A Chinese billiards automatic storage and placement device and working method thereof

Abstract

The embodiment of the present invention discloses an automatic storage and placement device for Chinese billiards and a working method thereof, comprising: a longitudinal travel device, a rotating ball swinging device, a height travel device, a storage and swinging ball device, a billiard ball identification device and a control device, wherein the longitudinal travel device comprises a longitudinal travel vehicle and a longitudinal track, and the longitudinal travel vehicle moves on the longitudinal track to realize the longitudinal movement of the storage and swinging ball device; the rotating ball swinging device transmits the billiard ball to the designated position of the ball nest; the height travel device is installed at one end of the longitudinal travel vehicle, and the storage and swinging ball device is installed on the top of the shear frame; the billiard ball color recognition sensor recognizes the color of the billiard ball, and the magnetic push rod pushes the billiard ball out of the rotating tray and falls into the rotating ball swinging device from the lower ball port on the billiard ball slide; the control device is electrically connected to the longitudinal travel device, the rotating ball swinging device, the height travel device, the storage and swinging ball device and the billiard ball identification device respectively. The present invention solves the problem that the existing billiard balls cannot be automatically stored and placed.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of billiard devices, and in particular to an automatic storage and placement device for Chinese billiard balls and a working method thereof. Background Art

[0002] Billiards is an elegant indoor sport widely popular in the world. It is an indoor recreational sport in which the winner is determined by hitting the ball into a hole on the table with a cue. It is also a sport that young people like more. After each game, the billiards need to place the balls according to the rules. Although it has been developed for many years, the structure of the billiard table has not undergone significant changes. The processes of pocketing, collecting and placing the balls are generally done manually.

[0003] While billiards is entertaining, the process of collecting and arranging the balls is inconvenient, time-consuming and laborious. In order to save time in arranging the balls, people have also studied some automatic ball-arranging devices. However, these automatic ball-arranging devices occupy a large space at the bottom of the billiard table, the billiard balls do not have an automatic color recognition system, and the billiard balls cannot be placed in designated positions according to their colors, and the ball-arranging speed is slow. Summary of the invention

[0004] To this end, an embodiment of the present invention provides a Chinese billiard ball automatic storage and placement device and a working method thereof to solve the problem that the existing billiard balls cannot be automatically stored and placed.

[0005] In order to achieve the above purpose, the embodiment of the present invention provides the following technical solutions:

[0006] According to a first aspect of an embodiment of the present invention, a Chinese billiard ball automatic storage and placement device is disclosed, the Chinese billiard ball automatic storage and placement device comprising: a longitudinal travel device, a rotating ball swing device, a height travel device, a ball storage and swing device, a billiard ball recognition device and a control device;

[0007] The longitudinal traveling device comprises a longitudinal traveling vehicle and a longitudinal track, wherein the longitudinal traveling vehicle is arranged in the longitudinal track and moves on the longitudinal track under the drive of the longitudinal motor;

[0008] The rotating ball swing device comprises a first rotating motor and a ball delivery track. The rotating ball swing device is fixedly installed by a bracket. The first rotating motor rotates the ball delivery track to deliver the billiard ball to a designated ball drop position.

[0009] The height travel device is installed at one end of the longitudinal travel vehicle, and the height travel device includes a shear frame and a height motor. The height motor drives the shear frame to perform lifting movement by driving the lifting synchronous belt;

[0010] The ball storage and swinging device is installed on the top of the shear frame, and the ball storage and swinging device receives the billiard balls dropped by the rotating ball swinging device at the bottom of the rotating ball swinging device. After the billiard balls are stored, the ball storage and swinging device pushes the billiard balls onto the billiard table with the cooperation of the longitudinal traveling vehicle and the height traveling device;

[0011] The billiard ball recognition device is connected to the bracket through a support rod, and the billiard ball recognition device includes a billiard ball slide, a color recognition sensor and a magnetic push rod. The billiard ball enters the rotating bracket in the billiard ball slide, the color recognition sensor recognizes the color of the billiard ball, and the magnetic push rod pushes the billiard ball out of the rotating bracket and falls into the rotating ball swinging device from the lower ball opening on the billiard ball slide;

[0012] The control device is electrically connected to the longitudinal travel device, the rotating ball swing device, the height travel device, the storage ball swing device and the billiard ball identification device respectively to control the working states of the longitudinal travel device, the rotating ball swing device, the height travel device, the storage ball swing device and the billiard ball identification device.

[0013] Furthermore, a plurality of rollers are installed on the longitudinal traveling vehicle of the longitudinal traveling device, and the longitudinal traveling vehicle moves back and forth on the longitudinal track. The longitudinal motor is installed on one end of the longitudinal traveling vehicle away from the shear frame, and the longitudinal motor is connected to the longitudinal traveling vehicle through a longitudinal synchronous belt. A counterweight block is installed above the longitudinal motor, and the longitudinal motor is a servo motor or a stepper motor.

[0014] Furthermore, the bottom of the rotating ball swinging device is connected to a bracket, a support plate is installed on the top of the bracket, the first rotating motor is installed on the bottom surface of the support plate, the ball sending track is installed on the top surface of the support plate through a rotating shaft, the output end of the first rotating motor passes through the support plate and is connected to the rotating shaft of the ball sending track, the ball sending track is in an inclined state as a whole, and a ball leakage hole is opened at the end of the ball sending track away from the first rotating motor.

[0015] Furthermore, the ball storage and swinging device includes: a ball delivery frame, a secondary track, a ball nest, a ball pushing frame and a ball delivery dustpan, the ball delivery frame is slidably mounted in the secondary track, a ball pushing motor is installed on the secondary track, the ball pushing motor pushes the ball delivery frame to move in the secondary track, the ball nest is hoisted in the ball delivery frame, and a plurality of ball dropping holes are opened on the ball nest.

[0016] Furthermore, the ball sending dustpan is fixedly connected to the secondary track, and a rubber pad is laid on the surface of the ball sending dustpan. When the billiard balls are collected, the billiard balls fall into the ball nest, and the ball sending dustpan supports the billiard balls. The ball pushing frame limits the billiard balls that fall into the ball nest. Limiting hooks are installed on both sides of the ball sending dustpan, and a ball pushing plate is installed on the rear side of the ball sending frame through a rotating shaft. After the ball sending frame pushes the billiard balls, the bottom of the ball pushing plate is hooked by the limiting hook, and the ball pushing plate tilts and rotates, and the ball pushing plate squeezes the billiard balls so that the billiard balls fit closely together. A torsion spring is installed on the top of the ball pushing plate. After pushing the balls is completed, the torsion spring pulls the ball pushing plate to reset.

[0017] Furthermore, traction ropes are connected to the four corners of the ball nest, pulleys are installed on the inner sides of both sides of the ball delivery frame, a hook and pull piece is arranged on the rear side of the ball delivery frame, the traction rope passes around the pulley and is connected to the hook and pull piece, and limiting protrusions are arranged on both sides of the secondary track. When the ball delivery frame is sliding during ball delivery, the hook and pull piece is blocked by the limiting protrusion, and the ball nest is pulled up by the traction rope.

[0018] Furthermore, a rotating support is provided at one end of the billiard ball slide of the billiard ball identification device, a billiard ball placement groove is provided in the rotating support, a second rotating motor is installed at the bottom of the rotating support, two circular holes are provided on the side wall of the billiard ball slide adjacent to the rotating support, a color recognition sensor is installed in the circular holes, a magnetic push rod is installed adjacent to the oblique lower part of the rotating support, one end of the magnetic push rod passes through the billiard ball slide, the magnetic push rod pops out and contacts the billiard ball in the rotating support, and after pushing the billiard ball, the magnetic push rod is retracted, and a lower ball opening is provided at the end of the billiard ball slide away from the rotating support.

[0019] Furthermore, the control device includes a single-chip microcomputer, an Internet of Things server and an external control switch. The single-chip microcomputer is connected to the color recognition sensor through serial communication, the single-chip microcomputer is connected to the Internet of Things server through serial communication, the Internet of Things server is connected to the external control switch through an IO bus, the Internet of Things server is connected to a wireless router through a WIFI network, the wireless router is connected to a control terminal, and the Internet of Things server is connected to a first rotating motor driver, a longitudinal motor driver and a height motor driver through an IO bus.

[0020] Furthermore, a billiard track assembly is arranged above the automatic storage and placement device for Chinese billiards, and the billiard track assembly includes a ball track and a billiard collecting groove. The ball track is connected to the ball cylinders at the middle pocket and the bottom pocket. A ball picker is arranged on the billiard collecting groove. The outlet of the billiard collecting groove is connected to the billiard slide of the billiard identification device, and a special track for white balls is installed on the outside of the ball delivery frame.

[0021] According to a second aspect of an embodiment of the present invention, a working method of a device for automatically storing and placing Chinese billiard balls is disclosed, the method comprising:

[0022] The billiard ball falls into the pocket and enters the billiard ball identification device through the ball track and the billiard ball collection groove, and the billiard ball identification device identifies the color of the billiard ball;

[0023] The single chip computer determines the position where the billiard ball should fall into the ball nest according to the color of the billiard ball, and the magnetic push rod pushes the billiard ball out from the rotating support, so that the billiard ball falls into the rotating ball swing device from the lower ball opening;

[0024] The single chip microcomputer controls the first rotary motor of the rotary ball swinging device to rotate and drive the ball delivery track to rotate, so that the ball leakage hole of the ball delivery track is aligned with the designated position on the ball nest;

[0025] After the billiard balls are collected, the longitudinal motor drives the longitudinal traveling vehicle to move to the outside of the billiard tabletop, and the height motor drives the shear frame to rise, so that the ball storage and swinging device is located above the billiard tabletop;

[0026] Adjust the position of the longitudinal traveling vehicle and the height of the shear frame so that the ball-swinging device falls on the designated ball-swinging position on the billiard table;

[0027] The ball pushing motor pushes the ball pushing frame to push the billiard ball to the billiard table, and the height motor drives the shear frame to rise, so that the billiard ball falls on the billiard table;

[0028] The single chip microcomputer controls the reset of the height motor and the longitudinal motor to complete the ball swing.

[0029] The embodiments of the present invention have the following advantages:

[0030] The embodiment of the present invention discloses an automatic storage and placement device for Chinese billiards and a working method thereof. The color recognition sensors arranged at different positions in the billiard identification device can automatically identify the color of the ball and determine the number of the ball. The rotating ball swinging device rotates the ball leakage hole of the ball delivery track to the top of the designated position of the ball nest. The magnetic push rod extends to push the billiard ball into the rotating ball swinging device. The billiard ball falls from the ball leakage hole of the ball delivery track into the ball nest at a specific position in the ball pushing frame, and the automatic recognition and swinging of a ball are completed. Then, the arranged balls are delivered through the longitudinal travel device, the height travel device, and the storage and swinging ball device. The color recognition of the ball, the position determination and the final swinging process are realized, and the automatic swinging and delivery of the ball are realized, which improves the automation degree of the billiard game, and the swinging of the ball is accurate and fast, and convenient and quick to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0032] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0033] Figure 1 A structural diagram of an automatic storage device for Chinese billiard balls provided by an embodiment of the present invention;

[0034] Figure 2 The embodiment of the present invention provides Figure 1 A partial enlarged view of part I;

[0035] Figure 3 The embodiment of the present invention provides Figure 1 A partial enlarged view of part II;

[0036] Figure 4 A schematic diagram of the connection between an automatic billiard ball storage device and a billiard ball track assembly provided by an embodiment of the present invention;

[0037] Figure 5 A schematic diagram of the structure of a device for storing and swinging balls provided in an embodiment of the present invention;

[0038] Figure 6 A top view of a billiard ball identification device provided by an embodiment of the present invention;

[0039] Figure 7 The embodiment of the present invention provides Figure 6 A top view of the billiard ball identification device and a sectional view in the direction of BB;

[0040] Figure 8 A cross-sectional view of a billiard ball placement slot provided by an embodiment of the present invention;

[0041] Fig. 9 A schematic diagram of control connections of an automatic billiard ball storage device provided in an embodiment of the present invention.

[0042] In the figure: 1 longitudinal traveling vehicle, 2 ball delivery track, 3 first rotating motor, 4 bracket, 5 counterweight, 6 longitudinal track, 7 height motor, 8 longitudinal motor, 9 magnetic push rod, 10 second rotating motor, 11 billiard ball recognition device, 101 color recognition sensor, 102 lower ball port, 103 rotating support, 104 billiard ball placement slot, 12 ball pushing frame, 13 ball nest, 14 ball delivery dustpan, 15 hook and pull member, 16 limit protrusion, 17 shear frame, 18 ball pushing motor, 19 storage and swinging ball device, 20 ball pushing Synchronous belt, 201 ball picker, 21 longitudinal synchronous belt, 22 lifting synchronous belt, 23 ball rail, 24 ball barrel, 25 billiard ball collecting trough, 26 special track for white balls, 27 secondary 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 frame, 38 traction rope, 39 limit hook, 40 ball pushing plate, 41 support plate. DETAILED DESCRIPTION

[0043] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Example 1

[0045] This embodiment discloses a Chinese billiard automatic storage and placement device, including: a longitudinal travel device, a rotating ball swing device, a height travel device, a storage and swinging ball device 19, a billiard ball recognition device 11 and a control device;

[0046] The longitudinal travel device comprises a longitudinal travel vehicle 1 and a longitudinal track 6. The longitudinal travel vehicle 1 is arranged in the longitudinal track 6. The longitudinal travel vehicle 1 moves on the longitudinal track 6 under the drive of the longitudinal motor 8.

[0047] The rotating ball swing device comprises a first rotating motor 3 and a ball delivery track 2. The rotating ball swing device is fixedly installed by a bracket 4. The first rotating motor 3 rotates the ball delivery track 2 to deliver the billiard ball to a designated ball drop position.

[0048] The height travel device is installed at one end of the longitudinal travel vehicle 1, and the height travel device includes a shear frame 17 and a height motor 7. The height motor 7 drives the shear frame 17 to perform lifting movement by driving the lifting synchronous belt 22;

[0049] The ball-swinging device 19 is installed on the top of the shear frame 17. The ball-swinging device 19 receives the billiard balls dropped by the rotating ball-swinging device at the bottom of the rotating ball-swinging device. After the billiard balls are stored, the ball-swinging device 19 pushes the billiard balls onto the billiard table with the cooperation of the longitudinal traveling vehicle 1 and the height traveling device.

[0050] The billiard ball identification device 11 is connected to the bracket 4 through a support rod. The billiard ball identification device 11 includes a billiard ball slide, a color recognition sensor 101 and a magnetic push rod 9. The billiard ball enters the rotating support 103 in the billiard ball slide. The rotating support is provided with a billiard ball placement groove 104. The color recognition sensor 101 identifies the color of the billiard ball. The magnetic push rod 9 pushes the billiard ball out of the rotating support 103 and drops it into the rotating ball swinging device from the lower ball opening 102 on the billiard ball slide.

[0051] The control device is electrically connected to the longitudinal travel device, the rotating ball swing device, the height travel device, the storage and swing ball device 19 and the billiard ball identification device 11 respectively to control the working states of the longitudinal travel device, the rotating ball swing device, the height travel device, the storage and swing ball device 19 and the billiard ball identification device 11.

[0052] The present embodiment also includes a billiard ball track 23 assembly that cooperates with the Chinese billiard ball automatic storage and placement device, and the billiard ball track 23 assembly includes a ball track 23 and a billiard ball collecting groove 25. The ball track 23 is connected to the ball tube 24 at the middle bag and the bottom bag position, so that the billiard balls are uniformly collected in the billiard ball collecting groove 25; a ball picker 201 is provided at the front end of the center position of the billiard ball collecting groove 25, and the ball picker 201 is used to send the billiard balls into the module identification table in sequence; the ball picker 201 is a pair of rotating claws, and the end of each rotating claw is in an arc shape corresponding to the billiard ball, so that each rotating claw scoops up a billiard ball each time and sends it into the billiard ball identification device 11 for color identification.

[0053] A rotating support 103 is provided at one end of the billiard ball slide of the billiard ball identification device 11. The rotating support 103 is grooved. A second rotating motor 10 is installed at the bottom of the rotating support 103. Two round holes are opened on the side wall of the billiard ball slide adjacent to the rotating support 103. A color recognition sensor 101 is installed in the round hole. A magnetic push rod 9 is installed adjacent to the oblique lower part of the rotating support 103. One end of the magnetic push rod 9 passes through the billiard ball slide. After the color recognition sensor 101 recognizes the color of the billiard ball, the magnetic push rod 9 pops out and contacts the billiard ball in the rotating support 103. After pushing the billiard ball, the billiard ball rolls out of the rotating support 103, and the magnetic push rod 9 is retracted without affecting the next billiard ball entering the rotating support. A lower ball opening 102 is opened at the end of the billiard ball slide away from the rotating support 103.

[0054] After the billiard ball enters the rotating support 103, the second rotating motor 10 drives the billiard ball to rotate once in two seconds, and the color recognition sensor 101 recognizes the color of the billiard ball. The response frequency of the color recognition sensor 101 is 10 / S. Its working principle: the surface of the object is illuminated by its own LED light, the reflected light is processed, and the digital quantity information of the RGB of the object is output through the circuit. There are 16 billiard balls, one white ball, one black ball, 7 full-color balls of different colors and 7 color balls corresponding to its color. Take a pair of balls No. 1 yellow and No. 9 color as an example: when the No. 1 ball enters the billiard ball recognition device 11 at will, the rotating support 103 holds the billiard ball and rotates once at a speed of 2 seconds, and the two color recognition sensors 101 will transmit 34 to 40 frames of RGB digital quantity information. The full-color balls No. 2 to No. 7 enter the color recognition sensor 101, and the two color recognition sensors 101 will transmit 34 to 40 frames of RGB digital quantity information of the corresponding colors of the balls No. 2 to No. 7. When the No. 9 ball enters the billiard ball identification device 11 at random, the rotating support 103 drives the billiard ball to rotate at a speed of one rotation per two seconds, and the two color recognition sensors 101 will transmit 12 to 32 frames of digital quantity information of the yellow RGB of the No. 9 ball. When the No. 10 to No. 15 colored balls enter the color recognition sensor 101, the two color recognition sensors 101 will transmit 12 to 32 frames of digital quantity information of the RGB of the corresponding colors of the No. 10 to No. 15 balls. When the white ball enters the billiard ball rotating device, 40 frames of RGB digital quantity information of the white ball will be transmitted, and when the black ball enters the color recognition sensor 101, 34 to 40 frames of RGB digital quantity information of the black ball will be transmitted.

[0055] There are two color recognition sensors 101, and the single-chip microcomputer 29 is a 328P single-chip microcomputer 29, which judges the color code of the ball according to the two color recognition sensors 101, and then generates a G code according to the set code response coordinates; the Internet of Things server 30 is an ESP-32 development board, which controls the first rotating motor driver 34, the longitudinal motor 8 driver and the height motor 7 driver according to the coordinate code G code, and the driver drives the motor to realize the precise movement of the billiard ball position.

[0056] After the position of the billiard ball is determined according to its color, the landing point of the billiard ball is controlled by rotating the ball swing device. The bottom of the rotating ball swing device is connected to a bracket 4, a support plate 41 is installed on the top of the bracket 4, a first rotating motor 3 is installed on the bottom surface of the support plate 41, and a ball delivery track 2 is installed on the top surface of the support plate 41 through a rotating shaft. The output end of the first rotating motor 3 passes through the support plate 41 and is connected to the rotating shaft of the ball delivery track 2. The ball delivery track 2 is in an inclined state as a whole, and a ball leakage hole is opened at one end of the ball delivery track 2 away from the first rotating motor 3, so that the ball leakage hole is aligned with the position where the billiard ball will fall into the ball nest 13.

[0057] A magnetic push rod 9 is installed adjacent to the oblique lower side of the rotating support 103. One end of the magnetic push rod 9 can pass through the billiard ball slide to push out the billiard ball. The end of the billiard ball slide away from the rotating support 103 is provided with a lower ball opening 102. The single-chip microcomputer 29 controls the magnetic push rod to push the billiard ball, so that the billiard ball rolls into the rotating ball swinging device. The billiard ball falls from the ball leakage hole and falls into the designated ball hole in the ball nest 13, completing the automatic recognition and swinging of a single ball.

[0058] When the color recognition sensor 101 recognizes the white ball, the first rotary motor 3 of the rotating ball swing device rotates the ball delivery track 2 so that the ball drop hole of the ball delivery track 2 is aligned with the white ball dedicated track 26, so that the white ball falls into the white ball dedicated track 26, which is convenient for the player to quickly take out the white ball.

[0059] After all the billiard balls fall into the designated positions, the longitudinal motor 8 drives the longitudinal traveling vehicle 1 to move. The longitudinal traveling vehicle 1 may be provided with rollers 28 for traveling on the longitudinal track 6 on both sides. The longitudinal motor 8 can make the longitudinal traveling vehicle 1 move through the longitudinal synchronous belt 21. The longitudinal synchronous belt 21 can be fixed. The longitudinal motor 8 is installed on the longitudinal traveling vehicle 1. The longitudinal motor 8 rotates. The reaction force of the longitudinal synchronous belt 21 on the longitudinal motor 8 makes the longitudinal motor 8 and the longitudinal traveling vehicle 1 move on the longitudinal track 6. A counterweight 5 is installed above the longitudinal motor 8. The height motor 7 is connected to a shear lifting frame, which can be connected to the power shaft by conventional means such as pulleys and gears. The shear lifting frame is connected and driven by opening and closing two pairs of shear mechanisms to complete the lifting and lowering of the ball storage swing device 19.

[0060] The shear frame 17 raises the ball storage and swinging device 19, and the ball delivery dustpan 14 lifts all the billiard balls. The ball storage and swinging device 19 moves longitudinally under the drive of the longitudinal traveling vehicle 1, so that the ball storage and swinging device 19 is located outside the edge of the billiard table. The height motor 7 drives the shear frame 17 to rise, so that the ball storage and swinging device 19 rises above the billiard table. The longitudinal motor 8 and the height motor 7 are activated again, and the longitudinal traveling vehicle 1 moves longitudinally back to the range of the billiard table surface, and the ball storage and swinging device 19 drops vertically, so that the ball storage and swinging device 19 is attached to the billiard table surface and is located at the predetermined ball swinging position.

[0061] The ball storage and swinging device 19 includes: a ball delivery frame 37, a secondary track 27, a ball nest 13, a ball pushing frame 12 and a ball delivery dustpan 14. The ball delivery frame 37 is slidably mounted in the secondary track 27. A ball pushing motor 18 is installed on the secondary track 27. The ball pushing motor 18 pushes the ball delivery frame 37 to move in the secondary track 27 through the ball pushing synchronous belt 20. The ball nest 13 is hoisted in the ball delivery frame 37. A plurality of ball dropping holes are opened on the ball nest 13. The ball pushing frame 12 is arranged below the ball nest 13, and the ball delivery dustpan 14 is arranged below the ball pushing frame 12. The ball sending dustpan 14 is fixedly connected to the secondary track 27, and a rubber pad is laid on the surface of the ball sending dustpan 14. When collecting billiard balls, the billiard balls fall into the ball nest 13, and the ball sending dustpan 14 supports the billiard balls. The ball pushing frame 12 limits the billiard balls that fall into the ball nest 13. Limiting hooks 39 are installed on both sides of the ball sending dustpan 14, and a ball pushing plate 40 is installed on the rear side of the ball sending frame 37 through a rotating shaft. The ball pushing motor 18 rotates to drive the ball pushing frame 12 to move longitudinally on the secondary track 27, and the ball sending frame 37 pushes the billiard balls out. The four corners of the ball nest 13 are connected with traction ropes 38, the inner sides of both sides of the ball delivery frame 37 are installed with pulleys, and the rear side of the ball delivery frame 37 is provided with a hook and pull member 15, the traction rope 38 passes around the pulley and is connected to the hook and pull member 15, and the two sides of the secondary track 27 are provided with limiting protrusions 16. When the ball delivery frame 37 is sliding in the process of delivering the ball, the hook and pull member 15 is blocked by the limiting protrusion 16, and the ball nest 13 is pulled up by the traction rope 38. After the ball nest 13 is pulled up, the billiard ball is exposed from the ball hole of the ball nest 13, and the torsion spring on the top of the ball pushing plate pulls the ball pushing plate to reset and keep it in a vertical state.

[0062] When the ball nest is pulled up from the ball pushing frame 12 by four traction ropes 38 until it is separated from the billiard ball, the bottom of the ball pushing plate 40 is hooked by the limit hook 39, and the ball pushing plate 40 tilts and rotates, and the ball pushing plate 40 squeezes the billiard ball so that the billiard balls fit tightly together. A torsion spring is installed on the top of the ball pushing plate, and the other end of the torsion spring is connected to the frame of the ball pushing frame to keep the ball pushing plate in a vertical state when pushing the ball. After the ball pushing is completed, the torsion spring automatically resets the ball pushing plate through torque, the height motor 7 drives the shear frame 17 to rise, and the longitudinal motor 8 drives the longitudinal traveling vehicle 1 to retract the ball storage and swinging device 19, reset it, and complete the ball swinging.

[0063] The first rotating motor 3, longitudinal motor 8, height motor 7, second rotating motor 10 and ball pushing motor 18 disclosed in this embodiment are all motors with controllable speed to achieve precise control of relative displacement, and adopt various solutions in the prior art, such as all adopting stepper motors, or all adopting servo motors.

[0064] The control device includes a single chip microcomputer 29, an Internet of Things server 30 and an external control switch 31. The single chip microcomputer 29 is connected to the color recognition sensor 101 by serial communication, the magnetic push rod is connected to the single chip microcomputer 29, the single chip microcomputer 29 is connected to the Internet of Things server 30 by serial communication, the Internet of Things server 30 is connected to the external control switch 31 through the IO bus, the Internet of Things server 30 is connected to the wireless router 32 through the WIFI network, the Internet of Things server 30 is connected to the first rotary motor driver 34, the longitudinal motor driver 35 and the height motor driver 36 through the IO bus, the first rotary motor driver 34 is connected to the first rotary motor 3, the longitudinal motor driver 35 is connected to the longitudinal motor 8, and the height motor driver 36 is connected to the height motor 7. The wireless router 32 is connected to the control terminal 33, and the control terminal 33 is a mobile phone terminal or a PC terminal, so as to realize online control of the automatic storage and placement device.

[0065] Example 2

[0066] This embodiment discloses a working method of a Chinese billiards automatic storage and placement device, the method comprising:

[0067] The billiard ball falls into the pocket and enters the billiard ball identification device 11 through the ball track 23 and the billiard ball collection groove 25, and the billiard ball identification device 11 identifies the color of the billiard ball;

[0068] The single chip microcomputer 29 determines the position where the billiard ball should fall into the ball nest 13 according to the color of the billiard ball, and the magnetic push rod 9 pushes the billiard ball out from the rotating support 103, so that the billiard ball falls into the rotating ball swinging device from the lower ball opening;

[0069] The single chip microcomputer 29 controls the first rotary motor 3 of the rotary ball swinging device to rotate and drive the ball delivery track 2 to rotate, so that the ball leakage hole of the ball delivery track 2 is aligned with the designated position on the ball nest 13;

[0070] After the billiard balls are collected, the longitudinal motor 8 drives the longitudinal traveling vehicle 1 to move to the outside of the billiard table, and the height motor 7 drives the shear frame 17 to rise, so that the ball storage and swinging device 19 is located above the billiard table;

[0071] Adjust the position of the longitudinal traveling vehicle 1 and the height of the shear frame 17 so that the ball-swinging device 19 falls on the designated ball-swinging position on the billiard table;

[0072] The ball pushing motor 18 pushes the ball pushing frame 12 to push the billiard ball to the billiard table, and the height motor 7 drives the shear frame 17 to rise, so that the billiard ball falls on the billiard table;

[0073] The single chip microcomputer 29 controls the height motor 7 and the longitudinal motor 8 to reset and complete the ball swinging.

[0074] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A Chinese billiards automatic storage and placement device, characterized in that: The Chinese billiards automatic storage and placement device comprises: a longitudinal travel device, a rotating ball swinging device, a height travel device, a storage and swinging ball device, a billiards ball recognition device and a control device; The longitudinal traveling device comprises a longitudinal traveling vehicle and a longitudinal track, wherein the longitudinal traveling vehicle is arranged in the longitudinal track and moves on the longitudinal track under the drive of the longitudinal motor; The rotating ball swing device comprises a first rotating motor and a ball delivery track. The rotating ball swing device is fixedly installed by a bracket. The first rotating motor rotates the ball delivery track to deliver the billiard ball to a designated ball drop position. The height travel device is installed at one end of the longitudinal travel vehicle, and the height travel device includes a shear frame and a height motor. The height motor drives the shear frame to perform lifting movement by driving the lifting synchronous belt; The ball storage and swinging device is installed on the top of the shear frame, and the ball storage and swinging device receives the billiard balls dropped by the rotating ball swinging device at the bottom of the rotating ball swinging device. After the billiard balls are stored, the ball storage and swinging device pushes the billiard balls onto the billiard table with the cooperation of the longitudinal traveling vehicle and the height traveling device; The billiard ball recognition device is connected to the bracket through a support rod, and the billiard ball recognition device includes a billiard ball slide, a color recognition sensor and a magnetic push rod. The billiard ball enters the rotating bracket in the billiard ball slide, the color recognition sensor recognizes the color of the billiard ball, and the magnetic push rod pushes the billiard ball out of the rotating bracket and falls into the rotating ball swinging device from the lower ball opening on the billiard ball slide; The control device is electrically connected to the longitudinal travel device, the rotating ball swing device, the height travel device, the storage ball swing device and the billiard ball identification device respectively to control the working states of the longitudinal travel device, the rotating ball swing device, the height travel device, the storage ball swing device and the billiard ball identification device; The longitudinal traveling vehicle of the longitudinal traveling device is equipped with a plurality of rollers, and the longitudinal traveling vehicle reciprocates on the longitudinal track. The longitudinal motor is installed on one end of the longitudinal traveling vehicle away from the shear frame, and the longitudinal motor is connected to the longitudinal traveling vehicle through a longitudinal synchronous belt. A counterweight block is installed above the longitudinal motor, and the longitudinal motor is a servo motor or a stepping motor. The bottom of the rotating ball swinging device is connected to a bracket, a support plate is installed on the top of the bracket, the first rotating motor is installed on the bottom surface of the support plate, the ball sending track is installed on the top surface of the support plate through a rotating shaft, the output end of the first rotating motor passes through the support plate and is connected to the rotating shaft of the ball sending track, the ball sending track is in an inclined state as a whole, and a ball leakage hole is opened at the end of the ball sending track away from the first rotating motor.

2. The automatic storage and placement device for Chinese billiard balls as claimed in claim 1, characterized in that: The ball storage and swinging device comprises: a ball delivery frame, a secondary track, a ball nest, a ball pushing frame and a ball delivery dustpan, the ball delivery frame is slidably clamped in the secondary track, a ball pushing motor is installed on the secondary track, the ball pushing motor pushes the ball delivery frame to move in the secondary track, the ball nest is hoisted in the ball delivery frame, and a plurality of ball dropping holes are opened on the ball nest.

3. The automatic storage and placement device for Chinese billiard balls as claimed in claim 2, characterized in that: The ball sending dustpan is fixedly connected to the secondary track, and a rubber pad is laid on the surface of the ball sending dustpan. When the billiard balls are collected, the billiard balls fall into the ball nest, and the ball sending dustpan supports the billiard balls. The ball pushing frame limits the billiard balls that fall into the ball nest. Limiting hooks are installed on both sides of the ball sending dustpan, and a ball pushing plate is installed on the rear side of the ball sending frame through a rotating shaft. After the ball sending frame pushes the billiard balls, the bottom of the ball pushing plate is hooked by the limiting hook, and the ball pushing plate tilts and rotates, and the ball pushing plate squeezes the billiard balls to make the billiard balls fit tightly together. A torsion spring is installed on the top of the ball pushing plate. After the ball pushing is completed, the torsion spring pulls the ball pushing plate to reset.

4. The automatic storage and placement device for Chinese billiard balls as claimed in claim 2, characterized in that: The four corners of the ball nest are connected with traction ropes, pulleys are installed on the inner sides of both sides of the ball delivery frame, a hook and pull piece is arranged on the rear side of the ball delivery frame, the traction rope passes around the pulley and is connected with the hook and pull piece, and limiting protrusions are arranged on both sides of the secondary track. When the ball delivery frame is sliding to deliver the ball, the hook and pull piece is blocked by the limiting protrusion, and the ball nest is pulled up by the traction rope.

5. The automatic storage and placement device for Chinese billiard balls as claimed in claim 1, characterized in that: A rotating support is provided at one end of the billiard ball slide of the billiard ball identification device, a billiard ball placement groove is provided in the rotating support, a second rotating motor is installed at the bottom of the rotating support, two round holes are provided on the side wall of the billiard ball slide adjacent to the rotating support, a color recognition sensor is installed in the round holes, a magnetic push rod is installed adjacent to the oblique lower part of the rotating support, one end of the magnetic push rod passes through the billiard ball slide, the magnetic push rod pops out and contacts the billiard ball in the rotating support, and after pushing the billiard ball, the magnetic push rod is retracted, and a lower ball opening is provided at the end of the billiard ball slide away from the rotating support.

6. The automatic storage and placement device for Chinese billiard balls as claimed in claim 1, characterized in that: The control device includes a single-chip microcomputer, an Internet of Things server and an external control switch. The single-chip microcomputer is connected to the color recognition sensor through serial communication, the single-chip microcomputer is connected to the Internet of Things server through serial communication, the Internet of Things server is connected to the external control switch through an IO bus, the Internet of Things server is connected to a wireless router through a WIFI network, the wireless router is connected to a control terminal, and the Internet of Things server is connected to a first rotating motor driver, a longitudinal motor driver and a height motor driver through an IO bus.

7. The automatic storage and placement device for Chinese billiard balls as claimed in claim 1, characterized in that: A billiard ball track assembly is arranged above the automatic storage and placement device for Chinese billiard balls, and the billiard ball track assembly includes a ball track and a billiard ball collecting groove. The ball track is connected to the ball cylinders at the middle pocket and the bottom pocket. A ball picker is arranged on the billiard ball collecting groove. The outlet of the billiard ball collecting groove is connected to the billiard ball slide of the billiard ball identification device, and a special track for white balls is installed on the outside of the ball delivery frame.

8. A method for operating a Chinese billiard ball automatic storage and placement device as claimed in any one of claims 1 to 7, characterized in that: The method is: The billiard ball falls into the pocket and enters the billiard ball identification device through the ball track and the billiard ball collection groove, and the billiard ball identification device identifies the color of the billiard ball; The single chip computer determines the position where the billiard ball should fall into the ball nest according to the color of the billiard ball, and the magnetic push rod pushes the billiard ball out from the rotating support, so that the billiard ball falls into the rotating ball swing device from the lower ball opening; The single chip microcomputer controls the first rotary motor of the rotary ball swinging device to rotate and drive the ball delivery track to rotate, so that the ball leakage hole of the ball delivery track is aligned with the designated position on the ball nest; After the billiard balls are collected, the longitudinal motor drives the longitudinal traveling vehicle to move to the outside of the billiard tabletop, and the height motor drives the shear frame to rise, so that the ball storage and swinging device is located above the billiard tabletop; Adjust the position of the longitudinal traveling vehicle and the height of the shear frame so that the ball-swinging device falls on the designated ball-swinging position on the billiard table; The ball pushing motor pushes the ball pushing frame to push the billiard ball to the billiard table, and the height motor drives the shear frame to rise, so that the billiard ball falls on the billiard table; The single chip microcomputer controls the height motor and the longitudinal motor to reset and complete the ball swing; The longitudinal traveling vehicle of the longitudinal traveling device is equipped with a plurality of rollers, and the longitudinal traveling vehicle reciprocates on the longitudinal track. The longitudinal motor is installed on one end of the longitudinal traveling vehicle away from the shear frame, and the longitudinal motor is connected to the longitudinal traveling vehicle through a longitudinal synchronous belt. A counterweight block is installed above the longitudinal motor, and the longitudinal motor is a servo motor or a stepping motor. The bottom of the rotating ball swinging device is connected to a bracket, a support plate is installed on the top of the bracket, the first rotating motor is installed on the bottom surface of the support plate, the ball sending track is installed on the top surface of the support plate through a rotating shaft, the output end of the first rotating motor passes through the support plate and is connected to the rotating shaft of the ball sending track, the ball sending track is in an inclined state as a whole, and a ball leakage hole is opened at the end of the ball sending track away from the first rotating motor.

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