset or jamming during the conveying process, affecting the reliability and efficiency of the overall system. In addition, these devices are often large and fixedly installed, and the inflexibility of their design limits their application in a variety of operating environments, which is particularly unfavorable for situations that require frequent changes of position or adaptation to a variety of work scenarios. In addition, the complex structure of some conveying mechanisms makes maintenance difficult and increases operating costs, especially when handling soft balls of different sizes and shapes, which requires frequent equipment adjustments, further increasing the complexity of maintenance and operation.

[0004] Therefore, in view of the shortcomings of the existing technology, a soft ball conveying device with integrated color recognition capability and compact and flexible structure is developed, which can efficiently complete the tasks of color recognition and transmission while maintaining the simplicity and practicality of the design to meet a wide range of industrial and scientific research needs. Utility Model Content

[0005] In view of the technical problems existing in the prior art, the purpose of the utility model is to provide a soft ball conveying device.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A soft ball conveying device comprises a base frame, a front ball channel conveying mechanism, an ascending ball channel conveying mechanism, a color sensor and a control system; the base frame comprises a base frame and two space frames, the two space frames are arranged on the base frame in parallel; the space frame comprises a connecting beam and two supporting columns, the two supporting columns are arranged in parallel and connected by the connecting beam; the front ball channel conveying mechanism is arranged on the base frame and located in the middle of the two space frames, the front ball channel conveying mechanism comprises a lateral conveying component and a guiding component, the guiding component is arranged on the base frame and located at the front end of the lateral conveying component, the guiding component is connected to the lateral conveying component in transmission, and guides the soft ball to move laterally on the base frame; the ascending ball channel conveying mechanism is arranged on the two space frames The control system is connected to the front ball lane conveying mechanism, the ascending ball lane conveying mechanism and the color sensor signal to obtain and analyze the color information of the soft ball, so as to control the opening and closing of the front ball lane conveying mechanism and the ascending ball lane conveying mechanism respectively; the control system starts the front ball lane conveying mechanism and the ascending ball lane conveying mechanism according to the result of the color sensor recognition, so that the soft ball of the target color is discharged through the ascending ball lane conveying mechanism; or, the control system starts the front ball lane conveying mechanism to discharge the soft ball of non-target color through the front ball lane conveying mechanism.

[0008] As a preferred embodiment, the transverse transmission component includes a guide frame, a first driving device and a transmission wheel arranged on the left and right sides of the base frame; the front and rear ends of the guide frame are provided with a front wheel and a rear wheel connected by a transmission belt, the front wheel and the rear wheel are both installed on the base frame through a rotating shaft, and the first driving device is connected to the front wheel for driving the front wheel to rotate; the guide component includes a guide wheel disc, a guide wheel disc synchronous wheel and a transmission belt, the guide wheel disc is installed on the base frame through a rotating shaft and is arranged at the front end of the front wheel, the transmission wheel is coaxially fixed below the front wheel, the guide wheel disc synchronous wheel is coaxially fixed below the guide wheel disc, the guide wheel disc synchronous wheel is connected to the transmission wheel through a transmission belt, and the front wheel rotates synchronously with the guide wheel disc.

[0009] As a preferred embodiment, the first driving device includes a first gear device and a first driving motor, the first gear device includes a transmission shaft, a first reduction gear and a first transmission gear, both ends of the transmission shaft are respectively connected to the first reduction gear and the first transmission gear, the output shaft of the first driving motor is provided with a second reduction gear matching with the first reduction gear, the first reduction gear is meshed with the second reduction gear, the rotating shaft on which the front wheel is provided is provided with a second transmission gear matching with the first transmission gear, the first transmission gear is meshed with the second transmission gear; the first driving motor is fixed on the chassis.

[0010] Preferably, the transverse transmission assembly further comprises a first reversing wheel group, the first reversing wheel group comprises a first reversing belt and two first reversing wheels, the first reversing wheel is coaxially fixed below the rear wheel, and the first reversing belt is cross-wound between the two first reversing wheels.

[0011] As a preferred embodiment, the ascending ballway conveying mechanism includes a second driving device, a roller group and a roller group mounting frame arranged on the left and right sides of the space frame, the ends of the roller group mounting frame are fixedly arranged on the inner side of the connecting beam, and the roller group is installed between the two space frames through the roller group mounting frame. The second driving device is connected to the roller group through a synchronous belt to drive the roller group to rotate.

[0012] As a preferred embodiment, the roller group includes a rotating shaft and a roller, and the roller is installed on the roller mounting frame through the rotating shaft; the roller group is divided into a first roller group, a second roller group and a third roller group, and the rotating shafts of the first roller group, the second roller group and the third roller group are rotatably installed on the roller mounting frame from bottom to top in sequence, and are connected in sequence through synchronous belt transmission, the roller of the first roller group is a Leffe wheel, and the rollers of the second roller group and the third roller group are both drums.

[0013] Preferably, the second driving device includes a second gear device, a second driving motor and a support frame, the second gear device includes a third reduction gear and a fourth reduction gear, the third reduction gear is arranged on the output shaft of the second driving motor, the fourth reduction gear is rotatably mounted on the support frame, the third reduction gear is meshed with the fourth reduction gear, and the fourth reduction gear is connected to the rotating shaft of the first roller group through a synchronous belt.

[0014] Preferably, the ascending ball track transmission mechanism also includes a second reversing wheel group, the second reversing wheel group includes a second reversing belt and two second reversing wheels, the second reversing wheel is coaxially fixed on the rotating shaft of the third roller group, and the second reversing belt is cross-wound between the two second reversing wheels.

[0015] As a preferred embodiment, it also includes an upper pressure roller group, which includes an upper pressure roller support frame and an upper pressure roller. The upper pressure roller group support frame is fixedly arranged on the outer side of the connecting beam, and the upper pressure roller is rotatably installed on the upper pressure roller support frame.

[0016] As a preferred embodiment, the surfaces of the guide wheel, the Rifle wheel, the drum and the upper pressure roller are all coated with adhesive-backed abrasive belts.

[0017] In general, the utility model has the following advantages:

[0018] 1. Through the integrated color sensor and control system, the device can instantly identify the color of the soft ball. Combined with the front ball channel conveyor mechanism and the ascending ball channel conveyor mechanism, the device can realize the precise movement of the soft ball in two-dimensional space, ensuring that only the balls of the target color are guided to the ascending ball channel conveyor mechanism, while the balls of non-target colors are quickly discharged by the front ball channel conveyor mechanism, thereby improving the accuracy and efficiency of sorting.

[0019] 2. The lateral transmission mechanism adopts a guide frame, a first driving device and a transmission wheel to ensure the stable transmission of the ball in the horizontal direction.

[0020] 3. The first drive device is orthogonally connected to the rotating shaft through a transmission shaft through a bevel gear transmission connection, which changes the output torque direction of the first drive motor by 90°, realizes the horizontal placement of the first drive motor, and facilitates transmission.

[0021] 4. The arrangement of the first reversing wheel group not only ensures the one-way transmission of the transverse transmission mechanism, but also realizes overload protection during the transmission process, reduces the probability of failure, and ensures the safety of the device operation.

[0022] 5. The ascending ballway transmission mechanism drives the multi-stage roller group through the second drive device to achieve rapid and stable vertical lifting of the soft ball; each stage of the roller group is driven by a synchronous belt to ensure accurate and high-speed transmission, so that the ball is precisely controlled during the step-by-step ascent.

[0023] 6. The rollers of the first roller group adopt the design of Leffe wheel. The special structure of Leffe wheel allows the ball to pass through without hindrance, avoiding the ball jam phenomenon.

[0024] 7. The gear reduction mechanism and motor drive are used to ensure efficient and precise control of power transmission. The first drive device and the second drive device, through sophisticated gear design (the use of bevel gears) and synchronous belt transmission, not only effectively slow down the speed of the first drive motor and the second drive motor, increase torque, but also ensure the synchronization of power transmission and reduce energy consumption and wear.

[0025] 8. Add an upper pressure roller group to limit the upward movement of the ball and ensure the stable transmission of the ball.

[0026] 9. The control system automatically adjusts the opening and closing of the forward ball channel conveying mechanism and the upward ball channel conveying mechanism according to the feedback from the color sensor, realizing the intelligent management of ball processing, reducing manual intervention and improving the degree of automation.

[0027] 10. The surfaces of the guide wheel, the Leffe wheel, the drum and the upper pressure roller are all covered with adhesive-backed abrasive belts, which not only increases the friction with the ball, ensures the stability and accuracy during the transmission process, but also improves the wear resistance and service life of these key components. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the soft ball conveying device of the utility model;

[0029] Figure 2 It is a structural schematic diagram of the forward ball channel transmission mechanism of the utility model;

[0030] Figure 3 It is a structural schematic diagram of the first driving device of the utility model;

[0031] Figure 4 It is a structural schematic diagram of the ascending ballway transmission mechanism of the utility model;

[0032] Figure 5 It is a side view of the ascending ballway transmission mechanism of the utility model;

[0033] Figure 6 It is a structural schematic diagram of the second driving device of the utility model;

[0034] Figure 7 It is a structural schematic diagram of the upper pressure roller group of the utility model;

[0035] in:

[0036] 1: base frame, 11: bottom frame, 12: connecting beam, 13: supporting column,

[0037] 2: front ball lane transmission mechanism, 21: guide assembly, 211: guide wheel, 212: guide wheel synchronous wheel, 213: transmission belt, 22: guide frame, 23: first drive device, 231: first drive motor, 232: transmission shaft, 233: first reduction gear, 234: second reduction gear, 235: first transmission gear, 236: second transmission gear, 24: transmission wheel, 25: front wheel, 26: rear wheel, 27: transmission belt, 28: tension auxiliary wheel, 29: first reversing wheel group, 291: first reversing belt, 292: first reversing wheel,

[0038] 3: ascending ballway transmission mechanism, 31: second driving device, 311: second driving motor, 312: third reduction gear, 313: fourth reduction gear, 314: support frame, 32: roller group, 321: first roller group, 322: second roller group, 323: third roller group, 33: roller group mounting frame, 34: second reversing wheel group, 341: second reversing belt, 342: second reversing wheel, 35: synchronous belt,

[0039] 4: upper pressure roller assembly, 41: upper pressure roller support frame, 42: upper pressure roller. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0041] As shown in the figure, a soft ball conveying device includes a base frame, a front ball lane conveying mechanism, an ascending ball lane conveying mechanism, a color sensor and a control system; the base frame includes a base frame and two space frames, and the two space frames are relatively parallelly arranged on the base frame; the space frame includes a connecting beam and two supporting columns, and the two supporting columns are relatively parallelly arranged and connected by the connecting beam; the front ball lane conveying mechanism is arranged on the base frame and located in the middle of the two space frames, and the front ball lane conveying mechanism includes a lateral conveying component and a guiding component, and the guiding component is arranged on the base frame and located at the front end of the lateral conveying component, and the guiding component is connected to the lateral conveying component in a transmission manner to guide the soft ball to move laterally on the base frame; the ascending ball lane conveying mechanism is The control system is arranged between the two space frames to guide the soft ball to move vertically on the base frame; the color sensor is arranged at the front side of the guide wheel to identify the color of the soft ball; the control system is respectively connected with the front ball channel conveying mechanism, the ascending ball channel conveying mechanism and the color sensor signal to obtain and analyze and process the color information of the soft ball, so as to respectively control the opening and closing of the front ball channel conveying mechanism and the ascending ball channel conveying mechanism; the control system starts the front ball channel conveying mechanism and the ascending ball channel conveying mechanism according to the result of the color sensor identification, so that the soft ball of the target color is discharged through the ascending ball channel conveying mechanism; or, starts the front ball channel conveying mechanism to discharge the soft ball of the non-target color through the front ball channel conveying mechanism.

[0042] First, the color sensor located at the front end of the guide wheel disc identifies the color of the soft ball entering the front ball lane conveying mechanism. The color sensor uses the RGB threshold mode to accurately identify the color characteristics of the ball. According to the preset color standard, the control system determines whether the soft ball is the target ball. This instant recognition process ensures the accurate selection of the subsequent conveying path. For all soft balls, whether they are target balls or not, the front ball lane conveying mechanism will be activated, and the guide wheel disc will guide the soft ball into the lateral conveying component through friction between the soft ball and the soft ball. When the target ball is identified, the ascending ball lane conveying mechanism will be activated immediately, and a carefully calculated extrusion amount will be used to apply a slight pressure to the target ball, causing it to rise rapidly in the vertical direction.

[0043] The guide wheel is made of PLA and is prepared by 3D printing. The thin and wide disc design makes the guide wheel work more widely, and even if the ball's entry position is deviated, it can be guided to the center. The guide wheel adopts a spoke wheel design, so that the mass of the guide wheel is concentrated on the wheel rim, increasing the moment of inertia to reduce the impact of the ball on the guide wheel.

[0044] like Figure 2As shown, the transverse transmission assembly includes a guide frame, a first driving device and a transmission wheel arranged on the left and right sides of the chassis; the front and rear ends of the guide frame are provided with a front wheel and a rear wheel connected by a transmission belt, and the front wheel and the rear wheel are both installed on the chassis through a rotating shaft, and the first driving device is connected to the front wheel to drive the front wheel to rotate. The front wheel is a driving wheel, and the rear wheel is a driven wheel. The rotation of the front wheel drives the rear wheel to rotate synchronously through the transmission belt. The transverse transmission assembly also includes a tensioning auxiliary wheel, which is installed between the front wheel and the rear wheel through a rotating shaft. The guide frame is arranged on the left and right sides of the chassis to ensure the lateral positioning and guidance of the ball during the transmission process, so that the ball can move stably and linearly after entering the transverse transmission assembly, reducing the risk of offset or deviation. The tensioning auxiliary wheel ensures that the transmission belt maintains appropriate tension during the entire transmission process, and neither the loose transmission belt will cause the ball to be unstable, nor the transmission belt will be accelerated due to excessive tension. The first driving device is connected to the front wheel to provide a power source for the entire transverse transmission assembly. The transmission belt is a round belt.

[0045] In this embodiment, the diameter of the sphere is 24.6 cm, and the optimal supporting position of the conveyor belt between the front wheel and the rear wheel relative to the sphere is the major diameter that is 54° downwardly offset from the horizontal waistline of the sphere, and the optimal extrusion amount (the distance between the two conveyor belts installed in the guide frame) is 1.53 cm. Under these two conditions, the sphere can be transported at the highest speed without slipping.

[0046] The guide assembly includes a guide wheel disc, a guide wheel disc synchronous wheel and a transmission belt. The guide wheel disc is installed on the chassis through a rotating shaft and is arranged at the front end of the front wheel. The transmission wheel is coaxially fixed below the front wheel. The guide wheel disc synchronous wheel is coaxially fixed below the guide wheel disc. The guide wheel disc synchronous wheel is connected to the transmission wheel through a transmission belt, and the front wheel rotates synchronously with the guide wheel disc. The surface of the guide wheel disc is coated with a backing adhesive abrasive belt. The transmission wheel is coaxially fixed below the front wheel and rotates synchronously with the front wheel to ensure smooth power transmission; the two guide wheel discs are installed on the chassis through a rotating shaft and are located at the front end of the front wheel. This design is conducive to utilizing the guiding function of the guide wheel disc, so that the ball transitions to the entrance of the horizontal transmission assembly more smoothly. At the same time, the surface treatment of the guide wheel disc (the surface is coated with a backing adhesive abrasive belt) enhances the gripping force of the ball and ensures accurate guidance; the guide wheel disc synchronous wheel is coaxially fixed below the guide wheel disc and connected to the transmission wheel through a transmission belt. This design realizes that when the front wheel rotates, the guide wheel disc synchronous wheel rotates accordingly, ensuring the coordination and consistency of the entire horizontal transmission process.

[0047] like Figure 3As shown, the first driving device includes a first gear device and a first driving motor, the first gear device includes a transmission shaft, a first reduction gear and a first transmission gear, the two ends of the transmission shaft are respectively connected to the first reduction gear and the first transmission gear, the output shaft of the first driving motor is provided with a second reduction gear matched with the first reduction gear, the first reduction gear is meshed with the second reduction gear, the rotating shaft provided with the front wheel is provided with a second transmission gear matched with the first transmission gear, the first transmission gear is meshed with the second transmission gear; the first driving motor is fixed on the chassis. The first transmission gear and the second transmission gear are both bevel gears.

[0048] The transmission shaft connects the first reduction gear and the first transmission gear, ensuring that power is transmitted from the first drive motor to the front wheel; the first reduction gear, mounted at one end of the transmission shaft, meshes with the second reduction gear arranged on the output shaft of the first drive motor, and is used to slow down the high-speed rotation of the first drive motor and convert it into low-speed high-torque power suitable for the movement of the front wheel, thereby improving transmission efficiency and stability; the first transmission gear is mounted at the other end of the transmission shaft, meshes with the second transmission gear on the front wheel, and transmits power from the transmission shaft to the front wheel; the first drive motor is fixed on the chassis, and a second reduction gear is mounted on its output shaft, which directly drives the second reduction gear through the rotation of the motor, and then transmits power to the entire front ball channel transmission mechanism through gear transmission. The selection and configuration of the first drive motor can be determined based on the required power, speed and load requirements to ensure that sufficient power can be provided to drive the entire front ball channel transmission mechanism.

[0049] As a preferred embodiment, the transverse transmission assembly also includes a first reversing wheel group, the first reversing wheel group includes a first reversing belt and two first reversing wheels, the first reversing wheel is coaxially fixed below the rear wheel, and the first reversing belt is cross-wound between the two first reversing wheels.

[0050] Two symmetrically arranged first reversing wheels are installed on the same axis and are located directly below the two rear wheels. The first reversing belt is connected between the two first reversing wheels in a cross-winding manner. This cross-arrangement (usually an "8" shape or an "X" cross type) can keep the conveyor belts on the left and right sides transmitting in the same direction, thereby achieving the requirement of directional transmission of the ball inside the lateral transmission component, while also playing a protective role against overload slippage.

[0051] like Figure 4 and Figure 5 As shown, the ascending ball track conveying mechanism includes a second driving device, a roller group and a roller group mounting frame arranged on the left and right sides of the space frame, the end of the roller group mounting frame is fixedly arranged on the inner side of the connecting beam, and the roller group is installed between the two space frames through the roller group mounting frame. The second driving device is connected to the roller group through a synchronous belt to drive the roller group to rotate.

[0052] The roller group mounting frame is arranged on the left and right sides of the space frame, ensuring the vertical positioning and guiding of the ball during the transmission process, so that the ball can move stably in a straight line after entering the ascending ball track transmission mechanism, reducing the risk of offset or deviation; the second drive device is connected to the roller group in transmission to provide a power source for the entire ascending ball track transmission mechanism.

[0053] The roller group includes a rotating shaft and a roller, and the roller is installed on the roller mounting frame through the rotating shaft; the roller group is divided into the first roller group, the second roller group and the third roller group, and the rotating shafts of the first roller group, the second roller group and the third roller group are rotated and installed on the roller mounting frame from bottom to top, and are connected in turn through synchronous belt transmission. The roller of the first roller group is a Leffe wheel, and the rollers of the second roller group and the third roller group are both drums. The drums are PC tubes with adhesive-backed sanding belts on the surface.

[0054] The roller group is divided into the first roller group, the second roller group and the third roller group, and is arranged in sequence from bottom to top in the vertical direction, each of which is responsible for the lifting task of the soft ball at different stages. The multi-level design can ensure the gradual transition of the soft ball during the rising process, and the rollers at each stage exert necessary support and thrust on the soft ball; the first roller group uses the Leffe wheel as the roller. The characteristic of the Leffe wheel (a kind of omnidirectional wheel) is that the small rollers on it are distributed along the circumference of the large wheel, giving the wheel group a unique orthogonal rolling degree of freedom. During the vertical transmission process, the Leffe wheel can ensure the effective squeezing and guiding of the target ball, while allowing non-target balls to pass smoothly to avoid jamming; the rollers of the second and third roller groups adopt the traditional drum design Compared with the Leffe wheel, the roller structure is simpler, mainly providing a continuous rolling surface to support and transmit the ball, ensuring the stability of the ball during the rising process; at the same time, the surface treatment of the Leffe wheel and the roller (the surface is coated with a backing adhesive abrasive belt) enhances the grip of the ball and ensures precise guidance; the first roller group, the second roller group and the third roller group are connected by a synchronous belt, which means that the rotating shaft of each roller group is connected to one or two synchronous belts. The use of synchronous belts ensures the precise synchronization of power transmission between the roller groups, avoiding the problem of discontinuous transmission or accumulation of the ball caused by speed difference. This transmission method is also convenient for adjusting the rotation speed of each roller group to meet the speed and torque requirements under different working conditions.

[0055] like Figure 6 As shown, the second driving device includes a second gear device, a second driving motor and a supporting frame, the second gear device includes a third reduction gear and a fourth reduction gear, the third reduction gear is arranged on the output shaft of the second driving motor, the fourth reduction gear is rotatably mounted on the supporting frame, the third reduction gear is meshed with the fourth reduction gear, and the fourth reduction gear is connected to the rotating shaft of the first roller group through a synchronous belt.

[0056] The third reduction gear is directly mounted on the output shaft of the second drive motor, converting the high-speed rotation of the second drive motor into a lower-speed but higher-torque power output, which is suitable for driving the roller group to lift heavy objects; the fourth reduction gear is mounted on the support frame and meshes with the third reduction gear. The existence of the support frame ensures the stable installation of the fourth reduction gear and provides the necessary support and positioning for the gear group; the fourth reduction gear is connected to the rotating shaft of the first roller group through a synchronous belt to ensure the high efficiency and synchronization of power transmission. The selection and configuration of the second drive motor can be determined based on the required power, speed and load requirements to ensure that sufficient power can be provided to drive the entire ascending ballway transmission mechanism.

[0057] The ascending ballway transmission mechanism also includes a second reversing wheel group, which includes a second reversing belt and two second reversing wheels. The second reversing wheel is coaxially fixed on the rotating shaft of the third roller group, and the second reversing belt is cross-wound between the two second reversing wheels.

[0058] Two symmetrically arranged second reversing wheels are installed on the same axis and are respectively located at the ends of the rotating shafts of the two third roller groups. The second reversing belt is connected between the two second reversing wheels in a cross-winding manner. This cross-arrangement method (usually an "8" shape or an "X" cross type) can flexibly change the travel direction of the roller group, and is used to keep the roller groups on the left and right sides transmitting in the same direction, thereby realizing the requirement of directional transmission of the ball inside the ascending ball conveying mechanism.

[0059] like Figure 7 As shown, as a preferred embodiment, the soft ball conveying device also includes an upper pressing roller group, the upper pressing roller group includes an upper pressing roller support frame and an upper pressing roller, the upper pressing roller group support frame is fixedly arranged on the outer side of the connecting beam, and the upper pressing roller is rotatably mounted on the upper pressing roller support frame through a rotating shaft. The upper pressing roller is a roller, and the roller is a PC tube with a surface coated with a backing adhesive sand belt.

[0060] An upper pressure wheel group is arranged above the entrance and exit of the front ball channel conveying mechanism, and the upper pressure roller support frame is fixedly installed on the outer side of the connecting beam, so that the upper pressure wheel group can effectively apply force to the soft ball in the front ball channel conveying mechanism without affecting the normal operation of other components; the upper pressure roller is rotatably installed on the upper pressure roller support frame, so as to provide necessary pressure when contacting the ball, squeeze the top of the ball, make the ball close to the conveying belt for transmission, prevent the ball from slipping, and limit the possibility of the ball moving upward.

[0061] The rotating shaft with the upper pressure roller installed is connected to the transmission shaft through a synchronous belt and a synchronous wheel. The torque of the first drive motor is transmitted to the upper pressure roller, and the upper pressure roller assists the balls entering the front ball channel conveying mechanism to roll forward. The upper pressure roller group at the entrance of the front ball channel conveying mechanism is connected to the upper pressure roller group at the exit of the front ball channel conveying mechanism through a synchronous belt and a synchronous wheel. The upper pressure roller group at the entrance of the front ball channel conveying mechanism can drive the upper pressure roller group at the exit of the front ball channel conveying mechanism to rotate.

[0062] The working principle of this utility model:

[0063] The soft ball is introduced from the front end of the device, and the first thing it touches is the two guide wheels. The color sensors equipped at the entrances of the front and rear lanes detect the color of the soft ball entering the front lane conveying mechanism in real time, and determine the color characteristics of the ball through RGB threshold analysis. The control system identifies whether the ball is the target color according to the preset conditions. If the identified ball is a non-target color, the control system only starts the front lane conveying mechanism. The conveyor belt guide frame supports the lower half of the ball, and transmits the ball backwards through friction, and finally quickly discharges it from the lane to complete the elimination of non-target balls; if the ball is identified as the target color, the control system simultaneously starts the front lane conveying mechanism and the ascending front lane conveying mechanism. The ball is guided to the entrance of the ascending lane conveying mechanism in the middle of the front and rear front lane conveying mechanisms. The first roller group slightly squeezes the waist of the ball, and uses the unique rolling freedom of the Leffe wheel to squeeze the target ball to rise. After the target ball enters the ascending front lane conveying mechanism, it is squeezed by the second roller group and the third roller group and rises step by step to the exit of the ascending lane conveying mechanism.

[0064] The above-mentioned embodiments only express several implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the utility model, and these all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A soft ball conveying device, characterized in that: It includes a base frame, a forward ball lane transmission mechanism, an ascending ball lane transmission mechanism, a color sensor and a control system; The base frame includes a base frame and two space frames, and the two space frames are arranged on the base frame in parallel; the space frame includes a connecting beam and two supporting columns, and the two supporting columns are arranged in parallel and connected by the connecting beam; The front ball channel conveying mechanism is arranged on the base frame and located between the two space frames. The front ball channel conveying mechanism includes a transverse conveying component and a guiding component. The guiding component is arranged on the base frame and located at the front end of the transverse conveying component. The guiding component is connected with the transverse conveying component in a transmission manner to guide the soft ball to move transversely on the base frame. The ascending ballway conveying mechanism is arranged between the two space frames to guide the soft ball to move vertically on the base frame; A color sensor, disposed on the front side of the guide wheel, for identifying the color of the soft ball; A control system, wherein the control system is respectively connected with the front ball channel transmission mechanism, the ascending ball channel transmission mechanism, and the color sensor signal to obtain and analyze the color information of the soft ball, thereby respectively controlling the opening and closing of the front ball channel transmission mechanism and the ascending ball channel transmission mechanism; The control system starts the front ball lane conveying mechanism and the ascending ball lane conveying mechanism according to the result of the color sensor recognition, so that the soft balls of the target color are discharged through the ascending ball lane conveying mechanism; or starts the front ball lane conveying mechanism to discharge the soft balls of non-target colors through the front ball lane conveying mechanism.

2. A soft ball conveying device according to claim 1, characterized in that: The lateral transmission component includes a guide frame, a first driving device and a transmission wheel arranged on the left and right sides of the base frame; the front and rear ends of the guide frame are provided with a front wheel and a rear wheel connected by a transmission belt, the front wheel and the rear wheel are installed on the base frame through a rotating shaft, and the first driving device is connected to the front wheel for driving the front wheel to rotate; the guide component includes a guide wheel disc, a guide wheel disc synchronous wheel and a transmission belt, the guide wheel disc is installed on the base frame through a rotating shaft and is arranged at the front end of the front wheel, the transmission wheel is coaxially fixed below the front wheel, the guide wheel disc synchronous wheel is coaxially fixed below the guide wheel disc, the guide wheel disc synchronous wheel is connected to the transmission wheel through a transmission belt, and the front wheel rotates synchronously with the guide wheel disc.

3. A soft ball conveying device according to claim 2, characterized in that: The first driving device includes a first gear device and a first driving motor. The first gear device includes a transmission shaft, a first reduction gear and a first transmission gear. Both ends of the transmission shaft are respectively connected to the first reduction gear and the first transmission gear. The output shaft of the first driving motor is provided with a second reduction gear matched with the first reduction gear. The first reduction gear is meshed with the second reduction gear. The rotating shaft provided with the front wheel is provided with a second transmission gear matched with the first transmission gear. The first transmission gear is meshed with the second transmission gear. The first driving motor is fixed on the chassis.

4. A soft ball conveying device according to claim 3, characterized in that: The transverse transmission assembly also includes a first reversing wheel group, which includes a first reversing belt and two first reversing wheels. The first reversing wheel is coaxially fixed below the rear wheel, and the first reversing belt is cross-wound between the two first reversing wheels.

5. A soft ball conveying device according to claim 1, characterized in that: The ascending ballway conveying mechanism includes a second driving device, a roller group and a roller group mounting frame arranged on the left and right sides of the space frame. The ends of the roller group mounting frame are fixedly arranged on the inner side of the connecting beam. The roller group is installed between the two space frames through the roller group mounting frame. The second driving device is connected to the roller group through a synchronous belt to drive the roller group to rotate.

6. A soft ball conveying device according to claim 5, characterized in that: The roller group includes a rotating shaft and a roller, and the roller is installed on the roller mounting frame through the rotating shaft; the roller group is divided into a first roller group, a second roller group and a third roller group, and the rotating shafts of the first roller group, the second roller group and the third roller group are rotated and installed on the roller mounting frame from bottom to top in sequence, and are connected in sequence through synchronous belt transmission, the roller of the first roller group is a Leffe wheel, and the rollers of the second roller group and the third roller group are both drums.

7. A soft ball conveying device according to claim 6, characterized in that: The second driving device includes a second gear device, a second driving motor and a supporting frame. The second gear device includes a third reduction gear and a fourth reduction gear. The third reduction gear is arranged on the output shaft of the second driving motor. The fourth reduction gear is rotatably installed on the supporting frame. The third reduction gear is meshed with the fourth reduction gear. The fourth reduction gear is connected to the rotating shaft of the first roller group through a synchronous belt.

8. A soft ball conveying device according to claim 6, characterized in that: The ascending ballway transmission mechanism also includes a second reversing wheel group, which includes a second reversing belt and two second reversing wheels. The second reversing wheel is coaxially fixed on the rotating shaft of the third roller group, and the second reversing belt is cross-wound between the two second reversing wheels.

9. A soft ball conveying device according to claim 1, characterized in that: It also includes an upper pressure roller group, which includes an upper pressure roller support frame and an upper pressure roller. The upper pressure roller group support frame is fixedly arranged on the outer side of the connecting beam, and the upper pressure roller is rotatably installed on the upper pressure roller support frame.

10. A soft ball conveying device according to any one of claims 1 to 9, characterized in that: The surfaces of the guide wheel disc, the Rifle wheel, the drum and the upper pressure roller are all covered with adhesive-backed abrasive belts.

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