Working method of a ball-picking and serving integrated table tennis robot

Abstract

The application discloses a working method of a ball-picking and ball-serving integrated table tennis robot, and the robot is provided with a ball-picking channel, a temporary ball-storing channel, a collision plate, a negative pressure device and a ball-serving unit; the working steps of the robot are as follows: S1, the robot walks and finds the table tennis ball to be picked up on the ground, so that the lower end of the ball-picking channel corresponds to the table tennis ball to be picked up; S2, the negative pressure device generates a pulse negative pressure, the table tennis ball to be picked up enters the ball-picking channel under the action of the pulse negative pressure and rises to the collision plate under the action of inertia, and the collision plate bounces the collided table tennis ball into the temporary ball-storing channel; S3, the ball-picking end of the ball-serving unit stores the table tennis ball from the ball-out end of the temporary ball-storing channel into the ball-storing mechanism of the ball-serving unit; S4, the steps of S1 to S3 are circularly performed until the ball-storing mechanism of the ball-serving unit is full of table tennis balls; and S5, the ball-serving unit continuously serves the table tennis balls.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to the working method of a table tennis robot that integrates serving and ball retrieval. Background Technology

[0002] Table tennis ball machines are a common training tool in many sports halls. After the ball is launched, the user returns it. To facilitate ball retrieval, a net is set up on the table to collect the returned balls. However, sometimes users hit the balls outside the net, requiring them to manually retrieve them to complete the cycle, which consumes the user's time and energy. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a working method for an integrated table tennis robot that can pick up and serve table tennis balls.

[0004] Technical Solution: To achieve the above objectives, the present invention provides a working method for an integrated serving and ball-collecting table tennis robot, comprising a walking robot equipped with a vertical ball-collecting channel and an oblique temporary ball-storage channel. The upper end of the ball-collecting channel is connected to the upper end of the temporary ball-storage channel. A ventilated impact plate is located at the connection between the ball-collecting channel and the temporary ball-storage channel, and a negative pressure device is located above the impact plate. The ball-discharging end of the temporary ball-storage channel corresponds to the ball-receiving end of the serving unit. The robot's working steps are as follows: S1: The robot walks and searches for a table tennis ball to be picked up on the ground, aligning the lower end of the ball-collecting channel with the ball to be picked up; S2: The negative pressure device generates a pulse negative pressure. Under the action of the pulse negative pressure, the table tennis ball to be picked up enters the ball-collecting channel and rises under inertia until it collides with the impact plate. The impact plate bounces the collided table tennis ball into the temporary ball-storage channel; S3: The ball-receiving end of the serving unit collects the table tennis ball from the ball-discharging end of the temporary ball-storage channel into the serving unit. In the ball storage mechanism of the unit; S4: Repeat steps S1 to S3 until the ball storage mechanism of the serving unit is full of ping-pong balls; S5: The serving unit serves continuously; The ball outlet end of the temporary ball storage channel is provided with an elastic ball blocking mechanism; In the initial state before S1, the temporary ball storage channel stores a number of ping-pong balls, and the number of ping-pong balls in the temporary ball storage channel is just unable to squeeze out the elastic ball blocking mechanism at the ball outlet end. In the initial state, the number of ping-pong balls stored in the temporary ball storage channel is regarded as a set of ping-pong balls, and the set of ping-pong balls blocks the temporary ball storage channel; Suppose that the negative pressure transmitted to the temporary ball storage channel when the pulse negative pressure device is started is P1, and the pressure difference between P1 and the normal pressure P2 at the ball outlet end is insufficient to drive the set of ping-pong balls to move in the opposite direction against gravity along the temporary ball storage channel; If the number of ping-pong balls in the set of ping-pong balls increases, and the pulse negative pressure device is paused, the set of ping-pong balls with the increased number can just squeeze out the elastic ball blocking mechanism at the ball outlet end under the action of gravity.

[0005] Furthermore, a ping-pong ball limiting platform is provided at the ball outlet end of the lower end of the temporary ball storage channel; during S2, the pulse negative pressure device generates pulse negative pressure at the connection between the ball picking channel and the temporary ball storage channel. By controlling the negative pressure intensity of the negative pressure device, the negative pressure generated by the pulse negative pressure device is transmitted to the negative pressure in the temporary ball storage channel as P1. The pressure difference between P1 and the normal pressure P2 at the ball outlet end is insufficient to drive the ping-pong ball collection to move in the opposite direction against gravity along the temporary ball storage channel; at the same time, the negative pressure generated by the pulse negative pressure device is transmitted to the ball picking channel... The negative pressure in the ball channel is P3, which can lift a single ping-pong ball from the ground at the lower end of the ball picking channel to impact the impact plate. When S2 ends, the pulse negative pressure device enters a pause state. Because a ping-pong ball enters the temporary ball storage channel, the number of ping-pong balls in the ping-pong ball collection increases, and the weight of the ping-pong ball collection increases. This causes the ping-pong ball closest to the ball outlet to push aside the elastic ball blocking mechanism at the ball outlet and be squeezed onto the ping-pong ball limiting platform, so that the ping-pong ball collection in the temporary ball storage channel returns to its initial weight.

[0006] Furthermore, the elastic ball-blocking mechanism includes a baffle hinged to the ball-out end of the temporary ball storage channel. The baffle partially blocks the ball-out end of the temporary ball storage channel, and a torsion spring is provided at the hinge. When S2 ends, the weight of the ping-pong ball collection increases after the number of balls increases, causing the ping-pong ball closest to the ball-out end to overcome the elastic force of the torsion spring and push open the baffle. This allows the ping-pong ball closest to the ball-out end to be squeezed out from the ball-out end of the temporary ball storage channel onto the ping-pong ball limiting platform. After the ping-pong ball closest to the ball-out end is squeezed out onto the ping-pong ball limiting platform, the ping-pong ball collection in the temporary ball storage channel returns to its initial weight. The baffle resets under the elastic reset action of the torsion spring.

[0007] Furthermore, the impact plate is an inclined flat plate structure with ventilation holes distributed on it; during S2, the negative pressure generated by the negative pressure device is transmitted to the ball picking channel and the temporary ball storage channel through the ventilation holes on the impact plate.

[0008] Furthermore, the negative pressure device includes a negative pressure pipe and a negative pressure pump. The suction end of the negative pressure pump is connected to the negative pressure pipe. The negative pressure pipe is located at the connection between the ball picking channel and the temporary ball storage channel, and it is above the impact plate. During process S2, when the negative pressure pump is started, an upward pulse airflow is formed in the ball picking channel, and the upward pulse airflow in the ball picking channel is eventually discharged to the outside through the negative pressure pump.

[0009] Furthermore, the lower ball-collecting end of the ball-collecting channel is provided with a flared opening. During process S2, when the negative pressure pump is started, a negative pressure sufficient to suction a single ping-pong ball is formed at the flared opening.

[0010] Furthermore, the ping-pong ball limiting platform includes a support platform with a limiting groove on the support platform; at the end of S2, the ping-pong ball squeezed out from the ball outlet end of the temporary ball storage channel is limited in the limiting groove on the support platform.

[0011] Furthermore, the serving unit includes a ball storage mechanism, a serving mechanism, and a ball receiving mechanism; during process S3, the ball receiving mechanism of the serving unit collects the ping-pong balls that are squeezed from the ball outlet end of the temporary ball storage channel onto the ping-pong ball limiting platform into the ball storage mechanism; during process S5, the serving mechanism of the serving unit continuously serves the ping-pong balls stored in the ball storage mechanism.

[0012] Beneficial Effects: The working method of the integrated serving and retrieving table tennis robot of the present invention can realize the retrieval and serving of table tennis balls. Its beneficial effects are as follows: Several table tennis balls are stored in the temporary ball storage channel. The gravity of the several table tennis balls cannot push open the baffle at the ball outlet end of the temporary ball storage channel, and the suction force of the negative pressure device in the temporary ball storage channel cannot overcome the gravity to suck out the table tennis balls in the temporary ball storage channel. When the negative pressure device, the ball retrieval channel and the impact plate work together to send a table tennis ball to be picked up on the ground into the temporary ball storage channel, the number of table tennis balls in the temporary ball storage channel increases. The gravity of the increased number of table tennis balls can push open the baffle at the ball outlet end of the temporary ball storage channel, causing the temporary ball storage channel to discharge a table tennis ball. Then, the ball receiving mechanism of the serving unit collects the table tennis ball discharged from the temporary ball storage channel into the ball storage mechanism of the serving unit, thereby realizing the ball retrieval. After the ball retrieval process is completed, the serving unit continuously serves the table tennis balls in the ball storage unit, thereby realizing the serving. Attached Figure Description

[0013] Appendix Figure 1 This is a diagram illustrating the working steps of the table tennis robot of the present invention;

[0014] Appendix Figure 2 This is a schematic diagram of the overall structure of the table tennis robot of the present invention. Figure 1 ;

[0015] Appendix Figure 3 This is a schematic diagram of the overall structure of the table tennis robot of the present invention. Figure 2 ;

[0016] Appendix Figure 4 A schematic diagram of the internal structure at the connection between the temporary ball storage channel and the ball retrieval channel;

[0017] Appendix Figure 5 A schematic diagram of the elastic ball-blocking mechanism and the ping-pong ball limiting table;

[0018] Appendix Figure 6 A schematic diagram of the ball-collecting end at the lower end of the ball-collecting channel;

[0019] The numbers and letters in the diagram represent the following components: 1. Ball collection channel; 2. Temporary ball storage channel; 3. Impact plate; 4. Negative pressure device; 5. Ball serving unit; 6. Elastic ball blocking mechanism; 7. Ping pong ball limiting platform; 8. Ventilation hole; 9. V-shaped ball collecting plate; 10. Screw motor; 11. Ball storage mechanism; 12. Ball serving mechanism; 13. Ball collecting mechanism; 14. Ball collecting inlet; 15. Ball blocking rope; 16. Motor; 17. Pulley; 18. Belt; 19. Belt buckle; 20. Linear slide rail; 21. Mecanum wheel; 22. Flared opening; 23. Limiting groove. Detailed Implementation

[0020] The invention will now be further described with reference to the accompanying drawings.

[0021] As attached Figures 1 to 6 The working method of the integrated serving and ball-collecting table tennis robot includes a walking robot equipped with a vertical ball-collecting channel 1 and an oblique temporary ball-storage channel 2. The ball-collecting channel 1 is used to pick up table tennis balls from the ground, and the temporary ball-storage channel 2 can temporarily store table tennis balls. The upper end of the ball-collecting channel 1 is connected to the upper end of the temporary ball-storage channel 2. There is a ventilated impact plate 3 at the connection between the ball-collecting channel 1 and the temporary ball-storage channel 2, and a negative pressure device 4 is located above the impact plate 3. The ball-discharging end of the temporary ball-storage channel 2 corresponds to the ball-receiving end of the serving unit 5.

[0022] The robot's working steps are as follows:

[0023] S1: The robot walks and searches for ping-pong balls to be picked up on the ground, so that the lower end of the ball-picking channel 1 corresponds to the ping-pong ball to be picked up.

[0024] S2: Control negative pressure device 4 generates a pulse negative pressure. The ping-pong ball to be picked up enters the ball picking channel 1 under the action of the pulse negative pressure and rises under the action of inertia until it collides with the impact plate 3. The impact plate 3 bounces the ping-pong ball into the temporary ball storage channel 2.

[0025] S3: The receiving end of the serving unit 5 collects the ping-pong ball coming out of the ball outlet of the temporary ball storage channel 2 into the ball storage mechanism of the serving unit 5;

[0026] S4: Repeat steps S1 to S3 until the ball storage mechanism of the serving unit 5 is full of ping-pong balls;

[0027] S5: Serving Unit 5: Continuous serve.

[0028] The ball outlet end of the temporary ball storage channel 2 is equipped with an elastic ball-blocking mechanism 6. In the initial state before S1, the temporary ball storage channel 2 stores a number of ping-pong balls. The number of ping-pong balls in the temporary ball storage channel 2 is just unable to push open the elastic ball-blocking mechanism 6 at the ball outlet end. In the initial state, the number of ping-pong balls stored in the temporary ball storage channel 2 can be regarded as a set of ping-pong balls, which blocks the temporary ball storage channel 2. Suppose that the negative pressure transmitted to the temporary ball storage channel when the pulse negative pressure device 4 is started is P1. The pressure difference between P1 and the normal pressure P2 at the ball outlet end is insufficient to drive the set of ping-pong balls to move in the opposite direction against gravity along the temporary ball storage channel 2. If the number of ping-pong balls in the set increases and the pulse negative pressure device 4 is paused, the increased number of ping-pong balls in the set can just push open the elastic ball-blocking mechanism 6 at the ball outlet end under the action of gravity. The gravitational characteristics of the ping-pong ball collection have two functions: first, to resist the negative pressure P1 and prevent the ping-pong balls in the temporary ball storage channel 2 from shifting in the opposite direction; and second, to push open the elastic ball-blocking mechanism 6 and expel the ping-pong balls in the temporary ball storage channel 2.

[0029] In one embodiment, the temporary ball storage channel 2 initially contains five ping-pong balls, and the collection of the five ping-pong balls blocks the temporary ball storage channel 2. When the pulse negative pressure device 4 is activated, the negative pressure transmitted to the temporary ball storage channel is P1. The pressure difference between P1 and the normal pressure P2 at the ball outlet is insufficient to drive the collection of five ping-pong balls to move in the opposite direction against gravity along the temporary ball storage channel 2. If the number of ping-pong balls stored in the temporary ball storage channel 2 increases to six, and the pulse negative pressure device 4 is paused, the collection of six ping-pong balls, under the action of gravity, can just push open the elastic ball-blocking mechanism 6 at the ball outlet.

[0030] The ball outlet end of the temporary ball storage channel 2 is equipped with a ping-pong ball limiting platform 7, which can limit the ping-pong balls placed on it. During S2, the pulse negative pressure device 4 generates a pulse negative pressure at the connection between the ball picking channel 1 and the temporary ball storage channel 2. By controlling the negative pressure intensity of the negative pressure device 4, the negative pressure generated by the pulse negative pressure device 4 is transmitted to the negative pressure in the temporary ball storage channel as P1. The pressure difference between P1 and the normal pressure P2 at the ball outlet end is insufficient to drive the ping-pong ball collection to move in the opposite direction against gravity along the temporary ball storage channel 2. At the same time, the negative pressure generated by the pulse negative pressure device 4 is transmitted to the ball outlet end. The negative pressure delivered to the ball-collecting channel 1 is P3. P3 can lift a single ping-pong ball from the ground at the lower end of the ball-collecting channel 1 to impact the impact plate 3, so that the ball-collecting channel 1 has the function of collecting balls. When S2 ends, the pulse negative pressure device 4 enters the pause state. Since a ping-pong ball has entered the temporary ball storage channel 2, the number of ping-pong balls in the ping-pong ball collection increases. The weight of the ping-pong ball collection increases after the increase in the number of balls. As a result, the ping-pong ball closest to the ball-ejection end is squeezed out of the elastic ball-blocking mechanism 6 at the ball-ejection end and squeezed onto the ping-pong ball limiting platform 7, so that the ping-pong ball collection in the temporary ball storage channel 2 returns to its initial weight.

[0031] The elastic ball-blocking mechanism 6 includes a baffle hinged to the ball-out end of the temporary ball storage channel 2. A torsion spring is provided at the hinge. Under the elastic force of the torsion spring, the baffle partially blocks the ball-out end of the temporary ball storage channel 2, allowing air to pass through but preventing ping-pong balls from passing through. At the end of S2, the weight of the increased number of ping-pong balls increases, causing the ping-pong ball closest to the ball-out end to overcome the elastic force of the torsion spring and push open the baffle. This allows the ping-pong ball closest to the ball-out end to be squeezed out from the ball-out end of the temporary ball storage channel 2 onto the ping-pong ball limiting platform 7. After the ping-pong ball closest to the ball-out end is squeezed out onto the ping-pong ball limiting platform 7, the ping-pong ball collection in the temporary ball storage channel 2 returns to its initial weight. The gravity of the ping-pong ball collection, now at its initial weight, is insufficient to push open the baffle. Under the elastic force of the torsion spring, the baffle returns to its original position, partially blocking the ball-out end of the temporary ball storage channel 2.

[0032] The impact plate 3 is an inclined flat plate structure with ventilation holes 8 distributed on it; the ball-collecting channel 1 is a vertical straight pipe with a certain inclination angle, the angle between the ball-collecting channel 1 and the horizontal direction is 70 degrees to 80 degrees, preferably 75 degrees; the temporary ball storage channel 2 is an inclined curved pipe, the temporary ball storage channel 2 gradually narrows from the top to the bottom to adapt to the shape of the ping-pong ball, so that the ping-pong ball collection can block the temporary ball storage channel 2, the upper end of the temporary ball storage channel 2 is connected to the upper end of the ball-collecting channel 1, the angle between the upper end of the temporary ball storage channel 2 and the horizontal direction is 20 to 30 degrees, preferably 25 degrees, and the lower ball-exit end of the temporary ball storage channel 2 gradually curves to the horizontal direction; the impact plate 3 has an angle of 40 degrees to 50 degrees with the horizontal direction, so that the ping-pong ball picked up by the ball-collecting channel 1 bounces into the temporary ball storage channel 2 after hitting the impact plate 3. The vents 8 on the impact plate 3 are located at the edge of the impact plate 3. When the ping-pong ball hits the impact plate 3, it will not hit the vents 8 located at the edge of the impact plate 3, thus controlling the rebound direction of the ping-pong ball after hitting the impact plate 3. During S2, the negative pressure generated by the negative pressure device 4 is transmitted to the ball collection channel 1 and the temporary ball storage channel 2 through the vents 8 on the impact plate 3.

[0033] The negative pressure device 4 includes a negative pressure pipe and a negative pressure pump. The suction end of the negative pressure pump is connected to the negative pressure pipe. The negative pressure pipe is located at the connection between the ball picking channel 1 and the temporary ball storage channel 2, and is above the impact plate 3. During the process of S2, when the negative pressure pump is started, an upward pulse airflow is formed in the ball picking channel 1, and the upward pulse airflow in the ball picking channel 1 is eventually discharged to the outside through the negative pressure pump.

[0034] The lower end of the ball-collecting channel 1 is equipped with a flared opening 22. During process S2, when the negative pressure pump is started, a negative pressure sufficient to suction a single ping-pong ball is formed at the flared opening 22. A V-shaped ball-collecting plate 9 is also provided at the bottom of the robot. Since the ball-collecting channel 1 can only collect one ping-pong ball at a time, when there are many ping-pong balls on the ground, the suction speed of the ball-collecting channel 1 is insufficient to completely absorb all the ping-pong balls on the ground in time. The V-shaped ball-collecting plate 9 can first gather the ping-pong balls below the robot, giving the ball-collecting channel 1 enough time to absorb them. When the last ping-pong ball is collected, the negative pressure at the flared opening 22 may not be able to suck the innermost ping-pong ball into the ball-collecting channel 1. Therefore, a lead screw motor 10 is added behind the V-shaped plate to push the ping-pong ball to the flared opening 22 of the ball-collecting channel 1.

[0035] The ping-pong ball limiting platform 7 includes a support platform, and a limiting groove 23 is provided on the support platform. The limiting groove 23 is a ball arc groove. When S2 ends, the ping-pong ball squeezed out from the ball outlet end of the temporary ball storage channel 2 is limited in the limiting groove 23 on the support platform.

[0036] The serving unit 5 includes a ball storage mechanism 11, a serving mechanism 12, and a ball receiving mechanism 13. During process S3, the ball receiving mechanism 13 of the serving unit 5 collects the ping-pong balls squeezed from the ball outlet of the temporary ball storage channel 2 onto the ping-pong ball limiting table 7 into the ball storage mechanism 11. During process S5, the serving mechanism 12 of the serving unit 5 continuously serves the ping-pong balls stored in the ball storage mechanism 11. The serving mechanism 12 of the serving unit 5 is a ping-pong ball launcher, which is existing technology and will not be described in detail. The ball storage mechanism 11 of the serving unit 5 is a ball storage box, and the ball receiving mechanism 13 includes a ball receiving inlet 14 located on one side of the ball storage box. The ball receiving inlet 14 corresponds to the ping-pong ball limiting platform 7. The ball receiving inlet 14 is provided with an elastic ball blocking rope 15, which can prevent the ping-pong balls in the ball storage box from escaping from the ball receiving inlet 14. The entire serving unit 5 reciprocates under the drive of the displacement mechanism. When the ball receiving inlet 14 is moved to the location of the ping-pong ball limiting platform 7, the ping-pong balls on the ping-pong ball limiting platform 7 push through the ball blocking rope 15 and enter the ball storage box.

[0037] The robot is equipped with a linear guide rail 20. The serving unit 5 is slidably mounted on the linear guide rail 20. The displacement mechanism drives the serving unit 5 to perform linear reciprocating motion on the linear guide rail 20. The displacement mechanism includes a motor 16, a pulley 17, and a belt 18. The motor 16 and pulley 17 work together to drive the belt 18. The ball storage box of the serving unit 5 is connected to the belt 18 via a belt buckle 19. Therefore, when the motor 16 starts, it can drive the serving unit 5 to perform linear reciprocating motion on the linear guide rail 20. A ball picking channel 1 and a temporary ball storage channel 2 are combined to form a ball picking unit. The robot is equipped with two ball picking units to increase ball picking efficiency. The ping-pong ball limiting platforms 7 in the two ball picking units are located at both ends of the linear guide rail. The sides of the ball storage box are respectively provided with ball receiving inlets 14 corresponding to the two ping-pong ball limiting platforms 7. When the ball storage box moves to both ends of the linear guide rail, the ping-pong balls on the corresponding ping-pong ball limiting platforms 7 are collected into the ball storage box. In addition, in S5, when the serving unit 5 serves, the serving mechanism 12 can move back and forth on the linear guide rail 20 while serving, which increases the training difficulty for the user.

[0038] The robot also includes a walking unit, which comprises four sets of Mecanum wheels 21 mounted on the bottom of the robot, enabling omnidirectional movement. The robot further includes a control unit and a ping-pong ball detection and positioning unit. The ping-pong ball detection and positioning unit includes a binocular camera, a SLAM lidar, and an ultrasonic ranging module. These components work together to identify and locate the ping-pong ball to be picked up, transmitting its position information to the control unit. The control unit then controls the walking unit to move the robot to the location of the ping-pong ball, thus aligning the lower end of the ball-picking channel 1 with the ping-pong ball.

[0039] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. The working method of a table tennis robot integrating serving and ball retrieval, characterized in that: It includes a walking robot with a vertical ball-collecting channel and an oblique temporary ball-storage channel. The upper end of the ball-collecting channel is connected to the upper end of the temporary ball-storage channel. There is a ventilated impact plate at the connection between the ball-collecting channel and the temporary ball-storage channel. There is a negative pressure device above the impact plate. The ball-discharging end of the temporary ball-storage channel corresponds to the ball-receiving end of the serving unit. The robot's working steps are as follows: S1: The robot walks and searches for ping-pong balls to be picked up on the ground, so that the lower end of the ball-picking channel corresponds to the ping-pong ball to be picked up. S2: The control negative pressure device generates a pulse negative pressure. The ping-pong ball to be picked up enters the ball picking channel under the action of the pulse negative pressure and rises under the action of inertia until it collides with the impact plate. The impact plate bounces the ping-pong ball into the temporary ball storage channel. S3: The receiving end of the serving unit collects the ping-pong ball coming out of the ball outlet of the temporary ball storage channel into the ball storage mechanism of the serving unit; S4: Repeat steps S1 to S3 until the ball storage mechanism of the serving unit is full of ping-pong balls; S5: Continuous serve from the serving unit; The ball outlet end at the lower end of the temporary ball storage channel is equipped with an elastic ball blocking mechanism; In the initial state before S1, the temporary ball storage channel contains a number of ping-pong balls. The number of ping-pong balls in the temporary ball storage channel is just unable to push open the elastic ball blocking mechanism at the ball outlet. In the initial state, the number of ping-pong balls stored in the temporary ball storage channel can be regarded as a set of ping-pong balls, which blocks the temporary ball storage channel. When the pulse negative pressure device is started, the negative pressure transmitted to the temporary ball storage channel is P1. The pressure difference between P1 and the normal pressure P2 at the ball outlet is insufficient to drive the ping-pong ball collection to move in the opposite direction against gravity along the temporary ball storage channel. If the number of ping-pong balls in the ping-pong ball set increases and the pulse negative pressure device is paused, the increased number of ping-pong balls will just be able to push open the elastic ball-blocking mechanism at the ball-out end under the action of gravity.

2. The working method of the integrated serving and ball-retrieving table tennis robot according to claim 1, characterized in that: The ball outlet at the lower end of the temporary ball storage channel is equipped with a ping-pong ball limiting table; During S2, the pulse negative pressure device generates pulse negative pressure at the connection between the ball-collecting channel and the temporary ball-storage channel. By controlling the intensity of the negative pressure of the negative pressure device, the negative pressure generated by the pulse negative pressure device is transmitted to the temporary ball-storage channel as P1. The pressure difference between P1 and the normal pressure P2 at the ball-out end is insufficient to drive the ping-pong ball collection to move in the opposite direction against gravity along the temporary ball-storage channel. At the same time, the negative pressure generated by the pulse negative pressure device is transmitted to the ball-collecting channel as P3. P3 can lift a single ping-pong ball from the ground at the lower end of the ball-collecting channel to impact the impact plate. When S2 ends, the pulse negative pressure device enters a pause state. Because a ping-pong ball enters the temporary ball storage channel, the number of ping-pong balls in the ping-pong ball collection increases, and the weight of the ping-pong ball collection increases. This causes the ping-pong ball closest to the ball outlet to push aside the elastic ball-blocking mechanism at the ball outlet and be squeezed onto the ping-pong ball limiting platform, so that the ping-pong ball collection in the temporary ball storage channel returns to its initial weight.

3. The working method of the integrated serving and ball-collecting table tennis robot according to claim 2, characterized in that: The elastic ball-blocking mechanism includes a baffle hinged to the ball-out end of the temporary ball storage channel. The baffle partially blocks the ball-out end of the temporary ball storage channel, and a torsion spring is provided at the hinge. At the end of S2, the weight of the ping-pong ball collection increases after the quantity is increased, causing the ping-pong ball closest to the ball outlet to overcome the elastic force of the torsion spring and push open the baffle, thus squeezing the ping-pong ball closest to the ball outlet from the ball outlet of the temporary ball storage channel onto the ping-pong ball limiting platform; after the ping-pong ball closest to the ball outlet is squeezed onto the ping-pong ball limiting platform, the ping-pong ball collection in the temporary ball storage channel returns to its initial weight; the baffle resets under the elastic reset action of the torsion spring.

4. The working method of the integrated serving and ball-retrieving table tennis robot according to claim 1, characterized in that: The impact plate is an inclined flat plate structure, and air vents are distributed on the impact plate; During S2, the negative pressure generated by the negative pressure device is transmitted to the ball picking channel and the temporary ball storage channel through the vent holes on the impact plate.

5. The working method of the integrated serving and ball-retrieving table tennis robot according to claim 1, characterized in that: The negative pressure device includes a negative pressure pipe and a negative pressure pump. The suction end of the negative pressure pump is connected to the negative pressure pipe. The negative pressure pipe is located at the connection between the ball picking channel and the temporary ball storage channel, and the negative pressure pipe is above the impact plate. During process S2, when the negative pressure pump starts, it creates an upward pulse airflow in the ball-collecting channel, and the upward pulse airflow in the ball-collecting channel is eventually discharged to the outside through the negative pressure pump.

6. The working method of the integrated serving and ball-retrieving table tennis robot according to claim 5, characterized in that: The lower end of the ball-collecting channel is provided with a flared opening. During process S2, when the negative pressure pump is started, a negative pressure is formed at the flared opening that is sufficient to suction a single ping-pong ball.

7. The working method of the integrated serving and ball-collecting table tennis robot according to claim 2, characterized in that: The ping-pong ball limiting platform includes a support platform with a limiting groove on the support platform; at the end of S2, the ping-pong ball squeezed out from the ball outlet end of the temporary ball storage channel is limited to the limiting groove on the support platform.

8. The working method of the integrated serving and ball-collecting table tennis robot according to claim 2, characterized in that: The ball-serving unit includes a ball storage mechanism, a ball-serving mechanism, and a ball-receiving mechanism; During S3, the ball receiving mechanism of the serving unit will collect the ping-pong ball that was squeezed out from the ball outlet of the temporary ball storage channel onto the ping-pong ball limiting table into the ball storage mechanism. During S5, the serving unit continuously launches the ping-pong balls stored in the ball storage mechanism.

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