阅读说明：本技术 一种中式台球自动收纳摆放装置及其工作方法 (Automatic storage and placement device for Chinese billiards and working method of automatic storage and placement device ) 是由 丁希文 于 2019-09-30 设计创作，主要内容包括：本发明实施例公开了一种中式台球自动收纳摆放装置及其工作方法,包括：纵向行进装置、旋转摆球器、高度行进装置、收纳摆球装置、台球识别装置和控制装置,所述纵向行进装置包括纵向行进车和纵向轨道,纵向行进车在纵向轨道上移动实现收纳摆球装置的纵向移动；所述旋转摆球器将台球传送至球巢指定位置；高度行进装置安装在纵向行进车的一端,收纳摆球装置安装在剪力架顶部；所述台球颜色识别传感器识别台球的颜色,磁力顶杆将台球从旋转托内顶出,从台球滑道上的下球口落入旋转摆球器；控制装置分别与纵向行进装置、旋转摆球器、高度行进装置、收纳摆球装置和台球识别装置进行电连接。本发明解决了现有台球不能自动收纳摆放的问题。(The embodiment of the invention discloses an automatic storage and placement device for Chinese billiards and a working method thereof, wherein the automatic storage and placement device comprises: the billiard ball recognition device comprises a longitudinal advancing device, a rotary ball placing device, a height advancing device, a ball containing and placing device, a billiard ball recognition device and a control device, wherein the longitudinal advancing device comprises a longitudinal advancing vehicle and a longitudinal rail, and the longitudinal advancing vehicle moves on the longitudinal rail to realize longitudinal movement of the ball containing and placing device; the rotary ball placing device conveys billiards to a designated position of a ball nest; the height advancing device is arranged at one end of the longitudinal advancing vehicle, and the storage pendulum ball device is arranged at the top of the shear frame; the billiard color identification sensor identifies the color of the billiard, the magnetic ejector rod ejects the billiard out of the rotary support, and the billiard falls into the rotary ball placing device from a ball outlet on the billiard slide way; the control device is electrically connected with the longitudinal advancing device, the rotary ball placing device, the height advancing device, the storage ball placing device and the billiard ball identification device respectively. The invention solves the problem that the existing billiards cannot be automatically stored and placed.)

1. The utility model provides an automatic device of putting of accomodating of chinese style billiard ball which characterized in that, the automatic device of putting of accomodating of chinese style billiard ball includes: the device comprises a longitudinal advancing device, a rotary ball placing device, a height advancing device, a storage ball placing device, a billiard ball identification device and a control device;

the longitudinal travelling device comprises a longitudinal travelling vehicle and a longitudinal rail, the longitudinal travelling vehicle is arranged in the longitudinal rail, and the longitudinal travelling vehicle moves on the longitudinal rail under the driving of a longitudinal motor;

the rotary ball placing device comprises a first rotary motor and a ball feeding track, the rotary ball placing device is fixedly installed through a support, and the first rotary motor rotates the ball feeding track to feed billiards to a designated ball falling position;

the height advancing device is arranged at one end of the longitudinal advancing vehicle and comprises a shearing frame and a height motor, and the height motor drives the shearing frame to do lifting motion by driving a lifting synchronous belt;

the receiving and ball placing device is arranged at the top of the shear frame, receives the billiards leaked by the rotary ball placing device at the bottom of the rotary ball placing device, and pushes the billiards to a billiard table surface under the coordination of the longitudinal travelling vehicle and the height travelling device after the billiards are received by the receiving and ball placing device;

the billiard recognition device is connected with the support through a support rod and comprises a billiard slide way, a color recognition sensor and a magnetic ejector rod, billiards enter a rotating support in the billiard slide way, the color recognition sensor recognizes the colors of the billiards, the magnetic ejector rod ejects the billiards out of the rotating support, and the billiards fall into the rotating ball placing device from a ball discharging port in the billiard slide way;

the control device is electrically connected with the longitudinal advancing device, the rotary ball placing device, the height advancing device, the storage ball placing device and the billiard recognition device respectively, and controls the working states of the longitudinal advancing device, the rotary ball placing device, the height advancing device, the storage ball placing device and the billiard recognition device.

2. The automatic storing and placing device for Chinese billiards as claimed in claim 1, wherein the longitudinal traveling vehicle of the longitudinal traveling device has a plurality of rollers mounted thereon, the longitudinal traveling vehicle reciprocates on the longitudinal rail, the longitudinal motor is mounted on an end of the longitudinal traveling vehicle away from the shear frame, the longitudinal motor is connected to the longitudinal traveling vehicle through a longitudinal synchronous belt, a counter weight is mounted above the longitudinal motor, and the longitudinal motor is a servo motor or a stepping motor.

3. The automatic storing and placing device of Chinese billiards as claimed in claim 1, wherein the bottom of the rotary ball swing device is connected to the support, the support plate is mounted on the top of the support, the first rotary motor is mounted on the bottom of the support plate, the ball feeding track is mounted on the top of the support plate through a rotating shaft, the output end of the first rotary motor passes through the support plate and is connected with the rotating shaft of the ball feeding track, the ball feeding track is inclined as a whole, and a ball leaking hole is formed in one end of the ball feeding track away from the first rotary motor.

4. The automatic storing and placing device for Chinese billiards as claimed in claim 1, wherein the storing and placing device comprises: the ball feeding device comprises a ball feeding frame, a secondary rail, a ball nest, a ball pushing frame and a ball feeding dustpan, wherein the ball feeding frame is clamped in the secondary rail in a sliding mode, a ball pushing motor is installed on the secondary rail and pushes the ball feeding frame to move in the secondary rail, the ball nest is hung in the ball feeding frame, and a plurality of ball falling holes are formed in the ball nest.

5. The automatic receiving and placing device for Chinese billiards as claimed in claim 4, wherein the ball feeding dustpan is fixedly connected to the second-stage rail, a rubber pad is laid on the surface of the ball feeding dustpan, the billiards fall into the ball nest in a state of collecting the billiards, the ball feeding dustpan supports the billiards, the ball pushing frame limits the billiards falling into the ball nest, limit hooks are installed on two sides of the ball feeding dustpan, a ball pushing plate is installed on the rear side of the ball feeding frame through a rotating shaft, after the billiards are pushed out by the ball feeding frame, the bottom of the ball pushing plate is hooked by the limit hooks, the ball pushing plate tilts and rotates, the billiards are squeezed by the ball pushing plate, so that the billiards are tightly attached to each other, a torsion spring is installed on the top of the ball pushing plate, the pushing is completed, and the torsion spring pulls the ball pushing plate to reset.

6. The automatic storing and placing device of Chinese billiards as claimed in claim 4, wherein the four corners of the ball nest are connected with pulling ropes, the inner sides of the two sides of the ball feeding frame are provided with pulleys, the rear side of the ball feeding frame is provided with a hook member, the pulling ropes are connected with the hook member by bypassing the pulleys, the two sides of the secondary rail are provided with limiting protrusions, the hook member is blocked by the limiting protrusions during the sliding process of the ball feeding frame, and the ball nest is pulled up by the pulling ropes.

7. An automatic Chinese billiard receiving and placing device as claimed in claim 1, wherein a rotary support is arranged at one end of a billiard slide way of the billiard recognition device, a billiard placing groove is arranged in the rotary support, a second rotating motor is arranged at the bottom of the rotary support, two round holes are formed in the side wall of the billiard slide way adjacent to the rotary support, a color recognition sensor is arranged in each round hole, a magnetic ejector rod is arranged adjacent to the oblique lower side of the rotary support, one end of each magnetic ejector rod penetrates through the billiard slide way, the magnetic ejector rods are popped out to be in contact with the billiards in the rotary support, the magnetic ejector rods are retracted after the billiards are pushed, and a ball dropping port is formed in one end, away from the rotary support, of the billiard.

8. The automatic device of putting of accomodating of chinese billiard ball of claim 1, characterized in that, controlling means includes singlechip, thing networking server and external control switch, the singlechip carries out serial communication with the colour identification sensor and is connected, the singlechip carries out serial communication with thing networking server, thing networking server passes through the IO bus and is connected with external control switch, and thing networking server passes through the WIFI network and is connected with wireless router, and wireless router connection control terminal, thing networking server pass through IO bus connection first rotating electrical machines driver, vertical motor driver and high motor driver.

9. The automatic Chinese billiard ball storage and placement device as claimed in claim 1, wherein a billiard ball track assembly is arranged above the automatic Chinese billiard ball storage and placement device, the billiard ball track assembly comprises a ball track and a billiard ball collecting groove, the ball track is connected with the ball barrel at the position of the middle bag and the bottom bag, a billiard ball picking device is arranged on the billiard ball collecting groove, an outlet of the billiard ball collecting groove is connected with a billiard ball slide way of the billiard ball identification device, and a white ball special track is arranged outside the ball feeding frame.

10. The working method of the automatic storing and placing device for the Chinese billiards as claimed in any one of claims 1 to 9, wherein the method comprises:

the billiard ball dropping bag enters a billiard ball identification device through a billiard ball rail and a billiard ball collecting groove, and the billiard ball identification device identifies the color of the billiard ball;

the single chip microcomputer judges the position of the billiards, which should fall into the ball nest, according to the colors of the billiards, the magnetic ejector rod ejects the billiards out of the rotary support, so that the billiards fall into the rotary ball placing device from the ball outlet;

the singlechip controls a first rotating motor of the rotary ball swinging device to rotate so as to drive the ball feeding track to rotate, so that a ball leaking hole of the ball feeding track is aligned with a specified position on the ball nest;

after the billiards are collected, the longitudinal motor drives the longitudinal traveling vehicle to move to the outer side of the billiard table surface, the height motor drives the shear frame to ascend, and the ball containing and placing device is located above the billiard table surface;

adjusting the position of the longitudinal travelling vehicle and the height of the shear frame to enable the storage ball placing device to fall on the appointed ball placing position on the billiard table top;

the billiard pushing motor pushes the billiard pushing frame to push the billiards to the billiard table surface, and the height motor drives the shearing frame to ascend so that the billiards fall on the billiard table surface;

the single chip microcomputer controls the height motor and the longitudinal motor to reset, and the swing ball is completed.

Technical Field

The embodiment of the invention relates to the field of billiard devices, in particular to an automatic storage and placement device for Chinese billiards and a working method thereof.

Background

Billiards is an elegant indoor sport widely popular internationally, and is an indoor entertainment sport that determines the success or failure of a game by hitting a ball into a hole on a table with a ball bar. Is also a kind of sports which is preferred by young people at present. After each game of billiard ball sports is finished, the billiard balls need to be placed according to rules. Although the billiard table has been developed for many years, the structure of the billiard table is not significantly changed, and the processes of bag entering, ball collecting, ball placing and the like of the billiard are generally completed manually.

The billiard ball sport has entertainment, meanwhile, the processes of ball collection, ball arrangement and the like bring inconvenience, time and labor waste to people, at present, some automatic ball arrangement devices are researched for saving the ball arrangement time, however, the automatic ball arrangement devices occupy large space at the bottom of a billiard table, billiards do not have an automatic color recognition system, the billiards cannot be placed to a designated position according to the colors of the billiards, and the ball arrangement speed is slow.

Disclosure of Invention

Therefore, the embodiment of the invention provides an automatic storage and placement device for Chinese billiards and a working method thereof, which aim to solve the problem that the existing billiards cannot be automatically stored and placed.

In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:

according to a first aspect of the embodiment of the invention, an automatic Chinese billiard collecting and placing device is disclosed, which comprises: the device comprises a longitudinal advancing device, a rotary ball placing device, a height advancing device, a storage ball placing device, a billiard ball identification device and a control device;

the longitudinal travelling device comprises a longitudinal travelling vehicle and a longitudinal rail, the longitudinal travelling vehicle is arranged in the longitudinal rail, and the longitudinal travelling vehicle moves on the longitudinal rail under the driving of a longitudinal motor;

the rotary ball placing device comprises a first rotary motor and a ball feeding track, the rotary ball placing device is fixedly installed through a support, and the first rotary motor rotates the ball feeding track to feed billiards to a designated ball falling position;

the height advancing device is arranged at one end of the longitudinal advancing vehicle and comprises a shearing frame and a height motor, and the height motor drives the shearing frame to do lifting motion by driving a lifting synchronous belt;

the receiving and ball placing device is arranged at the top of the shear frame, receives the billiards leaked by the rotary ball placing device at the bottom of the rotary ball placing device, and pushes the billiards to a billiard table surface under the coordination of the longitudinal travelling vehicle and the height travelling device after the billiards are received by the receiving and ball placing device;

the billiard recognition device is connected with the support through a support rod and comprises a billiard slide way, a color recognition sensor and a magnetic ejector rod, billiards enter a rotating support in the billiard slide way, the color recognition sensor recognizes the colors of the billiards, the magnetic ejector rod ejects the billiards out of the rotating support, and the billiards fall into the rotating ball placing device from a ball discharging port in the billiard slide way;

the control device is electrically connected with the longitudinal advancing device, the rotary ball placing device, the height advancing device, the storage ball placing device and the billiard recognition device respectively, and controls the working states of the longitudinal advancing device, the rotary ball placing device, the height advancing device, the storage ball placing device and the billiard recognition device.

Further, a plurality of rollers are mounted on a longitudinal travelling vehicle of the longitudinal travelling device, the longitudinal travelling vehicle reciprocates on a longitudinal rail, the longitudinal motor is mounted at one end, far away from the shear frame, of the longitudinal travelling vehicle, the longitudinal motor is connected with the longitudinal travelling vehicle through a longitudinal synchronous belt, a balancing weight is mounted above the longitudinal motor, and the longitudinal motor is a servo motor or a stepping motor.

Furthermore, the bottom of the rotary ball swinging device is connected with the support, the support plate is mounted at the top of the support, the first rotary motor is mounted at the bottom surface of the support plate, the ball feeding track is mounted at the top surface of the support plate through a rotating shaft, the output end of the first rotary motor penetrates through the support plate to be connected with the rotating shaft of the ball feeding track, the whole ball feeding track is in an inclined state, and a ball leaking hole is formed in one end, far away from the first rotary motor, of the ball feeding track.

Further, the accomodate pendulum ball device includes: the ball feeding device comprises a ball feeding frame, a secondary rail, a ball nest, a ball pushing frame and a ball feeding dustpan, wherein the ball feeding frame is clamped in the secondary rail in a sliding mode, a ball pushing motor is installed on the secondary rail and pushes the ball feeding frame to move in the secondary rail, the ball nest is hung in the ball feeding frame, and a plurality of ball falling holes are formed in the ball nest.

Further, the ball feeding dustpan is fixedly connected with the second-stage track, a rubber pad is laid on the surface of the ball feeding dustpan, the billiards fall into the ball nest when the billiards are collected, the ball feeding dustpan supports the billiards, the ball pushing frame limits the billiards falling into the ball nest, limiting hooks are installed on two side edges of the ball feeding dustpan, a ball pushing plate is installed on the rear side of the ball feeding frame through a rotating shaft, the bottom of the ball pushing plate is hooked by the limiting hooks after the billiards are pushed out by the ball feeding frame, the ball pushing plate rotates in an inclined mode, the billiards are squeezed by the ball pushing plate, the billiards are tightly attached, a torsion spring is installed at the top of the ball pushing plate, the ball pushing is completed, and the torsion spring pulls the ball pushing plate to reset.

Furthermore, the four corners of the ball nest are connected with traction ropes, pulleys are installed on the inner sides of two side edges of the ball feeding frame, a hook pulling piece is arranged on the rear side of the ball feeding frame, the traction ropes are connected with the hook pulling piece by bypassing the pulleys, limiting protrusions are arranged on two side edges of the second-stage track, the hook pulling piece is blocked by the limiting protrusions in the sliding process of ball feeding of the ball feeding frame, and the ball nest is pulled up through the traction ropes.

Further, billiard ball slide one end of billiard ball recognition device is provided with rotatory support, sets up the billiard ball standing groove in the rotatory support, and the second rotating electrical machines is installed to rotatory support bottom, has seted up two round holes on the rotatory adjacent billiard ball slide lateral wall that holds in the palm, installs colour identification sensor in the round hole, and the oblique below of rotatory support is adjacent installs the magnetic ejector pin, and the billiard ball slide is passed to the one end of magnetic ejector pin, and the magnetic ejector pin pops out and holds in the palm the billiard ball contact with the rotation, promotes behind the billiard ball, and the magnetic ejector pin is withdrawed, the billiard ball slide is kept away from the one end of rotatory support and has been seted.

Further, controlling means includes singlechip, thing networking server and external control switch, the singlechip carries out serial communication with the colour identification sensor and is connected, the singlechip carries out serial communication with thing networking server, thing networking server passes through the IO bus and is connected with external control switch, and thing networking server passes through the WIFI network and is connected with wireless router, and wireless router connection control terminal, thing networking server pass through IO bus connection first rotating electrical machines driver, vertical motor driver and high motor driver.

Further, a billiard track assembly is arranged above the Chinese billiard automatic storage and placement device and comprises a billiard track and a billiard collecting groove, the billiard track is connected with the ball barrel at the position of the middle bag and the bottom bag, a billiard picking device is arranged on the billiard collecting groove, an outlet of the billiard collecting groove is connected with a billiard slide way of the billiard recognition device, and a white ball special track is arranged on the outer side of the ball feeding frame.

According to a second aspect of the embodiment of the invention, a working method of an automatic storing and placing device for Chinese billiards is disclosed, and the method comprises the following steps:

the billiard ball dropping bag enters a billiard ball identification device through a billiard ball rail and a billiard ball collecting groove, and the billiard ball identification device identifies the color of the billiard ball;

the single chip microcomputer judges the position of the billiards, which should fall into the ball nest, according to the colors of the billiards, the magnetic ejector rod ejects the billiards out of the rotary support, so that the billiards fall into the rotary ball placing device from the ball outlet;

the singlechip controls a first rotating motor of the rotary ball swinging device to rotate so as to drive the ball feeding track to rotate, so that a ball leaking hole of the ball feeding track is aligned with a specified position on the ball nest;

after the billiards are collected, the longitudinal motor drives the longitudinal traveling vehicle to move to the outer side of the billiard table surface, the height motor drives the shear frame to ascend, and the ball containing and placing device is located above the billiard table surface;

adjusting the position of the longitudinal travelling vehicle and the height of the shear frame to enable the storage ball placing device to fall on the appointed ball placing position on the billiard table top;

the billiard pushing motor pushes the billiard pushing frame to push the billiards to the billiard table surface, and the height motor drives the shearing frame to ascend so that the billiards fall on the billiard table surface;

the single chip microcomputer controls the height motor and the longitudinal motor to reset, and the swing ball is completed.

The embodiment of the invention has the following advantages:

the embodiment of the invention discloses an automatic storage and placement device of Chinese billiards and a working method thereof, wherein colors of balls can be automatically set through color identification sensors arranged at different positions in a billiard identification device, the numbers of the balls are judged, a ball leaking hole of a ball feeding track is rotated to the position above a specified position of a ball nest by a rotary ball placement device, a magnetic ejector rod extends out to push the billiards out of a rotary ball placement device, and the billiards fall into the ball nest at a certain specific position in a ball pushing frame from the ball leaking hole of the ball feeding track to finish the automatic identification and ball placement of one ball; and then the placed ball is sent by the longitudinal advancing device, the height advancing device and the storage ball placing device. The automatic billiard ball placing and delivering device realizes color identification and position determination of the billiard ball and finally realizes the billiard ball placing process, realizes automatic billiard ball placing and delivering, improves the automation degree of billiard ball games, and is accurate and rapid to place the billiard ball and convenient and rapid to use.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.

Fig. 1 is a structural diagram of an automatic storage device for Chinese billiards according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion I of FIG. 1 according to an embodiment of the present invention;

FIG. 3 is an enlarged view of a portion II of FIG. 1 according to an embodiment of the present invention;

fig. 4 is a schematic view illustrating a connection between a billiard ball automatic receiving device and a billiard ball track assembly according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of a ball storage and placement device according to an embodiment of the present invention;

FIG. 6 is a top view of a cue ball recognition device according to an embodiment of the present invention;

FIG. 7 is a cross-sectional view of the billiard identification device of FIG. 6 taken along the line B-B in a top view in accordance with an embodiment of the present invention;

FIG. 8 is a cross-sectional view of a cue ball receiving slot according to an embodiment of the present invention;

fig. 9 is a schematic view of control connection of an automatic billiard ball receiving device according to an embodiment of the present invention.

In the figure: 1 longitudinal traveling vehicle, 2 ball feeding tracks, 3 first rotating motor, 4 supports, 5 balancing weights, 6 longitudinal tracks, 7-height motor, 8 longitudinal motor, 9 magnetic ejector rods, 10 second rotating motor, 11 billiard recognition device, 101 color recognition sensor, 102 ball dropping opening, 103 rotating tray, 104 billiard placement groove, 12 ball pushing frame, 13 ball nest, 14 ball feeding dustpan, 15 hook pulling piece, 16 limit bulge, 17 shearing frame, 18 ball pushing motor, 19 ball containing and placing device, 20 ball pushing synchronous belt, 201 ball picking device, 21 longitudinal synchronous belt, 22 lifting synchronous belt, 23 ball track, 24 ball barrel, 25 billiard collecting groove, 26 white ball special track, 27 second-level track, 28 roller, 29 single chip microcomputer, 30 internet of things server, 31 external control switch, 32 wireless router, 33 control terminal, 34 first rotating motor driver, 35 longitudinal motor driver, 36-height motor driver, 37 ball feeding frames, 38 traction ropes, 39 limit hooks, 40 ball pushing plates and 41 supporting plates.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.