Multi-color sorting table tennis serving machine

Abstract

The invention discloses a multicolor sorting table tennis serving machine, which belongs to training equipment in the technical field of physical training equipment, and adopts the technical scheme that the multicolor sorting table tennis serving machine comprises a color sorting device which is used for inputting and color sorting of table tennis balls; the conveying device communicates with the output end of the color sorting device, and the conveying device is used for lifting and conveying the classified table tennis balls; the output end of the conveying device communicates with a launching device, and the launching device conducts multi-angle launching on the table tennis balls through a launching wheel arranged in the launching device; according to the multi-color sorting table tennis serving machine, table tennis balls with different colors are subjected to color recognition and then enter the conveying device to be conveyed to the launching device to be launched at multiple angles, the colors and launching parameters of the table tennis balls are accurately controlled, a coach can more scientifically plan the training content, and the training efficiency is improved. Comprising reaction time training, attention distribution training and the like, so that the scientificity and effectiveness of training are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of sports training equipment, and particularly relates to a multi-color sorting table tennis ball serving machine. Background Art

[0002] Among existing table tennis training equipment, serving machines are common auxiliary tools, mainly used to simulate opponents' serves to improve athletes' reaction speeds and receiving skills. These serving machines usually have basic serving functions, such as adjustable serving speed, spin, and landing point, but they generally lack the ability to identify and classify the colors of table tennis balls. This means that when athletes use these serving machines, they cannot conduct specific training based on the color of the balls, such as rapid identification and reaction to balls of specific colors.

[0003] Existing serving machines mainly rely on mechanical and electronic control in technical implementation, and control the rhythm and mode of serving through preset programs. However, this mechanical operation method limits their diversity and flexibility in simulating real matches. For example, in a match, the color of the opponent's serve may affect the athlete's judgment, while existing serving machines cannot simulate the challenges brought about by such color changes.

[0004] In addition, existing serving machines also have deficiencies in accuracy and intelligence. They often cannot precisely control the landing point and trajectory of the balls, nor can they adjust the serving strategy according to the athlete's real-time performance. This lack of intelligent adaptability limits the application of serving machines in advanced training and match simulation.

[0005] In summary, the defects of the existing technology mainly lie in the inability to achieve color recognition and classification to provide more refined auxiliary support for sports training. Summary of the Invention

[0006] The purpose of the present invention is to provide a multi-color sorting table tennis ball serving machine. After color recognition of table tennis balls of different colors, they enter the conveying device and are conveyed to the launching device for multi-angle launching. By precisely controlling the color and launching parameters of the table tennis balls, coaches can more scientifically plan training content, including reaction time training, attention distribution training, etc., thereby improving the scientific nature and effectiveness of training.

[0007] The purpose of the present invention is achieved as follows. A multi-color sorting table tennis ball serving machine is provided with a housing, including:

[0008] A color sorting device for inputting and color sorting table tennis balls;

[0009] A conveying device, which is communicated with the output end of the color sorting device and is used for lifting and conveying the sorted table tennis balls; and

[0010] The output end of the conveying device is connected and provided with a launching device, and in the launching device, a launching wheel is arranged to launch table tennis balls at multiple angles.

[0011] Further, the color sorting device includes a primary ball collecting basket, a ball dropping pipeline, a sorting bin, and a guiding channel that are connected in sequence from top to bottom. A color recognition sensor and a ball sorting device are arranged in the sorting bin. The color recognition sensor is placed above the ball sorting device. The guiding channel is provided with three ball output channel pipes, and the output ends of the three ball output channel pipes converge and are connected to the conveying device.

[0012] Further, the ball sorting device includes an outer circular baffle and a first rotary valve that are rotatably arranged in the vertical direction. The first rotary valve is placed inside the outer circular baffle. The outer circular baffle is provided with a ball outlet. The first rotary valve includes three baffles arranged in a circumferential array. Both sides of the outer circular baffle and the first rotary valve are accommodated by the inner wall of the sorting bin.

[0013] Further, the conveying device includes an "L"-shaped conveying pipeline, a conveyor belt assembly arranged in the "L"-shaped conveying pipeline, and a second rotary valve. The upper end of the bottom of the "L"-shaped conveying pipeline is provided with a feeding port, and the end face at the top of the "L"-shaped conveying pipeline is provided with a discharging port. The second rotary valve is vertically rotatably arranged directly below the feeding port and is arranged close to the conveyor belt assembly.

[0014] Further, the conveyor belt assembly includes a plurality of rollers rotatably arranged in the transverse direction of the "L"-shaped conveying pipeline and a conveyor belt sleeved on the plurality of rollers. A plurality of partitions are evenly arranged on the outer surface of the conveyor belt in the width direction. The plurality of partitions are perpendicular to the conveyor belt and are arranged at equal intervals. Any one of the rollers is driven by a first servo motor.

[0015] Further, the second rotary valve includes a disk body rotatably arranged in the "L"-shaped conveying pipeline. The disk body is evenly provided with a plurality of partitions in the vertical direction. An arc-shaped notch is formed between two adjacent partitions. The disk body is driven by a second servo motor arranged on the "L"-shaped conveying pipeline.

[0016] Further, the launching device includes a launching bin, a transmission assembly arranged in the launching bin, and an angle adjustment device arranged at the bottom of the launching bin. The launching bin is fixedly connected to the housing through a launching support by means of the angle adjustment device. A ball inlet is arranged on one side of the launching bin close to the "L"-shaped conveying pipeline, and a ball outlet is arranged at a position of the launching bin opposite to the ball inlet.

[0017] Furthermore, the transmission assembly includes two vertically arranged driving units, each of which is provided with a serving servo motor and a transmission rod fixed on a launching bin, the transmission rod is arranged in the launching bin and is rotated by the serving servo motor, the transmission rod is provided with the launching wheel, and the launching wheels in the two driving units can clamp the launched table tennis ball.

[0018] Furthermore, the angle adjustment device includes a first cantilever assembly and a second cantilever assembly, the first cantilever assembly includes a connecting head fixedly arranged at the bottom of the launch chamber and a connecting shaft hingedly arranged at the connecting head, the connecting head is swung and controlled by a first swinging motor fixedly arranged on the connecting shaft; the second cantilever assembly includes a connecting seat hingedly arranged at the bottom of the connecting shaft, the connecting shaft and the connecting seat are swung and controlled by a second swinging motor fixed on the connecting shaft; the connecting seat is fixedly arranged on the launch support, and the rotating shafts of the first swinging motor and the second swinging motor are arranged perpendicular to each other.

[0019] Furthermore, a plurality of the color recognition sensors are arranged on the falling path of the table tennis ball, and a plurality of LED light sources are evenly arranged around the color recognition sensors.

[0020] The beneficial effects of the present invention are embodied in:

[0021] In the present invention, the training is targeted, and the addition of the color sorting function enables the serving machine to classify and launch according to the color of the table tennis balls, which provides athletes with a richer and more targeted training scene. By accurately controlling the color and launch parameters of the table tennis balls, the coach can plan the training content more scientifically, including reaction time training, attention allocation training, etc., thereby improving the scientificity and effectiveness of the training. Athletes can practice the rapid recognition and reaction to balls of specific colors, which is particularly important when the opponent uses color psychological tactics in actual competitions. Improve training efficiency: Through automated color recognition and classification, the serving machine can quickly and accurately provide table tennis balls of the required color, reducing the time for manual screening and improving the continuity and efficiency of training. Promote the development of technical tactics: The color sorting function provides coaches and athletes with a new training tool, which helps to develop and practice tactics based on color changes and increase the diversity of game strategies. Improve athlete adaptability: Simulating the serving of balls of different colors in training can help athletes adapt to various game environments and opponent's serving strategies, and enhance their adaptability and adaptability in the game. Innovative training methods: The introduction of the color selection function has brought innovation to table tennis training. More complex training programs can be designed through color coding, such as combination training of color, rotation and speed, thereby comprehensively improving the skills of athletes. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0023] Figure 1 Schematic diagram of the overall structure of the serving device of the present invention;

[0024] Figure 2 Schematic diagram of the internal structure of the serving device of the present invention;

[0025] Figure 3 Schematic diagram of the overall structure of the color sorting device of the present invention;

[0026] Figure 4 Front view of the color sorting device of the present invention;

[0027] Figure 5 Schematic diagram of the internal structure of the color sorting device of the present invention;

[0028] Figure 6 Schematic diagram of the overall structure of the "L"-shaped conveying pipeline of the present invention;

[0029] Figure 7 Schematic diagram of the internal structure of the launching device of the present invention.

[0030] In the drawings, 1 - housing, 2 - color sorting device, 3 - conveying device, 4 - launching device, 5 - launching wheel, 6 - primary ball collecting basket, 7 - ball dropping pipeline, 8 - sorting bin, 9 - guiding channel, 10 - color recognition sensor, 11 - ball sorting device, 12 - ball conveying channel pipe, 13 - outer circular baffle, 14 - first rotary valve, 15 - inlet and outlet, 16 - baffle, 17 - "L"-shaped conveying pipeline, 18 - conveyor belt assembly, 19 - second rotary valve, 20 - feeding port, 21 - discharging port, 22 - roller shaft, 23 - conveyor belt, 24 - limiting plate, 25 - disc body, 26 - partition board, 27 - arc-shaped notch, 28 - second servo motor, 29 - launching chamber, 30 - angle adjusting device, 31 - launching support, 32 - ball inlet, 33 - ball outlet, 34 - driving unit, 35 - serving servo motor, 36 - transmission rod, 37 - first cantilever assembly, 38 - second cantilever assembly, 39 - connecting head, 40 - connecting shaft, 41 - first swing motor, 42 - connecting seat, 43 - second swing motor, 44 - first servo motor, 45 - transmission assembly, 46 - LCD touch screen. Specific embodiments

[0031] The embodiments of the technical solution of the present invention will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present invention more clearly, so they are only examples and cannot be used to limit the protection scope of the present invention.

[0032] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meaning understood by those skilled in the art to which the present invention belongs.

[0033] Referring to Figures 1-7 , a multi-color sorting table tennis ball serving machine is provided with a housing 1, including:

[0034] A color sorting device 2, which is used for the input and color sorting of table tennis balls;

[0035] A conveying device 3, which is connected to the output end of the color sorting device 2, and the conveying device 3 is used for lifting and conveying the sorted table tennis balls; and

[0036] The output end of the conveying device 3 is connected to a launching device 4, and in the launching device 4, the table tennis balls are launched at multiple angles through a set launching wheel 5.

[0037] By arranging the color sorting device 2, the conveying device 3 and the launching device 4 in the housing 1, the launching of the table tennis balls after color sorting is realized. Specifically, the color sorting device 2 realizes the supply of the table tennis balls from top to bottom, and realizes the sorting and classification of multiple colors. During the classification process, the sorted table tennis balls enter the conveying device 3, are continuously conveyed from bottom to top and supplied to the launching device 4 for launching operation. After the conveying device 3 supplies the table tennis balls, the provided launching device 4 enters the launching device 4 for launching. The launching operation is to apply a frictional force to the table tennis balls through the internally provided launching wheel 5, thereby launching at multiple angles.

[0038] Preferably, the color sorting device 2 includes a first-stage ball collecting basket 6, a ball dropping pipe 7, a sorting bin 8 and a guiding channel 9 which are connected in sequence from top to bottom. A color recognition sensor 10 and a ball sorting device 11 are arranged in the sorting bin 8. The color recognition sensor 10 is placed above the ball sorting device 11. The guiding channel 9 is provided with three ball output channel pipes 12, and the output ends of the three ball output channel pipes 12 converge and are connected to the conveying device 3.

[0039] Specifically, during the operation of color sorting, a primary ball collecting basket 6 is provided in the color sorting device 2 to collect and convey table tennis balls, and the balls are transferred through a falling ball pipe 7 and then enter the sorting bin 8 for sorting. The table tennis balls entering the sorting bin 8 are identified by a color recognition sensor 10 during the falling process. At the same time, the ball sorting device 11 is activated to centrally collect table tennis balls of the same color. Optionally, the classification categories are set to three. Further, three ball conveying channel pipes 12 are provided in the guiding channel 9 connected to the end of the sorting bin 8. The three ball conveying channel pipes 12 are connected at the bottom of the sorting bin 8, and their openings are all on the horizontal plane. Thus, it is convenient for the ball sorting device 11 to transfer table tennis balls of corresponding categories to the corresponding ball conveying channel pipes 12 for further conveyance.

[0040] As a preferred embodiment of this example, the color recognition sensor 10 is selected as a TCS34725RGB color sensor. This sensor can accurately measure colors under different light conditions, has a high spectral response and a wide operating temperature range, and is suitable for application in the color sorting module. The sensor calculates the color of the sphere through the intensity values of the RGB three primary colors (red, green, blue), and the output value can be transmitted to the controller through the I2C interface.

[0041] The sensor should be installed in a reflective manner to avoid direct contact and reduce errors. If there is strong ambient light, a light shield can be installed around the sensor.

[0042] As a preferred embodiment of this example, the color recognition sensor 10 can adopt a photoelectric sensor, a machine vision system or a multispectral sensor. Photoelectric sensor: The photoelectric sensor is used to detect the light intensity reflected from the surface of the table tennis ball, and the color of the table tennis ball is judged by the change of the light intensity, which is suitable for high-speed conveying lines. Machine vision system: The image of the table tennis ball is captured by a camera, and the color of the table tennis ball is analyzed by using image processing algorithms to achieve high-precision color recognition. Multispectral sensor: The multispectral sensor is used to capture the reflection characteristics of the table tennis ball at different wavelengths, and the color of the table tennis ball is identified by analyzing the spectral data to improve the accuracy of color recognition.

[0043] As a preferred method, in a dynamic conveying environment, the movement of the table tennis ball may deviate from the best detection area of the sensor, resulting in color detection errors. The dynamic multi-point detection system solves this problem through multi-sensor layout.

[0044] Sensor layout: Along the conveying path in the falling detection area of the table tennis ball, 2 to 3 RGB sensors are arranged to form a multi-point detection area. Each sensor covers different angles and positions to ensure that at least one sensor can capture complete color data regardless of how the sphere moves.

[0045] Data fusion and processing: Each sensor collects the RGB values of the table tennis ball in real time and transmits them to the control system. The control system uses a data fusion algorithm (such as weighted average) to process the outputs of multiple sensors, eliminating the errors that may be generated by a single sensor. When the detection signal of a certain sensor is abnormal (such as light occlusion or incomplete reflection), the system automatically ignores this data point and uses the outputs of other sensors for judgment.

[0046] For example: Sensor 1 output: R = 210, G = 90, B = 80

[0047] Sensor 2 output: R = 200, G = 85, B = 85

[0048] Final fusion result: R = 205, G = 87.5, B = 82.5

[0049] Color data processing:

[0050] When each sphere passes through the sensor, the sensor returns the RGB values, and the controller judges the color of the ball according to the ratio of RGB. By comparing with the set threshold, accurate classification can be achieved. For the sorting of red, green, and blue table tennis balls in this instrument:

[0051] Red ball: R > G and R > B

[0052] Green ball: G > R and G > B

[0053] Blue ball: B > R and B > G

[0054] Control system and data processing,

[0055] Objective: Process the color data output by the sensor and determine the sorting path.

[0056] It should be emphasized that this embodiment only provides a case of identifying three-color balls, that is, screening red, blue, and green; in the actual operation process, under the action of the RGB sensor, other colors can be screened. Furthermore, not only the above-mentioned red, blue, and green colors are included, but the screening of any three-color combinations to form three-color categories of table tennis balls is within the protection scope of this application.

[0057] Preferably, the ball sorting device 11 includes an outer circular baffle 13 rotatably arranged in the vertical direction and a first rotary valve 14. The first rotary valve 14 is disposed inside the outer circular baffle 13. The outer circular baffle 13 is provided with an inlet and outlet 15. The first rotary valve 14 includes three baffles 16 arranged in a circumferential array. Both sides of the outer circular baffle 13 and the first rotary valve 14 are received by the inner wall of the sorting bin 8.

[0058] In order to screen the table tennis balls after the sensors identify them by color category, the ball sorting device 11 is set to be composed of an outer circular baffle 13 and a first rotary valve 14, and the first rotary valve 14 is placed inside the outer circular baffle 13. The outer circular baffle 13 and the first rotary valve 14 have independent rotational control. Furthermore, during the process of collecting the sorted table tennis balls, the outer circular baffle 13 is rotated, and the inlet and outlet 15 of the outer circular baffle 13 rotates to the upper side to receive the falling table tennis balls, and the received balls are stored in the cavity formed between the outer circular baffle 13 and the first rotary valve 14. Specifically, the first rotary valve 14 includes three baffles 16 arranged in a circumferential array. An accommodation area is formed between two adjacent baffles and the inside of the outer circular baffle 13. With this setting, the accommodation of table tennis balls of 3 different colors is realized. After the color sorting is completed, the outer circular baffle 13 rotates in sequence and docks directly above the corresponding ball output channel pipe 12 to achieve classified transportation.

[0059] Preferably, the conveying device 3 includes an "L"-shaped conveying pipeline 17, a conveyor belt assembly 18 arranged in the "L"-shaped conveying pipeline 17, and a second rotary valve 19. The upper end of the bottom of the "L"-shaped conveying pipeline 17 is provided with a feed inlet 20, the end face of the top of the "L"-shaped conveying pipeline 17 is provided with a discharge outlet 21, and the second rotary valve 19 is vertically rotatably arranged directly below the feed inlet 20 and is arranged close to the conveyor belt assembly 18.

[0060] It should be noted that the conveying device 3 realizes the conveying of the sorted table tennis balls after independent support and accommodation. A plurality of table tennis balls are evenly placed on the conveyor belt assembly 18 for support and then conveyed. The conveying device 3 is provided with an "L"-shaped conveying pipeline 17, and the conveyor belt assembly 18 is rotated and conveyed along the "L"-shaped conveying pipeline 17 to realize the conveying from bottom to top. Thus, the table tennis balls to be conveyed enter from the feed inlet 20, are conveyed by the conveyor belt assembly 18, are discharged from the discharge outlet 21 above, and enter the provided launching device 4 for launching.

[0061] Preferably, the conveyor belt assembly 18 includes a plurality of roller shafts 22 rotatably arranged in the transverse direction of the "L"-shaped conveying pipeline 17 and a conveyor belt 23 sleeved on the plurality of roller shafts 22. A plurality of limiting plates 24 are evenly arranged on the outer surface of the conveyor belt 23 in the width direction. The plurality of limiting plates 24 are perpendicular to the conveyor belt 23 and are arranged at equal intervals. Any one of the roller shafts 22 is driven by a first servo motor 44.

[0062] During the process of realizing the bottom-up conveying of table tennis balls, a plurality of rollers 22 in the lateral direction of the "L"-shaped conveying pipeline 17 are used to rotatably mount the conveyor belt 23. In a specific implementation operation, the conveyor belt 23 is arranged close to the corresponding inner wall of the "L"-shaped conveying pipeline 17, so that the table tennis balls will not slide out. Specifically, a plurality of limiting plates 24 are evenly arranged on the outer surface of the conveyor belt 23 in the width direction, and the plurality of limiting plates 24 are arranged perpendicular to and at equal intervals with the conveyor belt 23; thus, a chamber for accommodating a single table tennis ball can be formed between the two limiting plates 24, and then the conveyor belt 23 can realize the conveying of a plurality of table tennis balls after accommodation, which meets the bottom-up lifting and conveying operation.

[0063] In a preferred embodiment, the conveyor belt 23 is made of a flexible and wear-resistant material such as silicone or rubber to ensure that the table tennis balls will not be damaged during the conveying process, and at the same time avoid unstable sliding of the balls due to overly smooth surfaces. Silicone has good softness and elasticity, which can ensure that the table tennis balls are pushed smoothly. The width of the conveyor belt is slightly larger than the diameter of the table tennis ball (about 40 mm), which can avoid jamming of the table tennis balls due to too narrow a belt. At the same time, partitions are arranged on the conveyor belt with a width slightly larger than the diameter of the table tennis ball (about 40 mm) to ensure single-ball conveying and stable power when conveying the table tennis balls upward.

[0064] The first servo motor 44 uses a stepper motor (NEMA 17) to precisely control the speed of the conveyor belt. The stepper motor can provide precise speed adjustment according to system requirements, making the conveyor belt speed stable and controllable, and avoiding jamming problems caused by being too fast or too slow. The stepper motor is combined with a sensor to control the speed of the conveyor belt through feedback. When the sensor detects that there are multiple table tennis balls stacked on the conveyor belt, the control system can appropriately adjust the conveying speed to avoid multiple balls being taken away together.

[0065] Preferably, the second rotary valve 19 includes a disk body 25 rotatably arranged in the "L"-shaped conveying pipeline 17. A plurality of partitions 26 are evenly arranged on the disk body 25 in the vertical direction, and an arc-shaped notch 27 is formed between two adjacent partitions 26. The disk body 25 is driven by a second servo motor 28 arranged on the "L"-shaped conveying pipeline 17.

[0066] Specifically, in order to place the table tennis balls one by one on the conveyor belt 23, a second rotary valve 19 is provided. The second rotary valve 19 is located at the end of the input end of the conveyor belt 23. Then, after the table tennis balls on the second rotary valve 19 are received through the arc-shaped notch 27, they are rotated to the end of the conveyor belt 23 for subsequent conveying operations after being received.

[0067] To ensure that the conveyor belt receives only one table tennis ball each time and avoid blockage caused by multiple balls entering the conveyor belt simultaneously.

[0068] Rotary valve design: Between the ball basket and the conveyor belt, a second rotary valve 19 is designed to separate the spheres electrically. The second rotary valve 19 can be controlled by a stepper motor and rotated to an appropriate angle to separate a single table tennis ball and convey it onto the conveyor belt 23. Each rotation action corresponds to the conveyor belt receiving one table tennis ball.

[0069] The housing of the second rotary valve 19 adopts a cylindrical or disc-shaped structure, and there are multiple evenly distributed partitions inside. Each partition forms an arc-shaped notch with the valve body, and the width of the notch is slightly larger than the diameter of the table tennis ball (40 mm). This notch is used to accommodate the table tennis ball and release it one by one. The rotating vane inside the second rotary valve 19 is driven by a stepper motor or a servo motor. Each time the rotating vane rotates a certain angle, the notch aligns with the sphere, and on one side of the notch, the table tennis ball is allowed to roll into the ball storage device.

[0070] After each rotation of the rotating vane, the notch can only accommodate one sphere, ensuring that only one ball is released into the conveyor belt each time. The design of the width of the notch and the diameter of the table tennis ball prevents multiple spheres from passing through the notch simultaneously, effectively avoiding jamming.

[0071] Preferably, the launching device 4 includes a launching chamber 29, a transmission assembly 45 arranged in the launching chamber 29, and an angle adjustment device 30 arranged at the bottom of the launching chamber 29. The launching chamber 29 is fixedly connected to the housing 1 through the angle adjustment device 30 and a launching support 31. A goal inlet 32 is arranged on one side of the launching chamber 29 close to the "L"-shaped conveying pipeline 17, and a ball outlet 33 is arranged at a position of the launching chamber 29 opposite to the goal inlet 32.

[0072] It can be understood that during the launching operation, a launching chamber 29 is arranged in the launching device 4, and a transmission assembly 45 is arranged in the launching chamber 29. The transmission assembly 45 applies a clamping force to the table tennis balls conveyed from the "L"-shaped conveying pipeline 17 into the launching chamber 29 and then launches them. Due to the angle adjustment device 30 at the bottom of the launching chamber 29, the angle of the table tennis balls that have entered the launching chamber 29 can be adjusted before launching, thus achieving launching at different angles.

[0073] As an alternative solution, the launching device 4 can adopt:

[0074] Pneumatic launching: Using compressed air as power, the airflow is adjusted by controlling the opening and closing of the air valve to achieve the launching of table tennis balls, which has the characteristics of fast launching speed and high control accuracy.

[0075] Spring mechanism: The elastic potential energy of the spring is converted into the kinetic energy of the table tennis ball to achieve launching. It has a simple structure and is convenient to maintain.

[0076] Preferably, the transmission assembly 45 includes two vertically arranged driving units 34. Each of the two driving units 34 is provided with a serving servo motor 35 fixed on the launching bin 29 and a transmission rod 36. The transmission rod 36 is rotatably arranged in the launching bin 29 through the serving servo motor 35. The launching wheel 5 is sleeved on the transmission rod 36. The launching wheels 5 in the two driving units 34 can clamp the table tennis ball to be launched.

[0077] Since two vertically arranged driving units 34 are provided in the transmission assembly 45, after the table tennis ball enters the launching bin 29, the two driving units 34 clamp the table tennis ball. The serving servo motor 35 on the driving unit 34 controls the rotation of the transmission rod 36, and then drives the launching wheel 5 on the transmission rod 36 to launch the table tennis ball after friction contact.

[0078] Specifically, two groups of high-speed rotating launching wheels 5 (rubber wheels or silicone wheels with high friction) are used to clamp the table tennis ball, and the sphere is accelerated and launched through the friction of the wheels. The two friction wheels are arranged in parallel, and the middle gap is slightly smaller than the diameter of the table tennis ball to ensure that the sphere is firmly clamped.

[0079] The launching wheel is driven by a brushless motor, and the rotation speed of the motor is adjusted by PWM to achieve precise control of the ball speed and rotation, and support different launching speeds and rotation modes.

[0080] Preferably, the angle adjustment device 30 includes a first cantilever assembly 37 and a second cantilever assembly 38. The first cantilever assembly 37 includes a connection head 39 fixedly arranged at the bottom of the launching bin 29 and a connection shaft 40 hinged to the connection head 39. The connection head 39 is swing-controlled by a first swing motor 41 fixedly arranged on the connection shaft 40. The second cantilever assembly 38 includes a connection seat 42 hinged to the bottom of the connection shaft 40. The connection between the connection shaft 40 and the connection seat 42 is swing-controlled by a second swing motor 43 fixedly arranged on the connection shaft 40. The connection seat 42 is fixedly arranged on the launching support 31. The axes of the first swing motor 41 and the second swing motor 43 are perpendicular to each other.

[0081] The launching bin 29 is supported by an angle adjusting device 30, thereby realizing the adjustment of the angle of the launching end, and thus realizing the table tennis ball launching in multiple angular directions. Specifically, a first cantilever assembly 37 and a second cantilever assembly 38 are provided, and the rotation directions between the two are perpendicular, that is, the rotating shafts of the first swing motor 41 and the second swing motor 43 are perpendicular to each other, so that the angle adjusting device 30 has multi-angle adjustment in space.

[0082] Two sets of servo motor-controlled swing arm devices are equipped at the bottom of the launching module to adjust the elevation angle and direction. The direction of the launching module in the horizontal direction and the elevation angle in the vertical direction are adjusted by the servo motor to realize launching in any direction.

[0083] For example, in the set rotation and spinning mechanism:

[0084] The speed on one side of the launching wheel group is slightly higher than that on the other side to realize the spinning launch of the table tennis ball (topspin, backspin, side spin, etc.).

[0085] The user presets the rotation parameters through the LCD display interactive interface on the top of the ball feeder, and the system adjusts the rotation speed of the launching wheel according to the parameters.

[0086] Launch mode realization:

[0087] Flat shot: The rotation speeds of the left and right wheels are equal, and the table tennis ball is launched in a straight line.

[0088] Topspin: The rotation speeds of the left and right wheels are equal, but the elevation angle increases to form a parabolic launch.

[0089] Side spin: The rotation speed of the left wheel is higher than that of the right wheel (or vice versa), causing the ball to rotate during flight.

[0090] Backspin: The direction of the launch port is slightly downward, combined with speed adjustment, to make the ball generate reverse spin.

[0091] Launch frequency matching:

[0092] The system is linked with the conveying module to dynamically adjust the launch frequency according to the actual transmission speed of the table tennis ball.

[0093] The launching wheel is driven by a brushless motor, and the PWM speed regulation technology is used to precisely control the rotation speed of the wheel. The launch speed range can cover 3 to 15 m / s to meet different training needs.

[0094] Flexible launch:

[0095] The inside of the launch port is covered with a flexible material (such as a silicone pad) to prevent the ball from being damaged by friction or losing accuracy due to high-speed collision.

[0096] The launching module is linked with the color sorting module and the user control interface, and supports adjusting the launch parameters according to the color of the ball. For example:

[0097] Red: High-speed flat shot.

[0098] Blue: Medium-speed high lob.

[0099] Green: Low-speed side spin.

[0100] A LCD touch screen 46 is set on the front of the device to display the currently set parameters, including launch speed, angle, rotation mode, frequency, etc.

[0101] The following functions are implemented:

[0102] Parameter adjustment: The user can adjust the speed (such as 3 - 15 m / s), angle (0° - 45°), etc. through sliders or buttons.

[0103] Mode selection: Supports quick switching between preset launch modes.

[0104] The training mode can be adopted.

[0105] Fixed mode:

[0106] The launch parameters (speed, angle, rotation) are fixed, suitable for basic training.

[0107] The user can set a fixed frequency (such as 2 balls per second) for practicing receiving and serving.

[0108] Random mode:

[0109] The system randomly adjusts the launch speed, direction, and rotation mode.

[0110] Train the reaction ability and adaptability.

[0111] Combination mode:

[0112] The user can customize combinations of multiple launch modes, for example:

[0113] The 1st ball: Fast flat shot.

[0114] The 2nd ball: Slow high lob.

[0115] The 3rd ball: Spin ball.

[0116] The system launches in a preset order in a loop.

[0117] Target area mode:

[0118] The user sets multiple target areas (such as area A, area B, area C) on the touch screen or APP, and the system launches the spheres to the corresponding areas according to the set probabilities.

[0119] Suitable for practicing the landing points in imitation of a game.

[0120] Color linkage mode:

[0121] The color selection module identifies the color of the ping-pong ball and then links to the emission module:

[0122] Red: High-speed flat shooting.

[0123] Yellow: medium speed rotation.

[0124] Green: low speed high throw.

[0125] Preferably, a plurality of the color recognition sensors 10 are arranged on the falling path of the table tennis ball, and a plurality of LED light sources are evenly distributed around the color recognition sensor 10 .

[0126] As a preferred method, a group of micro light sources (such as LED lights) are installed around the sensor, and the light source intensity is automatically adjusted in conjunction with the light sensor.

[0127] Light source installation: Arrange a circular LED light source array around the sensor to evenly illuminate the surface of the table tennis ball.

[0128] LED lights can emit cold light (white light) or red, green and blue primary colors of light to enhance the reflection effect of different colors.

[0129] Light intensity detection and control: A set of ambient light sensors (APDS-9301) are installed inside the color sorting module to detect the external light intensity in real time. If the ambient light is insufficient, the LED light will automatically start and increase the brightness; if the ambient light is too strong, the output power of the LED light will be automatically reduced or the light will be turned off. The control system adjusts the brightness of the LED light through PWM (pulse width modulation) based on the input signal of the light intensity sensor.

[0130] In order to achieve better interactive functions, mobile application control: develop mobile applications, users can remotely control the ball machine through smartphones, realize parameter setting, status monitoring and other functions, and improve the flexibility of user interaction. Voice control: integrate voice recognition technology, users can control the ball machine through voice commands, and improve the convenience of operation.

[0131] Working principle and working process of the present invention:

[0132] When a multi-color sorting table tennis ball serving machine provided by the present invention is in use, by arranging a color sorting device 2, a conveying device 3 and a launching device 4 in a housing 1, the launching of table tennis balls after color sorting is realized. Specifically, the color sorting device 2 realizes the supply of table tennis balls from top to bottom, and realizes the sorting of multiple colors and then classification. During the classification process, the sorted table tennis balls enter the conveying device 3, and are continuously conveyed from bottom to top and supplied to the launching device 4 for launching operation. After the conveying device 3 supplies table tennis balls, the provided launching device 4 enters the launching device 4 for launching. The launching operation is to apply a frictional force to the table tennis balls through a launching wheel 5 arranged inside, thereby launching at multiple angles.

[0133] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. A multi-color sorting table tennis ball serving machine, provided with a housing (1), characterized in that: include: A color sorting device (2), the color sorting device (2) is used for inputting and color sorting table tennis balls; A conveying device (3), the conveying device (3) being connected to the output end of the color sorting device (2), and the conveying device (3) being used for lifting and conveying the sorted table tennis balls; and The output end of the conveying device (3) is connected to a launching device (4), and the launching device (4) launches the table tennis balls at multiple angles via a launching wheel (5) arranged therein.

2. The multi-color sorting table tennis ball serving machine according to claim 1, characterized in that: The color sorting device (2) comprises a primary ball collecting basket (6), a ball dropping pipe (7), a sorting bin (8) and a guide channel (9) which are sequentially connected and arranged from top to bottom. The sorting bin (8) is provided with a color recognition sensor (10) and a ball sorting device (11). The color recognition sensor (10) is placed above the ball sorting device (11). The guide channel (9) is provided with three ball conveying channel tubes (12). The output ends of the three ball conveying channel tubes (12) are connected and connected to the conveying device (3).

3. The multi-color sorting table tennis ball serving machine according to claim 2, characterized in that: The ball separation device (11) comprises an outer circular baffle (13) rotatably arranged in a vertical direction and a first rotary valve (14), wherein the first rotary valve (14) is arranged inside the outer circular baffle (13), the outer circular baffle (13) is provided with an inlet and outlet (15), and the first rotary valve (14) comprises three baffles (16) arranged in a circular array, and both sides of the outer circular baffle (13) and the first rotary valve (14) are received by the inner wall of the sorting bin (8).

4. The multi-color sorting table tennis ball serving machine according to claim 1, characterized in that: The conveying device (3) comprises an "L"-shaped conveying pipeline (17), a conveyor belt assembly (18) arranged in the "L"-shaped conveying pipeline (17), and a second rotary valve (19); a feed port (20) is arranged at the upper end of the bottom of the "L"-shaped conveying pipeline (17); a discharge port (21) is arranged at the end surface of the top of the "L"-shaped conveying pipeline (17); and the second rotary valve (19) is arranged to rotate vertically just below the feed port (20) and is arranged close to the conveyor belt assembly (18).

5. The multi-color sorting table tennis ball serving machine according to claim 4, characterized in that: The conveyor belt assembly (18) comprises a plurality of rollers (22) rotatably arranged in the transverse direction of the "L"-shaped conveying pipe (17) and a conveyor belt (23) sleeved on the plurality of rollers (22); the outer surface of the conveyor belt (23) is evenly provided with a plurality of limit plates (24) in the width direction; the plurality of limit plates (24) are perpendicular to the conveyor belt (23) and are arranged at equal intervals; any one of the rollers (22) is driven by a first servo motor (44).

6. The multi-color sorting table tennis ball serving machine according to claim 5, characterized in that: The second rotary valve (19) comprises a disc (25) rotatably arranged in the "L"-shaped delivery pipe (17); the disc (25) is evenly provided with a plurality of partitions (26) in the vertical direction, and an arc-shaped notch (27) is formed between two adjacent partitions (26); the disc (25) is driven by a second servo motor (28) arranged on the "L"-shaped delivery pipe (17).

7. The multi-color sorting table tennis ball serving machine according to claim 1, characterized in that: The launching device (4) comprises a launching chamber (29), a transmission assembly (45) arranged in the launching chamber (29), and an angle adjustment device (30) arranged at the bottom of the launching chamber (29); the launching chamber (29) is fixedly connected to the housing (1) via a launching support (31) through the angle adjustment device (30); a ball inlet (32) is arranged on a side of the launching chamber (29) close to the "L"-shaped conveying pipeline (17); and a ball outlet (33) is arranged at a position of the launching chamber (29) relative to the ball inlet (32).

8. The multi-color sorting table tennis ball serving machine according to claim 7, characterized in that: The transmission assembly (45) comprises two vertically arranged drive units (34), each of the two drive units (34) being provided with a ball serving servo motor (35) and a transmission rod (36) fixed on a launching bin (29), the transmission rod (36) being rotatably arranged in the launching bin (29) by the ball serving servo motor (35), the transmission rod (36) being sleeved with the launching wheel (5), and the launching wheels (5) in the two drive units (34) being capable of clamping a launched table tennis ball.

9. The multi-color sorting table tennis ball serving machine according to claim 8, characterized in that: The angle adjustment device (30) comprises a first cantilever assembly (37) and a second cantilever assembly (38), wherein the first cantilever assembly (37) comprises a connecting head (39) fixedly arranged at the bottom of the launch chamber (29) and a connecting shaft (40) hingedly arranged on the connecting head (39), wherein the connecting head (39) is swung and controlled by a first swinging motor (41) fixedly arranged on the connecting shaft (40); the second cantilever assembly (38) comprises a connecting seat (42) hingedly connected to the bottom of the connecting shaft (40), wherein the connecting shaft (40) and the connecting seat (42) are swung and controlled by a second swinging motor (43) fixedly arranged on the connecting shaft (40); the connecting seat (42) is fixedly arranged on the launch support (31), and the rotating shafts of the first swinging motor (41) and the second swinging motor (43) are arranged perpendicular to each other.

10. The multi-color sorting table tennis ball serving machine according to claim 2, characterized in that: A plurality of the color recognition sensors (10) are arranged on the path where the table tennis ball falls, and a plurality of LED light sources are evenly distributed around the color recognition sensors (10).

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