Intelligent picking and ejection robot

Abstract

The utility model discloses an intelligent picking and ejection robot, and belongs to the technical field of robots. The bottom of the mobile base is provided with a mobile motor and a plurality of mobile wheels driven by the mobile motor, and the mobile base is provided with a ball cylinder; the ejection assembly comprises a power cylinder installed on the movable base, and the output end of the power cylinder is located in the ball barrel and provided with an ejection push block; the grabbing assembly comprises two grabbing motors installed on the two sides of the movable base correspondingly, and grabbing arms are installed at the output ends of the grabbing motors; and the visual identification module is mounted on the movable base. A ball is recognized through the visual recognition module, the moving motor is driven to move to the position where the ball is located in the grabbing range, then the grabbing motor is driven to push the ball into the ball barrel, the power cylinder is driven to drive the ejection push block to move, the ball can be pushed out of the ball barrel, and the ejection operation of the ball is completed. And balls on the ground can be conveniently picked up and can be timely ejected out after being picked up, so that the time is saved, and the efficiency is relatively high.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially intelligent pick -up and catapult robot. BACKGROUND

[0002] Ball games are an important part of exercise programs, however, there is often a time -consuming and laborious situation in the process of picking up balls. The existing ball picking robot will only pick up and then move to the catapult device for catapulting, which occupies a long time. UTILITY MODEL CONTENT

[0003] The utility model aims at providing an intelligent pick -up and catapult robot to solve one or more technical problems existing in the prior art, and at least provide a beneficial choice or create conditions.

[0004] The technical scheme adopted to solve the above technical problems is as follows: an intelligent pick -up and catapult robot, comprising: a mobile base provided with a mobile motor and a plurality of mobile wheels driven by the mobile motor at the bottom, the mobile base being provided with a ball barrel; a catapult assembly comprising a power cylinder installed on the mobile base, the output end of the power cylinder being located in the ball barrel and provided with a catapult push block, the power cylinder being driven to drive the catapult push block to push the ball in the ball barrel out; a grabbing assembly comprising two grabbing motors installed on the two sides of the mobile base respectively, the output end of the grabbing motor being provided with a grabbing arm, the two grabbing arms being reversely rotated by the two grabbing motors respectively to push the ball in the grabbing range into the ball barrel; a visual recognition module installed on the mobile base; the visual recognition module can recognize the ball and drive the mobile motor to operate, so that the ball is in the grabbing range, and then the grabbing motor is driven to drive the grabbing arm to push the ball into the ball barrel.

[0005] The technical scheme has at least the following beneficial effects: the visual recognition module can recognize the ball on the ground, and drive the mobile motor to drive the mobile wheel to rotate, so that the robot is moved to the position where the ball is in the grabbing range, then the grabbing motor is driven to drive the two grabbing arms to push the ball into the ball barrel, and the power cylinder is driven to push the ball out of the ball barrel by the catapult push block, so that the ball is catapulted. The ball on the ground is picked up, and is catapulted or moved to another position after being picked up, so that time is saved and efficiency is improved.

[0006] As a further improvement of the above technical scheme, the mobile base is provided with a swing angle motor, and the ball barrel and the power cylinder are installed on the output end of the swing angle motor. The swing angle motor is driven to adjust the angle of the ball barrel and the angle at which the ball is pushed out, so as to adjust the angle of the ball.

[0007] As a further improvement of the above technical solution, the swing angle motor adopts a double-shaft steering engine, two output ends of the double-shaft steering engine are commonly provided with a frame, and the ball cylinder and the power cylinder are both mounted on the frame.

[0008] As a further improvement of the above technical solution, the rotation ranges of the two grabbing arms have overlapping parts when projected on the rotation plane, and the first grabbing arm is provided with a giving-up slot for swing of the second grabbing arm. The stability and reliability of pushing the ball into the ball cylinder are improved.

[0009] As a further improvement of the above technical solution, the two grabbing arms are curved in a direction of approaching each other. The stability and reliability of pushing the ball into the ball cylinder are improved.

[0010] As a further improvement of the above technical solution, the left and right sides of the ball cylinder at the ball entering end are both provided with flared grooves. The grabbing range can be appropriately enlarged, so as to reduce the identification accuracy requirement of the visual identification module.

[0011] As a further improvement of the above technical solution, the mounting position of the ball cylinder is higher than the mounting position of the grabbing arm. The mounting position of the ball cylinder can be improved, so that the bottom of the ball cylinder has a higher gap from the ground, thereby improving the passing performance.

[0012] As a further improvement of the above technical solution, a support plate is obliquely mounted on the top of the moving base, and a camera end of the visual identification module is arranged on the support plate, so that the camera direction of the camera end is obliquely downward. The camera end is lifted and obliquely arranged by the support plate, so that the camera range is wider and can cover the position in front of the moving base.

[0013] As a further improvement of the above technical solution, the number of the moving motors is the same as the number of the moving wheels, and each moving wheel is independently driven by a corresponding moving motor. The moving flexibility is improved.

[0014] As a further improvement of the above technical solution, the number of the moving wheels is four, and the four moving motors are circumferentially distributed on the moving base, and the axis directions of the output ends of two circumferentially adjacent moving motors are perpendicular to each other. BRIEF DESCRIPTION OF DRAWINGS

[0015] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0016] Fig. 1 It is a schematic diagram of the overall structure of the embodiment of the present application;

[0017] Fig. 2 It is a schematic diagram of the cross-sectional structure of the embodiment of the present application;

[0018] Fig. 3 It is a structural schematic view of the swing angle motor and the frame in the embodiment of the utility model.

[0019] 100, mobile base;110, mobile motor;120, mobile wheel;130, ball barrel;140, flared groove;200, ejection assembly;210, power cylinder;220, ejection push block;300, grabbing assembly;310, grabbing motor;320, grabbing arm;321, let go of the slot;400, visual identification module;410, support plate;411, reinforcing rib;420, camera end;500, swing angle motor;510, frame;511, first support;512, second support. DETAILED DESCRIPTION

[0020] The embodiments of the utility model are described in detail below, examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, only for explaining the utility model, and cannot be understood as limiting the utility model.

[0021] In the description of the utility model, it is understood that the orientation description, such as up, down, front, back, left, right and the like, is based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the utility model and simplifying the description, and is not indicative or implied that the indicated device or element must have a specific orientation, a specific orientation and operation, therefore, it cannot be understood as limiting the utility model.

[0022] In the description of the utility model, the meaning of several is one or more, the meaning of multiple is more than two, greater than, less than, more than and the like are not included in the number, above, below, within and the like are understood as including the number. If it is described to the first, the second is only used for distinguishing the purpose of technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0023] In the description of the utility model, unless otherwise explicitly limited, the words such as setting, installation, connection and the like should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the utility model according to the specific content of the technical scheme.

[0024] Referring to Figs. 1-3 , the intelligent pickup and ejection robot comprises a mobile base 100, an ejection assembly 200, a grabbing assembly 300 and a visual identification module 400.

[0025] The bottom of the moving base 100 is provided with four L-shaped corner codes, each of which is rotatably provided with a moving wheel 120, and each of which is provided with a moving motor 110, the output end of the moving motor 110 being connected with the moving wheel 120, so that the four moving motors 110 can respectively and independently drive the corresponding moving wheels 120 to rotate. Among them, the moving wheel 120 adopts an omni-directional wheel or a Mecanum wheel. The four L-shaped corner codes are circumferentially arranged at the edge positions of the moving base 100, that is, the four moving wheels 120 are also circumferentially arranged. Adjacent two L-shaped corner codes are distributed at an angle of 90 degrees, and the opposite two L-shaped corner codes are distributed in parallel. The moving wheels 120 are all installed at the positions away from the center of the moving base 100, and the output end axis directions of the circumferentially adjacent two moving motors 110 are at an angle of 90 degrees. By adjusting the rotating speeds of the four moving motors 110, the moving direction and speed of the moving base 100 can be adjusted, so that the moving base 100 has high moving flexibility.

[0026] The moving base 100 is provided with a swing angle motor 500, which is a double-shaft steering engine, and the two output ends of the double-shaft steering engine are coaxially arranged. The double-shaft steering engine is provided with a frame 510, which includes a first support 511 and a second support 512. The first support 511 is in a U shape and is installed at the two output ends of the double-shaft steering engine, and the second support 512 is detachably installed on the first support 511 by bolts. Among them, the output shaft axis of the double-shaft steering engine is horizontally arranged, so that the double-shaft steering engine can drive the frame 510 to swing as a whole along the longitudinal plane.

[0027] The ejection assembly 200 includes a power cylinder 210 and an ejection push block 220. The power cylinder 210 is installed on the second support 512, and the ejection push block 220 is installed on the output end of the power cylinder 210. The second support 512 is also provided with a ball barrel 130, and the axis of the ball barrel 130 is perpendicular to the output end axis of the double-shaft steering engine, that is, the rotation center line of the frame 510. The ejection push block 220 is located in the ball barrel 130, and the end of the ejection push block 220 away from the power cylinder 210 is provided with an inclined chamfer on both sides.

[0028] The grabbing assembly 300 includes a grabbing motor 310 and a grabbing arm 320, and both of them are provided with two. The two grabbing motors 310 are respectively installed on the moving base 100 through mounting plates, and the output ends of the two grabbing motors 310 are also arranged downward at the two side positions of the ball barrel 130. The two grabbing arms 320 are respectively installed on the output ends of the two grabbing motors 310, that is, the two grabbing arms 320 are also respectively located at the two side positions of the ball barrel 130. The two grabbing motors 310 can respectively drive the two grabbing arms 320 to move in opposite directions, so as to jointly push the balls in the grabbing range between the two grabbing arms 320 into the ball barrel 130.

[0029] It can be understood that the two grabbing arms 320 can independently perform rotating movement, when the ball deviates to the first grabbing arm 320, the first grabbing arm 320 can be driven to push the ball first, and then the other grabbing arm 320 is driven to push the ball into the ball barrel 130. In other embodiments, the two grabbing arms 320 can also be driven to synchronously and reversely rotate by one grabbing motor and gear, such as the output end of the grabbing motor drives the first grabbing arm 320 to rotate, the two grabbing arms 320 are both provided with gears, and the two gears mounted on the grabbing arms 320 are connected by another gear transmission, so that the synchronous and reverse rotation of the two grabbing arms 320 can be realized.

[0030] The lengths of the two grabbing arms 320 are the same, and the sum of the radii of the rotating circumferential ranges of the two grabbing arms 320 is greater than the distance between the rotating centers of the two grabbing arms 320, that is, the projection of the rotating ranges of the two grabbing arms 320 on the same rotating plane has an overlapping part, and in order to avoid interference, the end of the first grabbing arm 320 is provided with a give-way slot 321 for the end of the second grabbing arm 320 to swing, at this time, the first grabbing arm 320 is fork-shaped, and the second grabbing arm 320 is strip-shaped, the two grabbing arms 320 can simultaneously push the ball to move towards the ball barrel 130, and the acting surface on the ball is larger, which can guarantee the stability of the ball when it is pushed, so that the ball can smoothly enter the ball barrel 130. In addition, the ends of the two grabbing arms 320 away from the swinging center are both curvedly arranged towards the direction of pushing the ball, so that the two grabbing arms 320 can better prevent the ball from deviating from the range of the grabbing arms 320 when pushing the ball, and further make the ball smoothly enter the ball barrel 130.

[0031] The visual recognition module 400 collects visual information in the camera range by using a camera, a sensor or other image capture device, identifies the ball and determines its position from the visual information. The visual recognition module 400 is prior art, which will not be described in detail here. The visual recognition module 400 of the embodiment includes a camera, and the lens of the camera is a camera end 420. A support plate 410 is installed on the top of the mobile base 100, and the support plate 410 is obliquely arranged to form an included angle between the support plate 410 and the horizontal plane, which is less than 90 degrees, and the included angle is between 30-60 degrees, preferably 45 degrees. A reinforcing rib 411 is arranged between the support plate 410 and the mobile base 100 to guarantee the stability of the support plate 410. The camera is installed on the top of the support plate 410, and the camera end 420 is obliquely arranged downward.

[0032] The visual recognition module 400 is in communication connection with the moving motor 110, the power cylinder 210, the grabbing motor 310 and the swing angle motor 500 respectively. The visual recognition module 400 drives the moving motor 110 to drive the moving wheel 120 to rotate, so that the whole device moves according to the preset program. When the ball is recognized in the camera range of the visual recognition module 400, the position of the ball is determined, and the moving motor 110 is continuously driven to move the whole device towards the ball, so that the ball is in the grabbing range, and then the grabbing motor 310 is driven to drive the grabbing arm 320 to push the ball into the ball barrel 130, so as to realize the picking process of the ball. According to the preset program, when the ball needs to be ejected, the swing angle motor 500 can be driven in time to drive the frame 510 to swing, so that the power cylinder 210 and the ball barrel 130 swing towards to adjust the ejection angle of the ball, and then the power cylinder 210 is driven to drive the ejection push block 220 to push the ball out of the ball barrel 130, so that the ball is ejected out of the ball barrel 130 after being pushed by the push force, thereby achieving the effect of ejecting the ball. Finally, the swing angle motor 500 is driven to restore the ball barrel 130 to a horizontal or nearly horizontal position, so that the process of picking up the ball can continue.

[0033] Further, the left and right sides of the ball barrel 130 are provided with arc-shaped recessed flared grooves 140, which can increase the range of the ball entering the ball barrel 130, so that the ball can enter the ball barrel 130 more smoothly. It can also be understood that the upper and lower sides of the ball barrel 130 are provided with arc-shaped protruding extension plates.

[0034] In the picking stage of the ball, the swing angle motor 500 is in the initial state, that is, the axis of the ball barrel 130 is in the horizontal state. At this time, the axis position of the ball barrel 130 is slightly higher than the center position of the two grabbing arms 320 grabbing the ball, and it can also be understood that the installation position of the ball barrel 130 is higher than the installation position of the grabbing arm 320. When the ball is pushed into the ball barrel 130, since the ball and the grabbing arm 320 are not relatively fixed and clamped, the ball can be lifted upwards by the ball barrel 130, so as to smoothly enter the ball barrel 130.

[0035] It can be understood that the moving base 100 is provided with a battery, which supplies power to all electric structures such as the moving motor 110, the power cylinder 210, the grabbing motor 310, the visual recognition module 400 and the swing angle motor 500, without using fuel, thereby effectively saving resources.

[0036] The intelligent picking and ejecting robot of the embodiment of the application can complete the identification of the ball type and the accurate positioning and grabbing, which not only improves the efficiency of picking and ejecting the ball, but also has wide applicability, effectively reduces the workload and physical consumption of picking the ball on the court, and has good social benefits.

[0037] In another embodiment, the swing angle motor and the frame 510 can also not be provided, and the axis of the ball cylinder 130 is set to have a small and upward included angle of 3-10 degrees with the horizontal line, so as to be a fixed ejection angle. Since the ball is pushed into the ball cylinder 130 by the grabbing arm 320, the inlet position of the ball cylinder 130 can be slightly higher than the height of the ground.

[0038] The embodiments of the utility model are explained in detail above in combination with the drawings, but the utility model is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge range possessed by the ordinary skilled in the art without departing from the purpose of the utility model.

Claims

1. An intelligent picking and launching robot, characterized in that, include: A movable base is provided at the bottom with a movable motor and multiple movable wheels driven by the movable motor, and a ball cylinder is mounted on the movable base; The ejection assembly includes a power cylinder mounted on the movable base. The output end of the power cylinder is located inside the ball cylinder and is equipped with an ejection pusher. Driving the power cylinder can drive the ejection pusher to eject the ball inside the ball cylinder. The gripping assembly includes two gripping motors respectively installed on both sides of the movable base. The output end of the gripping motor is equipped with a gripping arm. When the two gripping motors drive the two gripping arms to rotate in opposite directions, the ball within the gripping range can be pushed into the ball cylinder. A visual recognition module is installed on the mobile base; the visual recognition module can recognize the ball and drive the mobile motor to operate, so that the ball is within the grasping range, and then drive the grasping motor to drive the grasping arm to push the ball into the ball tube.

2. The intelligent picking and launching robot according to claim 1, characterized in that: The movable base is equipped with a pendulum motor, and the ball cylinder and the power cylinder are both installed at the output end of the pendulum motor.

3. The intelligent picking and launching robot according to claim 2, characterized in that: The oscillating motor is a dual-axis servo motor, and the two output ends of the dual-axis servo motor are mounted on a frame. The ball cylinder and the power cylinder are both mounted on the frame.

4. The intelligent picking and launching robot according to claim 1, characterized in that: The rotation ranges of the two gripping arms are projected onto the rotation plane and have overlapping portions. The first gripping arm has a clearance groove that allows the second gripping arm to swing.

5. The intelligent picking and launching robot according to claim 1, characterized in that: The two gripping arms are bent toward each other.

6. The intelligent picking and launching robot according to claim 1, characterized in that: The ball cylinder has flared grooves on both the left and right sides of the ball feeding end.

7. The intelligent picking and launching robot according to claim 1, characterized in that: The ball cylinder is installed at a higher position than the gripping arm.

8. The intelligent picking and launching robot according to claim 1, characterized in that: The mobile base is mounted with a support plate at an angle on top, and the camera end of the visual recognition module is set on the support plate, so that the camera end is tilted downwards.

9. The intelligent picking and launching robot according to claim 1, characterized in that: The number of the moving motors is the same as the number of the moving wheels, and each moving wheel is independently driven by a corresponding moving motor.

10. The intelligent picking and launching robot according to claim 9, characterized in that: The number of movable wheels is four, and the four movable motors are circumferentially distributed on the movable base. The axial directions of the output ends of two circumferentially adjacent movable motors are perpendicular to each other.

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