A ball-swinging robot for billiard tables

Abstract

A ball-swinging robot for a billiard table comprises a shell installed on a mobile chassis, a ball collecting plate, a lifting device, a ball washing device and a ball-stacking device are arranged inside the shell, a synchronous double mechanical arm is also installed on the shell, a ball-scoring port is opened at the bottom of the shell, the lifting device can drive the billiard balls to move upward from the ball outlet of the ball collecting plate to the ball-stacking device, the ball-washing device can wash the billiard balls moving upward with the lifting device, a ball-swinging plate is installed at one end of the synchronous double mechanical arm, when the synchronous double mechanical arm extends into the inside of the shell, the ball-swinging plate can be moved to a ball-receiving position corresponding to the ball-stacking device, the ball-stacking device can receive the billiard balls moving upward to the top of the lifting device and put the billiard balls into the ball-swinging plate, when the synchronous double mechanical arm extends out of the shell, the ball-swinging plate can be moved to a ball-placing position corresponding to the billiard table, and the ball-swinging plate can place the billiard balls on the billiard table.

Description

Technical Field

[0001] The invention relates to the field of billiard robots, in particular to a ball-swinging robot used for a billiard table. Background Art

[0002] Billiards is a widely popular indoor sport. It is an indoor recreational sport in which the winner of a game is determined by hitting the ball into a hole on the table with a cue. In billiards, the balls need to be placed according to the rules before each round, and then the balls are hit. After a round, the billiard balls are taken out of the bag and placed again. At present, the processes of pocketing, collecting and placing the balls are generally done manually, which takes up a lot of time, and the repeated process of placing the balls affects the sports experience. In the prior art, some machines have been developed that replace manual placement of billiard balls with mechanical methods, but these billiard placement machines have low efficiency in collecting and stacking billiard balls, resulting in a long ball placement time. In addition, the ball plate is prone to tilting and the billiard balls fall during the placement process. In addition, the billiard balls are prone to contamination after long-term use, and the existing billiard placement machines cannot automatically clean the billiard balls. Summary of the invention

[0003] In order to solve the above problems existing in the existing billiard ball placing machines, the present invention provides a ball placing robot for a billiard table.

[0004] The technical solution adopted by the present invention to solve the above technical problems is: a ball-swinging robot for a billiard table, comprising a shell installed on a mobile chassis, a ball collecting plate, a lifting device, a ball washing device and a ball-stacking device are arranged inside the shell, a synchronous double mechanical arm is also installed on the shell, a goal hole is provided at the bottom of the shell to be docked with the goal side of the ball collecting plate, the bottom end of the lifting device is docked with the ball outlet of the ball collecting plate, the lifting device can drive the billiard balls to move upward from the ball outlet of the ball collecting plate to the ball-stacking device, the ball washing device can wash the billiard balls moving upward with the lifting device, a ball-swinging plate is installed at one end of the synchronous double mechanical arm, when the synchronous double mechanical arm extends into the inner side of the shell, the ball-swinging plate can be moved to a ball receiving position corresponding to the ball-stacking device, the ball-stacking device can receive the billiard balls moving upward to the top of the lifting device and put the billiard balls into the ball-swinging plate, when the synchronous double mechanical arm extends out of the shell, the ball-swinging plate can be moved to a ball placing position corresponding to the billiard table, and the ball-swinging plate can place the billiard balls on the billiard table.

[0005] Preferably, the lifting device includes a base and a column, the top and bottom ends of the column are respectively installed with lifting pulleys, the two lifting pulleys are cooperated with installed with lifting belts, a lifting motor for driving the lifting pulleys to rotate is installed on the base, and a plurality of ball holders are installed on the lifting belt at intervals, the ball holder includes a ball receiving part and a sliding part, the intersection of the ball receiving part and the sliding part is hinged to the lifting belt, the ball receiving part can receive a billiard ball, and one or more pulleys are provided at one end of the sliding part away from the ball receiving part, when the ball holder is located on the descending side of the lifting belt and moves downward, the ball receiving part rotates to the bottom of the sliding part, and when the ball holder is located on the lifting side of the lifting belt and moves upward, the ball receiving part rotates to the top of the sliding part, and the pulley of the sliding part can roll on the surface of the column close to the lifting side, so that the ball receiving part can drive the billiard ball to move upward.

[0006] Preferably, the columns are arranged along the vertical direction.

[0007] Preferably, the ball holder is an L-shaped bent body composed of a ball receiving portion and a sliding portion, and a pin is passed through a bent edge formed by the intersection of the ball receiving portion and the sliding portion. The pin is horizontally arranged and hinged to the lifting belt.

[0008] Preferably, a spherical concave surface and a support block are provided on the side of the ball receiving portion away from the sliding portion, and the support block is located on the side of the spherical concave surface close to the bent edge. The spherical concave surface and the support block can cooperate to receive a billiard ball.

[0009] Preferably, the top of the surface of the column close to the lifting side has a transition arc surface and a pit, the pit is located above the transition arc surface, the middle of the pit is recessed from the lifting side to the inner side of the column, and the bottom edge of the pit is tangent to the transition arc surface. When the ball holder moves upward from the lifting side to the top of the column, the pulley can move from the transition arc surface to the pit and cause the ball receiving part to rotate downward, so that the billiard ball can roll off the side of the spherical concave surface away from the supporting block.

[0010] Preferably, the sliding portion has two branch rods extending from the bent edges respectively, a pulley is respectively provided at one end of the two branch rods away from the bent edges, the two branch rods are parallel to each other, and the two branch rods are respectively located on both sides of the lifting pulley along the axial direction.

[0011] Preferably, the ball washing device comprises a spray assembly and a ball brush assembly located above the spray assembly, the spray assembly comprises a bracket connected to the inner side of the shell of the ball swinging robot, a cleaning agent storage tank is mounted on the bracket, a push-type nozzle is mounted on the top of the cleaning agent storage tank, and a first steering gear is also mounted on the bracket, the first steering gear can drive the push block to move, and the push block can push the push-type nozzle to reciprocate between a closed position and an open position, so that the push-type nozzle sprays the multiple billiard balls in sequence;

[0012] The ball brushing assembly includes a horizontally arranged ball clamping slide rail, the two ends of which are connected to the inner side of the outer shell of the ball swinging robot, the ball clamping slide rail is provided with two sliders that can move synchronously in opposite directions, the two sliders are respectively provided with an active rotating shaft and a passive rotating shaft, one of the sliders is provided with a ball brushing motor that can drive the active rotating shaft to rotate, the active rotating shaft and the passive rotating shaft are both horizontally arranged and axially aligned, and fixed disks are respectively installed at opposite ends of the active rotating shaft and the passive rotating shaft, when the two sliders move relative to each other, the fixed disks of the active rotating shaft and the passive rotating shaft can cooperate to clamp a billiard ball, and brushes are respectively installed on the opposite sides of the two sliders, and when the two fixed disks cooperate to clamp the billiard ball, the two brushes can fit with the billiard ball at the same time, so as to clean the billiard ball driven to rotate by the ball brushing motor.

[0013] Preferably, the pressing block is an elliptical pressing block installed on the output shaft of the first servo gear, and the outer arc surface of the elliptical pressing block is arranged opposite to the press nozzle. When the elliptical pressing block rotates to a position where the outer arc surface corresponding to the elliptical short axis faces the press nozzle, the press nozzle is in a closed position; when the elliptical pressing block rotates to a position where the outer arc surface corresponding to the elliptical long axis faces the press nozzle, the outer arc surface of the elliptical pressing block can push the press nozzle, so that the press nozzle moves from the closed position to the open position.

[0014] Preferably, the cleaning agent storage tank is installed on the bottom side of the bracket, the top of the cleaning agent storage tank passes through the bracket and is equipped with a push-type nozzle, the push-type nozzle can move in the vertical direction, and the output shaft of the first steering gear is arranged in the horizontal direction.

[0015] Preferably, a second steering gear is provided on one side of the ball clamping slide rail, and the second steering gear is respectively connected to the two sliders through two sets of connecting rods, so that the second steering gear can drive the two sliders to move synchronously in opposite directions on the ball clamping slide rail.

[0016] Preferably, the ball coding device includes a ball receiving and releasing barrel, a longitudinal motor, a transverse motor, two longitudinal slide rails and one transverse slide rail, the two longitudinal slide rails are respectively installed on the inner side of the outer shell of the ball swinging robot, the two longitudinal slide rails are both horizontally arranged and parallel to each other, the transverse slide rail is vertically arranged to the two longitudinal slide rails, the bottom ends of both sides of the transverse slide rails are respectively slidably installed on the two longitudinal slide rails, the longitudinal motor can drive the transverse slide rails to move on the two longitudinal slide rails, the ball receiving and releasing barrel is slidably installed on the transverse slide rail, the transverse motor can drive the ball receiving and releasing barrel to move on the transverse slide rail, the top end of the ball receiving and releasing barrel can store billiard balls, and the bottom end of the ball receiving and releasing barrel can open and release the billiard balls when the ball receiving and releasing barrel moves to the ball releasing position.

[0017] Preferably, longitudinal pulleys are respectively installed at both ends of the longitudinal slide rail, and longitudinal transmission belts are installed on the longitudinal pulleys at both ends of the same longitudinal slide rail. The longitudinal motor can drive the longitudinal pulleys to rotate, and the longitudinal transmission belt can drive the transverse slide rails to move on the two longitudinal slide rails.

[0018] Preferably, transverse pulleys are respectively installed at both ends of the transverse slide rail, and transverse transmission belts are installed on the two transverse pulleys. The transverse motor can drive the transverse pulleys to rotate, and the transverse transmission belt can drive the ball receiving and releasing barrel to move on the transverse slide rail.

[0019] Preferably, a longitudinal pulley shaft is provided between the two longitudinal slide rails, and the two ends of the longitudinal pulley shaft are respectively connected to two opposite longitudinal pulleys on the two longitudinal slide rails, the longitudinal motor is installed under one of the longitudinal slide rails, and the transverse motor is installed on the transverse slide rail.

[0020] Preferably, the synchronous dual mechanical arms include two front rotating arms and two rear rotating arms, the two front rotating arms have the same length, the two rear rotating arms also have the same length, two rear arm mounting seats are arranged on the shell of the ball swinging robot, the rear ends of the two rear rotating arms are respectively hinged to the two rear arm mounting seats, the starting ends of the two rear rotating arms are respectively hinged to the rear ends of the two front rotating arms, the starting ends of the front rotating arms are hinged to the side walls of the ball swinging disk, one side of the rear arm mounting seat is provided with a rear arm driving motor capable of driving the two rear rotating arms to rotate synchronously around the rear ends thereof, and one side of the rear arm mounting seat is also provided with a forearm driving motor capable of driving the two front rotating arms to rotate synchronously around the rear ends thereof;

[0021] A triangular balancing plate is respectively sleeved on the hinge shafts of the two front rotating arms and the rear rotating arm, a front balancing rod parallel to the front rotating arm is provided on one side of the front rotating arm, and a rear balancing rod parallel to the rear rotating arm is provided on one side of the rear rotating arm, one end of the front balancing rod is hinged to the side wall of the swing ball disk, and the other end is hinged to the side of the triangular balancing plate close to the front rotating arm, one end of the rear balancing rod is hinged to the rear arm mounting seat, and the other end is hinged to the side of the triangular balancing plate close to the rear arm, the axes of the four hinge shafts located at the two ends of the front rotating arm and the two ends of the front balancing rod are respectively located at the four corners of the same parallelogram, and the axes of the four hinge shafts located at the two ends of the rear rotating arm and the two ends of the rear balancing rod are respectively located at the four corners of another parallelogram, so as to keep the swing ball disk in a horizontal state when the rear rotating arm and the front rotating arm rotate.

[0022] Preferably, the two rear arm mounting seats are respectively provided with rear arm drive shafts, the rear ends of the two rear rotating arms are respectively sleeved on the two rear arm drive shafts, the two rear arm drive shafts are axially aligned, the hinge axes of the two front rotating arms and the rear rotating arms are axially aligned, and the hinge axes of the two front rotating arms and the swing ball disk are axially aligned.

[0023] Preferably, a forearm drive shaft is passed between the two rear arm mounting seats, the forearm drive shaft is axially aligned with the two rear arm drive shafts, a forearm drive wheel is sleeved on the forearm drive shaft, the rear end of the front rotating arm is also hinged to one end of the forearm push rod, and the other end of the forearm push rod is hinged to the forearm drive wheel, the forearm drive motor can drive the forearm drive wheel to rotate, and the two forearm drive wheels can drive the two front rotating arms to rotate synchronously around their rear ends.

[0024] Preferably, the rear arm drive motor and the forearm drive motor are both located on the bottom sides of the two rear arm mounting seats, the rear arm drive motor can drive the two rear arm active pulleys to rotate, the forearm drive motor can drive the forearm active pulley to rotate, the two rear arm drive shafts are respectively provided with rear arm passive pulleys that can drive the rear rotating arm to rotate, the rear arm active pulley and the rear arm passive pulley are cooperated with the rear arm synchronous belt, the forearm drive shaft is provided with a forearm passive pulley that can drive the forearm drive shaft and the two forearm drive pulleys to rotate, and the forearm active pulley and the forearm passive pulley are cooperated with the forearm synchronous belt.

[0025] Preferably, a plurality of universal wheels and driving wheels are installed at the bottom of the mobile chassis; the ball swinging plate comprises a rectangular frame, a triangular frame hollow nest is installed on the inner side of the rectangular frame, a plurality of through holes for accommodating colored billiard balls are opened on the triangular frame hollow nest, and the plurality of through holes are distributed in a triangular shape at intervals; a triangular baffle is provided at the bottom of the triangular frame hollow nest, and a plurality of through holes corresponding to the through holes of the triangular frame hollow nest are opened on the triangular baffle, and the triangular baffle can be translated from the ball blocking position to the ball placing position. When it is in the ball blocking position, the triangular baffle can receive all the colored billiard balls in the through holes of the triangular frame hollow nest. When the triangular baffle is in the ball releasing position, the through holes of the triangular baffle are aligned with the through holes of the triangular frame hollow nest, so that all the colored billiard balls can fall and pass through the triangular frame hollow nest and the triangular baffle. A white ball storage piece is also provided on one side of the rectangular frame. The white ball storage piece can accommodate white billiard balls, and the ball releasing side of the white ball storage piece can be rotated downward to facilitate the white billiard balls to roll outward from the inside of the white ball storage piece.

[0026] According to the above technical solution, the beneficial effects of the present invention are:

[0027] The ball-swinging robot provided by the present invention can transport billiard balls through a lifting device, and then put the billiard balls into a ball-swinging plate through a ball-stacking device. The operation efficiency of the lifting device and the ball-stacking device is high, and the time of the ball-swinging process can be shortened. The lifting device can lift multiple billiard balls in sequence through multiple ball holders moving with the belt. The spherical concave surface and the support block of the ball holder's ball receiving part can ensure that the ball holder stably supports the billiard balls. The pulley of the ball holder's sliding part can roll on the column, so that the ball holder can drive the billiard balls to move smoothly on the lifting side of the belt. The top side of the column is provided with a transition arc surface and a pit, which cleverly utilizes the center of gravity and the self-rotation tendency of the ball holder, so that when the pulley moves to the position of the pit, the ball holder's ball receiving part will rotate downward accordingly, so that the billiard balls can be smoothly delivered while ensuring the lifting speed.

[0028] The ball receiving and placing cylinder of the ball coding device can store and release the table balls, and the ball receiving and placing cylinder can move on the transverse slide rail, and the transverse slide rail can move on the longitudinal slide rail. Therefore, the movement of the ball receiving and placing cylinder in the X and Y directions is realized through the transverse slide rail and the longitudinal slide rail. The position of the ball receiving and placing cylinder when releasing the table balls can be accurately controlled to ensure the accuracy of coding the balls. Moreover, the movement of the ball receiving and placing cylinder in the X and Y directions can be carried out simultaneously, which is highly efficient and can shorten the time for coding the balls.

[0029] The present invention is provided with a ball washing device on the side of the lifting device, so the present invention can automatically wash the billiard balls, so that the billiard balls can be used for a long time; in the process of the lifting device driving the billiard balls to rise, the spray component can continuously spray the billiard balls, the ball brushing component can clamp each billiard ball moving upward in turn, and wash the rotating billiard balls with a brush, so the present invention can automatically wash the billiard balls, so that the billiard balls can be used continuously for a long time without the need for separate cleaning.

[0030] The front rotating arm and the rear rotating arm in the synchronous double mechanical arm of the present invention can both rotate to a desired angle, thereby being able to drive the swinging ball disk to move accurately, and a triangular balancing plate, a front balancing rod and a rear balancing rod are provided on the synchronous double mechanical arm, a total of four hinge axes on the front rotating arm and the front balancing rod form a parallelogram, a total of four hinge axes on the rear rotating arm and the rear balancing rod form another parallelogram, and both parallelograms include the hinge axes of the front rotating arm and the rear rotating arm, thereby forming a stable structure in which two parallelograms are interconnected, which can keep the swinging ball disk in a horizontal state when the rear rotating arm and the front rotating arm rotate, thereby avoiding the swinging ball disk from tilting and the billiard balls from falling, thereby ensuring efficient and accurate placement of the billiard balls. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of a ball-swinging robot;

[0032] Figure 2 This is a schematic diagram of the internal structure of the ball-swinging robot;

[0033] Figure 3 for Figure 2 A partial enlarged view of the middle part;

[0034] Figure 4 is a schematic diagram of a lifting device;

[0035] Figure 5 for Figure 4 A partial enlarged view of the upper part;

[0036] Figure 6 A schematic diagram of a ball holder;

[0037] Figure 7 is a schematic diagram of a spray assembly;

[0038] Figure 8 It is a schematic diagram of the ball brush assembly;

[0039] Fig. 9 It is a schematic diagram of the code ball device;

[0040] Fig.10 is a schematic diagram of a synchronized dual robotic arm;

[0041] Fig.11 for Fig.10 A partial enlarged view of the upper part;

[0042] Fig.12 Schematic diagram of the ball tray.

[0043] Markings in the figure: 1. Shell, 2. Goal opening, 3. Mobile chassis, 4. Universal wheel, 5. Driving wheel, 6. Lifting device, 7. Spray assembly, 8. Ball brush assembly, 9. Ball coding device, 10. Synchronous dual robotic arms, 11. Swinging ball plate,

[0044] 12. Base, 13. Column, 14. Lifting motor, 15. Lifting pulley, 16. Lifting belt, 17. Ball holder, 18. Ball receiving part, 19. Sliding part, 20. Pin shaft, 21. Spherical concave surface, 22. Support block, 23. Pulley, 24. Transition arc surface, 25. Pit,

[0045] 26. Bracket, 27. First servo, 28. Oval pressing block, 29. Pressing nozzle, 30. Cleaning agent storage tank, 31. Ball clamping slide rail, 32. Second servo, 33. Connecting rod, 34. Sliding block, 35. Brush, 36. Active rotating shaft, 37. Passive rotating shaft, 38. Fixed plate, 39. Ball brush motor,

[0046] 40. Longitudinal slide rail, 41. Transverse slide rail, 42. Longitudinal transmission belt, 43. Transverse transmission belt, 44. Longitudinal pulley, 45. Transverse pulley, 46. Longitudinal pulley shaft, 47. Longitudinal motor, 48. Transverse motor, 49. Ball receiving and releasing cylinder,

[0047] 50. front rotating arm, 51. rear rotating arm, 52. rear arm mounting seat, 53. rear arm driving motor, 54. rear arm active pulley, 55. rear arm synchronous belt, 56. rear arm passive pulley, 57. forearm driving shaft, 58. forearm driving motor, 59. forearm synchronous belt, 60. forearm passive pulley, 61. forearm driving wheel disc, 62. forearm push rod, 63. triangular balance board, 64. front balance bar, 65. rear balance bar,

[0048] 66. Rectangular frame, 67. Triangular frame hollow nest, 68. Triangular baffle, 69. White ball storage. DETAILED DESCRIPTION

[0049] With reference to the accompanying drawings, the specific implementation is as follows:

[0050] like Figure 1-2 As shown, a ball-swinging robot for a billiard table comprises a shell 1 mounted on a mobile chassis 3, a plurality of universal wheels 4 and a driving wheel 5 are mounted at the bottom of the mobile chassis 3, a ball collecting plate, a lifting device 6, a ball washing device and a ball-stacking device 9 are arranged inside the shell 1, a synchronous double mechanical arm 10 is also mounted on the shell 1, a goal hole 2 is provided at the bottom of the shell 1 for docking with the goal side of the ball collecting plate, the bottom end of the lifting device 6 is docked with the ball outlet of the ball collecting plate, the lifting device 6 can drive the billiard ball to move upward from the ball outlet of the ball collecting plate to the ball-stacking device 9, and the ball washing device 10 is provided on the bottom of the shell 1. The device can clean the billiard balls that move upward with the lifting device 6. A ball swinging plate 11 is installed at one end of the synchronous double robotic arm 10. When the synchronous double robotic arm 10 extends into the inner side of the outer shell 1, the ball swinging plate 11 can be moved to a ball receiving position corresponding to the ball coding device 9. The ball coding device 9 can receive the billiard balls that move upward to the top of the lifting device 6 and place the billiard balls into the ball swinging plate 11. When the synchronous double robotic arm 10 extends out of the outer shell 1, the ball swinging plate 11 can be moved to a ball placing position corresponding to the billiard table, and the ball swinging plate 11 can place the billiard balls on the billiard table.

[0051] like Figure 4-5 As shown, the lifting device 6 includes a base 12 and a vertically arranged column 13, and lifting pulleys 15 are respectively installed on the top and bottom ends of the column 13. Lifting belts 16 are installed on the two lifting pulleys 15. A lifting motor 14 for driving the lifting pulleys 15 to rotate is installed on the base 12, and a plurality of ball holders 17 are installed on the lifting belt 16 at intervals.

[0052] like Figure 6As shown, the ball holder 17 is an L-shaped bent body composed of a ball receiving portion 18 and a sliding portion 19. A pin 20 is passed through the bent edge formed by the intersection of the ball receiving portion 18 and the sliding portion 19. The pin 20 is horizontally arranged and hinged with the lifting belt 16. A spherical concave surface 21 and a support block 22 are provided on the side of the ball receiving portion 18 away from the sliding portion 19. The support block 22 is located on the side of the spherical concave surface 21 close to the bent edge. The spherical concave surface 21 and the support block 22 can cooperate to receive a billiard ball. The sliding portion 19 has two branch rods extending from the bent edge respectively. A pulley 23 is respectively provided at one end of the two branch rods away from the bent edge. The two branch rods are parallel to each other, and the two branch rods are respectively located on both sides of the lifting pulley 15 along the axial direction.

[0053] When the ball holder 17 is located on the descending side of the lifting belt 16 and moves downward, the ball receiving part 18 rotates to the bottom of the sliding part 19. When the ball holder 17 is located on the lifting side of the lifting belt 16 and moves upward, the ball receiving part 18 rotates to the top of the sliding part 19, and the pulley 23 of the sliding part 19 can roll on the surface of the column 13 close to the lifting side, so that the spherical concave surface 21 and the support block 22 can drive the billiard ball to move upward.

[0054] like Figure 5 As shown, the top of the surface of the column 13 close to the lifting side has a transition arc surface 24 and a pit 25, the pit 25 is located above the transition arc surface 24, the middle part of the pit 25 is recessed from the lifting side to the inner side of the column 13, and the bottom edge of the pit 25 is tangential to the transition arc surface 24. When the ball holder 17 moves upward from the lifting side to the top of the column 13, the pulley 23 can move from the transition arc surface 24 to the pit 25 and make the ball receiving part 18 rotate downward, so that the billiard ball rolls off the side of the spherical concave surface 21 away from the support block 22, which cleverly utilizes the center of gravity and rotation tendency of the ball holder 17, and can smoothly send the billiard ball out while ensuring the lifting speed.

[0055] The ball washing device includes a spray assembly 7 and a ball brush assembly 8 located above the spray assembly 7. Figure 7 As shown, the spray assembly 7 includes a bracket 26 connected to the inner side of the shell 1 of the swinging ball robot, a cleaning agent storage tank 30 is installed on the bracket 26, a push-type nozzle 29 is installed on the top of the cleaning agent storage tank 30, and a first steering gear 27 is also installed on the bracket 26. An elliptical pressing block 28 is installed on the output shaft of the first steering gear 27. The outer arc surface of the elliptical pressing block 28 is arranged opposite to the push-type nozzle 29. When the elliptical pressing block 28 rotates to a position where the outer arc surface corresponding to the elliptical short axis faces the push-type nozzle 29, the push-type nozzle 29 is in a closed position. When the elliptical pressing block 28 rotates to a position where the outer arc surface corresponding to the elliptical long axis faces the push-type nozzle 29, the outer arc surface of the elliptical pressing block 28 can push the push-type nozzle 29, so that the push-type nozzle 29 moves from the closed position to the open position for spraying outward.

[0056] like Figure 8 As shown, the ball brushing assembly 8 includes a horizontally arranged ball clamping slide rail 31, both ends of which are connected to the inner side of the shell 1 of the ball swinging robot, and two sliders 34 are arranged on the ball clamping slide rail 31. A second servo 32 is arranged on one side of the ball clamping slide rail 31, and the second servo 32 is respectively connected to the two sliders 34 through two sets of connecting rods 33, so that the second servo 32 can drive the two sliders 34 to move synchronously in the opposite direction on the ball clamping slide rail 31, and an active rotating shaft 36 and a passive rotating shaft 37 are respectively penetrated on the two sliders 34, and one of the sliders 34 is equipped with a shaft capable of driving the active rotating shaft The ball brushing motor 39 rotates on the shaft 36, and the active shaft 36 and the passive shaft 37 are both horizontally arranged and aligned along the axial direction. Fixed plates 38 are respectively installed on the opposite ends of the active shaft 36 and the passive shaft 37. When the two sliders 34 move relative to each other, the fixed plates 38 of the active shaft 36 and the passive shaft 37 can cooperate to clamp a billiard ball. Brushes 35 are also installed on the opposite sides of the two sliders 34. When the two fixed plates 38 cooperate to clamp the billiard ball, the two brushes 35 can fit with the billiard ball at the same time, so as to clean the billiard ball driven to rotate by the ball brushing motor 39.

[0057] like Fig. 9 As shown, the ball-coding device 9 includes a ball receiving and placing cylinder 49, a longitudinal motor 47, a transverse motor 48, two longitudinal slide rails 40 and a transverse slide rail 41. The two longitudinal slide rails 40 are respectively installed on the inner side of the housing 1 of the ball-swinging robot. The two longitudinal slide rails 40 are horizontally arranged and parallel to each other. The transverse slide rail 41 is vertically arranged with the two longitudinal slide rails 40. The bottom ends of both sides of the transverse slide rail 41 are respectively slidably installed on the two longitudinal slide rails 40. The two ends of the longitudinal slide rail 40 are respectively installed with longitudinal pulleys 44. The longitudinal pulleys 44 at the two ends of the same longitudinal slide rail 40 are matched with longitudinal transmission belts 42. The longitudinal motor 47 can drive the longitudinal pulley 44 to rotate, and the longitudinal transmission belt 42 can The transverse slide rail 41 is driven to move on the two longitudinal slide rails 40, and the ball receiving and releasing cylinder 49 is slidably installed on the transverse slide rail 41. Transverse pulleys 45 are respectively installed at both ends of the transverse slide rail 41. Transverse transmission belts 43 are installed on the two transverse pulleys 45. The transverse motor 48 can drive the transverse pulley 45 to rotate. The transverse transmission belt 43 can drive the ball receiving and releasing cylinder 49 to move on the transverse slide rail 41. A longitudinal pulley shaft 46 is provided between the two longitudinal slide rails 40. The two ends of the longitudinal pulley shaft 46 are respectively connected to two opposite longitudinal pulleys 44 of the two longitudinal slide rails 40. The longitudinal motor 47 is installed under one of the longitudinal slide rails 40, and the transverse motor 48 is installed on the transverse slide rail 41. The top of the ball receiving and releasing cylinder 49 can store billiard balls, and the bottom of the ball receiving and releasing cylinder 49 can be opened and release billiard balls when the ball receiving and releasing cylinder 49 moves to the ball release position.

[0058] like Fig.10-11, the synchronous dual robotic arm 10 includes two front rotating arms 50 and two rear rotating arms 51, the two front rotating arms 50 have the same length, the two rear rotating arms 51 have the same length, two rear arm mounting seats 52 are provided on the outer shell 1 of the swing ball robot, the two rear arm mounting seats 52 are respectively penetrated by rear arm driving shafts, the two rear arm driving shafts are axially aligned, the rear ends of the two rear rotating arms 51 are respectively sleeved on the two rear arm driving shafts, the starting ends of the two rear rotating arms 51 are respectively hinged to the rear ends of the two front rotating arms 50, the starting ends of the front rotating arms 50 are hinged to the side walls of the swing ball disk 11, the hinge axes of the two front rotating arms 50 and the rear rotating arms 51 are axially aligned, and the hinge axes of the two front rotating arms 50 and the swing ball disk 11 are axially aligned.

[0059] like Fig.10 As shown, a rear arm driving motor 53 capable of driving the two rear rotating arms 51 to rotate synchronously is provided on one side of the rear arm mounting seat 52, a forearm driving shaft 57 is passed through the two rear arm mounting seats 52, the forearm driving shaft 57 is axially aligned with the two rear arm driving shafts, a forearm driving wheel 61 is sleeved on the forearm driving shaft 57, the rear end of the front rotating arm 50 is also hinged to one end of the forearm push rod 62, the other end of the forearm push rod 62 is hinged to the forearm driving wheel 61, a forearm driving motor 58 capable of driving the forearm driving wheel 61 to rotate is provided on one side of the rear arm mounting seat 52, the two forearm driving wheel discs 61 can drive the two front rotating arms 50 to rotate synchronously around the hinge shafts at their rear ends.

[0060] like Fig.10 As shown, the rear arm driving motor 53 and the forearm driving motor 58 are both located at the bottom side of the two rear arm mounting seats 52, the rear arm driving motor 53 can drive the two rear arm active pulleys 54 to rotate, the forearm driving motor 58 can drive the forearm active pulley to rotate, the two rear arm driving shafts are respectively provided with rear arm passive pulleys 56 that can drive the rear rotating arm 51 to rotate, the rear arm active pulley 54 and the rear arm passive pulley 56 are cooperated with the rear arm synchronous belt 55, the forearm driving shaft 57 is provided with a forearm passive pulley 60 that can drive the forearm driving shaft 57 and the two forearm driving wheel discs 61 to rotate, and the forearm active pulley and the forearm passive pulley 60 are cooperated with the forearm synchronous belt 59.

[0061] like Fig.11As shown, a triangular balancing plate 63 is respectively sleeved on the hinge shaft of the two front rotating arms 50 and the rear rotating arm 51, a front balancing rod 64 which is parallel to the front rotating arm 50 is provided on one side of the front rotating arm 50, and a rear balancing rod 65 which is parallel to the rear rotating arm 51 is provided on one side of the rear rotating arm 51, one end of the front balancing rod 64 is hinged to the side wall of the swing ball plate 11, and the other end is hinged to the side of the triangular balancing plate 63 close to the front rotating arm 50, one end of the rear balancing rod 65 is hinged to the rear arm mounting seat 52, and the other end is hinged to the side of the triangular balancing plate 63 close to the rear arm, which are respectively located at both ends of the front rotating arm 50 and The axes of the four hinge shafts at both ends of the front balance bar 64 are respectively located at the four corners of the same parallelogram, and the axes of the four hinge shafts at both ends of the rear rotating arm 51 and the rear balance bar 65 are respectively located at the four corners of another parallelogram, and the two parallelograms both contain the hinge shafts of the front rotating arm 50 and the rear rotating arm 51, thereby forming a stable structure of two interconnected parallelograms, which can keep the ball swinging plate in a horizontal state when the rear rotating arm 51 and the front rotating arm 50 rotate, thereby avoiding the situation where the ball swinging plate is skewed and the billiard balls fall, thereby ensuring efficient and accurate placement of the billiard balls.

[0062] like Figure 3 , Fig.12 As shown, the ball swinging plate 11 includes a rectangular frame 66, on the inner side of which is installed a triangular frame hollow nest 67, on which are provided a plurality of through holes for accommodating colored billiard balls, the plurality of through holes being distributed in a triangular shape at intervals, and at the bottom of the triangular frame hollow nest 67 a triangular baffle plate 68 is provided, on which are provided a plurality of through holes corresponding one to one to the through holes of the triangular frame hollow nest 67, the triangular baffle plate 68 can be translated from a ball blocking position to a ball releasing position, and when the triangular baffle plate 68 is at the ball blocking position, the triangular baffle plate 68 can receive all the colored billiard balls located in the through holes of the triangular frame hollow nest 67, and when the triangular baffle plate 68 is at the ball releasing position, the through holes of the triangular baffle plate 68 are aligned with the through holes of the triangular frame hollow nest 67, so that all the colored billiard balls can fall and pass through the triangular frame hollow nest 67 and the triangular baffle plate 68. A white ball storage piece 69 is also provided on one side of the rectangular frame 66 . The white ball storage piece 69 can accommodate white billiard balls. The ball placing side of the white ball storage piece 69 can be rotated downward so that the white billiard balls can roll outward from the inside of the white ball storage piece 69 .

Claims

1. A ball-playing robot for a billiard table, Features: The invention comprises a housing (1) mounted on a mobile chassis (3), wherein a ball collecting plate, a lifting device (6), a ball washing device and a ball stacking device (9) are arranged on the inner side of the housing (1), and a synchronous double mechanical arm (10) is also mounted on the housing (1). A goal hole (2) is provided at the bottom of the housing (1) and is docked with the goal side of the ball collecting plate. The bottom end of the lifting device (6) is docked with the ball outlet of the ball collecting plate. The lifting device (6) can drive the billiard ball to move upward from the ball outlet of the ball collecting plate to the ball stacking device (9), and the ball washing device can wash the billiard ball that moves upward with the lifting device (6). cleaning, a ball swinging plate (11) is installed at one end of the synchronous double mechanical arm (10), when the synchronous double mechanical arm (10) extends into the inner side of the housing (1), the ball swinging plate (11) can be moved to a ball receiving position corresponding to the ball-coding device (9), the ball-coding device (9) can receive the billiard ball that moves upward to the top of the lifting device (6) and put the billiard ball into the ball swinging plate (11), when the synchronous double mechanical arm (10) extends out of the housing (1), the ball swinging plate (11) can be moved to a ball placing position corresponding to the billiard table, and the ball swinging plate (11) can place the billiard ball on the billiard table; The ball washing device comprises a spray assembly and a ball brush assembly located above the spray assembly, the spray assembly comprising a bracket (26) connected to the inner side of the housing (1) of the ball swinging robot, a cleaning agent storage tank (30) being mounted on the bracket (26), a push-type nozzle (29) being mounted on the top of the cleaning agent storage tank (30), and a first steering gear (27) being mounted on the bracket (26), the first steering gear (27) being capable of driving a push block to move, the push block being capable of pushing the push-type nozzle (29) to reciprocate between a closed position and an open position, so that the push-type nozzle (29) can spray the plurality of billiard balls in sequence; The ball brushing assembly comprises a horizontally arranged ball clamping slide rail (31), the two ends of the ball clamping slide rail (31) being connected to the inner side of the housing (1) of the ball swinging robot, the ball clamping slide rail (31) being provided with two sliders (34) capable of synchronously moving in opposite directions, the two sliders (34) being respectively provided with an active rotating shaft (36) and a passive rotating shaft (37), one of the sliders (34) being provided with a ball brushing motor (39) capable of driving the active rotating shaft (36) to rotate, the active rotating shaft (36) and the passive rotating shaft (37) being both horizontally arranged and axially extending. The active rotating shaft (36) and the passive rotating shaft (37) are aligned, and fixed disks (38) are respectively installed at opposite ends thereof. When the two sliders (34) move relative to each other, the fixed disks (38) of the active rotating shaft (36) and the passive rotating shaft (37) can cooperate to clamp a billiard ball. Brushes (35) are also respectively installed at opposite sides of the two sliders (34). When the two fixed disks (38) cooperate to clamp the billiard ball, the two brushes (35) can simultaneously fit with the billiard ball, so as to facilitate cleaning of the billiard ball driven to rotate by the ball brushing motor (39).

2. A ball-playing robot for a billiard table according to claim 1, Features: The lifting device comprises a base (12) and a column (13), the top and bottom ends of the column (13) are respectively provided with lifting pulleys (15), the two lifting pulleys (15) are matched with lifting belts (16), a lifting motor (14) for driving the lifting pulleys (15) to rotate is installed on the base (12), a plurality of ball holders (17) are installed at intervals on the lifting belt (16), the ball holders (17) comprise a ball receiving portion (18) and a sliding portion (19), the intersection of the ball receiving portion (18) and the sliding portion (19) is hinged to the lifting belt (16), and the ball receiving portion (18) is provided on the lifting belt (16). ) can receive a billiard ball, and one or more pulleys (23) are provided at one end of the sliding part (19) away from the ball receiving part (18). When the ball holder (17) is located on the descending side of the lifting belt (16) and moves downward, the ball receiving part (18) rotates to the bottom of the sliding part (19); when the ball holder (17) is located on the lifting side of the lifting belt (16) and moves upward, the ball receiving part (18) rotates to the top of the sliding part (19), and the pulley (23) of the sliding part (19) can roll on the surface of the column (13) close to the lifting side, so that the ball receiving part (18) can drive the billiard ball to move upward.

3. A ball-playing robot for a billiard table according to claim 2, Features: The upright column (13) is arranged along the vertical direction.

4. A ball-playing robot for a billiard table according to claim 2, Features: The ball holder (17) is an L-shaped bent body composed of a ball receiving portion (18) and a sliding portion (19). A pin (20) is provided through a bent edge formed by the intersection of the ball receiving portion (18) and the sliding portion (19). The pin (20) is horizontally arranged and hinged to the lifting belt (16).

5. A ball-playing robot for a billiard table according to claim 4, Features: A spherical concave surface (21) and a support block (22) are provided on a side of the ball receiving portion (18) away from the sliding portion (19); the support block (22) is located on a side of the spherical concave surface (21) close to the bent edge; the spherical concave surface (21) and the support block (22) can cooperate to receive a billiard ball.

6. A ball-playing robot for a billiard table according to claim 5, Features: The top of the surface of the column (13) close to the lifting side has a transition arc surface (24) and a pit (25), the pit (25) is located above the transition arc surface (24), the middle of the pit (25) is recessed from the lifting side to the inner side of the column (13), the bottom edge of the pit (25) is tangentially connected to the transition arc surface (24), when the ball holder (17) moves upward from the lifting side to the top of the column (13), the pulley (23) can move from the transition arc surface (24) to the pit (25) and make the ball receiving part (18) rotate downward, so that the billiard ball rolls down from the side of the spherical concave surface (21) away from the support block (22).

7. A ball-playing robot for a billiard table according to claim 4, Features: The sliding portion (19) has two branch rods extending from the bent edges, respectively. A pulley (23) is provided at one end of the two branch rods away from the bent edges, respectively. The two branch rods are parallel to each other and are respectively located on both sides of the lifting pulley (15) along the axial direction.

8. The ball-playing robot for a billiard table according to claim 1, Features: The pressing block is an elliptical pressing block (28) mounted on the output shaft of the first steering gear (27); the outer arc surface of the elliptical pressing block (28) is arranged opposite to the pressing nozzle (29); when the elliptical pressing block (28) is rotated to a position where the outer arc surface corresponding to the elliptical minor axis faces the pressing nozzle (29), the pressing nozzle (29) is in a closed position; when the elliptical pressing block (28) is rotated to a position where the outer arc surface corresponding to the elliptical major axis faces the pressing nozzle (29), the outer arc surface of the elliptical pressing block (28) can push the pressing nozzle (29) so that the pressing nozzle (29) moves from the closed position to the open position.

9. A ball-playing robot for a billiard table according to claim 8, Features: The cleaning agent storage tank (30) is installed on the bottom side of the bracket (26); the top end of the cleaning agent storage tank (30) passes through the bracket (26) and is provided with a push-type nozzle (29); the push-type nozzle (29) is movable in a vertical direction; and the output shaft of the first steering gear (27) is arranged in a horizontal direction.

10. A ball-playing robot for a billiard table according to claim 1, Features: A second steering gear (32) is provided on one side of the ball clamping slide rail (31), and the second steering gear (32) is respectively connected to the two sliders (34) via two sets of connecting rods (33), so that the second steering gear (32) can drive the two sliders (34) to move synchronously in opposite directions on the ball clamping slide rail (31).

11. A ball-playing robot for a billiard table according to claim 1, Features: The ball-coding device comprises a ball receiving and placing cylinder (49), a longitudinal motor (47), a transverse motor (48), two longitudinal slide rails (40) and a transverse slide rail (41). The two longitudinal slide rails (40) are respectively mounted on the inner side of the housing (1) of the ball-swinging robot. The two longitudinal slide rails (40) are both arranged horizontally and parallel to each other. The transverse slide rail (41) is arranged vertically to the two longitudinal slide rails (40). The bottom ends of both sides of the transverse slide rail (41) are respectively slidably mounted on the two longitudinal slide rails (40). The longitudinal motor (47) can drive the transverse slide rail (41) to move on the two longitudinal slide rails (40). The ball receiving and placing cylinder (49) is slidably mounted on the transverse slide rail (41). The transverse motor (48) can drive the ball receiving and placing cylinder (49) to move on the transverse slide rail (41). The top end of the ball receiving and placing cylinder (49) can store billiard balls. The bottom end of the ball receiving and placing cylinder (49) can be opened and release billiard balls when the ball receiving and placing cylinder (49) moves to a ball release position.

12. A ball-playing robot for a billiard table according to claim 11, Features: Longitudinal pulleys (44) are respectively installed at both ends of the longitudinal slide rail (40), and longitudinal transmission belts (42) are installed on the longitudinal pulleys (44) at both ends of the same longitudinal slide rail (40). The longitudinal motor (47) can drive the longitudinal pulleys (44) to rotate, and the longitudinal transmission belt (42) can drive the transverse slide rail (41) to move on the two longitudinal slide rails (40).

13. A ball-playing robot for a billiard table according to claim 11, Features: Transverse pulleys (45) are respectively installed at both ends of the transverse slide rail (41), and transverse transmission belts (43) are installed on the two transverse pulleys (45). The transverse motor (48) can drive the transverse pulleys (45) to rotate, and the transverse transmission belt (43) can drive the ball receiving and releasing cylinder (49) to move on the transverse slide rail (41).

14. A ball-playing robot for a billiard table according to claim 12, Features: A longitudinal pulley shaft (46) is provided between the two longitudinal slide rails (40), and two ends of the longitudinal pulley shaft (46) are respectively connected to two opposite longitudinal pulleys (44) on the two longitudinal slide rails (40). A longitudinal motor (47) is installed below one of the longitudinal slide rails (40), and a transverse motor (48) is installed on the transverse slide rail (41).

15. The ball-playing robot for a billiard table according to claim 1, Features: The synchronous dual mechanical arms include two front rotating arms (50) and two rear rotating arms (51), the two front rotating arms (50) are of the same length, and the two rear rotating arms (51) are also of the same length. Two rear arm mounting seats (52) are provided on the housing (1) of the swing ball robot. The rear ends of the two rear rotating arms (51) are respectively hinged to the two rear arm mounting seats (52), the starting ends of the two rear rotating arms (51) are respectively hinged to the rear ends of the two front rotating arms (50), and the starting ends of the front rotating arms (50) are hinged to the side walls of the swing ball disk. A rear arm driving motor (53) capable of driving the two rear rotating arms (51) to rotate synchronously around the rear ends thereof is provided on one side of the rear arm mounting seat (52), and a front arm driving motor (58) capable of driving the two front rotating arms (50) to rotate synchronously around the rear ends thereof is also provided on one side of the rear arm mounting seat (52); A triangular balancing plate (63) is sleeved on the hinge shafts of the two front rotating arms (50) and the rear rotating arm (51), a front balancing rod (64) parallel to the front rotating arm (50) is provided on one side of the front rotating arm (50), a rear balancing rod (65) parallel to the rear rotating arm (51) is provided on one side of the rear rotating arm (51), one end of the front balancing rod (64) is hinged to the side wall of the swing ball plate, and the other end is hinged to the side of the triangular balancing plate (63) close to the front rotating arm (50), and the rear balancing rod (65) is hinged to the side wall of the swing ball plate. ) is hinged to the rear arm mounting seat (52), and the other end is hinged to the side of the triangular balance plate (63) close to the rear arm. The axes of the four hinge shafts located at the two ends of the front rotating arm (50) and the two ends of the front balance bar (64) are respectively located at the four corners of the same parallelogram, and the axes of the four hinge shafts located at the two ends of the rear rotating arm (51) and the two ends of the rear balance bar (65) are respectively located at the four corners of another parallelogram, so that the swing ball plate can be kept in a horizontal state when the rear rotating arm (51) and the front rotating arm (50) rotate.

16. A ball-playing robot for a billiard table according to claim 15, Features: The two rear arm mounting seats (52) are respectively provided with rear arm drive shafts, the rear ends of the two rear rotating arms (51) are respectively sleeved on the two rear arm drive shafts, the two rear arm drive shafts are arranged in an axially aligned manner, the hinge shafts of the two front rotating arms (50) and the rear rotating arms (51) are arranged in an axially aligned manner, and the hinge shafts of the two front rotating arms (50) and the swing ball disc are arranged in an axially aligned manner.

17. A ball-playing robot for a billiard table according to claim 16, Features: A forearm drive shaft (57) is inserted between the two rear arm mounting seats (52). The forearm drive shaft (57) is aligned with the two rear arm drive shafts along the axial direction. A forearm drive wheel disc (61) is sleeved on the forearm drive shaft (57). The rear end of the front rotating arm (50) is also hinged to one end of a forearm push rod (62). The other end of the forearm push rod (62) is hinged to the forearm drive wheel disc (61). The forearm drive motor (58) can drive the forearm drive wheel disc (61) to rotate. The two forearm drive wheel discs (61) can drive the two front rotating arms (50) to rotate synchronously around their rear ends.

18. A ball-playing robot for a billiard table according to claim 17, Features: The rear arm drive motor (53) and the forearm drive motor (58) are both located at the bottom side of the two rear arm mounting seats (52); the rear arm drive motor (53) can drive the two rear arm active pulleys (54) to rotate; the forearm drive motor (58) can drive the forearm active pulley to rotate; the two rear arm drive shafts are respectively sleeved with rear arm passive pulleys (56) capable of driving the rear rotating arm (51) to rotate; the rear arm active pulleys (54) and the rear arm passive pulleys (56) are matched with rear arm synchronous belts (55); the forearm drive shaft (57) is sleeved with a forearm passive pulley (60) capable of driving the forearm drive shaft (57) and the two forearm drive wheel discs (61) to rotate; and the forearm active pulleys and the forearm passive pulleys (60) are matched with forearm synchronous belts (59).

19. The ball-playing robot for a billiard table according to claim 1, Features: The bottom of the mobile chassis (3) is provided with a plurality of universal wheels (4) and a driving wheel (5); the ball swinging plate (11) comprises a rectangular frame (66), the inner side of which is provided with a triangular frame hollow nest (67), the triangular frame hollow nest (67) being provided with a plurality of through holes for accommodating colored billiard balls, the plurality of through holes being distributed in a triangular pattern, the bottom of the triangular frame hollow nest (67) being provided with a triangular baffle (68), the triangular baffle (68) being provided with a plurality of through holes corresponding to the through holes of the triangular frame hollow nest (67), the triangular baffle (68) being capable of being translated from a ball blocking position to a ball placing position, and when the triangular baffle (68) is in a position When in the ball blocking position, the triangular baffle (68) can receive all the colored billiard balls in the through holes of the triangular frame hollow nest (67); when the triangular baffle (68) is in the ball releasing position, the through holes of the triangular baffle (68) are aligned with the through holes of the triangular frame hollow nest (67), respectively, so that all the colored billiard balls can fall and pass through the triangular frame hollow nest (67) and the triangular baffle (68); a white ball storage piece (69) is also provided on one side of the rectangular frame (66); the white ball storage piece (69) can accommodate white billiard balls; the ball releasing side of the white ball storage piece (69) can rotate downward so that the white billiard balls can roll outward from the inside of the white ball storage piece (69).

Images