Table tennis automatic pickup robot

Abstract

The utility model provides a table tennis automatic pickup robot belongs to the ball pickup robot technical field, including the chassis, the collection roller and the storage box, the both sides symmetry of chassis are connected with two driving wheels, two driving wheels are connected with corresponding wheel motor respectively, the chassis passes through the connecting arm and connects the collection roller, and the connecting arm is connected with the rudder between the chassis, and the rudder can drive the connecting arm to lift, to drive the collection roller to move, the storage box is fixed on the chassis upper end, is provided with a gap in the rear end of storage box, and the gap position covers and is provided with a baffle. The device can effectively screen and collect table tennis through the rubber band type collection roller, and the scattered table tennis is collected and temporarily stored with high efficiency, and the collected table tennis can be guided to the set position for taking, which is convenient to use.

Description

Technical Field

[0001] This application belongs to the field of ball-picking robot technology and is mainly used in sports venues to automatically pick up ping-pong balls. Specifically, it is a ping-pong ball automatic picking robot. Background Technology

[0002] Table tennis is very popular in my country. With the development of technology, robots are gradually entering people's lives. Currently, some automated ball-collecting robots are being used in large table tennis training venues. However, investigations have revealed the following shortcomings of existing ball-collecting robots: 1. The existing ball-collecting mechanisms of robots on the market are mainly divided into two types: robotic arm type and push-in type. Among them, robotic arm type automated intelligent ball-collecting robots suffer from low efficiency, while push-in type automated intelligent ball-collecting robots bring in dust and debris smaller than table tennis balls, causing pollution problems. Both types will exceed their buffer limits when facing large venues and large numbers of balls, thus becoming unable to continue working. 2. Existing robots can only temporarily store the balls on a vehicle, requiring manual transfer to the ball-collecting location for athletes to retrieve. Existing robots cannot complete the final step of collection. Utility Model Content

[0003] To address the aforementioned problems, this invention proposes an automatic ping-pong ball picking robot.

[0004] The technical problem solved by this utility model is achieved through the following technical solution:

[0005] An automatic ping-pong ball picking robot is characterized by comprising a chassis, a collecting roller, and a storage box. Two drive wheels are symmetrically connected to both sides of the chassis, and each drive wheel is connected to a corresponding wheel motor. The chassis is connected to the collecting roller via a connecting arm, and a servo motor is connected between the connecting arm and the chassis. The servo motor can drive the connecting arm to rise and fall, thereby moving the collecting roller. A storage box is fixedly mounted on the upper end of the chassis, and a notch is provided at the rear end of the storage box. A baffle is provided at the notch position.

[0006] Furthermore, the collecting roller includes a central column, a circular cover plate, and rubber bands. Both ends of the central column are coaxially fixed with circular cover plates. Multiple rubber band fixing holes are evenly spaced along the outer edges of the circular cover plates on both sides. The rubber band fixing holes on both sides correspond one-to-one, and rubber bands are placed between the corresponding rubber band fixing holes. Multiple rubber bands surround the collecting roller to form a hollow cylindrical structure, wherein the natural distance between any two adjacent rubber bands is smaller than the diameter of a ping-pong ball.

[0007] Furthermore, the collecting roller also includes a drive motor, which is connected to one end of the central column and provides power for the rotation of the collecting roller.

[0008] Furthermore, the upper end of the storage box is open, and the bottom of the storage box is set as a slope. The lowest point of the slope corresponds to the position of the baffle. The baffle is connected to a baffle servo motor, which can control the baffle to open or close the notch.

[0009] Furthermore, one or more hooks are provided on the upper edge of the front end of the storage box. The position of the hooks matches the size of the collecting roller. The hooks face the collecting roller. When the collecting roller reaches above the hooks, the hooks hook onto the rubber bands on the collecting roller.

[0010] Furthermore, a driven omnidirectional wheel is connected to the rear end of the chassis.

[0011] Furthermore, a weighing device is also installed inside the robot chassis.

[0012] The advantages and positive effects of this utility model are:

[0013] This device can effectively screen and collect ping-pong balls using rubber band-type collecting rollers, efficiently collect and temporarily store scattered ping-pong balls, and guide the collected ping-pong balls to a set location for easy use by athletes. Attached Figure Description

[0014] To more clearly illustrate the technical solution of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the structure of an automatic ping-pong ball picking robot.

[0016] Figure 2 This is a schematic diagram of an automated ping-pong ball picking robot from another angle.

[0017] Figure 3 This is a schematic diagram of the bottom structure of an automatic ping-pong ball picking robot.

[0018] Figure 4 This is a partial cross-sectional schematic diagram of an automatic ping-pong ball picking robot.

[0019] The markings in the diagram represent: 1. Drive wheel; 2. Wheel odometer; 3. Connecting arm; 4. Drive motor; 5. Circular cover plate; 6. Collection roller; 7. Rubber band; 8. Center column; 9. Connecting plate; 10. Servo motor; 11. Vision recognition device; 12. Hook; 13. Base plate; 14. Storage box; 15. Ball box baffle; 16. Baffle servo motor; 17. Chassis; 18. Driven omnidirectional wheel. Detailed Implementation

[0020] To make the structure and advantages of this utility model clearer, the structure of this utility model will be further described below with reference to the accompanying drawings.

[0021] In this embodiment, the vertical direction, horizontal direction, front, back, left, right, etc. are all relative position descriptions and do not limit the actual orientation of the product.

[0022] An automated ping-pong ball picking robot, see attached document. Figure 1 As shown, it includes a chassis 17, a collection roller 6 located at the front end, and a ping-pong ball storage box 14 placed above the robot.

[0023] The chassis 17, in this embodiment, is a two-wheel differential moving chassis 17. Two drive wheels 1 are symmetrically connected to both sides of the chassis 17, and each drive wheel 1 is connected to a corresponding wheel motor. The speed of each drive wheel 1 can be adjusted independently. A driven omnidirectional wheel 18 and its wheel motor are connected to the rear end of the chassis 17.

[0024] A collecting roller 6 is positioned at the front of the robot. Connecting arms 3 are symmetrically arranged at both ends of the collecting roller 6 along its axial direction. Specifically, one end of a connecting arm 3 is rotatably connected to the end of the central column 8 of the collecting roller 6. The other end of the connecting arm 3 is connected to two servo motors 10 on the robot chassis 17. The servo motors 10 control the swing of the connecting arms 3, thereby driving the collecting roller 6 to move along an arc. (See appendix) Figure 4 As shown.

[0025] The collecting roller 6 includes a central column 8, a circular cover plate 5, and elastic bands 7. Circular cover plates 5 are coaxially fixed to both ends of the central column 8. Multiple elastic band 7 fixing holes are evenly spaced along the outer edges of the circular cover plates 5 on both sides. These fixing holes correspond one-to-one, and elastic bands 7 are positioned between the corresponding fixing holes. Multiple elastic bands 7 surround the collecting roller 6 to form a hollow cylindrical structure. The natural distance between any two adjacent elastic bands 7 is slightly smaller than the diameter of a ping-pong ball. When the collecting roller 6 rotates, the elastic bands 7 deform to squeeze the ping-pong ball into the collecting roller 6 formed by the surrounding elastic bands 7. A drive motor 4 is also included, providing power for the rotation of the collecting roller 6. The drive motor 4 is connected to the circular cover plate 5 via a connecting flange, driving the circular cover plate 5 to rotate, thereby driving the collecting roller 6 to rotate.

[0026] A ping-pong ball storage box is fixedly installed on top of the chassis 17. The upper end of the storage box 14 is open, and the bottom of the storage box 14 is set as a slope. The lowest point of the slope is set at the rear end of the storage box 14, and a notch is set at the corresponding position. A movable baffle is set at the notch position to cover it. A baffle servo motor 16 is connected to the baffle. When the baffle servo motor 16 rotates, the baffle opens. When it opens, the ping-pong balls fall out through the notch due to the action of the slope and move to the ping-pong ball storage box at the ball retrieval position, without the need for manual removal and transfer of ping-pong balls.

[0027] To facilitate the feeding of ping-pong balls from the collecting roller 6 into the storage box 14, one or more hooks 12 are provided along the upper edge of the front end of the storage box. The position of the hooks 12 matches the size of the collecting roller 6. The hooks 12 face the collecting roller 6. When the collecting roller 6 reaches above the hooks 12, the hooks 12 hook onto the rubber bands 7 on the collecting roller 6. The gap between the rubber bands 7 widens, and the ping-pong ball falls into the ping-pong ball storage box.

[0028] A wheeled odometer 2 is also installed under the robot chassis 17. The wheeled odometer 2 is located at the midpoint of the line connecting the two drive wheels 1 and can record the distance traveled. The wheeled odometer 2 can also be replaced by other odometers with similar functions, such as visual odometers or inertial odometers.

[0029] It also includes a vision recognition device 11 set at the front of the robot, a servo motor 10 installed on the front of the robot chassis 17 and connected to the robot vision recognition device 11 through the servo motor 10, which ensures that the camera tilt angle is flexibly adjustable. The robot vision recognition device 11 and its wiring connection are implemented using devices in existing AGV technology.

[0030] The robot chassis 17 is also equipped with a weighing device and a battery. The weighing device can sense the weight of the ping-pong balls in the storage box 14 in real time and issue an alarm when the set weight is reached, so as to facilitate the timely transfer of the ping-pong balls.

[0031] The above description is merely an embodiment of this utility model and is not intended to limit this utility model. 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 automatic ping-pong ball picking robot, characterized in that... The system includes a chassis, a collection roller, and a storage box. Two drive wheels are symmetrically connected to both sides of the chassis, and each drive wheel is connected to a corresponding wheel motor. The chassis is connected to the collection roller via a connecting arm, and a servo motor is connected between the connecting arm and the chassis. The servo motor can drive the connecting arm to rise and fall, thereby moving the collection roller. A storage box is fixedly mounted on the upper end of the chassis. A notch is provided at the rear end of the storage box, and a baffle is provided at the notch.

2. The automatic ping-pong ball picking robot according to claim 1, characterized in that... The collecting roller includes a central column, a circular cover plate, and rubber bands. The two ends of the central column are coaxially fixed with circular cover plates. Multiple rubber band fixing holes are evenly spaced along the outer edges of the circular cover plates on both sides. The rubber band fixing holes on both sides correspond one-to-one, and rubber bands are placed between the corresponding rubber band fixing holes. Multiple rubber bands surround the collecting roller to form a hollow cylindrical structure. The natural distance between any two adjacent rubber bands is smaller than the diameter of a ping-pong ball.

3. The automatic ping-pong ball picking robot according to claim 2, characterized in that... The collecting roller also includes a drive motor, which is connected to one end of the central column and provides power for the rotation of the collecting roller.

4. The automatic ping-pong ball picking robot according to claim 1, characterized in that... The upper end of the storage box is open, and the bottom of the storage box is set as a slope. The lowest point of the slope corresponds to the position of the baffle. The baffle is connected to a baffle servo motor, which can control the baffle to open or close the notch.

5. The automatic ping-pong ball picking robot according to claim 1, characterized in that... One or more hooks are provided on the upper edge of the front end of the storage box. The position of the hooks matches the size of the collecting roller. The hooks face the collecting roller. When the collecting roller reaches above the hooks, the hooks hook onto the rubber bands on the collecting roller.

6. The automatic ping-pong ball picking robot according to claim 1, characterized in that... The rear end of the chassis is connected to a driven omnidirectional wheel.

7. The automatic ping-pong ball picking robot according to claim 1, characterized in that... The robot chassis is also equipped with a weighing device.

Images