CN109157813B

CN109157813B - Ball recovery robot

Info

Publication number: CN109157813B
Application number: CN201811175181.6A
Authority: CN
Inventors: 邓强国; 张艺潇; 林运东; 汪俊杰
Original assignee: Kunming University of Science and Technology
Current assignee: Kunming University of Science and Technology
Priority date: 2018-10-10
Filing date: 2018-10-10
Publication date: 2023-11-21
Anticipated expiration: 2038-10-10
Also published as: CN109157813A

Abstract

The invention discloses a ball recycling robot, which comprises a vehicle body, an imaging sensor, a collecting part, a traveling part, a vehicle frame, a transmission part, a battery box and a central processing unit, wherein the vehicle body is provided with a plurality of sensors; the vehicle body is fixed on the vehicle frame, the imaging sensor is fixed at the front end of the vehicle body, one end of the imaging sensor is provided with a central processing unit, the imaging sensor transmits image information to the central processing unit, the central processing unit analyzes relevant data of the ball body and the relative position of the ball body and the vehicle body, and controls the moving part to move, so that the robot approaches to the received ball in a nearby principle, when the robot approaches to the received ball, the central processing unit calculates an advance according to the image information transmitted back by the imaging sensor in real time and sends an instruction to the motor in due time, the rotating shaft of the motor rotates anticlockwise, and the upper impeller and the lower impeller are driven to rotate reversely under the action of gear linkage, so that the ball rolls into the rear collecting box to finish one-time collection.

Description

Ball recovery robot

Technical Field

The invention relates to a ball recycling robot, and belongs to the technical field of intelligent robots.

Background

China is a large sports country with a huge population foundation, and the number of people participating in sports is very large. Wherein, the people participating in the ball sports occupy the mountain of the half wall, no matter the people are old and young. The demand for games and training balls is also enormous from colleges to sports teams of all levels. Recovery of balls after training is a headache. The number of balls is large, most people adopt a manual carrying mode, the mode is time-consuming and labor-consuming, moreover, after the laborious training is finished, few people can keep activity, and the working efficiency is greatly reduced. Therefore, the intelligent robot capable of automatically recycling balls is designed according to the principles of high efficiency, practicability, environmental protection and economy. However, there are currently few machines on the market that automatically recover balls, which are expensive or too energy-consuming.

Disclosure of Invention

The invention aims to provide a ball recycling robot, which replaces manpower to pick up balls, reduces the manpower burden and improves the working efficiency.

The technical scheme of the invention is as follows: a ball recycling robot comprises a vehicle body, an imaging sensor, a collecting part, a traveling part frame, a transmission part, a battery box and a control system;

The vehicle body is fixed on the vehicle frame, the imaging sensor is fixed at the front end of the vehicle body, and one end of the imaging sensor is provided with a control system;

the collecting component comprises two fixing frames, an upper impeller, a lower impeller and a collecting box; the upper impeller comprises more than one upper blade and an upper impeller shaft, more than one tooth is respectively arranged at the top of the more than one upper blade, the bottoms of the more than one upper blade are respectively welded on the upper impeller shaft, the lower impeller comprises more than one lower blade and a lower impeller shaft, more than one tooth is respectively arranged at the top of the more than one lower blade, the bottoms of the more than one lower blade are respectively welded on the lower impeller shaft, the collecting box comprises an inclined frame, a front collecting box and a rear collecting box, the inclined frame is arranged at the front part of the front collecting box, the middle part of the inclined frame is arc-shaped, more than one door is arranged between the front collecting box and the rear collecting box, the bottom plate of the front collecting box is an inclined bottom plate and inclines towards the rear collecting box, lower impeller connectors and upper impeller connectors are respectively arranged at two sides of the tops of the two fixing frames, the impellers of the two fixing frames are respectively penetrated through the upper impeller connectors, the two lower impeller shafts respectively, and the two ends of the upper impeller shafts respectively penetrate through the two fixing frames respectively;

The battery box is fixed on the front collecting box and is connected with the control system through a wire;

the transmission part comprises a motor, a motor support, a gear box cover, a gear box support, a gear box sealing ring and a gear box body; the motor support and the gear box support are arranged on a fixed frame at one side of the upper impeller and the lower impeller, the gear box support is positioned above the motor support, the motor is arranged on the motor support, the gear box body is fixed on the gear box support, the gear box body is connected with the gear box cover through a gear box sealing ring, an outer end cover is arranged on the gear box cover shell, an outer end cover sealing ring is arranged between the outer end cover and the gear box cover, and the motor is connected with the control system through a wire;

the travelling part comprises two driving parts, three caster assemblies and two suspension parts; the three caster assemblies are respectively fixed at two sides of the front end of the frame and the rear end of the frame, and the two driving parts are respectively arranged at two sides of the frame through the two suspension parts and are positioned behind the two fixing frames.

The gearbox body comprises a large bevel gear I, a small bevel gear, a clamp spring I, a shaft sleeve I, four gear shaft fixing supports I, two bearings I, an orthogonal bevel gear II, a coupler I, an orthogonal bevel gear III, two bearings II, a shaft sleeve II, a post gear I, a gear shaft fixing support II, a post gear III, an orthogonal bevel gear IV, a large bevel gear II, two post gears II, more than one clamp spring II, a bearing V, a gear shaft III, a gear shaft IV, a coupler I, two bearings III, a bearing IV, a gear shaft I, a gear shaft II, a gear shaft V and a gear shaft VI;

The axle I of big bevel gear I passes the gear box, and the department of passing is equipped with bearing III, big bevel gear I installs the one end of axle I in axle I through gear box inner wall one side, the other end of axle I passes through shaft coupling II and lower impeller hub connection, big bevel gear I and bevel pinion meshing, be equipped with four gear shaft fixed bolster I on the gear box inner wall, gear shaft I passes two gear shaft fixed bolster I of gear box inner wall one end, and gear shaft I passes two gear shaft fixed bolster I punishment and is equipped with bearing I, the one end of gear shaft I is equipped with fluting and keyway, install jump ring I in the fluting, bevel pinion passes through round key and the one end of keyway cooperation installation at gear shaft I, gear shaft I is equipped with axle sleeve I on the epaxial between two gear shaft fixed bolster I, the other end of the gear shaft I is provided with a shaft shoulder, the shaft shoulder is tightly leaned against one side of the gear shaft fixing support I, the other end of the shaft shoulder of the gear shaft I is provided with an orthogonal bevel gear I, the gear shaft II sequentially penetrates through two gear shaft fixing supports I at the other end of the inner wall of a gear box body, the gear shaft II penetrates through two gear shaft fixing supports I to be respectively provided with a bearing II, one end of the gear shaft II is provided with the shaft shoulder, one end of the shaft shoulder is provided with an orthogonal bevel gear III, the shaft shoulder is tightly leaned against one of the gear shaft fixing supports I, the shaft of the gear shaft II stretches out of the other gear shaft fixing support I and is provided with a shaft sleeve II, the other end of the gear shaft II is provided with two grooves and key grooves, clamp springs II are respectively arranged in the two grooves, a post gear I is arranged at the other end of the gear shaft II through round keys and key grooves, and the upper part of the inner side wall above the gear box body is provided with an upper part The middle and lower three holes, one end of the gear shaft III is positioned in the middle hole on the inner side wall above the gear box body, one end of the gear shaft IV penetrates through the lower hole on the inner side wall to extend out of the gear box body, the other ends of the gear shaft III and the gear shaft IV are respectively provided with two grooves, two clamp springs II are respectively arranged in the two grooves, the two column gears II are respectively arranged on the gear shaft III and the gear shaft IV through bearings, the inner wall of the other side above the gear box body is provided with a gear shaft fixing support II, one end of the gear shaft V penetrates through the gear shaft fixing support II, a bearing V is arranged at the penetrating position, the other end of the gear shaft V is arranged in the hole above the inner side wall above the gear box body, one end of the gear shaft V is fixedly connected with a column gear III and the other end of the gear shaft V is fixedly connected with an orthogonal bevel gear IV, the axle II of the big bevel gear II passes through the gear box body and is provided with a bearing III at the passing position, the big bevel gear II is arranged on an axle of the axle II passing through one side of the inner wall of the gear box body, the big bevel gear II is meshed with an orthogonal bevel gear IV, the post gear III is meshed with a post gear II on the gear axle III, the post gear II on the gear axle III is meshed with a post gear II on the gear axle IV, the post gear II on the gear axle IV is meshed with a post gear I on the other end of the gear axle II, the orthogonal bevel gear II is positioned between the orthogonal bevel gear III and the orthogonal bevel gear I, the orthogonal bevel gear II is meshed with the orthogonal bevel gear I and the orthogonal bevel gear III respectively, the orthogonal bevel gear II is fixedly connected with one end of the gear axle VI, the other end of the gear axle VI passes through the gear box cover and the outer end cover and sequentially passes through the inner shell of the gear box cover, the outer end cover is respectively provided with a bearing IV, the gear shaft VI passes through the gear box cover and then is connected with an output shaft of the motor through the coupler I.

The two driving components have the same structure, and each driving component comprises a wheel shaft, an idler pulley flat key, an inner end cover, a small sealing ring, a large end cover, a large sealing ring, a bearing VI, a stator, a rotor, 3 idler pulleys, a central gear, an idler pulley frame, a wheel hub end cover, a tire, a gear ring flat key and a gear ring; the idler wheel frame is positioned in a wheel hub, a hole is formed in the center of the idler wheel frame, a key groove is formed in the hole, the key groove on the center hole of the idler wheel frame is matched with the key groove on a wheel shaft through a flat key, the idler wheel frame is arranged on the wheel shaft, 3 protruding shafts are arranged on the idler wheel frame, the central gear is arranged on the wheel shaft, the 3 idler wheels are respectively connected with the 3 protruding shafts of the idler wheel frame, the 3 idler wheels are respectively meshed with an inner gear and the central gear of a gear ring, the outer ring of the gear ring is provided with 3 key grooves, the 3 key grooves of the outer ring of the gear ring are matched with the key groove on the inner ring of the wheel hub through the flat key, one side of the gear ring is provided with a rotor which is arranged on the wheel shaft through a bearing, the rotor is provided with more than one rotating boss, the more than one rotating boss is respectively connected with the central gear, one side of the rotor is provided with a stator, the stator is provided with a core shaft, the iron shaft is provided with a winding, the winding is respectively connected with a battery box through a wire, the middle part of the iron core of the stator passes through a large end cover and the large end cover, the large end cover and the small end cover pass through the large end cover and the small end cover are arranged on the wheel hub, and the large end cover is sequentially connected with the wheel hub, and the large end cover and the wheel cover is arranged on the wheel end cover and the wheel cover, and the wheel cover is arranged on the large end cover and the wheel cover is arranged on the wheel cover and the wheel cover is arranged the wheel cover and the wheel cover;

The two suspension components have the same structure, and each suspension component comprises a reverser, an upper fork arm, a push rod, a stand column, a transverse stabilizer bar, a lower fork arm, a rod end joint bearing, a shock absorber, a spring and more than one ear; the stand column is connected with the iron core shaft of the stator, one side of the top end and the bottom end of the stand column is respectively provided with an upper lug and a lower lug, one ends of two arms of the upper fork arm are arranged on the upper lug of the stand column, one ends of two arms of the lower fork arm are arranged on the lower lug of the stand column, the other ends of the two arms of the upper fork arm are respectively provided with a hole, joint bearings are respectively arranged in the holes, the other ends of the two arms of the lower fork arm are respectively provided with a threaded hole, the joint bearings are respectively arranged in the threaded holes, more than one ear is respectively fixed on the upper layer and the lower layer of the frame, the joint bearings at the other ends of the two arms of the upper fork arm and the joint bearings at the other ends of the two arms of the lower fork arm are respectively connected with the ears, the two ends of the transverse stabilizer bar are respectively provided with a threaded hole, joint bearings are respectively arranged in the threaded holes, the joint bearings at one end of the transverse stabilizer bar are connected with the bottom of the upright post, the joint bearings at one end of the transverse stabilizer bar are connected with ears at the lower layer of the frame, the lower part of the upright post is provided with lugs, the two ends of the push rod are respectively provided with a threaded hole, the threaded holes are respectively provided with joint bearings, the joint bearings at one end of the push rod are connected with the lugs at the lower part of the upright post, the joint bearings at the other end of the push rod are connected with the reverser, the other end of the reverser is connected with ears of the frame, the bottom end of the reverser is connected with one end of the shock absorber, the other end of the shock absorber is connected with the ears of the frame, and the shock absorber is sleeved with springs;

The three caster assemblies have the same structure, and each caster assembly comprises a caster, a caster frame, 4 sliding wheels, a caster shock absorber, a spring I, a spring II, a caster column, a caster support, a caster fork frame and a caster ball; the utility model discloses a caster, including the frame, the truckle stand, the frame is fixed on the frame, the top of truckle stand is equipped with the boss, the inside both sides of truckle stand are equipped with a track respectively, the one end and the boss on truckle stand top of truckle bumper shock absorber are connected, be equipped with spring I, spring II on the truckle bumper shock absorber, spring I is located the spring II outside, one side of truckle frame is equipped with 4 back shaft and boss, and the other end of truckle bumper shock absorber is installed on the boss of truckle frame one side, 4 movable pulleys are installed respectively on 4 back shaft of truckle frame one side, the rim of 4 movable pulleys is equipped with the recess respectively, and the recess of 4 movable pulleys rim meshes with the track of the both sides in the truckle stand, the opposite side of truckle frame is equipped with the support, the top of truckle passes through the leg of truckle support and the opposite side of truckle frame and is connected with the truckle support, be equipped with the ball between truckle support and the fork.

The upper impeller connector and the lower impeller connector have the same structure and comprise a connecting cover, two connecting cover bearings and two clamp springs III; the two connecting cover bearings are respectively arranged on the inner walls at two ends of the connecting cover, clamp spring reserved grooves are respectively arranged on the inner walls at two ends of the connecting cover, the two clamp springs III are respectively arranged in the clamp spring reserved grooves on the inner walls at two ends of the connecting cover, and the two clamp springs III are respectively arranged at the outer sides of the two connecting cover bearings.

The working principle of the invention is as follows:

the imaging sensor transmits image information to the control system in a scanning mode, the control system analyzes the size, the type and the number of the spheres and the relative position of the spheres and a vehicle body, after the control system analyzes and calculates, an instruction is sent to the battery box, the battery box supplies power to windings on stator iron shafts of two driving components, the windings generate magnetic fields to enable the stators to move, the movement of the stators of the two driving components respectively drive central gears of the two driving components to rotate, the central gears drive the idler gears to rotate, the 3 idler gears drive the idler gear frame to rotate, the idler gear frame drives the hub 70 to move, so that tires move, the robot approaches to the received spheres in a nearby principle, and the control system controls the electrifying sizes on the stators of the two driving components to realize the steering of the robot; when the robot is about to approach to the ball to be received, the control system calculates an advance according to image information transmitted back by an imaging sensor in real time and sends a command to the motor timely, so that a rotating shaft of the motor rotates anticlockwise, the rotating shaft of the motor transmits anticlockwise torque to a gear shaft VI through a coupler I, the gear shaft VI drives an orthogonal bevel gear II to rotate, the orthogonal bevel gear II is meshed with the orthogonal bevel gears I and III at the same time, the orthogonal bevel gear I drives the gear shaft I to rotate clockwise, the gear shaft I drives a bevel pinion to rotate clockwise, the bevel pinion drives a bevel gear I to rotate anticlockwise, the bevel pinion I drives a transmission shaft I of the bevel pinion to rotate anticlockwise, the transmission shaft I drives a lower impeller shaft of the lower impeller to rotate anticlockwise through the coupler II, the lower impeller shaft drives the lower impeller to rotate anticlockwise, and meanwhile, the orthogonal bevel gear III rotates anticlockwise and drives the gear shaft II to rotate anticlockwise, the gear shaft II drives the post gear I to rotate anticlockwise, the post gear I drives the post gear II to rotate anticlockwise and drives the post gear II above the gear shaft I to rotate anticlockwise, the post gear II drives the post gear III above to rotate clockwise, the post gear III drives the orthogonal bevel gear IV to rotate clockwise, the orthogonal bevel gear IV drives the large bevel gear II to rotate clockwise, the large bevel gear II drives the transmission shaft II to rotate clockwise, the transmission shaft II drives the upper impeller shaft of the upper impeller to rotate through the coupler II, the upper impeller shaft drives the upper impeller to rotate clockwise, so that under the action of gear linkage, the upper impeller and the lower impeller are driven to rotate reversely, the lower impeller just rotates to a proper position when the ball contacts the inclined frame and rises a section of height along the slope of the inclined frame, and the ball is prevented from being extruded and ejected out by the lower impeller; when the ball contacts the inclined frame and rises a small height along the slope of the inclined frame, the lower impeller rotating anticlockwise contacts the ball and forces the ball to roll along the slope to the slope top, when the ball is about to cross the slope top and roll down to the other side of the slope, the blades of the upper impeller rotating clockwise catch the ball, and the ball finally rolls down to the rear collecting box along the back of the adjacent blades of the upper impeller after being lifted by a certain height under the rotation action of the upper impeller, and at the moment, the robot completes one-time collection.

The invention has the following beneficial effects:

(1) The ball collecting device is safe and reliable in design and can realize ball collecting tasks.

(2) The collecting impeller has a simple structure and high practicability.

(3) The walking device is reasonable in structure and high in efficiency.

(4) The functional components of the invention can be changed according to the requirements, and the invention has wide application range and high popularization value.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the overall internal structure of the present invention;

FIG. 3 is a schematic view of the overall structure of the invention in which the impeller is connected with the fixed frame;

FIG. 4 is a schematic view of the overall structure of the upper and lower impellers of the present invention;

FIG. 5 is a schematic view of the overall structure of the collecting member of the present invention;

FIG. 6 is a schematic view of the structure of the fixing frame of the present invention;

FIG. 7 is a schematic view of the connection structure of the transmission part and the upper and lower impellers of the present invention;

FIG. 8 is a schematic view of the connection structure of the fixing frame and the transmission part of the present invention;

FIG. 9 is a detail view of the gearbox support of the present invention;

FIG. 10 is a schematic view of the exterior construction of the transmission component of the present invention;

FIG. 11 is a schematic view of the structure of the internal housing of the gearbox of the present invention;

FIG. 12 is a schematic view of the internal structure of the gearbox of the present invention;

FIG. 13 is a schematic representation of the transmission of gears within the gearbox of the present invention;

FIG. 14 is a schematic view of the position of the bearing III of the present invention;

FIG. 15 is a schematic illustration of the connection of the gearbox housing to the gear box cover of the present invention;

FIG. 16 is a schematic illustration of the connection of the motor to the gearbox housing of the present invention;

FIG. 17 is a schematic view of the connection structure of the traveling members of the present invention;

FIG. 18 is a schematic view of the structure of the driving member of the present invention;

FIG. 19 is a schematic view of the construction of a suspension component of the present invention;

FIG. 20 is a schematic view of the caster assembly of the present invention;

FIG. 21 is a detail view of the post of the present invention;

FIG. 22 is a part view of the caster of the present invention;

FIG. 23 is a schematic view of the structure of the caster shock absorber of the present invention;

FIG. 24 is a schematic view of the construction of the caster of the present invention;

FIG. 25 is a schematic illustration of the connection of the frame and caster assembly of the present invention;

FIG. 26 is a schematic view of the structure of the caster ball of the present invention;

FIG. 27 is a schematic view of the upper impeller connector of the present invention;

FIG. 28 is a schematic view of the connection structure of the post and stator of the present invention;

fig. 29 is a schematic view of the installation position of the battery box of the present invention;

FIG. 30 is a sectional view showing the installation of the gear shaft VI and the orthogonal bevel gear II of the present invention;

FIG. 31 is a schematic view of the drive direction of the present invention;

the reference numerals in the figures are: 1-vehicle body, 2-drive part, 3-caster assembly, 4-imaging sensor, 5-lower impeller, 6-upper impeller, 7-collection box, 8-frame, 9-suspension part, 10-drive part, 11-mount, 12-commutator, 13-upper yoke, 14-push rod, 15-upright, 16-stabilizer bar, 17-lower yoke, 18-knuckle bearing, 19-damper, 20-spring, 21-motor, 22-motor support, 23-gear box cover, 24-gear box support, 25-gear box seal ring, 26-lower impeller connector, 27-gear box housing, 28-upper impeller connector, 29-large bevel gear I, 30-small bevel gear 31-jump ring I, 32-shaft sleeve I, 33-gear shaft fixing I, 34-bearing I, 35-orthogonal bevel gear I, 36-orthogonal bevel gear II, 37-coupling I, 38-orthogonal bevel gear III, 39-bearing II, 40-shaft sleeve II, 41-post gear I, 42-gear shaft fixing II, 43-post gear III, 44-large bevel gear II, 45-post gear II, 46-jump ring II, 47-bearing V, 48-gear shaft III, 49-gear shaft IV, 50-coupling II, 51-caster, 52-caster frame, 53-sliding wheel, 54-caster shock absorber, 55-spring I, 56-spring II, 57-caster column, 58-wheel axle, 59-idler flat keys, 60-inner end caps, 61-small seal rings, 62-large end caps, 63-large seal rings, 64-bearing VI, 65-stator, 66-rotor, 67-idler, 68-sun gear, 69-idler carrier, -70-hub, 71-hub end caps, 72-tire, 73-ring gear flat keys, 74-ring gear, 75-orthogonal bevel gears IV, 76-ear, 77-gear shaft I, 78-upper impeller shaft, 79-lower impeller shaft, 80-bevel rack, 81-front collection box, 82-rear collection box, 83-caster balls, 84-gear shaft II, 85-bearing III, 86-gear shaft V, 87-gear shaft VI, 88-bearing IV, 89-battery box, 90-connection cap, 91-connection cap bearing, 92-snap spring III, 93-outer end caps, 94-outer end caps seal rings, 95-caster brackets, 96-caster forks.

Detailed Description

The invention is further described below with reference to the drawings and examples.

Example 1: as shown in fig. 1 to 29, the ball recycling robot comprises a vehicle body 1, an imaging sensor 4, a collecting part, a traveling part, a frame 8, a transmission part 10, a battery box 89 and a control system;

the vehicle body 1 is fixed on the vehicle frame 8, the imaging sensor 4 is fixed at the front end of the vehicle body 1, and a control system is arranged on one side of the imaging sensor 4 and is a central processing unit;

the collecting component comprises two fixing frames 11, an upper impeller 6, a lower impeller 5 and a collecting box 7; the upper impeller 6 comprises 3 upper blades and an upper impeller shaft 78, 18 teeth are respectively arranged at the tops of the 3 upper blades, the bottoms of the 3 upper blades are respectively welded on the upper impeller shaft 78, the lower impeller 5 comprises 3 lower blades and a lower impeller shaft 79, 18 teeth are respectively arranged at the tops of the 3 lower blades, the bottoms of the 3 lower blades are respectively welded on the lower impeller shaft 79, the collecting box 7 comprises an inclined frame 80, a front collecting box 81 and a rear collecting box 82, the inclined frame 80 is arranged at the front part of the front collecting box 81, the middle part of the inclined frame 80 is arc-shaped, 3 doors are arranged between the front collecting box 81 and the rear collecting box 82, the bottom plate of the front collecting box 81 is an inclined bottom plate and inclines towards the direction of the rear collecting box 82, two sides of the tops of the two fixing frames 11 are respectively provided with a lower impeller connector 26 and an upper impeller connector 28, the two fixing frames 11 are positioned at two sides of the upper impeller 6 and the lower impeller 5, two ends of the upper impeller shaft 78 respectively penetrate through the upper impeller connector 28 of the two fixing frames 11, and two ends of the lower impeller connector 11 penetrate through the two fixing frames 11 respectively, and the two lower impeller connector 11 penetrate through the two lower impeller shaft connector 11 respectively;

The battery box 89 is fixed on the front collecting box 81, and the battery box 89 is connected with the central processing unit through a wire;

the transmission part 10 comprises a motor 21, a motor support 22, a gear box cover 23, a gear box support 24, a gear box sealing ring 25 and a gear box body 27; the motor support 22 and the gear box support 24 are arranged on the fixing frame 11 at one side of the upper impeller 6 and the lower impeller 5, the gear box support 24 is positioned above the motor support 22, the motor 21 is arranged on the motor support 22, the gear box body 27 is fixed on the gear box support 24, the gear box body 27 is connected with the gear box cover 23 through the gear box sealing ring 25, an outer end cover 93 is arranged on the outer shell of the gear box cover 23, an outer end cover sealing ring 94 is arranged between the outer end cover 93 and the gear box cover 23, and the motor 21 is connected with the central processor through a wire;

the travelling part comprises two driving parts 2, three caster assemblies 3 and two suspension parts 9; the three caster assemblies 3 are respectively welded at two sides of the front end of the frame 8 and at the rear end of the frame 8, and the two driving parts 2 are respectively arranged at two sides of the frame 8 through two suspension parts 9 and are positioned behind two fixing frames 11;

the gear box body 27 comprises a large bevel gear I29, a small bevel gear 30, a clamp spring I31, a shaft sleeve I32, four gear shaft fixing supports I33, two bearings I34, an orthogonal bevel gear I35, an orthogonal bevel gear II 36, a shaft sleeve I37, an orthogonal bevel gear III 38, two bearings II 39, a shaft sleeve II 40, a post gear I41, a gear shaft fixing support II 42, a post gear III 43, an orthogonal bevel gear IV 75, a large bevel gear II 44, two post gears II 45, 6 clamp springs II 46, a bearing V47, a gear shaft III 48, a gear shaft IV 49, two shaft sleeves II 50, two bearings III 85, a bearing IV 88, a gear shaft I77, a gear shaft II 84, a gear shaft V86 and a gear shaft VI 87;

The axle I of big bevel gear I29 passes gear box 27, and the department of passing is equipped with bearing III 85, big bevel gear I29 installs the one end of axle I in one side of axle I that passes gear box 27 inner wall, the other end of axle I passes through shaft coupling II 50 and is connected with the lower impeller axle 79 of lower impeller 5, big bevel gear I29 meshes with bevel pinion 30, be equipped with four gear shaft fixed bolster I33 on the gear box 27 inner wall, two gear shaft fixed bolster I33 of gear shaft I77 pass gear box 27 inner wall one end, and gear shaft I77 passes two gear shaft fixed bolster I33 and is equipped with bearing I34 respectively, the one end of gear shaft I77 is equipped with fluting and keyway, install jump ring I31 in the fluting, bevel pinion 30 passes through round key and keyway cooperation fixed mounting in the one end of gear shaft I77, the gear shaft I77 is provided with a shaft sleeve I32 on the shaft between the two gear shaft fixing brackets I33, the other end of the gear shaft I77 is provided with a shaft shoulder, the shaft shoulder is tightly close to one side of the gear shaft fixing brackets I33, the other end of the shaft shoulder of the gear shaft I77 is provided with an orthogonal bevel gear I35, the gear shaft II 84 sequentially passes through the two gear shaft fixing brackets I33 at the other end of the inner wall of the gear box body 27, the gear shaft II 84 sequentially passes through the two gear shaft fixing brackets I33 and is respectively provided with a bearing II 39, one end of the gear shaft II 84 is provided with a shaft shoulder, one end of the shaft shoulder is provided with an orthogonal bevel gear III 38, the shaft shoulder is tightly close to one of the gear shaft fixing brackets I33, the gear shaft II 84 extends out of the other gear shaft fixing bracket I33 and is provided with a shaft sleeve II 40, the other end of the gear shaft II 84 is provided with two grooves and key grooves are respectively provided with a clamp spring II 46, the column gear I41 is arranged at the other end of the gear shaft II 84 through a round key and a key groove, an upper hole, a middle hole and a lower hole are formed in the inner side wall above the gear box body 27, one end of the gear shaft III 48 is positioned in the middle hole on the inner side wall above the gear box body 27, one end of the gear shaft IV 49 penetrates through the lower hole on the inner side wall to extend out of the gear box body 27, two grooves are respectively formed in the other ends of the gear shaft III 48 and the gear shaft IV 49, a clamp spring II 46 is respectively arranged in the two grooves, the two column gears II 45 are respectively arranged on the gear shaft III 48 and the gear shaft IV 49 through bearings, a gear shaft fixing bracket II 42 is arranged on the inner wall of the other side above the gear box body 27, one end of the gear shaft V86 penetrates through the gear shaft fixing bracket II and a bearing V47 is arranged at the penetrating position, the other end of the gear shaft V86 is arranged in a hole above the inner side wall above the gear box body 27, one end of the gear shaft V86 is fixedly connected with a post gear III 43, the other end is fixedly connected with an orthogonal bevel gear IV 75, a gear shaft II of the large bevel gear II 44 penetrates through the gear box body 27 and is provided with a bearing III 85 at the penetrating position, the large bevel gear II 44 is arranged on a shaft of the gear shaft II penetrating through one side of the inner wall of the gear box body 27, the large bevel gear II 44 is meshed with the orthogonal bevel gear IV 75, the gear shaft II is connected with an upper impeller shaft 78 of the upper impeller 6 through a coupler II 50, the post gear III 43 is meshed with a post gear II 45 on the gear shaft III 48, the post gear II 45 on the gear shaft III 48 is meshed with a post gear II 45 on the gear shaft IV 49, the post gear II 45 on the gear shaft IV 49 is meshed with a post gear I41 on the other end of the gear shaft II 84, the orthogonal bevel gear II 36 is positioned between the orthogonal bevel gear III 38 and the orthogonal bevel gear I35, the orthogonal bevel gear II 36 is respectively meshed with the orthogonal bevel gear I35 and the orthogonal bevel gear III 38, the orthogonal bevel gear II 36 is fixedly connected to one end of the gear shaft VI 87, the other end of the gear shaft VI 87 passes through the gear box cover 23 and the outer end cover 93 and sequentially passes through the inner shell of the gear box cover 23, the outer end cover 93 is respectively provided with a bearing IV 88, and the gear shaft VI 87 passes through the gear box cover 23 and is connected with an output shaft of the motor 21 through the coupler I37;

The two driving parts 2 have the same structure, and each driving part 2 comprises a wheel shaft 58, an idler pulley flat key 59, an inner end cover 60, a small sealing ring 61, a large end cover 62, a large sealing ring 63, a bearing VI 64, a stator 65, a rotor 66, 3 idler pulleys 67, a central gear 68, an idler pulley frame 69, a wheel hub 70, a wheel hub end cover 71, a tire 72, a gear ring flat key 73 and a gear ring 74; the idler frame 69 is positioned in the hub 70, the center of the idler frame 69 is provided with a hole, a key groove is arranged on the hole, the key groove on the center hole of the idler frame 69 is matched with the key groove on the wheel shaft 58 through a flat key 59 to enable the idler frame 69 to be mounted on the wheel shaft 58, 3 protruding shafts are arranged on the idler frame 69, the sun gear 68 is mounted on the wheel shaft 58, 3 idler wheels 67 are respectively connected with the 3 protruding shafts of the idler frame 69, the 3 idler wheels 67 are respectively meshed with the inner gear and the sun gear 68 of the gear ring 74, the outer ring of the gear ring 74 is provided with 3 key grooves, the 3 key grooves on the outer ring of the gear ring 74 are matched with the key groove on the inner ring of the hub 70 through flat keys, one side of the gear ring 74 is provided with a rotor 66, the rotor 66 is mounted on the wheel shaft 58 through a bearing, the rotor 66 is provided with 3 rotating bosses, the 3 rotating bosses are respectively connected with a central gear 68, one side of the rotor 66 is provided with a stator 65, the stator 65 is provided with a core shaft, the core shaft is provided with windings, the windings on the core shaft are connected with a battery box 89 through wires, the core shaft of the stator 65 passes through the middle part of a large end cover 62 and extends out of the large end cover 62, a bearing VI 64 is arranged at the passing position, the wheel shaft 58 sequentially passes through the core shaft of the stator 65 and the middle part of the large end cover 62, the large end cover 62 is arranged on one end of the wheel shaft 58, the other side of the large end cover 62 is provided with a small sealing ring 61 and an inner end cover 60, the inner end cover 60 is connected with the large end cover 62 through the small sealing ring 61, the large end cover 62 is fixed on one side of the wheel hub 70, a large sealing ring 63 is arranged between the large end cover 62 and the wheel hub 70, the wheel hub end cover 71 is connected with the other side of the wheel hub 70, the wheel 72 wraps the wheel hub 70, the tire 72 is coaxial with the hub 70;

The two suspension components 9 have the same structure, and each suspension component 9 comprises a commutator 12, an upper fork arm 13, a push rod 14, a column 15, a transverse stabilizer bar 16, a lower fork arm 17, a knuckle bearing 18, a shock absorber 19, springs 20 and 7 springs 76; the stand 15 is connected with an iron core shaft of the stator 65, an upper lug and a lower lug are respectively arranged at one side of the top end and the bottom end of the stand 15, one ends of two arms of the upper fork arm 13 are respectively arranged on the upper lug of the stand 15, one ends of two arms of the lower fork arm 17 are respectively arranged on the lower lug of the stand 15, the other ends of two arms of the upper fork arm 13 are respectively provided with holes, the joint bearings 18 are respectively arranged in the holes, the other ends of the two arms of the lower fork arm 17 are respectively provided with screw holes, the joint bearings 18 are respectively arranged in the screw holes, the upper layer and the lower layer of the frame 8 are respectively welded with 7 lugs 76, the joint bearings 18 at the other ends of the two arms of the upper fork arm 13 and the joint bearings 18 at the other ends of the lower fork arm 17 are respectively connected with the lugs 76, the two ends of the transverse stabilizer 16 are respectively provided with the screw holes, the joint bearings 18 at one end of the transverse stabilizer 16 are respectively arranged in the screw holes, the joint bearings 18 at one end of the transverse stabilizer 16 are respectively connected with the bottom of the stand 15, the joint bearings 18 at the other ends of the stand 8 are respectively provided with the lug bearings 14 at the other ends of the two ends of the frame 12, the two ends of the lug 12 are respectively connected with the two side of the lug 12, the commutator 12 is respectively connected with the two ends of the lug 12, the two end 12 are respectively, the commutator 12 is respectively connected with the two end 12 and the two end 12 is respectively, the commutator 18 is connected with the two end 12;

The three caster assemblies 3 have the same structure, and each caster assembly 3 comprises a caster 51, a caster frame 52, 4 sliding wheels 53, a caster shock absorber 54, a spring I55, a spring II 56, a caster upright 57, a caster support 95, a caster fork 96 and a caster ball 83; the caster column 57 is fixed on the frame 8, a boss is arranged at the top end of the caster column 57, a track is respectively arranged at two sides of the inside of the caster column 57, one end of the caster shock absorber 54 is connected with the boss at the top end of the caster column 57, a spring I55 and a spring II 56 are arranged on the caster shock absorber 54, the spring I55 is positioned at the outer side of the spring II 56, 4 supporting shafts and bosses are arranged at one side of the caster frame 52, the other end of the caster shock absorber 54 is arranged on the boss at one side of the caster frame 52, 4 sliding wheels 53 are respectively arranged on the 4 supporting shafts at one side of the caster frame 52, grooves at the wheel edges of the 4 sliding wheels 53 are respectively meshed with the tracks at two sides of the inside of the caster column 57, a bracket is arranged at the other side of the caster frame 52, the top of the caster 51 is connected with the bracket at the other side of the caster frame 52 through a caster bracket 95, the caster 51 is connected with the caster bracket 95 through a caster fork 96, and a caster 83 is arranged between the caster bracket 95 and the caster fork 96;

The upper impeller connector 28 and the lower impeller connector 26 have the same structure and comprise a connecting cover 90, two connecting cover bearings 91 and two clamp springs III 92; the two connecting cover bearings 91 are respectively installed on the inner walls of the two ends of the connecting cover 90, the inner walls of the two ends of the connecting cover 90 are respectively provided with a snap spring reserved groove, the two snap springs III 92 are respectively installed in the snap spring reserved grooves on the inner walls of the two ends of the connecting cover 90, and the two snap springs III 92 are respectively located outside the two connecting cover bearings 91.

The distance between the lowest point of the inclined frame 80 and the ground is 15mm and less than 20mm of the diameter of a table tennis ball, the blades of the lower impeller 5 are arc-shaped when moving, the distance between the moving track and the arc of the inclined frame 80 is 20mm and less than 40mm of the diameter of the table tennis ball, the effective radius of the blades of the lower impeller 5 is 365mm, the effective radius of the blades of the upper impeller 6 is 570mm and is greater than 246mm of a basketball ball, the gaps between the teeth at the tops of the blades of the lower impeller 5 and the upper impeller 6 are 20mm and less than 40mm of the diameter of the table tennis ball, and therefore the ball recovery robot can recover balls with the diameter of 40mm to 246 mm.

The working procedure of this embodiment is as follows: the imaging sensor 4 transmits image information to the central processing unit in a scanning mode, the central processing unit analyzes the size, the type and the number of the spheres and the relative positions of the spheres and the vehicle body, the central processing unit sends instructions to the battery box 89 after analyzing and resolving, the battery box 89 supplies power to windings on the iron core shafts of the stators 65 of the two driving parts 2, the windings generate magnetic fields to enable the stators 65 to move, the movement of the stators 65 of the two driving parts 2 respectively drives the central gears 68 of the two driving parts 2 to rotate, the central gears 68 drive the 3 idler gears 67 to rotate, the 3 idler gears 67 drive the idler gear frames 69 to rotate, the idler gear frames 69 drive the hubs 70 to move, and therefore the tires 72 move.

The robot approaches to the received ball in a nearby principle, wherein the central processing unit controls the power on the stators 65 in the two driving parts 2 to realize the steering of the robot; when the robot approaches to the ball to be received, the central processing unit calculates an advance according to the image information transmitted back by the imaging sensor 4 in real time and sends a command to the motor 21 timely, so that the rotating shaft of the motor 21 rotates anticlockwise, the rotating shaft of the motor 21 transmits anticlockwise torque to the gear shaft VI 87 through the coupler I37, the gear shaft VI 87 drives the orthogonal bevel gear II 36 to rotate, the orthogonal bevel gear II 36 is meshed with the orthogonal bevel gear I35 and the orthogonal bevel gear III 38 at the same time, the orthogonal bevel gear I35 drives the gear shaft I77 to rotate clockwise, the gear shaft I77 drives the bevel pinion 30 to rotate clockwise, the bevel pinion 30 drives the bevel gear I29 to rotate anticlockwise, the bevel gear I29 drives the transmission shaft I thereof to rotate anticlockwise, the transmission shaft I drives the lower impeller shaft 79 of the lower impeller 5 to rotate anticlockwise through the coupler II 50, the lower impeller shaft 79 thus drives the lower impeller 5 to rotate anticlockwise, meanwhile, the orthogonal bevel gear III 38 rotates anticlockwise and drives the gear shaft II 84 to rotate anticlockwise, the gear shaft II 84 drives the post gear I41 to rotate anticlockwise, the post gear I41 drives the post gear II 45 to rotate clockwise and drives the post gear II 45 above the post gear II to rotate anticlockwise, the post gear II 45 drives the post gear III 43 above to rotate clockwise, the post gear III 43 drives the orthogonal bevel gear IV 75 to rotate clockwise, the orthogonal bevel gear IV 75 drives the large bevel gear II 44 to rotate clockwise, the large bevel gear II 44 drives the transmission shaft II to rotate clockwise, the transmission shaft II drives the upper impeller shaft 78 of the upper impeller 6 to rotate clockwise through the coupler II 50, the upper impeller shaft 78 drives the upper impeller 6 and the lower impeller 5 to rotate reversely under the action of gear linkage, so that the lower impeller 5 just rotates to a proper position when the ball contacts the inclined frame 80 and rises for a certain height along the inclined body of the inclined frame 80, and the lower impeller 5 is prevented from extruding and ejecting the ball; when the ball contacts the ramp 80 and rises a small height along the slope of the ramp 80, the counter-clockwise rotating lower impeller 5 will contact the ball and force the ball to roll along the slope to the top of the slope, when the ball will cross the top of the slope and roll down to the other side of the slope, the blades of the clockwise rotating upper impeller 6 catch the ball, which will rise a certain height under the rotation of the upper impeller 6 and finally roll down along the back of the adjacent blades of the upper impeller 6 into the rear collection box 82, at which time the robot completes one collection.

The caster wheel 51 of the caster wheel assembly 3 is in rotation fit with the steering of the driving component 2, the caster wheel 51 and the caster wheel stand 57 slide up and down relatively, the caster wheel damper 54 resists the relative sliding and absorbs vibration brought by the caster wheel 51 from the ground, the caster wheel damper 54 plays a role in damping, and the grounding force of the wheels is regulated by regulating the up and down movement of the caster wheel 51, so that the wheels are fully contacted with the ground.

When the driving member 2 is deflected upwards, which deflects the upright 15 upwards, the push rod 14 appears to be pushed upwards, the rod is pressed and the shock absorber 19 appears to be pulled; when the driving member 2 is deflected downwards, which forces the upright 15 downwards, the push rod 14 acts as a push down, the rod is pulled, and the shock absorber 19 acts as a compression; the lower fork arm 17 and the upper fork arm 13 are responsible for fixing the upright 15 so as to force the upright 15 to move up and down, and the transverse stabilizer bar 16 fixes the upright 15 so as to prevent the upright 15 from rotating around the axis of the upright 15.

While the present invention has been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims

1. The ball recovery robot is characterized by comprising a vehicle body (1), an imaging sensor (4), a collecting part, a traveling part, a vehicle frame (8), a transmission part (10), a battery box (89) and a control system;

the vehicle body (1) is fixed on the vehicle frame (8), the imaging sensor (4) is fixed at the front end of the vehicle body (1), and a control system is arranged at one side of the imaging sensor (4);

the collecting component comprises two fixing frames (11), an upper impeller (6), a lower impeller (5) and a collecting box (7); the upper impeller (6) comprises more than one upper blade and an upper impeller shaft (78), more than one teeth are respectively arranged at the top of the more than one upper blade, the bottoms of the more than one upper blade are respectively welded on the upper impeller shaft (78), the lower impeller (5) comprises more than one lower blade and a lower impeller shaft (79), more than one teeth are respectively arranged at the top of the more than one lower blade, the bottoms of the more than one lower blade are respectively welded on the lower impeller shaft (79), the collecting box (7) comprises an inclined frame (80), a front collecting box (81) and a rear collecting box (82), the inclined frame (80) is arranged at the front part of the front collecting box (81), the middle part of the inclined frame (80) is arc-shaped, more than one door is arranged between the front collecting box (81) and the rear collecting box (82), the bottom plate of the front collecting box (81) is an inclined bottom plate, the direction of the rear collecting box (82) is inclined, the bottoms of the two upper impellers (11) are respectively welded on the lower impeller shaft (79), the two upper impellers (26) and the two upper impellers (28) are respectively arranged at the two sides of the two upper impellers (28) and the two lower impellers (28) are respectively arranged at the two sides of the upper impellers (28) and the two lower impellers (28) respectively arranged at the two sides of the upper impellers (28), two ends of the lower impeller shaft (79) respectively pass through lower impeller connectors (26) of the two fixing frames (11);

The battery box (89) is fixed on the front collecting box (81), and the battery box (89) is connected with the control system through a wire;

the transmission part (10) comprises a motor (21), a motor support (22), a gear box cover (23), a gear box support (24), a gear box sealing ring (25) and a gear box body (27); the motor support (22) and the gear box support (24) are arranged on a fixing frame (11) on one side of an upper impeller (6) and a lower impeller (5), the gear box support (24) is positioned above the motor support (22), the motor (21) is arranged on the motor support (22), the gear box body (27) is fixed on the gear box support (24), the gear box body (27) is connected with a gear box cover (23) through a gear box sealing ring (25), an outer end cover (93) is arranged on the outer shell of the gear box cover (23), an outer end cover sealing ring (94) is arranged between the outer end cover (93) and the gear box cover (23), and the motor (21) is connected with a control system through a wire;

the travelling part comprises two driving parts (2), three caster assemblies (3) and two suspension parts (9); the three caster assemblies (3) are respectively fixed at two sides of the front end of the frame (8) and the rear end of the frame (8), and the two driving parts (2) are respectively arranged at two sides of the frame (8) through two suspension parts (9) and are positioned behind the two fixing frames (11);

The gearbox body (27) comprises a large bevel gear I (29), a small bevel gear (30), a clamp spring I (31), a shaft sleeve I (32), four gear shaft fixing supports I (33), two bearings I (34), an orthogonal bevel gear I (35), an orthogonal bevel gear II (36), a coupler I (37), an orthogonal bevel gear III (38), two bearings II (39), a shaft sleeve II (40), a post gear I (41), a gear shaft fixing support II (42), a post gear III (43), an orthogonal bevel gear IV (75), a large bevel gear II (44), two post gears II (45), more than one clamp spring II (46), a bearing V (47), a gear shaft III (48), a gear shaft IV (49), two couplers II (50), two bearings III (85), a bearing IV (88), a gear shaft I (77), a gear shaft II (84), a gear shaft V (86) and a gear shaft VI (87);

the gear shaft I of the large bevel gear I (29) passes through the gear box body (27), a bearing III (85) is arranged at the passing position, the large bevel gear I (29) is arranged at one end of the gear shaft I, which passes through one side of the inner wall of the gear box body (27), the other end of the gear shaft I is connected with a lower impeller shaft (79) of the lower impeller (5) through a coupler II (50), the large bevel gear I (29) is meshed with a small bevel gear (30), four gear shaft fixing brackets I (33) are arranged on the inner wall of the gear box body (27), the gear shaft I (77) passes through two gear shaft fixing brackets I (33) at one end of the inner wall of the gear box body (27), bearings I (34) are respectively arranged at one end of the gear shaft I (77) which passes through the two gear shaft fixing brackets I (33), grooves and key grooves are formed in one end of the gear shaft I (77), a clamp spring I (31) is arranged in the grooves, the small bevel gear (30) is fixedly arranged at one end of the gear shaft I (77) through round keys in a matching manner, the gear shaft I (30) is positioned at one end of the small bevel gear shaft I (77), the other end of the gear shaft I (77) is positioned between the small bevel gear shaft (30) and the gear shaft fixing brackets (33), the other end of the gear shaft I (77) is provided with a shoulder 32, the other end of the shaft shoulder of the gear shaft I (77) is provided with an orthogonal bevel gear I (35), the gear shaft II (84) sequentially passes through two gear shaft fixing brackets I (33) at the other end of the inner wall of the gear box body (27), the gear shaft II (84) passes through the other ends of the gear shaft fixing brackets I (84) and is respectively provided with a bearing II (39), one end of the gear shaft II (84) is provided with a shaft shoulder, one end of the shaft shoulder is provided with an orthogonal bevel gear III (38), the shaft shoulder abuts against one gear shaft fixing bracket I (33), the shaft of the gear shaft II (84) extends out of the shaft of the other gear shaft fixing bracket I (33) and is provided with a shaft sleeve II (40), the other end of the gear shaft II (84) is provided with two grooves and key ways, two grooves are respectively arranged in the two grooves, the post gears I (41) are respectively arranged at the other ends of the gear shaft II (84) through round keys and the key ways, an upper inner side wall and a middle side wall above the gear box body (27) are provided with three holes, one end of the gear shaft II (48) is positioned in the middle hole on the inner side wall above the gear box body (27), one end of the gear shaft II is positioned in the middle hole of the gear box body (49) and the other end of the gear shaft II (49) passes through the two grooves (49) and the other end of the groove (46) respectively, the two post gears II (45) are respectively arranged on a gear shaft III (48) and a gear shaft IV (49) through bearings, a gear shaft fixing support II (42) is arranged on the inner wall of the other side above the gear box body (27), one end of a gear shaft V (86) penetrates through the gear shaft fixing support II (42) and is provided with a bearing V (47) at the penetrating position, the other end of the gear shaft V (86) is arranged in a hole above the inner side wall above the gear box body (27), one end of the gear shaft V (86) is fixedly connected with a post gear III (43) and the other end is fixedly connected with an orthogonal bevel gear IV (75), a gear shaft II of a large bevel gear II (44) penetrates through the gear box body (27) and is provided with a bearing III (85) at the penetrating position, the large bevel gear II (44) is arranged on the shaft of one side of the gear shaft II penetrating through the inner wall of the gear box body (27), the large bevel gear II (44) is meshed with the orthogonal bevel gear IV (75), the gear shaft II is connected with an upper impeller shaft (78) of an upper impeller (6) through a shaft II (50), one end of the gear shaft III (43) is fixedly connected with an upper impeller shaft III (45) of the gear shaft III, the gear II is meshed with the gear II (45) of the gear II (45), the cylindrical gear II (45) on the gear shaft IV (49) is meshed with the cylindrical gear I (41) on the other end of the gear shaft II (84), the orthogonal bevel gear II (36) is positioned between the orthogonal bevel gear III (38) and the orthogonal bevel gear I (35), the orthogonal bevel gear II (36) is meshed with the orthogonal bevel gear I (35) and the orthogonal bevel gear III (38) respectively, the orthogonal bevel gear II (36) is fixedly connected to one end of the gear shaft VI (87), the other end of the gear shaft VI (87) penetrates through the gear box cover (23) and the outer end cover (93) and sequentially penetrates through the inner shell of the gear box cover (23), the outer end cover (93) is respectively provided with a bearing IV (88), and the gear shaft VI (87) penetrates through the gear box cover (23) and then is connected with the output shaft of the motor (21) through the coupler I (37);

The upper impeller connector (28) and the lower impeller connector (26) have the same structure and comprise a connecting cover (90), two connecting cover bearings (91) and two clamp springs III (92); the two connecting cover bearings (91) are respectively arranged on the inner walls at two ends of the connecting cover (90), clamp spring reserved grooves are respectively arranged on the inner walls at two ends of the connecting cover (90), the two clamp springs III (92) are respectively arranged in the clamp spring reserved grooves on the inner walls at two ends of the connecting cover (90), and the two clamp springs III (92) are respectively arranged at the outer sides of the two connecting cover bearings (91).

2. The ball retrieval robot of claim 1, wherein: the two driving parts (2) have the same structure, and each driving part (2) comprises a wheel shaft (58), an idler pulley flat key (59), an inner end cover (60), a small sealing ring (61), a large end cover (62), a large sealing ring (63), a bearing VI (64), a stator (65), a rotor (66), 3 idler pulleys (67), a central gear (68), an idler pulley frame (69), a wheel hub (70), a wheel hub end cover (71), a tire (72), a gear ring flat key (73) and a gear ring (74); the idler frame (69) is positioned in the hub (70), a hole is formed in the center of the idler frame (69), a key groove is formed in the hole, the key groove on the center hole of the idler frame (69) is matched with the key groove on the wheel shaft (58) through an idler flat key (59), the idler frame (69) is provided with 3 protruding shafts, the sun gear (68) is arranged on the wheel shaft (58), the 3 idler wheels (67) are respectively connected with the 3 protruding shafts of the idler frame (69), the 3 idler wheels (67) are respectively meshed with an inner gear and a central gear (68) of a gear ring (74), the outer ring of the gear ring (74) is provided with 3 key grooves, the 3 key grooves on the outer ring of the gear ring (74) are matched with the key groove on the inner ring of the wheel hub (70) through flat keys, one side of the gear ring (74) is provided with a rotor (66), the rotor (66) is arranged on the wheel shaft (58) through a bearing, the rotor (66) is provided with a boss (68) which is rotatably connected with a stator (65), the stator (65) is arranged on one side of the stator (65) is provided with a winding, the stator (65) is connected with the winding (65) through a winding, and the winding (65) is rotatably connected with the winding (65), the iron core shaft of the stator (65) passes through the middle part of the large end cover (62) and extends out of the large end cover (62), a bearing VI (64) is arranged at the passing position, the wheel shaft (58) sequentially passes through the iron core shaft of the stator (65) and the middle part of the large end cover (62), a small sealing ring (61) and an inner end cover (60) are arranged on the other side of the large end cover (62), the inner end cover (60) is connected with the large end cover (62) through the small sealing ring (61), the large end cover (62) is fixed on one side of the wheel hub (70), a large sealing ring (63) is arranged between the large end cover (62) and the wheel hub (70), the wheel hub end cover (71) is connected with the other side of the wheel hub (70), the wheel hub (70) is wrapped by the tire (72), and the tire (72) is coaxial with the wheel hub (70);

The two suspension components (9) have the same structure, and each suspension component (9) comprises a commutator (12), an upper fork arm (13), a push rod (14), a column (15), a transverse stabilizer bar (16), a lower fork arm (17), a joint bearing (18), a shock absorber (19), a spring (20) and more than one ear (76); the vertical column (15) is connected with an iron core shaft of the stator (65), an upper lug and a lower lug are respectively arranged at one side of the top end and the bottom end of the vertical column (15), one ends of two arms of the upper fork arm (13) are arranged on the upper lug of the vertical column (15), one ends of two arms of the lower fork arm (17) are arranged on the lower lug of the vertical column (15), threaded holes are respectively arranged at the other ends of the two arms of the upper fork arm (13), joint bearings (18) are respectively arranged in the threaded holes, threaded holes are respectively arranged at the other ends of the two arms of the lower fork arm (17), the threaded holes are respectively arranged at the other ends of the two arms of the lower fork arm (17), more than one ear (76) is respectively fixed at the upper layer and the lower layer of the frame (8), the joint bearings (18) at the other ends of the two arms of the upper fork arm (13) and the joint bearings (18) at the other ends of the lower fork arm (17) are respectively connected with the ears (76), threaded holes are respectively arranged at the two ends of the transverse stabilizer bar (16), the joint bearings (18) are respectively arranged at the two ends of the transverse stabilizer bar (16), the two ends of the transverse stabilizer bar (16) are respectively connected with the two ends of the lug (18) of the vertical column (15) and the lower stabilizer bar (14) respectively, the joint bearings (14 are respectively connected with the two ends of the lug (18), the threaded holes are respectively provided with a joint bearing (18), the joint bearing (18) at one end of the push rod (14) is connected with a lug at the lower part of the upright post (15), the joint bearing (18) at the other end of the push rod (14) is connected with the reverser (12), the other end of the reverser (12) is connected with an ear (76) of the frame (8), the bottom end of the reverser (12) is connected with one end of a shock absorber (19), the other end of the shock absorber (19) is connected with the ear (76) of the frame (8), and the shock absorber (19) is sleeved with a spring (20);

The three caster assemblies (3) have the same structure, and each caster assembly (3) comprises a caster (51), a caster frame (52), 4 sliding wheels (53), a caster shock absorber (54), a spring I (55), a spring II (56), a caster upright (57), a caster support (95), a caster fork frame (96) and a caster ball (83); the utility model provides a castor, including truckle stand (57), truckle stand (57) are fixed on frame (8), the top of truckle stand (57) is equipped with the boss, the inside both sides of truckle stand (57) are equipped with a track respectively, the one end and the boss on truckle stand (57) top of truckle bumper shock absorber (54) are connected, be equipped with spring I (55), spring II (56) on truckle bumper shock absorber (54), one side of truckle frame (52) is equipped with 4 back shaft and boss, the other end of truckle bumper shock absorber (54) is installed on the boss of truckle frame (52) one side, 4 movable pulley (53) are installed on 4 back shaft of truckle frame (52) one side respectively, the wheel limit of 4 movable pulley (53) are equipped with the recess respectively, and the track engagement of the both sides in truckle stand (57), the opposite side of truckle frame (52) is equipped with the support, the top of truckle frame (51) is passed through truckle support (95) and is connected with truckle frame (52) through truckle support (95) and truckle frame (96), truckle frame (96) are connected with truckle frame (96).