CN109011433A - A kind of ball recovery vehicle of multifunctional intellectual - Google Patents
A kind of ball recovery vehicle of multifunctional intellectual Download PDFInfo
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- CN109011433A CN109011433A CN201811043188.2A CN201811043188A CN109011433A CN 109011433 A CN109011433 A CN 109011433A CN 201811043188 A CN201811043188 A CN 201811043188A CN 109011433 A CN109011433 A CN 109011433A
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- rotating arm
- headstock
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- 238000011084 recovery Methods 0.000 title claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 21
- 241000905957 Channa melasoma Species 0.000 claims description 20
- 238000007667 floating Methods 0.000 claims description 14
- 239000000523 sample Substances 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims 1
- 238000004064 recycling Methods 0.000 abstract description 6
- 238000013461 design Methods 0.000 abstract description 4
- 238000013473 artificial intelligence Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 101000793686 Homo sapiens Azurocidin Proteins 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 238000012549 training Methods 0.000 description 4
- 239000011324 bead Substances 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/025—Installations continuously collecting balls from the playing areas, e.g. by gravity, with conveyor belts
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/0036—Accessories for stowing, putting away or transporting exercise apparatus or sports equipment
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of ball recovery vehicles of multifunctional intellectual, belong to field of artificial intelligence, and the present invention includes mechanical arm, searches positioning device, headstock, ball-filling box, vehicle body, four wheels, vehicle chassis components；Vehicle body is installed in two sides above the vehicle chassis component, headstock is equipped with above the vehicle body, ball-filling box, the headstock is located at ball-filling box front end, four wheels are separately mounted to the two sides of vehicle chassis component, the mechanical arm is mounted on above ball-filling box, the search positioning device is mounted on above headstock, design safety of the present invention is reliable, the recycling function of ball can be achieved, the present invention searches positioning device, it can accurately identify and position the sphere being scattered throughout, mechanical arm freedom degree of the present invention is high, flexible coefficient is big, can the various volumes of free-grabbing it is biggish ball, gear train device design of the present invention is reasonable, driving function can be realized well, the unnecessary labour of present invention reduction staff, reduce danger coefficient, improve working efficiency.
Description
Technical field
The present invention relates to a kind of ball recovery vehicles of multifunctional intellectual, belong to field of artificial intelligence.
Background technique
With the continuous development of social science and technology civilization, intelligence is gradually come into people's daily life, and ball recovery vehicle is made
For a big type of service robot, nearly hot spot for having become robot research field for 5 years.It is total by domestic and international present Research
Knot analysis it is found that fewer for the research achievement of ball object robot for picking up at present, it is most of still in primary research and
Trial stage, comprehensive technical level and service level are relatively low, and for manually picking up in training place, ball object work difficulty is big, danger
Dangerous coefficient is high, and labourer's demand is also in rising trend always, and manufacturing and designing a both can be reduced sportsman or staff need not
The labour wanted, and the ball recovery vehicle of multifunctional intellectual of training, match efficiency can be greatlyd improve.
Summary of the invention
The purpose of the present invention is to provide a kind of ball recovery vehicle of multifunctional intellectual, the present invention is not needing manual control
In the case of, a large amount of basketballs, vollyball, the football etc. that hit when practice may constitute to insecurity factor is ball to be got back automatically, reduce
The unnecessary labour of staff reduces danger coefficient, improves working efficiency.
The present invention is realized by following technical scheme: a kind of ball recovery vehicle of multifunctional intellectual, which is characterized in that including machinery
Arm searches positioning device, headstock, ball-filling box, vehicle body, four wheels, vehicle chassis components；
Vehicle body is installed in two sides above the vehicle chassis component, and headstock, ball-filling box are equipped with above the vehicle body, and the headstock is located at dress ball
Case front end, four wheels are separately mounted to the two sides of vehicle chassis component, and the mechanical arm is mounted on above ball-filling box, described to search
Positioning device is sought to be mounted on above headstock.
The vehicle chassis component includes chassis, cabinet and gear train device, and the cabinet is mounted on chassis, the case
Body includes left and right two branch mailbox bodies, and left and right two branch mailbox bodies pass through pin, pinConnection；
The gear train device includes asynchronous machine, driving wheel, shaft, shaft, driving wheel, fixing axle, transmission
Axis, driving wheel, shaft coupling；The asynchronous machine is mounted in left branch mailbox body, and the output shaft of asynchronous machine passes through shaft coupling
With transmission shaftOne end connection, transmission shaftThe other end pass through the shell of right branch mailbox body, and transmission shaftAcross right branch mailbox body
Bearing, the transmission shaft are equipped at shellUpper installation driving wheel, the both ends of the fixing axle shell with the two sides of right branch mailbox body respectively
Body is fixedly connected, and driving wheel is installed in fixing axle, the driving wheelWith driving wheelEngagement, the driving wheelIt is mounted on and turns
AxisOn, and driving wheelWith driving wheelEngagement, the shaftBoth ends be each passed through the outer housings of left and right two branch mailbox bodies,
And shaftBearing, shaft are equipped at the shell of left and right two branch mailbox bodiesBoth ends wheel is installed respectively；
The front end on the chassis is set there are two bearing block, installs bearing, the shaft respectively in two bearing blocksBoth ends point
It two bearing blocks and Chuan Guo not be connect with the bearing in bearing block, the shaftBoth ends wheel is installed respectively.
The mechanical arm includes pedestal, rotating arm, rotating arm, motor, rotating arm, motor, rotating arm, rotation
Turn joint, articulations digitorum manus back segment, articulations digitorum manus leading portion, more than one motor, more than one connector, motor, external tooth type
Floating bearing, inclusion seat, gear, motor V；
The pedestalIt is mounted at the top of ball-filling box, the rotating armOne end connect with external tooth type floating bearing, the external tooth
Formula floating bearing is mounted in inclusion seat, and the gear is mounted on the output shaft of motor V, and the motor V is mounted on inclusion
Seat bottom side, the outer tooth engagement of the gear and external tooth type floating bearing, the inclusion seat are mounted on pedestalIt is interior, rotating arm
The other end be equipped with motor, motorOutput shaft and rotating armOne end connection, rotating armThe other end be equipped with electricity
Machine, motorOutput shaft and rotating armOne end connection, rotating armThe other end be equipped with motor, motorOutput
Axis and rotating armOne end connection, rotating armThe other end and rotary joint top connect, the bottom of the rotary joint
One or more finger is installed in portion respectively, and every finger includes articulations digitorum manus back segment, articulations digitorum manus leading portion, the articulations digitorum manus of every finger
Back segment is connect by more than one connector with articulations digitorum manus leading portion, and one end of each connector is equipped with motor。
The top of the ball-filling box is equipped with goal hole, and the side of ball-filling box is provided with spherical cavity, and spherical cavity side is equipped with
Spherical cap, out spherical cap level sliding cover spherical cavity, and the bottom of the ball-filling box is inclined floor.
The search positioning device includes intelligent recognition control system and lifting platform, on lifting platform；The lifting platform includes
Shell, steering engine, telescopic rod, linear motor are gone up and down, the steering engine is mounted on lifting shell inner top, and the telescopic rod is located at lifting
In shell, and the output axis connection of telescopic rod and linear motor, the linear motor are mounted on pedestalOn, bottom in the headstock
Portion is equipped with fixed platform, the pedestalOn the stationary platform, the intelligent recognition control system is mounted on lifting shell for installation
Top and intelligent recognition control system bottom is connect with steering engine.
The headstock includes truck head shell, and the truck head shell is mounted on above vehicle body, is provided at the top of the truck head shell
Probe hole, and probe hole two sides are respectively equipped with window, upper window。
The steering engine is 3003 steering engines.
The driving wheelIncluding roller gear I, roller gear II；The length of the roller gear I is greater than roller gear
II, and the bottom of roller gear I is fixedly connected with the center of roller gear II.
The motor of mechanical arm, motor, more than one motor, motor, motor V, vehicle chassis component asynchronous electricity
Machine, steering engine, the linear motor for searching lifting platform in positioning device pass through conducting wire respectively and search the intelligent recognition control of positioning device
System connection processed, the intelligent recognition control system can be identified and be positioned to ball, and intelligent recognition control system passes through control
The operation of each motor is made to control the work of robot.
Working principle of the present invention is as follows:
First under the driving of vehicle chassis component asynchronous machine, moving of car to training place, under the driving of linear motor, telescopic rod
It starts to work and lifting shell is driven to rise to above probe hole, under the driving of steering engine, intelligent recognition control system is started to work,
Target is searched in 360 ° of rotations, after identifying target, determine target and planning the travelling route of entire trolley, is passed through conducting wire hair number and is referred to
It enables, driving asynchronous machine work, asynchronous machine drives transmission shaftRotation, is mounted on transmission shaftOn driving wheelRotation, and lead to
Cross driving wheelDrive driving wheelRotation, to drive shaftRotation, rear wheel drive drive front-wheel operating, and trolley moves ahead, and adjust
Whole to the optimum position for recycling ball, intelligent recognition control system makes trolley stop motion, and mechanical arm 1 is driven to operate, pedestalIn
MotorStart to work, by gear drive external tooth type floating bearing operating, thus make entire mechanical arm can with 360 degree rotation,
Motor, motor, more than one motor, motorDriven under the control of intelligent recognition control system each section of rotating arm and
Bead is sent into ball-filling box by goal hole, to complete the work of recycling ball by articulations digitorum manus cooperation.
The beneficial effects of the present invention are:
(1) design safety of the present invention is reliably, it can be achieved that the recycling function of ball.
(2) present invention searches positioning device, can accurately identify and position the sphere being scattered throughout.
(3) mechanical arm freedom degree of the present invention is high, and flexible coefficient is big, can the various volumes of free-grabbing it is biggish ball.
(4) gear train device design of the present invention rationally, can realize driving function well.
(5) present invention reduces the unnecessary labour of staff, reduces danger coefficient, improves working efficiency.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of vehicle chassis component of the present invention；
Fig. 3 is the structural schematic diagram of the cabinet of vehicle chassis component of the present invention；
Fig. 4 is the structural schematic diagram of mechanical arm of the present invention；
Fig. 5 is mechanical arm pedestal of the present inventionInterior structural schematic diagram；
Fig. 6 is the structural schematic diagram of ball-filling box of the present invention；
Fig. 7 is the structural schematic diagram of headstock of the present invention；
Fig. 8 is the structural schematic diagram for the lifting platform that the present invention searches positioning device；
Fig. 9 is the structural schematic diagram of gear of the present invention；
Each label in figure are as follows: 1- mechanical arm, 2- search positioning device, 3- headstock, 4- ball-filling box, 5- vehicle body, 6- wheel, the bottom 7-
Disk, 8- connector, 9- gear train device, 10- bearing block, 11- pin, 12- asynchronous machine, 13- shaft, 14- pin, 15- cabinet, 16- driving wheel, 17- shaft, 18- driving wheel, 19- fixing axle, 20- transmission shaft, 21- driving wheel、22-
Shaft coupling, 23- pedestal, 24- rotating arm, 25- rotating arm, 26- motor, 27- rotating arm, 28- motor, 29- rotating arm, 30- rotary joint, 31- articulations digitorum manus back segment, 32- articulations digitorum manus leading portion, 33- motor, 34- motor, 35- goal hole, 36-
Spherical cavity, 37- go out spherical cap, 38- bottom plate, 39- intelligent recognition control system, the upper window of 40-, 41- probe hole, 42- pedestal、43-
Go up and down shell, the upper window of 44-, 45- truck head shell, 46- external tooth type floating bearing, 47- inclusion seat, 48- lifting platform, 49- gear,
50- motor V, 51- steering engine, 52- telescopic rod, 53- linear motor, 54- roller gear I, 55- roller gear II.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
Embodiment 1: as shown in Fig. 1 ~ 9, the ball recovery vehicle of this multifunctional intellectual, including mechanical arm 1, search positioning device 2,
Headstock 3, ball-filling box 4, vehicle body 5, four wheels 6, vehicle chassis component；
Vehicle body 5 is installed in two sides above the vehicle chassis component, is equipped with headstock 3, ball-filling box 4, the headstock 3 above the vehicle body 5
In 4 front end of ball-filling box, four wheels 6 are separately mounted to the two sides of vehicle chassis component, and the mechanical arm 1 is mounted on ball-filling box 4
Top, the search positioning device 2 are mounted on 3 top of headstock.
The vehicle chassis component includes chassis 7, cabinet 15 and gear train device 9, and the cabinet 15 is mounted on chassis 7
On, the cabinet 15 includes left and right two branch mailbox bodies, and left and right two branch mailbox bodies pass through pin11, pin14 connections；
The gear train device 9 includes asynchronous machine 12, driving wheel16, shaft17, shaft13, driving wheel18、
Fixing axle 19, transmission shaft20, driving wheel21, shaft coupling 22；The asynchronous machine 12 is mounted in left branch mailbox body, and asynchronous electricity
The output shaft of machine 12 passes through shaft coupling 22 and transmission shaft20 one end connection, transmission shaft20 other end passes through right branch mailbox body
Shell, and transmission shaft20 pass through at the shell of right branch mailbox body equipped with bearing, the transmission shaftDriving wheel is installed on 2021, it is fixed
The both ends of axis 19 are fixedly connected with the shell of the two sides of right branch mailbox body respectively, install driving wheel in fixing axle 1918, the biography
Driving wheel18 and driving wheel21 engagements, the driving wheel16 are mounted on shaftOn 17, and driving wheel16 and driving wheel18
Engagement, the shaft17 both ends are each passed through the outer housing of left and right two branch mailbox bodies, and shaft17 pass through left and right two
Bearing, shaft are equipped at the shell of branch mailbox body17 both ends are installed by wheel 6 respectively；
The front end on the chassis 7 is set there are two bearing block 10, installs bearing, the shaft respectively in two bearing blocks 1013
Both ends are each passed through two bearing blocks 10 and connect with the bearing in bearing block 10, the shaft13 both ends are installed by vehicle respectively
Wheel 6；
The mechanical arm 1 includes pedestal23, rotating arm24, rotating arm25, motor26, rotating arm27, motor28, it revolves
Pivoted arm29,32,4 rotary joint 30, articulations digitorum manus back segment 31, articulations digitorum manus leading portion motors33,4 connectors 8, motors
34, external tooth type floating bearing 46, inclusion seat 47, gear 49, motor V 50；
The pedestal23 are mounted on 4 top of ball-filling box, the rotating arm24 one end is connect with external tooth type floating bearing 46, institute
It states external tooth type floating bearing 46 to be mounted in inclusion seat 47, the gear 49 is mounted on the output shaft of motor V 50, the electricity
Machine V 50 is mounted on inclusion 47 bottom side of seat, the outer tooth engagement of the gear 49 and external tooth type floating bearing 46, the inclusion
Seat 47 is mounted on pedestalIn 23, rotating arm24 other end is equipped with motor34, motor34 output shaft and rotating arm
25 one end connection, rotating arm25 other end is equipped with motor26, motor26 output shaft and rotating arm27 one end connects
It connects, rotating arm27 other end is equipped with motor28, motor28 output shaft and rotating arm29 one end connection, rotation
Arm29 other end is connect with the top of rotary joint 30, and 4 fingers are installed in the bottom of the rotary joint 30 respectively, and every
Finger includes articulations digitorum manus back segment 31, articulations digitorum manus leading portion 32, and the articulations digitorum manus back segment 31 of every finger by 4 connectors 8 and refers to
Joint leading portion 32 connects, wherein 2 connectors 8 are located at finger side, another 2 connectors 8 are located at the finger other side, and each company
One end of fitting 8 is equipped with motor33；
The top of the ball-filling box 4 is equipped with goal hole 35, and the side of ball-filling box 4 is provided with spherical cavity 36, and 36 side of spherical cavity is set
There are spherical cap 37 out, the horizontal sliding of spherical cap 37 out covers spherical cavity 36, and the bottom of the ball-filling box 4 is inclined floor 38；
The search positioning device 2 includes intelligent recognition control system 39 and lifting platform 48；The lifting platform 48 includes that lifting is outer
Shell 43, steering engine 51, telescopic rod 52, linear motor 53, the steering engine 51 are mounted on lifting 43 inner top of shell, the telescopic rod 52
In lifting shell 43, and the output axis connection of telescopic rod 52 and linear motor 53, the linear motor 53 are mounted on pedestalOn 42, bottom is equipped with fixed platform, the pedestal in the headstock 342 install the intelligent recognition control on the stationary platform
System 39 processed is mounted on 43 top of lifting shell and 39 bottom of intelligent recognition control system is connect with steering engine 51.
The headstock 3 includes truck head shell 45, and the truck head shell 45 is mounted on 5 top of vehicle body, the truck head shell 45
Top is provided with probe hole 41, and 41 two sides of probe hole are respectively equipped with window40, upper window44。
The steering engine 51 is 3003 steering engines.
The driving wheel18 include roller gear I 54, roller gear II 55；The length of the roller gear I 54 is greater than circle
Stud wheel II 55, and the bottom of roller gear I 54 is fixedly connected with the center of roller gear II 55.
The motor of the mechanical arm 126, motor28,4 motors33, motor34, motor V 50, vehicle chassis component
The steering engine 51 of lifting platform 48, linear motor 53 are filled by conducting wire and search positioning respectively in asynchronous machine 12, search positioning device 2
Set 2 connection of intelligent recognition control system 39.
The course of work of the present embodiment is as follows:
(1) it preparation: before trolley work, moves out spherical cap 37 and covers spherical cavity 36, while being displaced outwardly window40, on
Window44 open probe hole 41；Ball-filling box 4 fills ball, moves to behind designated position and moves out spherical cap 37 and beat spherical cavity 36
It opens, moves inward window40, upper window44 cover probe hole 41.
(2) under the driving of vehicle chassis component asynchronous machine 12, moving of car to training place, in the driving of linear motor 53
Under, telescopic rod 52, which is started to work, drives lifting shell 43 to rise to 41 top of probe hole, under the driving of steering engine 51, intelligent recognition
Control system 39 is started to work, and target is searched in 360 ° of rotations, and identification target determines target and plans the travelling route of entire trolley
Afterwards, by conducting wire hair number instruction, driving asynchronous machine 12 works, and asynchronous machine 12 drives transmission shaft20 rotations, are mounted on transmission
AxisDriving wheel on 2021 rotations, and pass through driving wheel18 drive driving wheel16 rotations, to drive shaft17 rotations,
Rear wheel drive drives front-wheel operating, and trolley moves ahead, and adjusts to the optimum position of recycling ball, intelligent recognition control system 39 makes trolley
Stop motion, and mechanical arm 1 is driven to operate, pedestalMotor in 2350 start to work, and drive external tooth type to return by gear 49
Shaft holds 46 operatings, to make entire mechanical arm 1 can be with 360 degree rotation, motor26, motor28,4 motors33, motor34 drive each section of rotating arm and articulations digitorum manus cooperation under the control of intelligent recognition control system 39, and bead is passed through goal
Ball-filling box 4 is sent into hole 35, to complete the work of recycling ball.
Above in conjunction with attached drawing, the embodiment of the present invention is explained in detail, but the present invention is not limited to above-mentioned
Embodiment within the knowledge of a person skilled in the art can also be before not departing from present inventive concept
Put that various changes can be made.
Claims (9)
1. a kind of ball recovery vehicle of multifunctional intellectual, which is characterized in that including mechanical arm (1), search positioning device (2), headstock
(3), ball-filling box (4), vehicle body (5), four wheels (6), vehicle chassis components；
Two sides installation vehicle body (5) above the vehicle chassis component, vehicle body (5) top is equipped with headstock (3), ball-filling box (4), described
Headstock (3) is located at ball-filling box (4) front end, and four wheels (6) are separately mounted to the two sides of vehicle chassis component, the mechanical arm
(1) it is mounted on above ball-filling box (4), the search positioning device (2) is mounted on above headstock (3).
2. the ball recovery vehicle of multifunctional intellectual according to claim 1, it is characterised in that: the vehicle chassis component includes chassis
(7), cabinet (15) and gear train device (9), the cabinet (15) are mounted on chassis (7), and the cabinet (15) includes
Left and right two branch mailbox bodies, left and right two branch mailbox bodies pass through pin(11), pin(14) it connects；
The gear train device (9) includes asynchronous machine (12), driving wheel(16), shaft(17), shaft(13), it passes
Driving wheel(18), fixing axle (19), transmission shaft(20), driving wheel(21), shaft coupling (22)；Asynchronous machine (12) installation
In left branch mailbox body, and the output shaft of asynchronous machine (12) passes through shaft coupling (22) and transmission shaft(20) one end connection, transmission
Axis(20) the other end passes through the shell of right branch mailbox body, and transmission shaft(20) bearing is equipped at the shell of right branch mailbox body,
The transmission shaft(20) driving wheel is installed on(21), the both ends of fixing axle (19) are solid with the shell of the two sides of right branch mailbox body respectively
Fixed connection, fixing axle install driving wheel on (19)(18), the driving wheel(18) and driving wheel(21) it engages, the transmission
Wheel(16) it is mounted on shaft(17) on, and driving wheel(16) and driving wheel(18) it engages, the shaft(17) both ends
It is each passed through the outer housing of left and right two branch mailbox bodies, and shaft(17) axis is equipped at the shell of left and right two branch mailbox bodies
It holds, shaft(17) both ends are installed by wheel (6) respectively；
The front end of the chassis (7) is set there are two bearing block (10), and two bearing blocks (10) are interior to install bearing, the shaft respectively(13) both ends are each passed through two bearing blocks (10) and connect with the bearing in bearing block (10), the shaft(13)
Both ends are installed by wheel (6) respectively.
3. the ball recovery vehicle of multifunctional intellectual according to claim 1, it is characterised in that: the mechanical arm (1) includes bottom
Seat(23), rotating arm(24), rotating arm(25), motor(26), rotating arm(27), motor(28), rotating arm
(29), rotary joint (30), articulations digitorum manus back segment (31), articulations digitorum manus leading portion (32), more than one motor(33), more than one
Connector (8), motor(34), external tooth type floating bearing (46), inclusion seat (47), gear (49), motor V (50)；
The pedestal(23) it is mounted at the top of ball-filling box (4), the rotating arm(24) one end and external tooth type floating bearing (46)
Connection, the external tooth type floating bearing (46) are mounted in inclusion seat (47), and the gear (49) is mounted on motor V (50)
On output shaft, the motor V (50) is mounted on inclusion seat (47) bottom side, the gear (49) and external tooth type floating bearing
(46) outer tooth engagement, the inclusion seat (47) are mounted on pedestal(23) in, rotating arm(24) the other end is equipped with motor
(34), motor(34) output shaft and rotating arm(25) one end connection, rotating arm(25) the other end is equipped with motor
(26), motor(26) output shaft and rotating arm(27) one end connection, rotating arm(27) the other end is equipped with motor
(28), motor(28) output shaft and rotating arm(29) one end connection, rotating arm(29) the other end and rotary joint
(30) one or more finger is installed in top connection, the bottom of the rotary joint (30) respectively, and every finger includes referring to
Joint back segment (31), articulations digitorum manus leading portion (32), the articulations digitorum manus back segment (31) of every finger by more than one connector (8) with
One end of articulations digitorum manus leading portion (32) connection, each connector (8) is equipped with motor(33).
4. the ball recovery vehicle of multifunctional intellectual according to claim 1, it is characterised in that: the top of the ball-filling box (4)
Equipped with goal hole (35), the side of ball-filling box (4) is provided with spherical cavity (36), and spherical cavity (36) side is equipped with spherical cap (37),
The horizontal sliding of spherical cap (37) out covers spherical cavity (36), and the bottom of the ball-filling box (4) is inclined floor (38).
5. the ball recovery vehicle of multifunctional intellectual according to claim 1, it is characterised in that: the search positioning device (2)
Including intelligent recognition control system (39) and lifting platform (48)；
The lifting platform (48) includes lifting shell (43), steering engine (51), telescopic rod (52), linear motor (53), the steering engine
(51) be mounted on lifting shell (43) inner top, the telescopic rod (52) be located at lifting shell (43) in, and telescopic rod (52) with
The output axis connection of linear motor (53), the linear motor (53) are mounted on pedestal(42) on, the interior bottom of the headstock (3)
Equipped with fixed platform, the pedestal(42) on the stationary platform, the intelligent recognition control system (39) is mounted on lifting for installation
At the top of shell (43) and intelligent recognition control system (39) bottom is connect with steering engine (51).
6. the ball recovery vehicle of multifunctional intellectual according to claim 1, it is characterised in that: the headstock (3) includes headstock
Shell (45), the truck head shell (45) are mounted on above vehicle body (5), are provided with probe hole at the top of the truck head shell (45)
(41), and probe hole (41) two sides are respectively equipped with window(40), upper window(44).
7. the ball recovery vehicle of multifunctional intellectual according to claim 5, it is characterised in that: the steering engine (51) is 3003 rudders
Machine.
8. the ball recovery vehicle of multifunctional intellectual according to claim 1, it is characterised in that: the driving wheel(18) include
Roller gear I (54), roller gear II (55)；The length of the roller gear I (54) is greater than roller gear II (55), and cylinder
The bottom of gear I (54) is fixedly connected with the center of roller gear II (55).
9. the ball recovery vehicle of multifunctional intellectual according to claim 1, it is characterised in that: the motor of mechanical arm (1)(26),
Motor(28), more than one motor(33), motor(34), motor V (50), vehicle chassis component asynchronous machine (12),
The steering engine (51) of lifting platform (48), linear motor (53) in positioning device (2) is searched to pass through conducting wire respectively and search positioning device
(2) intelligent recognition control system (39) connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811043188.2A CN109011433B (en) | 2018-09-07 | 2018-09-07 | Multi-functional intelligent ball recovery car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811043188.2A CN109011433B (en) | 2018-09-07 | 2018-09-07 | Multi-functional intelligent ball recovery car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109011433A true CN109011433A (en) | 2018-12-18 |
| CN109011433B CN109011433B (en) | 2023-12-26 |
Family
ID=64624492
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811043188.2A Active CN109011433B (en) | 2018-09-07 | 2018-09-07 | Multi-functional intelligent ball recovery car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109011433B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109513187A (en) * | 2018-12-29 | 2019-03-26 | 辽宁工程技术大学 | A kind of golf caddie robot |
| CN109718514A (en) * | 2018-12-28 | 2019-05-07 | 重庆文理学院 | Intelligent ball collecting robot |
| CN109758739A (en) * | 2019-02-27 | 2019-05-17 | 长安大学 | A kind of training court basketball recyclable device |
| CN112494902A (en) * | 2021-01-13 | 2021-03-16 | 深圳市川宇商贸有限公司 | Badminton picking and collecting equipment with mechanical arm |
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| CN109718514A (en) * | 2018-12-28 | 2019-05-07 | 重庆文理学院 | Intelligent ball collecting robot |
| CN109513187A (en) * | 2018-12-29 | 2019-03-26 | 辽宁工程技术大学 | A kind of golf caddie robot |
| CN109513187B (en) * | 2018-12-29 | 2024-05-24 | 辽宁工程技术大学 | Golf child robot |
| CN109758739A (en) * | 2019-02-27 | 2019-05-17 | 长安大学 | A kind of training court basketball recyclable device |
| CN112494902A (en) * | 2021-01-13 | 2021-03-16 | 深圳市川宇商贸有限公司 | Badminton picking and collecting equipment with mechanical arm |
| CN112957709A (en) * | 2021-02-03 | 2021-06-15 | 邵阳学院 | Intelligent sports equipment management system |
| CN113995668A (en) * | 2021-12-13 | 2022-02-01 | 沈阳天仁合一科技有限公司 | Intelligent moxibustion instrument |
| CN113995668B (en) * | 2021-12-13 | 2023-08-25 | 沈阳天仁合一科技有限公司 | Intelligent moxibustion instrument |
| CN114618140A (en) * | 2022-04-18 | 2022-06-14 | 西安医学院 | Basketball automatic pickup equipment that basketball training field was used |
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