Automatic ball pick-up device

Abstract

The utility model provides a kind of automatic clamping and fetching ball device, it is related to robot application field, it includes bottom ring frame, top frame, top rod and several clamping claws, the top frame is located just above the bottom ring frame;The top rod is vertically arranged, the top rod is slidably installed in the vertical direction to the top frame, the top frame is equipped with the limiting component for limiting the top rod sliding position;Several clamping claws are arranged along the circumferential interval of the bottom ring frame, several clamping claws are installed with linkage rod at corresponding position, the top frame is installed with bracket at each linkage rod, the linkage rod is hinged to the bracket, one end of the linkage rod is hinged to the top rod, and the other end is fixedly installed to the clamping claw;When the top rod vertically slides downward, each clamping claw unfolds in the direction away from the sphere;When the top rod vertically slides upward, each clamping claw unfolds in the direction close to the sphere.The utility model has the effect of improving the stability of clamping.

Description

Technical Field

[0001] This utility model relates to the field of robot application technology, and more specifically, to an automatic ball-grabbing and dribbling device. Background Technology

[0002] In the context of the deep integration of robotics technology and educational innovation, activities such as robot basketball competitions are often held to cultivate students' interest in robots. Therefore, it is necessary to use an automatic ball-grabbing and dribbling device, which is installed on a moving robot so that the robots can cooperate to complete the competition.

[0003] Existing automatic ball-grabbing and dribbling devices typically use grippers or similar structures to grasp basketballs. When the basketball bounces into the receiving rack, the grippers are activated to confine the basketball within the rack. However, before the grippers are activated, sensors and other components need to detect the basketball and send a signal to the grippers before they can grasp it. If there is an error in the signal transmission from the sensors or other components, the ball-grabbing and dribbling will fail. Therefore, the gripping stability of this device is relatively poor. Utility Model Content

[0004] Therefore, in order to solve the problem of poor gripping stability, this utility model provides an automatic ball gripping and dribbling device, the specific technical solution of which is as follows: An automatic ball-grabbing and dribbling device includes a bottom ring frame, a top frame, a top rod, and several grippers. The top frame is located directly above the bottom ring frame. The top rod is vertically arranged and slidably mounted on the top frame in a vertical direction. The top frame is equipped with a limiting component for restricting the sliding position of the top rod. The several grippers are spaced apart circumferentially along the bottom ring frame. A linkage rod is installed at each corresponding position of the grippers. A bracket is installed on the top frame at each linkage rod. The linkage rod is hinged to the bracket. One end of the linkage rod is hinged to the top rod, and the other end is fixedly mounted to the gripper. When the top rod slides vertically downward, each gripper extends away from the ball. When the top rod slides vertically upward, each gripper extends towards the ball.

[0005] By adopting the above technical solution, the device is fixed on a mobile robot. When carrying a ball, the constraint on the top rod is first released through the limiting component, and the top rod moves vertically downward. Simultaneously, the various linkage rods drive the grippers away from the ball, releasing the constraint on the ball and causing it to fall. After the ball bounces off the ground, it re-enters the position between the bottom ring frame and the top frame. The ball pushes against the top rod, causing the top rod to slide vertically upward. Simultaneously, the linkage rods drive the grippers closer to the ball, completing the restriction of the ball. The limiting component then limits the top rod. Repeating the above operation completes the ball carrying action. The above method uses the ball's own action combined with the linkage of the linkage rods to trigger the grippers to hold the ball. Compared with the method of triggering the gripping action through signal transmission from sensors and other components, this method greatly improves the gripping stability.

[0006] Furthermore, a sliding groove extending vertically is provided in the middle of the top frame. The sliding groove has a polygonal cross-section. The top rod is adapted to the sliding groove and is slidably installed in the sliding groove.

[0007] Furthermore, the limiting component includes a sliding rod, a locking block, and a first driving member. The top frame has an installation groove on the wall of the sliding groove, and the sliding rod is slidably installed in the installation groove in a horizontal direction. The locking block is installed at one end of the sliding rod near the sliding groove, and the top rod has a locking groove on its wall for the locking block to engage. The first driving member is used to drive the sliding rod to slide.

[0008] Furthermore, the mounting grooves are provided on both sides of the top frame, and the sliding rods are installed in the two mounting grooves.

[0009] Furthermore, the first driving component includes a pull rope and a drive motor. The drive motor is mounted on the top of the top frame, and the output shaft of the drive motor is vertically downward. One end of the pull rope is fixedly installed on the output shaft of the drive motor, and the other end is connected to the slide rod. The slide rod is fitted with an elastic element. When the locking block leaves the locking slot, the elastic element is in a compressed state. A guide surface is provided on the downward-facing side of the locking block.

[0010] Furthermore, a guide wheel is installed on the top frame at the position corresponding to the pull rope, and the pull rope is wound around the guide wheel.

[0011] Furthermore, a pressure plate is fixedly installed at the bottom end of the top rod, and the bottom surface shape of the pressure plate is adapted to the sphere.

[0012] Furthermore, the inner ring of the bottom ring frame is circumferentially spaced and rotatably equipped with friction wheels, and the bottom ring frame is equipped with a second driving member for driving the friction wheels to rotate.

[0013] Furthermore, a guide frame is installed on the bottom ring frame at the position corresponding to each of the linkage rods. The guide frame has a guide groove that extends radially toward the bottom ring frame. The linkage rod is engaged in the guide groove. Several guide wheels are rotatably installed on the groove wall of the guide groove.

[0014] Furthermore, the inner ring of the bottom ring frame is provided with a plurality of pulley groups spaced apart circumferentially, and the pulley groups are arranged in a vertical direction. Attached Figure Description

[0015] The present invention can be further understood from the following description taken in conjunction with the accompanying drawings. The components in the drawings are not necessarily drawn to scale; rather, the focus is on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0016] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model; Figure 2 This is a cross-sectional view of the overall structure of an embodiment of the present invention; Figure 3 yes Figure 2 A magnified view of part A in the image.

[0017] Explanation of reference numerals in the attached figures: 1. Bottom ring frame; 11. Friction wheel; 12. Second drive component; 13. Pulley block; 14. Guide frame; 141. Guide groove; 142. Guide wheel; 2. Top frame; 21. Bracket; 22. Sliding groove; 23. Mounting groove; 24. Guide wheel; 3. Top rod; 31. Pressure plate; 32. Slot; 33. Inclined surface; 4. Gripper; 5. Connecting rod; 6. Limiting component; 61. Sliding rod; 62. Locking block; 621. Guide surface; 63. First drive component; 631. Pull rope; 632. Drive motor; 64. Elastic component; 7. Linkage rod. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description is provided in conjunction with its embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and do not limit its scope of protection.

[0019] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] In this utility model, "first" and "second" do not represent a specific quantity or order, but are merely used to distinguish names.

[0022] like Figure 1 and Figure 2 As shown, an automatic ball-grabbing device according to one embodiment of the present invention includes a bottom ring frame 1, a top frame 2, a top rod 3, and several grippers 4. The top frame 2 is located directly above the middle position of the bottom ring frame 1. Several connecting rods 5 are arranged between the top frame 2 and the bottom ring frame 1, and the connecting rods 5 are spaced apart circumferentially along the bottom ring frame 1. The two ends of the connecting rods 5 are respectively fixedly installed on the top frame 2 and the bottom ring frame 1. The top rod 3 is vertically arranged and slides vertically within the top frame 2. The top frame 2 is equipped with a limiting component 6 for limiting the sliding position of the top rod 3. A pressure plate 31 is fixedly installed at the bottom end of the top rod 3. The bottom surface shape of the pressure plate 31 is adapted to the ball, thereby allowing the ball to be gripped. To increase the contact area with the sphere; several grippers 4 are evenly spaced along the inner circumference of the bottom ring frame 1, and each gripper 4 is inclined downwards towards each other. A linkage rod 7 is installed at the corresponding position of each gripper 4. A bracket 21 is installed at each linkage rod 7 on the top frame 2. The linkage rod 7 is hinged to the bracket 21 near the middle position. One end of the linkage rod 7 is hinged to the top rod 3, and the other end is fixedly installed on the gripper 4. When the top rod 3 slides vertically downwards, each gripper 4 unfolds away from the sphere through the action of the linkage rod 7. When the top rod 3 slides vertically upwards, each gripper 4 unfolds towards the sphere through the action of the linkage rod 7.

[0023] After the limiting component 6 releases its restraint on the top rod 3, the top rod 3 moves vertically downwards. Simultaneously, through each linkage rod 7, it drives each gripper 4 away from the ball, releasing the restraint on the ball and causing it to fall. After the ball bounces off the ground, it re-enters the position between the bottom ring frame 1 and the top frame 2. The ball pushes against the top rod 3, causing the top rod 3 to slide vertically upwards. Simultaneously, through each linkage rod 7, it drives each gripper 4 to approach the ball, completing the restraint on the ball. The limiting component 6 also limits the top rod 3. Repeating the above operation completes the dribbling action, with high gripping stability during the process.

[0024] Specifically, such as Figure 2 and Figure 3As shown, a sliding groove 22 extending vertically is provided in the middle of the top frame 2. The cross-section of the sliding groove 22 is polygonal; in this embodiment, the cross-section of the sliding groove 22 is quadrilateral. The top rod 3 is adapted to the sliding groove 22 and is slidably installed in the sliding groove 22, thereby allowing the top rod 3 to slide stably in the vertical direction. The limiting component 6 includes a sliding rod 61, a locking block 62, and a first driving member 63. Mounting grooves are provided on both opposite side walls of the top frame 2 located in the sliding groove 22. 23. Each mounting slot 23 is provided with a sliding rod 61, which is slidably installed in the mounting slot 23 in a horizontal direction; a locking block 62 is fixedly installed at one end of the sliding rod 61 near the sliding groove 22, and the rod wall of the top rod 3 is provided with a locking groove 32 for the locking block 62 to be inserted at the position corresponding to each mounting slot 23; the first driving member 63 is used to drive the sliding rod 61 to slide; thus, by driving the sliding rod 61 to slide, the locking block 62 is released from the locking groove 32, thereby releasing the restraint on the top rod 3.

[0025] The first driving component 63 includes a pair of pull ropes 631 and a drive motor 632. The drive motor 632 is mounted on the top of the top frame 2, with its output shaft facing vertically downwards. The two pull ropes 631 are respectively located on both sides of the top frame 2. One end of each pull rope 631 is fixedly installed on the output shaft of the drive motor 632, and the other end is fixedly connected to the slide rod 61. The slide rod 61 is fitted with an elastic element 64, which is a spring. Both ends of the elastic element 64 are respectively connected to the slide rod 61 and the groove wall of the mounting groove 23. When the locking block 62 leaves the locking groove 32, The elastic element 64 is in a compressed state; the downward-facing side of the locking block 62 is provided with a guide surface 621, and the top of the push rod 3 is provided with inclined surfaces 33 on both sides; when the drive motor 632 is started, the output shaft of the drive motor 632 is driven to rotate, which can pull the pull rope 631, thereby pulling the slide rod 61, so that the locking block 62 leaves the slot 32 and releases the restraint on the push rod 3; when the ball rebounds and pushes the push rod 3, the locking block 62 can be smoothly locked into the slot 32 by the guiding effect of the inclined surface 33 and the guide surface 621, thus completing the limitation of the push rod 3.

[0026] Furthermore, a pair of guide wheels 24 are fixedly installed at the position of the top frame 2 corresponding to the position of the pull rope 631. The two guide wheels 24 are respectively horizontally corresponding to the output shaft of the drive motor 632 and the position of the corresponding slide rod 61. The pull rope 631 is wound around the two guide wheels 24 in sequence, so that the pulling force of the pull rope 631 on the slide rod 61 is more stable.

[0027] Furthermore, such as Figure 1 and Figure 2As shown, friction wheels 11 are rotatably mounted on the inner ring of the bottom ring frame 1 at intervals along the circumference. The bottom ring frame 1 is equipped with a second driving member 12 for driving the friction wheels 11 to rotate. The second driving member 12 is a motor and is fixedly mounted on the bottom ring frame 1. The output shaft of the second driving member 12 is fixedly connected to the rotating shaft of the friction wheels 11. This causes the friction wheels 11 to rotate when the ball falls, thereby accelerating the ball's descent. When the ball bounces back, the friction wheels 11 can be driven to rotate in the opposite direction, allowing the ball to enter the space between the bottom ring frame 1 and the top frame 2 more quickly, improving the overall stability and accuracy of ball handling. Several pulley sets 13 are arranged at intervals along the circumference of the inner ring of the bottom ring frame 1. Each pulley set 13 extends downwards at an angle from the bottom ring frame 1 in a direction away from each other, serving as a guide to allow the ball to enter the space between the bottom ring frame 1 and the top frame 2 more smoothly for clamping.

[0028] Guide frames 14 are installed on the bottom ring frame 1 at the positions corresponding to each linkage rod 7. Guide grooves 141 are provided on the guide frames 14, which extend radially toward the bottom ring frame 1. The linkage rod 7 is engaged in the guide groove 141. Several guide wheels 142 are rotatably installed on the groove wall of the guide groove 141. This serves to guide the linkage rod 7 while ensuring the smooth rotation of the linkage rod 7.

[0029] The implementation principle of the automatic ball-handling device in this embodiment is as follows: The device is fixed on a mobile robot. When dribbling, the drive motor 632 is started first, pulling the pull rope 631, causing the locking block 62 to leave the slot 32, thereby releasing the restraint on the top rod 3. The top rod 3 moves vertically downward, and simultaneously, through each linkage rod 7, it drives each gripper 4 away from the ball, releasing the restraint on the ball, causing the ball to fall. After the ball bounces off the ground, it re-enters the position between the bottom ring frame 1 and the top frame 2. The ball presses against the pressure plate 31, causing the top rod 3 to slide vertically upward. Simultaneously, through each linkage rod 7, it drives each gripper 4 to approach the ball, completing the restraint on the ball. Furthermore, through the guiding effect of the inclined surface 33 and the guide surface 621, the locking block 62 smoothly engages in the slot 32, completing the restraint on the top rod 3. Repeating the above operation can complete the ball-driving action.

[0030] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0031] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. An automatic ball-clamping and dribbling device, characterized in that, The device includes a bottom ring frame, a top frame, a top rod, and several grippers. The top frame is located directly above the bottom ring frame. The top rod is vertically arranged and slides vertically onto the top frame. The top frame is equipped with a limiting component to restrict the sliding position of the top rod. The grippers are spaced apart circumferentially along the bottom ring frame. Each gripper has a corresponding linkage rod. The top frame has a bracket corresponding to each linkage rod. The linkage rod is hinged to the bracket, with one end hinged to the top rod and the other end fixedly mounted to the gripper. When the top rod slides vertically downwards, each gripper extends away from the sphere. When the top rod slides vertically upwards, each gripper extends towards the sphere.

2. The automatic ball-clamping and dribbling device according to claim 1, characterized in that, A sliding groove extending vertically is provided in the middle of the top frame. The sliding groove has a polygonal cross-section. The top rod is adapted to the sliding groove and is slidably installed in the sliding groove.

3. The automatic ball-clamping and dribbling device according to claim 2, characterized in that, The limiting component includes a sliding rod, a locking block, and a first driving member. The top frame has an installation groove on the wall of the sliding groove, and the sliding rod is slidably installed in the installation groove in a horizontal direction. The locking block is installed at one end of the sliding rod near the sliding groove, and the top rod has a locking groove on its wall for the locking block to engage. The first driving member is used to drive the sliding rod to slide.

4. An automatic ball-clamping and dribbling device according to claim 3, characterized in that, The mounting slots are provided on both sides of the top frame, and the sliding rods are installed in the two mounting slots.

5. An automatic ball-clamping and dribbling device according to claim 3, characterized in that, The first driving component includes a pull rope and a drive motor. The drive motor is mounted on the top of the top frame, and the output shaft of the drive motor is vertically downward. One end of the pull rope is fixedly installed on the output shaft of the drive motor, and the other end is connected to the slide rod. The slide rod is fitted with an elastic element. When the locking block leaves the locking slot, the elastic element is in a compressed state. A guide surface is provided on the downward-facing side of the locking block.

6. An automatic ball-clamping and dribbling device according to claim 5, characterized in that, The top frame is equipped with a guide wheel at the position corresponding to the pull rope, and the pull rope is wound around the guide wheel.

7. An automatic ball-clamping and dribbling device according to claim 1, characterized in that, A pressure plate is fixedly installed at the bottom end of the top rod, and the bottom surface of the pressure plate is adapted to the shape of the sphere.

8. An automatic ball-clamping and dribbling device according to claim 1, characterized in that, The inner ring of the bottom ring frame is circumferentially rotatably mounted with friction wheels, and the bottom ring frame is equipped with a second driving component for driving the friction wheels to rotate.

9. An automatic ball-clamping and dribbling device according to claim 1, characterized in that, Guide frames are installed on the bottom ring frame at the positions corresponding to each of the linkage rods. Guide grooves are provided on the guide frames and extend radially toward the bottom ring frame. The linkage rods are engaged in the guide grooves, and several guide wheels are rotatably installed on the groove walls of the guide grooves.

10. An automatic ball-clamping and dribbling device according to claim 1, characterized in that, The inner ring of the bottom ring frame is provided with several pulley groups spaced apart circumferentially, and the pulley groups are arranged in a vertical direction.

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