Automatic ball picking robot

Abstract

The utility model discloses an automatic ball picking robot which comprises a moving vehicle body, a mounting frame, a ball holding and clamping mechanism, a turnover mechanism, an inclined support, a swing arm mechanism, a ball supporting disc and a ball throwing mechanism, the ball holding and clamping mechanism is used for clamping or releasing a ball, the turnover mechanism is used for driving the ball holding and clamping mechanism to turn over, the ball supporting disc is located in the inclined support, and the swing arm mechanism is used for swinging the ball. The swing arm mechanism is used for feeding the balls released by the ball holding and clamping mechanism into the ball supporting disc in a sliding mode, a telescopic arm used for sliding up and down along a guide hole is arranged at the bottom of the ball supporting disc, and the ball throwing mechanism is used for applying pushing force for sliding up and down to the telescopic arm. The ball holding and clamping mechanism can stably clamp a basketball, the turnover mechanism can drive the basketball to turn over, the basketball slides into the ball supporting disc through the swing arm mechanism, the ball throwing mechanism can apply thrust to enable the ball supporting disc to drive the basketball to move upwards, and therefore accurate basketball throwing is achieved, the whole basketball picking and throwing actions are smoothly linked, and the basketball picking and throwing efficiency is improved. And the working efficiency of the automatic ball picking robot is effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of ball-collecting robots, and more particularly to an automatic ball-collecting robot. Background Technology

[0002] With the increasing popularity of sports, especially basketball, the intensity and frequency of basketball training are constantly increasing. During numerous training sessions or games, basketballs are often scattered across various locations on the court. Manually retrieving these basketballs is not only time-consuming and laborious but also inefficient and tiring, failing to meet the demands of modern basketball training for efficiency and continuity. Therefore, some robotic devices capable of automatically retrieving, passing, and throwing basketballs have emerged on the market. However, existing automated ball-retrieval robots have complex structures, low reliability, and instability during ball handling, resulting in low retrieval efficiency and failing to meet the automation requirements of basketball training.

[0003] Therefore, existing technologies have shortcomings and need to be improved. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide an automatic ball-picking robot with a simple structure and improved ball-picking efficiency.

[0005] To achieve this objective, the present invention adopts the following technical solution: an automatic ball-collecting robot, comprising a mobile vehicle body, a mounting frame, a ball-clamping mechanism, a flipping mechanism, an inclined support, a swing arm mechanism, a ball-supporting plate, and a ball-throwing mechanism;

[0006] The mounting frame is mounted on the mobile vehicle body, the ball clamping mechanism is located at the end of the mounting frame, the ball clamping mechanism is used to clamp or release the ball, the flipping mechanism is located on the mounting frame and connected to the ball clamping mechanism, the flipping mechanism is used to drive the ball clamping mechanism to flip.

[0007] The ball-supporting plate is located inside the inclined bracket. The top surface of the ball-supporting plate is provided with an arc-shaped structure for fitting the ball. The swing arm mechanism is located at the side end of the inclined bracket. The swing arm mechanism is used to slide the ball released from the ball clamping mechanism into the ball-supporting plate.

[0008] The inclined bracket is provided with a support plate, the support plate is provided with a guide hole, the bottom of the ball support plate is provided with a telescopic arm for sliding up and down along the guide hole, the ball throwing mechanism is provided on the back of the mounting frame, and the ball throwing mechanism is used to apply a sliding thrust to the telescopic arm.

[0009] Adopting the technical scheme, the automatic ball picking robot, the turnover mechanism includes a turnover support and a first push rod, the turnover support is rotatably connected with the mounting frame through a first pin shaft at both ends, the first push rod is arranged on the mounting frame, and a movable end of the first push rod is connected with the turnover support, and the first push rod is used for pushing the turnover support to rotate and swing around the first pin shaft.

[0010] Adopting the technical scheme, the automatic ball picking robot, the ball body clamping mechanism includes a clamping arm and a second push rod, the clamping arm is movably connected with the side end of the turnover support through a second pin shaft, the second push rod is arranged on the turnover support, and a movable end of the second push rod is connected with the clamping arm, and the second push rod is used for pushing the clamping arm to horizontally swing around the second pin shaft.

[0011] Adopting the technical scheme, the automatic ball picking robot, the end of the clamping arm is provided with an arc-shaped baffle, the bottom of the arc-shaped baffle is provided with a yoke rod, and the yoke rod is used for pushing the ball body into the arc-shaped baffle.

[0012] Adopting the technical scheme, the automatic ball picking robot, the swing arm mechanism includes a guide swing arm and a third push rod, the guide swing arm is arranged at the side end of the inclined support, the end of the guide swing arm close to the ball supporting disc is provided with an arc-shaped section, the arc-shaped section is rotatably connected with the inclined support through a third pin shaft, the third push rod is arranged on the mounting frame, and a movable end of the third push rod is connected with the arc-shaped section, and the third push rod is used for pushing the guide swing arm to swing up and down around the third pin shaft, so that the ball body released on the guide swing arm is sent to the ball supporting disc under the action of gravity.

[0013] Adopting the technical scheme, the automatic ball picking robot, the ball throwing mechanism includes a fourth push rod, a floating joint, a horizontal rod, a push arm, a hinged clamping plate and a hinged seat;

[0014] The hinged seat is arranged at the bottom of the mounting frame, the hinged clamping plate is movably connected with the hinged seat through a fourth pin shaft, the both sides of the telescopic arm are respectively provided with positioning rods, and the end of the hinged clamping plate is provided with a clamping groove matched with the positioning rods;

[0015] The horizontal rod is arranged on the mounting frame, the top of the push arm is rotatably connected with the horizontal rod, the fourth push rod is arranged above the horizontal rod, a movable end of the fourth push rod is arranged downward, the movable end is connected with the push arm through the floating joint, the end of the hinged clamping plate away from the clamping groove is provided with a stress receiving part, and the fourth push rod is used for driving the push arm to abut on the stress receiving part of the hinged clamping plate.

[0016] Adopting the technical scheme, the automatic ball picking robot, the included angle between the inclined support and the horizontal line is 30-50°.

[0017] Compared with the prior art, the utility model has the following beneficial effects:

[0018] The ball body holding and clamping mechanism can stably clamp the ball body, then the overturning mechanism acts, drives the ball body holding and clamping mechanism to overturn the whole basketball, makes the basketball overturn to the appropriate position and release, the basketball naturally slides to the ball supporting disc under the action of gravity on the swing arm mechanism, the ball throwing mechanism can exert the thrust force on the ball supporting disc to drive the ball supporting disc and the basketball to move upward together, so that the basketball obtains enough upward acceleration, thereby realizing the precise basketball throwing action, so the connection of the picking and throwing action of the basketball is more smooth, and the working efficiency and operation stability of the automatic ball picking robot are effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to these drawings without creative labor.

[0020] The structure, proportion, size and the like shown in the drawings of the specification are only used to cooperate with the content disclosed in the specification, for understanding and reading by those skilled in the art, and are not used to limit the limiting conditions of the utility model that can be implemented, so they do not have the technical essence, any modification of structure, change of proportion relationship or adjustment of size, without affecting the effect and purpose that the utility model can produce, should still fall within the range of the technical content disclosed by the utility model.

[0021] Figure 1 It is the overall structure schematic view of the utility model;

[0022] Figure 2 It is another overall structure schematic view of the utility model;

[0023] Figure 3 It is the ball throwing mechanism structure schematic view of the utility model;

[0024] Figure 4 It is the ball supporting disc mounting structure schematic view of the utility model. DETAILED DESCRIPTION

[0025] In order to make the utility model of the utility model purpose, characteristics, advantages can be more obvious and easy to understand, the following will be combined with the drawings in the utility model embodiment, the technical scheme in the utility model embodiment is clearly and completely described, obviously, the following described embodiments are only a part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skill in the art without creative labor belong to the scope of the utility model protection.

[0026] In the description of the utility model, it is understood that the terms "upper", "lower", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the utility model. It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there can be a component disposed therebetween.

[0027] The technical scheme of the utility model will be further illustrated by specific embodiments in combination with the drawings.

[0028] As shown in Figures 1 to 4 The utility model embodiment provides an automatic ball picking robot, which comprises a mobile vehicle body 1, a mounting frame 2, a ball body clamping mechanism 3, a turnover mechanism 4, an inclined support 5, a swing arm mechanism 6, a ball supporting disc 7 and a ball throwing mechanism 8. The mounting frame 2 is arranged on the mobile vehicle body 1, the ball body clamping mechanism 3 is arranged at the end of the mounting frame 2, the ball body clamping mechanism 3 is used for clamping or releasing the ball body, the turnover mechanism 4 is arranged on the mounting frame 2 and is connected with the ball body clamping mechanism 3, the turnover mechanism 4 is used for driving the ball body clamping mechanism 3 to turn over, the ball supporting disc 7 is located in the inclined support 5, the top surface of the ball supporting disc 7 is provided with an arc surface structure 70 for abutting the ball body, the swing arm mechanism 6 is arranged at the side end of the inclined support 5, and the swing arm mechanism 6 is used for sliding the ball body released from the ball body clamping mechanism 3 into the ball supporting disc 7. When the mobile vehicle body 1 approaches the basketball to be picked up, the ball body clamping mechanism 3 at the end of the mounting frame 2 first clamps the basketball to stably grasp and lock the basketball, then the turnover mechanism 4 drives the ball body clamping mechanism 3 to turn over together with the basketball, so that the basketball moves to a suitable position and posture, thereby facilitating the subsequent releasing action. Then, the swing arm mechanism 6 acts, the ball body clamping mechanism 3 releases the basketball, and the basketball naturally slides to the ball supporting disc 7 on the swing arm mechanism 6 under the action of gravity, at this time, the arc surface structure 70 on the top surface of the ball supporting disc 7 abuts the basketball, thereby realizing stable support of the basketball.

[0029] The inclined support 5 is provided with a support plate 51, the support plate 51 is provided with a guide hole 510, the support ball disc 7 is provided with an extension arm 71 for sliding up and down along the guide hole 510, the ball throwing mechanism 8 is arranged at the back of the mounting frame 2, and the ball throwing mechanism 8 is used for exerting a pushing force on the extension arm 71 to drive the support ball disc 7 to move upwards along the guide hole 510 together with the basketball, so that the basketball obtains sufficient upward acceleration and suitable shooting height, thereby realizing accurate basketball throwing action. When the basketball throwing is completed, the extension arm 71 can descend to the initial position along the guide hole 510, thereby completing the receiving and throwing preparation action of the next basketball. In this way, the basketball picking and throwing action process is realized to be smooth and reliable and automatic control, thereby improving the working efficiency and stability of the automatic ball picking robot.

[0030] As shown in Figure 1 and Figure 2 Further, the overturning mechanism 4 comprises an overturning support 41 and a first push rod 42, the overturning support 41 is rotatably connected to the mounting frame 2 through a first pin shaft at both ends, and the first push rod 42 is arranged on the mounting frame 2, the movable end of the first push rod 42 is connected to the overturning support 41, and the first push rod 42 is used for pushing the overturning support 41 to rotate and swing around the first pin shaft. When the ball clamping mechanism 3 completes the ball clamping, the first push rod 42 exerts a pushing force on the overturning support 41, so that the overturning support 41 rotates and swings around the first pin shaft connected to the mounting frame 2, and the ball clamping mechanism 3 is transferred from the original clamping position to the predetermined release position.

[0031] As shown in Figure 1 and Figure 2 Further, the ball clamping mechanism 3 comprises a clamping arm 31 and a second push rod 32, the clamping arm 31 is movably connected to the side end of the overturning support 41 through a second pin shaft, and the second push rod 32 is arranged on the overturning support 41, the movable end of the second push rod 32 is connected to the clamping arm 31, and the second push rod 32 is used for pushing the clamping arm 31 to swing horizontally around the second pin shaft. When the ball needs to be picked up, the second push rod 32 acts to drive the clamping arm 31 to swing inwards around the second pin shaft, so that the end of the clamping arm 31 gradually clamps the basketball and exerts a proper clamping force, so that the basketball can be fixed firmly. When the basketball clamping is completed, the overturning mechanism 4 acts immediately to make the ball clamping mechanism 3 overturn to the predetermined release position, at this time, the second push rod 32 reverses the action to push the clamping arm 31 to swing outwards around the second pin shaft, thereby realizing the release of the basketball.

[0032] As shown in Figure 1 and Figure 2As shown, further, the end of the clamping arm 31 is provided with an arc-shaped baffle 311, the bottom of the arc-shaped baffle 311 is provided with a prong rod 312, the prong rod 312 is used to push the ball into the arc-shaped baffle 311. When the ball is close to the clamping arm 31, the curved surface of the arc-shaped baffle 311 can be attached to the ball, so that the ball is preliminarily positioned, and the prong rod 312 at the bottom of the baffle can slightly push the ball and guide it to smoothly enter the inner wall of the arc-shaped baffle 311, so as to realize firm grasping of the ball.

[0033] As shown in Figure 1 and Figure 2 As shown, further, the swing arm mechanism 6 includes a material guiding swing arm 61 and a third push rod 62, the material guiding swing arm 61 is arranged at the side end of the inclined support 5, the end of the material guiding swing arm 61 close to the ball supporting disc 7 is provided with an arc-shaped section 611, the arc-shaped section 611 is rotatably connected with the inclined support 5 through a third pin shaft, the third push rod 62 is arranged on the mounting frame 2, and the movable end of the third push rod 62 is connected with the arc-shaped section 611, the third push rod 62 is used to push the material guiding swing arm 61 to swing up and down around the third pin shaft, so as to make the ball released on the material guiding swing arm 61 slide to the ball supporting disc 7 under the action of gravity. When the ball is released from the ball clamping mechanism 3, it first falls on the material guiding swing arm 61 arranged at the side end of the inclined support 5, then the third push rod 62 drives the material guiding swing arm 61 to swing up and down around the third pin shaft, under the action of the third push rod 62, the material guiding swing arm 61 guides the ball along a predetermined trajectory, so that the ball is smoothly slid to the ball supporting disc 7 under the action of gravity, thereby realizing stable transition of the ball position.

[0034] As shown in Figures 2 to 4As shown, further, the pitching mechanism 8 comprises a fourth push rod 81, a floating joint 82, a crossbar 83, a push arm 84, a hinged plate 85 and a hinged seat 86 provided at the bottom of the mounting frame 2, the hinged plate 85 is movably connected with the hinged seat 86 through a fourth pin shaft, the telescopic arm 71 is provided with positioning rods 711 on both sides respectively, the hinged plate 85 is provided with clamping grooves 850 at the ends which are adapted to clamp the positioning rods 711, the crossbar 83 is provided on the mounting frame 2, the push arm 84 is rotatably connected with the crossbar 83 at the top, the fourth push rod 81 is provided above the crossbar 83, the movable end of which is downwardly arranged and connected with the push arm 84 through the floating joint 82, the end of the hinged plate 85 away from the clamping grooves 850 is provided with a stress receiving portion 851, the fourth push rod 81 is used to drive the push arm 84 to abut on the stress receiving portion 851 of the hinged plate 85. When the pitching action is needed, the fourth push rod 81 moves downwardly, the movable end thereof drives the push arm 84 to move downwardly through the floating joint 82 and abut on the stress receiving portion 851 of the hinged plate 85, which promotes the hinged plate 85 to swing around the fourth pin shaft, and further drives the telescopic arm 71 to move upwardly, so that the basketball is upwardly bounced under the pushing force, and the precise pitching is realized.

[0035] Further, the included angle between the inclined support 5 and the horizontal line is 30-50°, and in the embodiment, the included angle between the inclined support 5 and the horizontal line is 45°, which is arranged in this way, so that the ball receiving disc 7 can maintain a reasonable staying state after receiving the basketball, and the ball body will not slide out due to too large angle, and the pitching angle of the ball body will not be affected due to too small angle.

[0036] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An automatic ball picking robot, characterized in that, The mobile car body, the mounting frame, the ball clamping mechanism, the turnover mechanism, the inclined support, the swing arm mechanism, the ball supporting disc and the ball throwing mechanism are included. The mounting frame is arranged on the mobile car body, the ball clamping mechanism is arranged at the end of the mounting frame, the ball clamping mechanism is used for clamping or releasing the ball, the turnover mechanism is arranged on the mounting frame and connected with the ball clamping mechanism, and the turnover mechanism is used for driving the ball clamping mechanism to turn over. The ball supporting disc is located in the inclined support, the top surface of the ball supporting disc is provided with an arc surface structure for abutting the ball, the swing arm mechanism is arranged at the side end of the inclined support, and the swing arm mechanism is used for sliding the ball released from the ball clamping mechanism into the ball supporting disc. The inclined support is provided with a support plate, the support plate is provided with a guide hole, the bottom of the ball supporting disc is provided with an extension arm for sliding up and down along the guide hole, the ball throwing mechanism is arranged at the back of the mounting frame, and the ball throwing mechanism is used for applying a sliding thrust to the extension arm.

2. The automatic ball picking robot according to claim 1, characterized in that, The turnover mechanism includes a turnover support and a first push rod, both ends of the turnover support are rotatably connected with the mounting frame through first pin shafts, and the first push rod is arranged on the mounting frame and connected with the turnover support at the movable end.

3. The automatic ball picking robot according to claim 2, characterized in that, The ball clamping mechanism includes a clamping arm and a second push rod, the clamping arm is movably connected with the side end of the turnover support through a second pin shaft, the second push rod is arranged on the turnover support and connected with the clamping arm at the movable end, and the second push rod is used for driving the clamping arm to swing horizontally around the second pin shaft.

4. The automatic ball picking robot according to claim 3, characterized in that, The end of the clamping arm is provided with an arc-shaped baffle, the bottom of the arc-shaped baffle is provided with a yoke rod, and the yoke rod is used for pushing the ball into the arc-shaped baffle.

5. The automatic ball picking robot according to claim 3, characterized in that, The swing arm mechanism includes a guide swing arm and a third push rod, the guide swing arm is arranged at the side end of the inclined support, the end of the guide swing arm close to the ball supporting disc is provided with an arc segment, the arc segment is rotatably connected with the inclined support through a third pin shaft, the third push rod is arranged on the mounting frame and connected with the arc segment at the movable end, and the third push rod is used for driving the guide swing arm to swing up and down around the third pin shaft, so that the ball released on the guide swing arm is slid onto the ball supporting disc under the action of gravity.

6. The automatic ball picking robot according to claim 1, wherein, The ball throwing mechanism includes a fourth push rod, a floating joint, a cross rod, a push arm, a hinged clamping plate and a hinged seat. The hinged seat is arranged at the bottom of the mounting frame, the hinged clamping plate is movably connected with the hinged seat through a fourth pin shaft, the extension arm is provided with positioning rods on both sides, and the end of the hinged clamping plate is provided with a clamping groove matched with the positioning rods. The cross rod is arranged on the mounting frame, the top of the push arm is rotatably connected with the cross rod, the fourth push rod is arranged above the cross rod, the movable end of the fourth push rod is arranged downward and connected with the push arm through the floating joint, the end of the hinged clamping plate away from the clamping groove is provided with a stress receiving part, and the fourth push rod is used for driving the push arm to abut on the stress receiving part of the hinged clamping plate.

7. The automatic ball picking robot according to claim 1, characterized in that, The included angle between the inclined support and the horizontal line is 30-50°.

Images