Ball auxiliary training and material conveying integrated robot

Abstract

The utility model discloses a ball auxiliary training and material conveying integrated robot, which relates to the technical field of robots and comprises a main underframe, a launching system is mounted in the middle of the main underframe, four omnidirectional wheel train structures are mounted at four corners of the main underframe in a driving manner, and two clamping jaw systems are symmetrically mounted on side edges of the main underframe in a driving manner; an upper-layer mechanism of a main chassis of the robot mainly integrates a transmitting system and a clamping jaw system, moves through four groups of omnidirectional wheel train structures, is integrally controlled through a program set by a control end or through an external remote controller, and accurately moves through an external laser sensor and a positioning code disc; a ball taking mechanism of the launching system adopts the combination of a light-weight plastic hub friction wheel and a wheat wheel, high fault tolerance and low jamming during ball taking are achieved, the ball taking mechanism is connected with a ball shooting mechanism, the ball shooting mechanism adopts two sets of asymmetric friction wheels, balls rotating downwards or upwards can be shot by adjusting the rotating speed difference, and the landing postures of the balls under various conditions are simulated.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to ball auxiliary training and material transport integrated robot. BACKGROUND

[0002] In sports events, especially ball games, the training of athletes is crucial. With the increasing intensity of competitive sports and the vigorous development of national fitness, athletes and fitness enthusiasts have increasingly high requirements for training equipment. In order to improve training efficiency, although the traditional training aids can perform the task of picking up balls, they lack the necessary flexibility due to their design characteristics, such as fixed-point picking, directional launching, etc., and they cannot provide personalized training experience for athletes. In addition, these aids often occupy a large area and are inconvenient to install and remove, such as the basketball picking aid, which not only requires the installation of a guide net under the basket, but also limits the multipurpose nature of the field.

[0003] In response to the national call for nationwide sports, we have designed a new type of robot to overcome these limitations. SUMMARY

[0004] The utility model provides ball auxiliary training and material transport integrated robot, has solved above -mentioned technical problem.

[0005] To solve the above technical problems, the ball auxiliary training and material transport integrated robot provided by the utility model comprises a main chassis, a launching system is installed in the middle of the main chassis, a positioning code disc and a control end are respectively installed near both sides of the launching system, four omnidirectional wheel train structures are driven and installed at the four corners of the main chassis, two clamping jaw systems are symmetrically driven and installed on the side edges of the main chassis, two placing structures are symmetrically fixed on both sides of the launching system, the two placing structures are used in cooperation with the two clamping jaw systems, the placing structure comprises a placing rack fixedly connected with the launching system, a buckle is fixedly arranged above the placing rack, and the control end is electrically connected with the positioning code disc, the four omnidirectional wheel train structures, the positioning code disc, the launching system and the two clamping jaw systems.

[0006] Preferably, the omnidirectional wheel train structure comprises a mounting base fixed on the main chassis, an omnidirectional wheel body is connected to the mounting base through a rotating shaft, a brushless reduction motor four is fixed to the side end of the mounting base, and the output shaft of the mounting base penetrates the mounting base and is in transmission connection with the omnidirectional wheel body.

[0007] Preferably, the clamping jaw system comprises a mounting bracket fixed on the main chassis, a rotating structure and a lifting structure are installed on the top of the mounting bracket, the two are in transmission connection, and the lifting structure is drivingly installed with a clamping jaw mechanism;

[0008] The rotating structure comprises a speed reducer motor I fixed on the mounting bracket, the output shaft of the speed reducer motor I is fixedly provided with a pinion gear, the pinion gear is in transmission engagement with a gear wheel, and the gear wheel is in transmission connection with the lifting mechanism;

[0009] The lifting structure comprises a rotating disc mounted on the mounting bracket through a rotating shaft, the rotating shaft of the rotating disc penetrates through the mounting bracket and is fixedly connected with the gear wheel, a lifting frame is fixedly arranged in the middle of the rotating disc, a lifting seat is slidably connected to the outside of the lifting frame, a belt pulley seat is arranged on the top of the lifting frame, a speed reducer motor II is fixedly arranged on one side of the rotating disc, the output shaft of the speed reducer motor II is provided with a belt pulley, and a lifting transmission belt is in transmission connection between the belt pulley and a belt pulley arranged on the belt pulley seat.

[0010] Preferably, the claw mechanism comprises a connecting seat fixedly connected with the lifting seat, two claws are symmetrically connected to the inner edge of the connecting seat through rotating shafts, the rotating shafts of the two claws are fixedly provided with linkage gears II, and the linkage gears II are in mutual engagement, the rotating shaft of one of the claws is fixedly provided with a linkage gear I, and a speed reducer motor III is fixedly arranged at the side end of the connecting seat, the output shaft of the speed reducer motor III is fixedly provided with a gear wheel, and a synchronous belt transmission is connected between the gear wheel and the linkage gear I.

[0011] Preferably, the launching system comprises two support frames symmetrically mounted on the main base frame, a connecting base frame is fixedly arranged at the bottom between the two support frames, double driven wheels are rotatably connected to the top middle rotating shaft of the connecting base frame, two lower buffer structures are symmetrically fixedly arranged at the two ends of the connecting base frame, two ball taking mechanisms are symmetrically connected to the middle between the two support frames through rotating shafts, double friction wheels II are arranged on the connecting rotating shafts of the two ball taking mechanisms, double friction wheels I are rotatably arranged at positions close to the two double friction wheels II between the two support frames, a linkage belt pulley is fixedly arranged on the rotating shaft of one of the double friction wheels I, a transmission belt is in transmission connection with the linkage belt pulley, a belt pulley is in transmission connection with the other end of the transmission belt, the belt pulley is rotatably arranged on the support frame through a connecting shaft, a gear wheel is fixedly arranged on the connecting shaft, and one end of the gear wheel penetrates through the support frame and is in transmission connection with a driving motor I fixed to the outside of the support frame, a gear wheel is fixedly arranged on the rotating shaft of the other double friction wheel I, and the gear wheel is in transmission engagement with the gear wheel on the connecting shaft, the double friction wheels I are in belt pulley transmission connection with the double friction wheels II, a tornado motor is fixedly arranged between the two support frames and close to the right ball taking mechanism, an elastic wheel is fixedly connected to the output shaft of the tornado motor, four long friction wheels are equidistantly arranged on the upper parts of the two support frames through rotating shafts close to the left ball taking mechanism, the long friction wheels are in belt pulley transmission connection with each other, a gear wheel is additionally fixedly arranged on the connecting rotating shaft of the lower long friction wheel, a driving motor II is fixed to the outside of the support frame, a gear wheel is fixedly connected to the output shaft of the driving motor II, and the gear wheel is in transmission engagement with the gear wheel on the rotating shaft of the long friction wheel, and photoelectric switches are symmetrically arranged in the middle between the two support frames.

[0012] Preferably, the ball taking mechanism comprises an arc-shaped frame connected with the two support frames through a rotating shaft and a power-off type electromagnet fixed on the two support frames, two double-head iron sheets are fixed on the two sides of the arc-shaped frame and are magnetically connected with the two power-off type electromagnets, four groups of abstract Maw wheels are rotationally connected with the rotating shaft at the top of the arc-shaped frame, two double-friction wheel threes are rotationally connected with the rotating shaft at the middle of the arc-shaped frame, and the two double-friction wheel threes are transmissionally connected through a belt pulley, one end of the rotating shaft of one double-friction wheel three is transmissionally connected with the belt pulley of the four groups of abstract Maw wheels, and the other end is fixed with a gear, and a driving motor three is fixed at the position close to the double-friction wheel three on the side end of the arc-shaped frame and is fixed with a gear on the output shaft, which is in mesh transmission with the gear on the rotating shaft of the double-friction wheel three.

[0013] Preferably, the lower buffer structure comprises two mounting frames fixed on the two sides of the connecting base frame, and a plurality of elastic buffer wheels are rotationally connected with the rotating shaft on one side of the top of each mounting frame, and a magnet is fixed on the other side.

[0014] Preferably, the two magnets are magnetically connected with the two double-head iron sheets, and the two mounting frames are fixedly connected with the two sides of the arc-shaped frame through a rubber rope.

[0015] Preferably, the control end comprises a shell, and the inside of the shell comprises a storage battery, an MOS board, an STM32F4 main control board and a voltage reduction distribution board, and a wireless module is mounted and is in wireless control connection with an external remote controller.

[0016] Preferably, a laser sensor is further mounted on the main base frame and is in electrical connection with the control end.

[0017] Compared with the related art, the ball auxiliary training and material conveying integrated robot has the following beneficial effects:

[0018] The upper mechanism of the robot main base frame mainly integrates a launching system and a clamping jaw system, moves through four groups of omni-directional wheel train structures, is controlled through a program set by the control end or an external remote controller, and is accurately moved through an external laser sensor and a positioning code disc, the ball taking mechanism of the launching system adopts a light-weight plastic hub friction wheel combined with a Maw wheel, realizes high fault tolerance and low card jam during ball taking, the ball taking mechanism can be folded by using the power-off type electromagnet when the robot is not used, the floor area occupied by the robot during storage is reduced, the two ends of the robot are designed with asymmetric ball taking mechanisms, the two-way ball taking is realized while the gravity center deviation is reduced, the ball taking mechanism is connected with the ball launching mechanism, an optical sensor is arranged at the connection position, the optical sensor identifies whether the ball taking is successful, and the ball launching mechanism adopts two groups of asymmetric friction wheels, can launch balls with under-spin or top-spin by adjusting the rotating speed difference, and simulates the landing posture of the ball under various conditions.

[0019] The utility model provides, this robot still is equipped with two two -freedom degree clamping jaw system of motor drive, its clamping strength is adjustable, cooperates and realizes material transport with the area of storing things of taking buckle on the robot, can realize the transportation and the placement of material on the training field.

[0020] The utility model provides, through expanding various kinds of machinery, electronic module on this robot can continue to expand the function of this robot, make it can adapt to multiple sports ground and more ball games, more intelligent, can greatly promote the intelligent and convenient of sports auxiliary training field, have broad prospect and greater popularization value. ACCURACY OF DRAWINGS

[0021] Figure 1 It is the whole schematic view of ball auxiliary training and material transport integrated robot of the utility model;

[0022] Figure 2 It is the schematic view of wheel train structure of the utility model;

[0023] Figure 3 It is the schematic view of launch system of the utility model;

[0024] Figure 4 It is the schematic view of launch system of the utility model;

[0025] Figure 5 It is the schematic view of lower buffer structure of the utility model;

[0026] Figure 6 It is the schematic view of ball taking mechanism of the utility model;

[0027] Figure 7 It is the schematic view of clamping jaw system of the utility model.

[0028] The figure label: 1, main chassis; 11, shelf; 12, buckle; 13, positioning code disc; 14, control end; 2, omni-wheel train structure; 21, mounting chassis; 22, brushless reduction motor four; 23, omni-wheel main body; 3, launching system; 31, support frame; 311, connecting chassis; 312, double driven wheel; 313, linkage pulley; 3131, drive motor one; 314, double friction wheel one; 315, double friction wheel two; 316, tornado motor; 317, rubber-coated wheel; 318, long friction wheel; 319, drive motor two; 32, lower buffer structure; 321, mounting frame; 322, elastic buffer wheel; 323, magnet; 324, power loss type electromagnet; 33, ball taking mechanism; 331, arc-shaped frame; 3311, double-end iron sheet; 332, drive motor three; 333, double friction wheel three; 334, four groups of abstract pulley; 4, jaw system; 41, mounting bracket; 42, reduction motor one; 421, pinion; 422, gear; 43, lifting frame; 431, rotating disc; 432, pulley seat; 44, reduction motor two; 441, lifting transmission belt; 45, lifting seat; 46, connecting seat; 461, reduction motor three; 462, jaw; 463, linkage gear one; 464, linkage gear two. DETAILED DESCRIPTION

[0029] Embodiments, by Figures 1-7 given, the ball auxiliary training and material transport integrated robot, including main chassis 1, main chassis 1 middle part is installed with launching system 3, is close to launching system 3 two sides and is installed with positioning code disc 13 and control end 14 respectively, four omni-wheel train structures 2 are driven to be installed in the four corners of main chassis 1, and two jaw systems 4 are driven to be installed in the side symmetry of main chassis 1, launching system 3 two sides symmetry fixed have two placement structures, two placement structures and two jaw systems 4 are used in coordination, placement structure includes with the fixed connection of launching system 3 placement shelf 11, placement shelf 11 top is fixed with buckle 12, control end 14 is respectively with positioning code disc 13, four omni-wheel train structures 2, positioning code disc 13, launching system 3 and two jaw systems 4 electrically controlled connection.

[0030] Specifically, the upper mechanism of the robot main chassis 1 mainly integrates the launching system 3, the gripper system 4, moves through the four sets of omni-directional wheel system 2, is controlled by the program set by the control end 14 or by the external remote controller, moves accurately through the external laser sensor and the positioning code disc 13, the ball taking mechanism 33 of the launching system adopts the lightweight plastic hub friction wheel combined with the Maw wheel, realizes high fault tolerance and low card when taking the ball, the ball taking mechanism 33 can be retracted when the robot is not used using the power-off type electromagnet 324, reduces the floor area when the robot is stored, the two ends of the robot are designed with asymmetric ball taking mechanisms 33, realize bidirectional ball taking while reducing the gravity center deviation, the ball taking mechanism 33 is connected with the ball launching mechanism, there is a photoelectric sensor at the connection, which identifies whether the ball taking is successful. The ball launching mechanism adopts two sets of asymmetric friction wheels, which can shoot balls with under-spin or top-spin by adjusting the speed difference, simulating the landing posture of the ball under various conditions. In addition, the robot is also provided with two two-degree-of-freedom gripper systems 4 driven by motors, the clamping force of which is adjustable, and cooperates with the storage area on the robot with buckles 12 to realize material transportation and placement on the training ground (such as identification barrels, mineral water, etc.).

[0031] In the embodiment, the control end 14 includes a shell, the inside of the shell has a battery, an MOS board, an STM32F4 main control board and a step-down distribution board, and is provided with a wireless module and a wireless control connection with an external remote controller, and the laser sensor is electrically connected with the control end 14.

[0032] Specifically, the MOS board, the STM32F4 main control board and the step-down distribution board are all self-made, which meets the personalized needs of the robot hardware and greatly reduces the space occupied by electronic components. A variety of sensors such as code discs are used to quickly perceive the environment and target objects, and the laser sensor and the positioning code disc feedback and PID algorithm are used to realize automatic adjustment of the trajectory and torque control of the robot, so that the robot can accept instructions and accurately position to a certain point in the three-dimensional space for operation. The remote control can realize automatic or manual path planning and motion, realize automatic running and shooting ball with multiple attitudes at a fixed point. The NRF24L01 radio frequency chip and the serial screen self-made touch screen remote controller form a set of customized operating system.

[0033] The STM32F4 is used as the core controller to complete the attitude calculation, odometer navigation fusion and motion algorithm, and the Raspberry Pi A3+ is used to realize image navigation. Based on machine vision, the image information of the player and the football is collected by using the binocular camera and other sensors, so as to realize the identification and tracking of the position of the football and the position of the player.

[0034] The omnidirectional wheel train structure 2 in the embodiment includes a mounting chassis 21 fixed on the main chassis 1, an omnidirectional wheel body 23 connected to the mounting chassis 21 through a rotating shaft, and a brushless reduction motor 22 fixed on the side end of the mounting chassis 21.

[0035] Specifically, each omnidirectional wheel train structure 2 is composed of a mounting chassis, a brushless reduction motor 22, and an omnidirectional wheel body 23. The brushless reduction motor 22 drives the omnidirectional wheel to roll, and the speed difference of the four omnidirectional wheel train structures 2 can be controlled to realize movement in any direction.

[0036] In the embodiment, the claw system 4 includes a mounting bracket 41 fixed on the main chassis 1, a rotating structure and a lifting structure mounted on the top of the mounting bracket 41, and the two are drivingly connected. The lifting structure is drivingly installed with a claw mechanism.

[0037] The rotating structure includes a reduction motor 42 fixed on the mounting bracket 41, an output shaft of the reduction motor 42 penetrating through the mounting bracket 41 and fixedly installed with a pinion 421, and a gear wheel 422 drivingly engaged with the pinion 421. The gear wheel 422 is drivingly connected with the lifting structure.

[0038] The lifting structure includes a rotating disc 431 installed on the mounting bracket 41 through a rotating shaft, the rotating shaft of the rotating disc 431 penetrating through the mounting bracket 41 and fixedly connected with the gear wheel 422, a lifting frame 43 fixed in the middle of the rotating disc 431, a lifting seat 45 slidingly connected to the outside of the lifting frame 43, a belt pulley seat 432 installed on the top of the lifting frame 43, a reduction motor 44 fixedly installed on one side of the rotating disc 431, an output shaft of the reduction motor 44 installed with a belt pulley, a lifting transmission belt 441 drivingly connected between the belt pulley and the belt pulley seat 432, and the lifting seat 45 fixedly connected with a section of the lifting transmission belt 441.

[0039] The claw mechanism includes a connecting seat 46 fixedly connected with the lifting seat 45, two claws 462 symmetrically connected through rotating shafts at the inner edge of the connecting seat 46, linkage gears two 464 fixed on the rotating shafts of the two claws 462 and drivingly engaged with each other, a linkage gear one 463 fixed on the rotating shaft of one of the two claws 462, a reduction motor three 461 fixed on the side end of the connecting seat 46, a gear fixed on the output shaft of the reduction motor three 461, and a synchronous belt drivingly connected between the linkage gear one 463.

[0040] Specifically, when the two gripper systems 4 are used to transport the identification cylinder or mineral water, the robot moves to the designated position, the controller controls the reduction motor 42 to drive the pinion 421, the pinion 421 drives the gear 422, thereby adjusting the position of the gripper 462 mechanism on the lifting structure, then controls the reduction motor 44 to drive the lifting transmission belt 441 to rotate, thereby driving the lifting seat 45 to rise and fall on the lifting frame 43, so that the gripper 462 mechanism moves to the appropriate position for clamping the goods, then controls the reduction motor 461, through the synchronous belt transmission between the gear and the linkage gear 463, so that the two linkage gears on the gripper 462 mesh and drive, the two grippers 462 close to clamp the goods, then controls the reduction motor 42 to drive the pinion 421 to reverse, the gear drives the gear 422, thereby adjusting the rotation of the gripper 462 mechanism on the lifting structure to the placement structure position, the goods contact with the placement rack 11 and are clamped into the buckle 12 for limiting, then controls the reduction motor 461 to reverse. Through the synchronous belt transmission between the gear and the linkage gear 463, the two grippers 462 open through the reverse meshing of the linkage gear, and separate from the goods, completing the clamping, the two gripper systems 4 cooperate with the two placement structures, and at most four goods can be clamped for transportation.

[0041] Two support frames 31 are symmetrically installed on the main base frame 1, a connecting base frame 311 is fixed at the bottom between the two support frames 31, double driven wheels 312 are rotationally connected to the top middle part of the connecting base frame 311 through an axis, two lower buffer structures 32 are symmetrically and fixedly installed at the two ends of the connecting base frame 311, two ball taking mechanisms 33 are symmetrically connected between the middle parts of the two support frames 31 through an axis, double friction wheels two 315 are installed on the connection axes of the two ball taking mechanisms 33, one of the double friction wheels one 314 is fixed with a linkage belt pulley 313 on the connection axis, the linkage belt pulley 313 is drivingly connected with a transmission belt, the other end of the transmission belt is drivingly connected with a belt pulley, the belt pulley is installed on the support frame 31 through a connecting shaft, a gear is fixedly installed on the connecting shaft and drivingly connected with a driving motor one 3131 penetrating through the support frame 31, the driving motor one 3131 is fixed outside the support frame 31, the other double friction wheel one 314 is fixed with a gear on the connection axis, which is in meshing transmission with the gear on the connecting shaft, the two double friction wheels one 314 are drivingly connected with the belt pulleys of the two double friction wheels two 315, a tornado motor 316 is fixed between the two support frames 31 and close to the right ball taking mechanism 33, a rubber coated wheel 317 is fixedly connected with the output shaft of the tornado motor 316, four long friction wheels 318 are equidistantly installed on the upper parts of the two support frames 31 through an axis and close to the left ball taking mechanism 33, the four long friction wheels 318 are drivingly connected through belt pulleys, gears are further fixedly installed on the connection axes of the lower long friction wheels 318, a driving motor two 319 is fixed outside the support frame 31 and drivingly connected with the gears on the output shaft penetrating through the support frame 31 and the connection axes of the long friction wheels 318, photoelectric switches are symmetrically installed between the two support frames 31.

[0042] Specifically, the transmission mode of the launching module is that the connecting shaft connected with the driving motor one 3131 drives the right double friction wheel one 314 to rotate clockwise through the belt pulley, the right double friction wheel one 314 drives the double friction wheel two 315 to rotate clockwise through the belt pulley, the connecting shaft connected with the driving motor one 3131 drives the right double friction wheel one 314 to rotate counterclockwise through the gear, the right double friction wheel one 314 drives the double friction wheel two 315 to rotate counterclockwise through the belt pulley, at the same time, the driving motor two 319 drives one of the long friction wheels 318 to rotate counterclockwise through the gear, the four long friction wheels 318 are drivingly connected through the belt pulleys and rotate counterclockwise, the tornado motor 316 drives the rubber coated wheel 317 to rotate clockwise;

[0043] The ball taking mechanism 33 guides the ball into the support frame 31 and contacts the driven wheel to guide upward, and contacts and rubs with the clockwise rotating rubber-coated wheel 317 and the counterclockwise rotating long friction wheel 318, so as to guide the ball upward. By adjusting the speed difference of the driving motor 319 and the tornado motor 316, the ball with downward spin or upward spin can be shot.

[0044] When the ball enters the support frame 31, the light sensor detects whether the ball is successfully taken, and sends a signal to the control end 14 after detecting the ball. The control end 14 controls the energization of the de-energized electromagnet 324 to demagnetize. The arc-shaped frame 331 is flipped downward by the rebounding tension of the rubber rope, and contacts the elastic buffer wheel 322 on the mounting frame 321 to buffer and reduce the impact force. At the same time, the magnet 323 attracts the double-headed iron sheet 3311 to limit the arc-shaped frame 331.

[0045] In this embodiment, the ball taking mechanism 33 includes an arc-shaped frame 331 connected to the two support frames 31 through a rotating shaft and a de-energized electromagnet 324 fixed on the two support frames 31. The arc-shaped frame 331 has two double-headed iron sheets 3311 fixed on both sides and magnetically connected with the two de-energized electromagnets 324. The top rotating shaft of the arc-shaped frame 331 is rotatably connected with four groups of abstract mowing wheels 334. The middle part of the arc-shaped frame 331 is rotatably connected with two double friction wheels 333 through rotating shafts. The two double friction wheels 333 are transmission connected through a belt pulley. One end of the rotating shaft of one of the double friction wheels 333 is transmission connected with the belt pulley of the four groups of abstract mowing wheels 334, and the other end is fixed with a gear. The side end of the arc-shaped frame 331 is fixed with a driving motor 332 near the double friction wheels 333, and the output shaft of the driving motor 332 is fixed with a gear which is transmission connected with the gear on the rotating shaft of the double friction wheels 333.

[0046] Specifically, the transmission mode of the right ball taking mechanism 33 is that the driving motor drives the double friction wheels to rotate clockwise through the gear, the double friction wheels 333 are transmission connected through the belt pulley, and the other double friction wheels 333 and the four groups of abstract mowing wheels 334 are driven to rotate clockwise. The transmission mode of the left ball taking mechanism 33 is that the driving motor drives the double friction wheels to rotate counterclockwise through the gear, the double friction wheels 333 are transmission connected through the belt pulley, and the other double friction wheels 333 and the four groups of abstract mowing wheels 334 are driven to rotate counterclockwise.

[0047] When the robot is controlled to move and the right ball taking mechanism 33 approaches the ball, the four groups of abstract Miguans 334 rotate clockwise to drive the ball into the launching module. The arc-shaped frame 331 is turned up and opened by the rolling friction of the four groups of abstract Miguans 334 and the support of the entering ball, and the double-headed iron sheet 3311 on the arc-shaped frame 331 is close to the de-energized electromagnet 324 and is magnetically attracted and fixed, so that the arc-shaped frame 331 is opened. The ball enters the connecting chassis 311, and the two double friction wheels three 333 are driven clockwise to drive the ball into the two support frames 31 between them and contact the driven wheels to guide upward. The ball is guided upward by the contact friction of the clockwise rotating rubber-coated wheel 317 and the counterclockwise rotating long friction wheel 318, so as to shoot the ball. By adjusting the speed difference of the driving motor two 319 and the tornado motor 316, the ball with downward spin or upward spin can be shot. Similarly, when the robot is controlled to move and the left ball taking mechanism 33 approaches the ball, the four groups of abstract Miguans 334 rotate counterclockwise to drive the ball into the launching module. The arc-shaped frame 331 is turned up and opened by the rolling friction of the four groups of abstract Miguans 334 and the support of the entering ball, and the double-headed iron sheet 3311 on the arc-shaped frame 331 is close to the de-energized electromagnet 324 and is magnetically attracted and fixed, so that the arc-shaped frame 331 is opened. The ball enters the connecting chassis 311, and the two double friction wheels three 333 are driven counterclockwise to drive the ball into the two support frames 31 between them.

[0048] In this embodiment, the lower buffer structure 32 includes two mounting frames 321 fixed on both sides of the connecting chassis 311. Each mounting frame 321 has a plurality of elastic buffer wheels 322 connected to the top of the mounting frame 321 through a shaft on one side, and a magnet 323 fixed on the other side. The two magnets 323 are magnetically connected with the two double-headed iron sheets 3311, and the two mounting frames 321 are fixedly connected with the rubber rope between the two sides of the arc-shaped frame 331.

[0049] Specifically, the control end 14 controls the de-energized electromagnet 324 to be energized and demagnetized, the arc-shaped frame 331 is flipped downward by the rebounding tension of the rubber rope, contacts and buffers the elastic buffer wheel 322 on the mounting frame 321, reduces the impact force, and the magnet 323 attracts the double-headed iron sheet 3311 to limit the arc-shaped frame 331.

[0050] Working principle:

[0051] The upper mechanism of the robot main chassis 1 mainly integrates the launching system 3 and the gripper system 4, moves through the four groups of omni-directional wheel train structures 2, and is controlled by the program set by the control end 14 or by the external remote controller. The external laser sensor and the positioning code disc 13 are used for precise movement.

[0052] Each omni-directional wheel wheel system structure 2 is composed of mounting bottom, brushless reduction motor four 22, omni-directional wheel body 23, brushless reduction motor four 22 drives omni-directional wheel rolling, and the speed difference of four groups of omni-directional wheel wheel system structure 2 can be controlled to realize arbitrary direction movement;

[0053] When the identification cylinder or mineral water material is transported by two gripper systems 4, the robot moves to the specified position, the controller controls the reduction motor one 42 to drive the pinion 421, the pinion 421 drives the gear 422, so that the position of the gripper 462 mechanism on the lifting structure is adjusted, then the reduction motor two 44 pulley drives the lifting transmission belt 441 to rotate, so that the lifting seat 45 is lifted on the lifting frame 43, so that the gripper 462 mechanism moves to the appropriate position of the material clamping, then the reduction motor three 461 is controlled, the synchronous belt transmission is connected between the gear and the linkage gear one 463, so that the two linkage gears on the gripper 462 mesh transmission, the two grippers 462 close to clamp the material, then the reduction motor one 42 drives the pinion 421 to reverse, the gear drives the gear 422, so that the gripper 462 mechanism on the lifting structure is adjusted to the placement structure position, the material contacts the placement rack 11, and is clamped into the buckle 12 for limiting, then the reduction motor three 461 is reversed. The synchronous belt transmission is connected between the gear and the linkage gear one 463, the two grippers 462 are opened through the reverse meshing of the linkage gears, and are separated from the material, the clamping is completed, the two gripper systems 4 cooperate with the two placement structures, and at most four materials can be clamped for transportation;

[0054] When the ball is sucked and launched, the control end 14 controls the driving motor one 3131, the driving motor two 319, the driving motor three 332 and the tornado motor 316 to work,

[0055] The transmission mode of the launching module is that the connecting shaft connected with the driving motor one 3131 drives the right double friction wheel one 314 to rotate clockwise through the pulley transmission, the right double friction wheel one 314 drives the double friction wheel two 315 to rotate clockwise through the pulley transmission, the connecting shaft connected with the driving motor one 3131 drives the right double friction wheel one 314 to rotate counterclockwise through the gear, the right double friction wheel one 314 drives the double friction wheel two 315 to rotate counterclockwise through the pulley transmission, at the same time, the driving motor two 319 drives one of the long friction wheels 318 to rotate counterclockwise through the gear, the four groups of long friction wheels 318 rotate counterclockwise through the pulley transmission connection, and the tornado motor 316 drives the rubber-coated wheel 317 to rotate clockwise;

[0056] The transmission mode of the right ball taking mechanism 33 is that the driving motor drives the double friction wheels to rotate clockwise through the gear, the double friction wheel three 333 drives another double friction wheel three 333 and four groups of abstract flywheels 334 to rotate clockwise through the pulley transmission;

[0057] The transmission mode of the left ball taking mechanism 33 is that the driving motor drives the double friction wheels to rotate counterclockwise through the gear, the double friction wheels three 333 drive another double friction wheels three 333 and four groups of abstract Mian wheels 334 to rotate counterclockwise through the belt pulley.

[0058] When the robot is controlled to move and the right ball taking mechanism 33 approaches the ball, the four groups of abstract Mian wheels 334 drive the ball to enter the launching module by rotating clockwise, the arc-shaped frame 331 is turned up and opened upward by the rolling friction of the four groups of abstract Mian wheels 334 and the support of the entering ball, the double-headed iron sheet 3311 on the arc-shaped frame 331 approaches the de-energized electromagnet 324 and is magnetically attracted and fixed, the arc-shaped frame 331 is opened, the ball enters the connecting chassis 311, and the ball is driven to enter between the two support frames 31 by the clockwise rotation of the two double friction wheels three 333 and is guided upward to contact and rub with the clockwise rotating rubber-coated wheel 317 and the counterclockwise rotating long friction wheel 318, so as to guide the upward shooting of the ball, by adjusting the speed difference of the driving motor two 319 and the tornado motor 316, the ball with downward spin or upward spin can be shot, and when the ball enters the inside of the support frame 31, the light sensor detects whether the ball is successfully sucked, and sends a signal to the control end 14 after detecting the ball, the control end 14 controls the de-energized electromagnet 324 to be energized and demagnetized, the arc-shaped frame 331 is turned down by the rebounding tension of the rubber rope, contacts the elastic buffer wheel 322 on the mounting frame 321 for buffering, reduces the impact force, and the magnet 323 adsorbs the double-headed iron sheet 3311 to limit the arc-shaped frame 331;

[0059] Similarly, when the robot is controlled to move and the left ball taking mechanism 33 approaches the ball, the four groups of abstract Mian wheels 334 drive the ball to enter the launching module by rotating counterclockwise, the arc-shaped frame 331 is turned up and opened upward by the rolling friction of the four groups of abstract Mian wheels 334 and the support of the entering ball, the double-headed iron sheet 3311 on the arc-shaped frame 331 approaches the de-energized electromagnet 324 and is magnetically attracted and fixed, the arc-shaped frame 331 is opened, the ball enters the connecting chassis 311, and the ball is driven to enter between the two support frames 31 by the counterclockwise rotation of the two double friction wheels three 333, when the control end 14 controls the de-energized electromagnet 324 to be energized and demagnetized, the arc-shaped frame 331 is turned down by the rebounding tension of the rubber rope, contacts the elastic buffer wheel 322 on the mounting frame 321 for buffering, reduces the impact force, and the magnet 323 adsorbs the double-headed iron sheet 3311 to limit the arc-shaped frame 331.

Claims

1. A robot for ball-assisted training and material transport, comprising a main chassis (1), characterized in that: A launch system (3) is installed in the middle of the main chassis (1), and a positioning code disk (13) and a control end (14) are respectively installed near both sides of the launch system (3). Four omnidirectional wheel train structures (2) are driven and installed at the four corners of the main chassis (1), and two clamping claw systems (4) are symmetrically driven and installed on the sides of the main chassis (1). Two placement structures are symmetrically fixed on both sides of the launch system (3). The two placement structures are used in conjunction with the two clamping claw systems (4). The placement structure includes a placement frame (11) fixedly connected to the launch system (3), and a buckle (12) is fixed above the placement frame (11). The control end (14) is respectively electrically controlled and connected with the positioning code disk (13), the four omnidirectional wheel train structures (2), the positioning code disk (13), the launch system (3) and the two clamping claw systems (4).

2. The ball-assisted training and material transport integrated robot according to claim 1, characterized in that: The omnidirectional wheel train structure (2) comprises a mounting chassis (21) fixed on a main chassis (1); an internal rotating shaft of the mounting chassis (21) is connected to an omnidirectional wheel body (23); a brushless reduction motor (22) is fixed to a side end of the mounting chassis (21); and an output shaft of the mounting chassis (21) passes through the mounting chassis (21) and is in transmission connection with the omnidirectional wheel body (23).

3. The ball-assisted training and material transport integrated robot according to claim 1, characterized in that: The clamping system (4) includes a mounting bracket (41) fixed on the main chassis (1), a rotating structure and a lifting structure are installed on the top of the mounting bracket (41), the two are connected in a transmission manner, and the lifting structure is transmission-mounted with a clamping mechanism; The rotating structure includes a reduction motor (42) fixed on the mounting bracket (41), the output shaft of the reduction motor (42) passes through the mounting bracket (41) and is fixedly mounted with a small gear (421), the small gear (421) is transmission-engaged with a large gear (422), and the large gear (422) is transmission-connected to the lifting mechanism; The lifting structure comprises a rotating disk (431) mounted on a mounting bracket (41) via a rotating shaft, the rotating disk (431) rotating shaft passes through the mounting bracket (41) and is fixedly connected to a large gear (422), a lifting frame (43) is fixed in the middle of the rotating disk (431), a lifting seat (45) is slidably connected to the outside of the lifting frame (43), and a pulley seat (432) is mounted on the top of the lifting frame (43), a reduction motor 2 (44) is fixedly mounted on one side of the rotating disk (431), a pulley is mounted on the output shaft of the reduction motor 2 (44), and a lifting transmission belt (441) is connected to the pulley mounted on the pulley seat (432) in a transmission manner, and the lifting seat (45) is fixedly connected to a section of the lifting transmission belt (441).

4. The ball-assisted training and material transport integrated robot according to claim 3, characterized in that: The clamping mechanism includes a connecting seat (46) fixedly connected to the lifting seat (45), and the inner edge of the connecting seat (46) is symmetrically connected to two clamping jaws (462) through a rotating shaft. The two clamping jaws (462) are fixed with linkage gears (464) above and below the rotating shafts and mesh with each other. A linkage gear (463) is fixed to the middle of the rotating shaft of one of the clamping jaws (462). A reduction motor (461) is fixed to the side end of the connecting seat (46), and a gear is fixed to the output shaft of the reduction motor (461), and a synchronous belt transmission is connected between the reduction motor (461) and the linkage gear (463).

5. The ball-assisted training and material transport integrated robot according to claim 1, characterized in that: The launching system (3) comprises two supporting frames (31) symmetrically mounted on the main frame (1); a connecting frame (311) is fixed at the bottom between the two supporting frames (31); a rotating shaft at the top middle of the connecting frame (311) is rotatably connected to a double driven wheel (312); two lower buffer structures (32) are symmetrically fixedly mounted at both ends of the connecting frame (311); two ball-taking mechanisms (33) are symmetrically connected at the middle between the two supporting frames (31) via a rotating shaft, and two double friction wheels are mounted on the connecting rotating shafts of the two ball-taking mechanisms (33). (315), a double friction wheel one (314) is respectively installed on a rotating shaft near the two double friction wheels two (315) between the two support frames (31), a linkage pulley (313) is fixed on the rotating shaft of one of the double friction wheels one (314), the linkage pulley (313) is connected to a transmission belt, and the other end of the transmission belt is connected to a pulley, the pulley is installed on the support frame (31) through a connecting shaft, and a gear is fixed on the connecting shaft, and one end passes through the support frame (31) and is connected to a drive motor one (3131). A driving motor (3131) is fixed on the outside of the support frame (31), and a gear is fixed on the rotating shaft of another double friction wheel (314), which is meshed with the gear on the connecting shaft for transmission, wherein the two double friction wheels (314) are respectively connected to the two double friction wheels (315) for transmission. A hurricane motor (316) is fixed between the two support frames (31) near the right ball taking mechanism (33), and the output shaft of the hurricane motor (316) is fixedly connected to the rubber-coated wheel (317). The upper part of the two support frames (31) is close to the ball taking mechanism (33). Near the left ball taking mechanism (33), four long friction wheels (318) are equidistantly installed through a rotating shaft. The four long friction wheels (318) are connected to each other through a pulley transmission. A gear is also fixed on the rotating shaft connected to the lower long friction wheel (318). A second drive motor (319) is fixed on the outside of the support frame (31). The output shaft of the second drive motor (319) passes through the support frame (31) and is fixedly connected to a gear, which meshes with the gear on the rotating shaft of the long friction wheel (318). A photoelectric switch is symmetrically installed in the middle between the two support frames (31).

6. The ball-assisted training and material transport integrated robot according to claim 5, characterized in that: The ball taking mechanism (33) comprises an arc frame (331) connected to two support frames (31) via a rotating shaft and a power-off type electromagnet (324) fixed on the two support frames (31). Two double-headed iron sheets (3311) are fixed on both sides of the arc frame (331) and are magnetically connected to the two power-off type electromagnets (324). The top of the arc frame (331) is rotatably connected to four groups of abstract wheat wheels (334). The middle of the arc frame (331) is rotatably connected to the upper and lower parts of the arc frame (331) via a rotating shaft. Two double friction wheels (333) are connected by pulley transmission between the two double friction wheels (333), one end of the rotating shaft of the double friction wheel (333) is connected to the pulley of the four groups of abstract wheat wheels (334), and the other end is fixed with a gear. The side end of the arc frame (331) is fixed with a driving motor (332) near the position of the double friction wheel (333), and the output shaft of the driving motor (332) is fixed with a gear, which is meshed with the gear on the rotating shaft of the double friction wheel (333).

7. The ball-assisted training and material transport integrated robot according to claim 6, characterized in that: The lower buffer structure (32) comprises two mounting frames (321) fixed on both sides of the connecting base frame (311); a rotating shaft on one side of the top of each mounting frame (321) is connected to a plurality of elastic buffer wheels (322), and a magnet (323) is fixed on the other side.

8. The ball-assisted training and material transport integrated robot according to claim 7, characterized in that: The two magnets (323) are magnetically connected to the two double-headed iron sheets (3311), and a rubber rope is fixedly connected between the two mounting frames (321) and the two sides of the arc frame (331).

9. The ball-assisted training and material transport integrated robot according to claim 1, characterized in that: The control end (14) comprises a shell, wherein the inside of the shell comprises a battery, a MOS board, an STM32F4 main control board and a step-down power distribution board, and a wireless module is installed to be connected to an external remote controller for wireless control.

10. The ball-assisted training and material transport integrated robot according to claim 9, characterized in that: A laser sensor is also installed on the main chassis (1) and is electrically connected to the control terminal (14).

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