Automatic ball picking robot capable of being developed for second time

Abstract

The utility model belongs to the technical field of robots, and particularly relates to an automatic ball picking robot capable of being developed secondarily, which comprises an upper-layer plate and a lower-layer plate which are used as carriers of the automatic ball picking robot, the upper-layer plate and the lower-layer plate are separated and fixed through a support, and direct-current motors are symmetrically and fixedly mounted at two ends of the lower-layer plate. The power output end of the direct-current motor is fixedly connected with a driving wheel, one end of the lower-layer plate is fixedly connected with a universal wheel, one end of the lower-layer plate is fixedly connected with a battery bin, the top end face of the upper-layer plate is fixedly connected with a Raspberry Pi control unit, and one end of the upper-layer plate is fixedly connected with a two-degree-of-freedom steering engine holder. A camera is fixedly connected to a degree-of-freedom bracket of the two-degree-of-freedom steering engine holder; one end of the lower layer plate is fixedly connected with a control steering engine, a driving part of the control steering engine is fixedly connected with a frame ball module, the frame ball module is located in the shooting range of the camera, and through the deformable frame ball module, the secondary loss probability of balls can be reduced when the robot picks up the balls.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to an automatic ball-picking robot that can be further developed. Background Technology

[0002] With the continuous development of technology, the research and application of service robot technology are deepening, especially in the cultural and sports fields, where the demand for such robots is gradually emerging and growing rapidly. In recent years, the deepening of the national strategy of building a strong sports nation and the popularization of ball sports have led to a large number of training sessions and competitions requiring frequent picking up of randomly scattered balls. This is not only time-consuming and labor-intensive, but may also reduce the fun of the sport. Therefore, efficient automatic ball-picking robots have emerged to replace manual labor in performing tedious and repetitive ball-picking actions, saving time, improving training efficiency, and solving problems such as ball jamming and ball damage, thus reducing the burden on human resources. However, in the process of picking up balls, existing robots are prone to losing the balls that have already been picked up. Utility Model Content

[0003] To address the problems mentioned in the background section, this invention provides a customizable automatic ball-retrieving robot that reduces the probability of secondary ball loss during retrieval.

[0004] To achieve the above objectives, this utility model provides the following technical solution: an automatically ball-collecting robot that can be further developed, comprising an upper plate and a lower plate as the carrier of the automatically ball-collecting robot, the upper plate and the lower plate being separated and fixed by a bracket, DC motors being symmetrically fixedly installed at both ends of the lower plate, drive wheels being fixedly connected to the power output end of the DC motors, casters being fixedly connected to one end of the lower plate, a battery compartment being fixedly connected to one end of the lower plate, a Raspberry Pi control unit being fixedly connected to the top surface of the upper plate, a two-degree-of-freedom servo gimbal being fixedly connected to one end of the upper plate, and a camera being fixedly connected to the degree-of-freedom bracket of the two-degree-of-freedom servo gimbal;

[0005] A control servo motor is fixedly connected to one end of the lower plate, and a frame ball module is fixedly connected to the drive unit of the control servo motor. The frame ball module is located within the shooting range of the camera.

[0006] As a preferred embodiment of this utility model of an automatically ball-picking robot that can be further developed, the ball-picking module is a fixed rectangular frame structure.

[0007] As a preferred embodiment of the automatically ball-collecting robot that can be further developed according to this utility model, the ball-collecting module is a deformable frame structure. The ball-collecting module includes two symmetrically arranged side rods, a front rod, and a rear rod. When the ball-collecting module is in a rectangular state, the two front rods and the two rear rods are each on the same straight line. The side rods are fixedly connected to the adjacent front rods and rear rods through corner brackets. An elastic part is fixedly connected to the outer side of the joint of the two front rods. The two rear rods are hinged to a central rod. The central rod is fixedly connected to the drive part of the control servo motor.

[0008] As a preferred embodiment of this utility model of an automatic ball-collecting robot that can be further developed, a water droplet block is fixedly connected to one end of the rear rod, and a stop block corresponding to the position of the water droplet block is fixedly connected to one end of the lower plate.

[0009] As a preferred embodiment of this utility model of an automatic ball-collecting robot that can be further developed, a connecting block is provided on the outer side of the hinge joint of the rear rod and the middle rod, and a spring piece is fixedly connected between the two connecting blocks located at the same hinge joint.

[0010] As a preferred embodiment of the automatically ball-collecting robot that can be further developed according to this utility model, two connecting blocks are located at the same hinge point, one of which is fixedly connected to the outer surface of the rear rod or the middle rod, and the other connecting block is in contact with the outer surface of the rear rod or the middle rod.

[0011] Compared with the prior art, the beneficial effects of this utility model are: the automatic ball-picking robot can utilize its Raspberry Pi control unit to realize the secondary development of the robot, meet the user's secondary development needs, and is compatible with multiple programming languages, realizing the robot's versatility; it can be equipped with a battery compartment and can also expand other modules, making it widely applicable and highly practical.

[0012] Furthermore, the deformable frame-ball module can reduce the probability of the robot losing the ball a second time when picking it up. Attached Figure Description

[0013] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0015] Figure 2 This is a side view of the overall structure of this utility model;

[0016] Figure 3 This is a front view of the overall structure of this utility model;

[0017] Figure 4 This is a top view of the overall structure of this utility model;

[0018] Figure 5 This is a first-view structural diagram of the middle frame ball module of this utility model;

[0019] Figure 6 In this utility model Figure 5 An enlarged structural diagram at point A;

[0020] Figure 7 This is a schematic diagram of the second-view structure of the middle frame ball module of this utility model;

[0021] Figure 8 In this utility model Figure 7 A magnified structural diagram at point B;

[0022] Figure 9 In this utility model Figure 7 A magnified structural diagram at point C;

[0023] Figure 10 This is a schematic diagram of the rectangular structure of the frame ball module in this utility model;

[0024] Figure 11 This is a schematic diagram showing the maximum coverage area of ​​the frame-sphere module in this utility model;

[0025] In the picture:

[0026] 1. Two-DOF servo gimbal; 2. Frame ball module; 3. Battery compartment; 4. Lower board; 5. Camera; 6. Caster wheel; 7. Control servo; 8. DC motor; 9. Upper board; 10. Raspberry Pi control unit;

[0027] 201. Side bar; 202. Front bar; 203. Rear bar; 204. Angle bracket; 205. Center bar; 206. Connecting block; 207. Spring piece; 208. Water drop block; 209. Stop block; 2010. Elastic part. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] like Figures 1-11 As shown:

[0030] Example 1:

[0031] An automatically developed ball-retrieving robot includes an upper plate 9 and a lower plate 4 serving as the robot's carrier. The upper plate 9 and lower plate 4 are separated and fixed by a bracket, which can be a copper column. DC motors 8 are symmetrically fixedly mounted at both ends of the lower plate 4. Drive wheels are fixedly connected to the power output ends of the DC motors 8. The two DC motors 8 can control the rotation of the drive wheels respectively, enabling the robot to walk and turn. A caster wheel 6 is fixedly connected to one end of the lower plate 4, and a battery compartment 3 is fixedly connected to the other end of the lower plate 4. The battery compartment 3 is used for... The robot is powered by a Raspberry Pi control unit 10 fixedly connected to the top surface of the upper plate 9. A two-degree-of-freedom servo gimbal 1 is fixedly connected to one end of the upper plate 9. A camera 5 is fixedly connected to the degree-of-freedom bracket of the two-degree-of-freedom servo gimbal 1. The two-degree-of-freedom servo platform can enable the camera 5 to perform pitch, left and right rotation and other movements to identify small balls. The automatic ball picking robot can use its Raspberry Pi control unit 10 to realize the robot's secondary development, meet the user's secondary development needs, and be compatible with multiple programming languages, thus realizing the robot's versatility.

[0032] A control servo motor 7 is fixedly connected to one end of the lower plate 4. The drive unit of the control servo motor 7 is fixedly connected to the frame ball module 2. The control servo motor 7 can control the rotation of the frame ball module 2 to collect the ball on the ground. The frame ball module 2 is located within the shooting range of the camera 5. The frame ball module 2 is a fixed rectangular frame structure.

[0033] In this embodiment, after the robot detects the position of the ball on the ground, the robot moves to the vicinity of the ball and then controls the frame ball module 2 to rotate, causing the front end of the frame ball module 2 to drive upward. The frame ball module 2 is tilted as a whole. After the frame ball module 2 rotates, the robot continues to move, causing the robot to move the frame ball module 2 above the ball. Then, the frame ball module 2 rotates in the opposite direction, causing the frame ball module 2 to rotate back to its original position, that is, parallel to the ground. When the frame ball module 2 is in a parallel state, the distance between the bottom of the frame ball module 2 and the ground is less than the diameter of the ball. Preferably, when the frame ball module 2 is parallel to the ground, the center plane of the thickness of the frame ball module 2 is located at the center of the ball. In this way, when the frame ball module 2 continues to move, it can better carry the ball and move it, so that the frame ball module 2 can continue to collect the ball while carrying it.

[0034] Example 2:

[0035] Furthermore, when the ball-collecting module 2 continues to collect small balls while carrying them, the front end of the ball-collecting module 2 needs to be raised again. After the front end of the ball-collecting module 2 is raised, when there are many balls in the ball-collecting module 2, the collision between the balls will give the balls a probability of leaving the ball-collecting module 2. The small balls in the ball-collecting module 2 have a certain probability of rolling out from the raised part of the front end of the ball-collecting module 2. The raised part of the front end of the ball-collecting module 2 includes the front rod 202 and the side rod 201 near the front rod 202. In order to solve this problem, the ball-collecting module 2 is deformed to increase the coverage area of ​​the front end of the ball-collecting module 2, which can increase the time for the balls to leave the front end of the ball-collecting module 2, thereby reducing the probability of the balls rolling out from the ball-collecting module 2.

[0036] It should be noted that the ball can only roll out of the frame ball module 2 from the front end, because when the frame ball module 2 is tilted, the distance between the middle and rear part of the frame ball module 2 and the ground is still less than the diameter of the ball.

[0037] In an optional embodiment, the frame ball module 2 is a deformable frame structure. The frame ball module 2 includes two symmetrically arranged side rods 201, front rods 202, and rear rods 203. When the frame ball module 2 is in a rectangular state, the two front rods 202 and the two rear rods 203 are each on the same straight line. The side rods 201 are fixedly connected to the adjacent front rods 202 and rear rods 203 through corner brackets 204. An elastic part 2010 is fixedly connected to the outer side of the joint of the two front rods 202. The two rear rods 203 are hinged together to a middle rod 205. The middle rod 205 is fixedly connected to the drive part of the control servo motor 7.

[0038] In an optional embodiment, a water droplet block 208 is fixedly connected to one end of the rear rod 203, and a stop block 209 corresponding to the position of the water droplet block 208 is fixedly connected to one end of the lower plate 4.

[0039] In this embodiment, when the servo motor 7 controls the rotation of the middle rod 205, the middle rod 205 causes the entire frame ball module 2 to rotate, causing the front end of the frame ball module 2 to tilt upwards. Since the rear rod 203 and the middle rod 205 are hinged, they can only rotate in one plane and not at multiple angles. Therefore, when the middle rod 205 drives the rear rod 203 to rotate, the rear rod 203 will drive the teardrop block 208 to rotate as well. During the rotation of the teardrop block 208, because the bottom volume of the teardrop block 208 is larger, the teardrop block 208 will be restricted by the blocking block 209, causing the teardrop block 208 to move backwards, that is, away from the front rod 202. As the water droplet block 208 moves in the direction of the movement, the rear rod 203 will rotate around the part hinged to the middle rod 205. After the rear rod 203 rotates, it will drive the side rod 201 through the corner bracket 204, which in turn will drive the front rod 202 to rotate together around the hinge point between the rear rod 203 and the middle rod 205, increasing the distance between the two front rods 202. When the two front rods 202 separate, they will overcome the elastic force of the elastic part 2010 and move, while also stretching the elastic part 2010. Through the elastic part 2010, the frame ball module 2 can still be a closed structure, preventing the ball from rolling out from the gap between the two front rods 202.

[0040] It should be noted that when the frame-ball module 2 transforms from a rectangular structure to a structure with the largest coverage area, the maximum distance between the front rod 202 and the ground is still less than the diameter of the ball. Only by continuing to rotate the frame-ball module 2 can the ball be collected.

[0041] Example 3:

[0042] Since the elastic part 2010 not only provides elastic force for the frame ball module 2 to deform from the maximum coverage area into a rectangular structure, but also keeps the frame ball module 2 in a closed structure, the elastic part 2010 has a large deformation amount. Long-term use will cause insufficient elastic force, so after the frame ball module 2 becomes a rectangular structure, noise will be generated as the robot walks. In order to solve this problem, an additional spring piece 207 is added between the rear rod 203 and the middle rod 205.

[0043] In an optional embodiment, a connecting block 206 is provided on the outer side of the hinge joint of the rear rod 203 and the middle rod 205, and a spring piece 207 is fixedly connected between the two connecting blocks 206 located at the same hinge joint.

[0044] In an optional embodiment, two connecting blocks 206 are located at the same hinge, one of which is fixedly connected to the outer surface of the rear rod 203 or the middle rod 205, and the other connecting block 206 is in contact with the outer surface of the rear rod 203 or the middle rod 205.

[0045] In this embodiment: when the rear rod 203 and the middle rod 205 rotate relative to each other, both the rear rod 203 and the middle rod 205 will drive the connecting block 206 to move. The movement of the connecting block 206 will overcome the elastic force of the spring piece 207. When the frame ball module 2 rotates to a state parallel to the ground, the elastic force of the spring piece 207 will push the rear rod 203 and the middle rod 205 to be on the same straight line. Due to the additional elastic force of the spring piece 207, the two front rods 202 will be in close contact with each other, and it is not easy to generate vibration or collision noise when the robot walks.

[0046] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An automated ball-collecting robot that can be further developed, characterized in that: The system includes an upper plate (9) and a lower plate (4) serving as the carrier of an automatic ball-collecting robot. The upper plate (9) and the lower plate (4) are separated and fixed by a bracket. A DC motor (8) is symmetrically fixedly installed at both ends of the lower plate (4). A drive wheel is fixedly connected to the power output end of the DC motor (8). A universal wheel (6) is fixedly connected to one end of the lower plate (4). A battery compartment (3) is fixedly connected to one end of the lower plate (4). A Raspberry Pi control unit (10) is fixedly connected to the top surface of the upper plate (9). A two-degree-of-freedom servo gimbal (1) is fixedly connected to one end of the upper plate (9). A camera (5) is fixedly connected to the degree-of-freedom bracket of the two-degree-of-freedom servo gimbal (1). A control servo motor (7) is fixedly connected to one end of the lower plate (4), and a frame ball module (2) is fixedly connected to the drive part of the control servo motor (7). The frame ball module (2) is located within the shooting range of the camera (5).

2. The automatically ball-collecting robot that can be further developed according to claim 1, characterized in that: The frame ball module (2) is a fixed rectangular frame structure.

3. The automatically recyclable ball-picking robot according to claim 1, characterized in that: The frame ball module (2) is a deformable frame structure. The frame ball module (2) includes two symmetrically arranged side rods (201), front rods (202) and rear rods (203). When the frame ball module (2) is in a rectangular state, the two front rods (202) and the two rear rods (203) are each on the same straight line. The side rods (201) are fixedly connected to the adjacent front rods (202) and rear rods (203) through corner brackets (204). An elastic part (2010) is fixedly connected to the outer side of the joint of the two front rods (202). The two rear rods (203) are hinged together to a middle rod (205). The middle rod (205) is fixedly connected to the drive part of the control servo motor (7).

4. The automatically recyclable ball-picking robot according to claim 3, characterized in that: A water droplet block (208) is fixedly connected to one end of the rear rod (203), and a stop block (209) corresponding to the position of the water droplet block (208) is fixedly connected to one end of the lower plate (4).

5. The automatically developed ball-collecting robot according to claim 3 or 4, characterized in that: A connecting block (206) is provided on the outer side of the hinge joint of the rear rod (203) and the middle rod (205), and a spring piece (207) is fixedly connected between the two connecting blocks (206) located at the same hinge joint.

6. The automatically ball-picking robot that can be further developed according to claim 5, characterized in that: Two connecting blocks (206) located at the same hinge, one of which is fixedly connected to the outer surface of the rear rod (203) or the middle rod (205), and the other connecting block (206) is in contact with the outer surface of the rear rod (203) or the middle rod (205).

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