Whole-stack intelligent table tennis serving machine

Abstract

The invention relates to the technical field of table tennis training equipment manufacturing, in particular to a full-stack intelligent table tennis serving machine which is provided with a serving machine head, a ball channel conveying pipeline and a ball storage and supply mechanism and is characterized in that the lower end of the ball channel conveying pipeline is connected with the ball storage and supply mechanism through a main ball channel; a longitudinal swinging mechanism and a transverse swinging mechanism are further arranged on the fairway conveying pipeline, the longitudinal swinging mechanism is arranged on the upper portion of the fairway conveying pipeline, and a longitudinal swinging elbow in the longitudinal swinging mechanism is communicated with the fairway conveying pipeline; the pitching machine head is connected with the ball channel conveying pipeline through a machine head rotating mechanism, and a ball throwing channel in the pitching machine head is communicated with the longitudinal swinging elbow; a throwing assembly is arranged on a ball throwing channel in the pitching machine head and comprises two friction wheels symmetrically arranged on the inner wall of the ball throwing channel and two friction wheel driving motors used for driving the two friction wheels to rotate respectively.

Description

Technical Field:

[0001] The present invention relates to the technical field of table tennis training equipment manufacturing, specifically a full-stack intelligent table tennis serving machine that has stable serving and ball delivery, does not experience ball interruption, has easily repairable accessories, low cost, simple structure and operation, can imitate humans to complete projectile serving, spinning balls and straight projectile balls, can automatically change the serving route, precisely generate various combinations of the speed, spin and trajectory of table tennis balls, and adjust the serving rate to allow repeated practice of special serves or returns. Background Art:

[0002] Currently, there are various structures of table tennis serving devices on the market. Their structural features mainly include a housing with a conveying channel. One end of the housing is equipped with a head structure, and the head structure is provided with a projectile assembly for throwing table tennis balls. The other end of the housing has a ball inlet, and the inlet is connected to the conveying channel. The ball supply device located below the conveying channel sends the balls entering the conveying channel into the head structure and throws the balls out of the outlet in the head through the projectile assembly. The projectile assembly includes a friction wheel rotatably mounted on the housing and an elastic friction block for supporting the ball. When this friction wheel operates at high speed, the rubber on it deforms and detaches from the hub, resulting in unstable spin and speed of the table tennis balls when they are ejected.

[0003] In order to imitate humans to complete projectile serving, spinning balls and straight projectile balls, and ensure the precise simulation of various technical factors such as the projectile speed, spin attitude and trajectory of the table tennis balls ejected by the serving machine head, existing table tennis serving devices are also equipped with a horizontal swing mechanism for driving the horizontal swing of the serving machine head, a vertical swing mechanism for driving the pitching swing of the serving machine head, and a head rotation mechanism for driving the rotation of the serving machine head. Obviously, only by finely combining the horizontal swing, pitching and rotation movements can the purpose of simulating various routes or ball properties of serves be achieved. The existing horizontal swing mechanism or vertical swing mechanism has a complex structure and is inconvenient to disassemble and assemble. Most of the existing head rotation mechanisms rotate within a limited angle or along a limited trajectory. After setting the serving angle and serving trajectory, the time for the head to deflect in place has poor coordination with the horizontal swing or pitching movement, which is not conducive to realizing the simulation of various serving ball properties.

[0004] During the training process, the table tennis serving equipment needs to successively convey the table tennis balls in the ball storage device to the ball head and use the ball ejection mechanism of the ball head to eject the table tennis balls. During the training process, it is crucial to ensure continuous and stable ball supply. At present, the structure of the main ball conveying channel of such equipment is relatively simple. When there are deformed or damaged table tennis balls in the ball storage pool, they cannot be picked out in time, resulting in a decline in serving quality and inability to meet the requirements of professional training. In addition, the hanging and clamping mechanism of the existing table tennis serving equipment has a simple structure and is prone to loosening and displacement during use, affecting the serving quality and continuity of the equipment. Summary of the Invention:

[0005] In view of the disadvantages and deficiencies in the prior art, the present invention provides a full-stack intelligent table tennis serving machine that features stable serving delivery, no ball interruption, easy-to-repair accessories, low cost, simple structure and operation. It can imitate humans to complete projectile serving, spinning balls and straight projectile balls, automatically change the serving route, precisely generate various combinations of the speed, spin and trajectory of table tennis balls, and adjust the serving rate to allow repeated practice of special serves or returns.

[0006] The present invention is achieved through the following measures:

[0007] A full-stack intelligent table tennis serving machine is provided with a serving machine head (1), a ball track conveying pipe (2), and a ball storage and feeding mechanism. It is characterized in that the lower end of the ball track conveying pipe (2) is connected to the ball storage and feeding mechanism through a main ball track (4). The ball track conveying pipe (2) is also provided with a longitudinal swing mechanism (5) and a transverse swing mechanism (6). Among them, the longitudinal swing mechanism (5) is arranged at the upper part of the ball track conveying pipe (2), and the longitudinal swing elbow (7) in the longitudinal swing mechanism (5) is connected to the ball track conveying pipe (2). The serving machine head (1) is connected to the ball track conveying pipe (2) through a head rotation mechanism (8), and the ball projectile channel (9) in the serving machine head (1) is connected to the longitudinal swing elbow (7). A projectile component is provided on the ball projectile channel (9) in the serving machine head (1). The projectile component includes two friction wheels (10) symmetrically arranged on the inner wall of the ball projectile channel (9), and two friction wheel driving motors respectively used to drive the two friction wheels (10) to rotate.

[0008] In the present invention, the friction wheel (10) is provided with a friction wheel skeleton (12) and a rubber ring (13). The friction wheel skeleton (12) includes an annular rim for supporting and fixing the rubber ring. Hollow holes are formed on the rim. The rubber ring (13) includes an outer layer sleeved on the rim and an engaging part fitted into the hollow holes. The rubber ring (13) also includes an annular inner layer located inside the rim. The inner layer is connected to the outer layer through the engaging part. Further, the inner layer, the engaging part and the outer layer of the rubber ring are an integral structure, thereby effectively improving the bonding force between the rubber ring (13) and the friction wheel skeleton (12), and ensuring that in the high-speed rotation state, the rubber ring (13), especially the outer layer for contacting the table tennis ball, always closely adheres to the outer peripheral surface of the rim.

[0009] In the present invention, more than two hollow holes are equidistantly formed on the rim of the friction wheel (10). The hollow holes (11) are circular holes or rectangular holes, and the hollow holes (11) are formed at the edge or the midline of the rim wall. Further, circular or rectangular hollow holes are respectively formed at both side edges and the midline of the rim wall, so as to ensure that the body of the rubber ring can fit the rim wall to the greatest extent; the friction wheel skeleton (12) is further provided with a drive shaft connection part (14) for connecting with the friction wheel drive mechanism. The drive shaft connection part (14) is arranged along the central axis of the rim and is in the shape of a shaft sleeve for connecting with an external drive shaft. More than two support ribs (15) are arranged on the outer side of the drive shaft connection part (14). The support ribs (15) are radially distributed around the shaft sleeve-shaped drive shaft connection part (14), and the ends thereof are connected to the inner wall of the rim. Further, the support ribs (15) are all arranged on the same side edge of the rim, and the drive shaft connection part (14) is located outside the rim body; by providing the radially arranged support ribs (15), the stability of the rim can be effectively improved, and it can be avoided that the rim is deformed by heat under the friction of high-speed rotation, resulting in the deformation of the rubber ring supported by it.

[0010] In the head rotation mechanism (8) of the present invention, there are a rotating flexible coupling sleeve (16), a rotating motor (17), a transmission gear, a rotating worm (18), a turbine (19), and a slip ring (20). The rear end of the sphere projection channel (9) in the serving machine head is connected to the rotating flexible coupling sleeve (16). The head rotation mechanism further has the following. The rotating motor (17) is fixed on the rotating flexible coupling sleeve (16) via a motor support, and drives the rotating worm (18) to rotate through the transmission gear. The turbine (19) is installed on the sphere projection channel (9) and is engaged with the rotating worm (18). The slip ring (20) is arranged between the serving machine head and the rotating flexible coupling sleeve (16). The slip ring (20) adopts a disc-type slip ring, which includes a stator, a rotor, and elastic pieces. One end of the elastic piece is connected to the stator, and the other end of the elastic piece contacts the rotor. The stator and the rotor are respectively provided with mounting holes to mount the disc-type slip ring on the serving machine head support frame and the rotating flexible coupling sleeve (16). A wire is welded on the rotor, and a rotating signal processing circuit (22) connected to the wire of the slip ring (20) is further provided. The stator and the rotor are electrically connected through the contact of the elastic pieces. The rotating signal processing circuit (22) is connected to the projection driving component in the projection assembly. By setting the slip ring (20), the serving machine head can receive the electrical signal output by the main machine at the rear end of the serving machine head under the condition of 360° rotation. The rotating flexible coupling sleeve (16) has a tubular sleeve body. The front end of the rotating flexible coupling sleeve (16) is sleeved on the goal inlet of the sphere projection channel (9) of the serving machine head. A matching annular fitting groove and annular fitting boss are provided between the inner wall of the rotating flexible coupling sleeve (16) and the outer wall of the ball channel outlet pipe. Further, balls are provided in the annular fitting groove, so that after the ball channel outlet pipe and the tubular sleeve body of the rotating flexible coupling sleeve (16) are coaxially sleeved, a bearing-like structure is formed, and the two can rotate relatively. Further, in order to save the space occupied by components, an installation space for accommodating the rotating worm (18) is provided on the outer wall of the rotating flexible coupling sleeve (16). The rear end of the rotating flexible coupling sleeve (16) is connected to the longitudinal swing mechanism (5).

[0011] The longitudinal swing mechanism (5) of the present invention includes a longitudinal swing base (26), a longitudinal swing spring (27), a longitudinal swing elbow (7), a longitudinal swing turbine (28), a longitudinal swing worm (29), and a longitudinal swing motor (30). The longitudinal swing elbow (7) includes an upper pipe section and a lower pipe section hinged by a rotating shaft. The upper pipe section is communicated with the lower pipe section. A runner (31) fixedly connected coaxially with the rotating shaft is provided on the outer side of the longitudinal swing elbow (7). The lower pipe section of the longitudinal swing elbow (7) is communicated with the ball track conveying channel (2), and the upper pipe section is connected to the head of the ball launcher (1). The longitudinal swing base (26) is located below the longitudinal swing elbow (7) and is fixed outside the ball track conveying channel (2). The lower end of the longitudinal swing spring (27) is fixed on the longitudinal swing base (26), and the upper end is connected to the outer wall of the upper pipe section of the longitudinal swing elbow (7). The longitudinal swing turbine (28) is arranged on the runner of the longitudinal swing elbow (7), and the longitudinal swing turbine (28) is matched with the longitudinal swing worm (29). The output shaft of the longitudinal swing motor (18) drives the longitudinal swing worm (29) to rotate through a gear, driving the longitudinal swing turbine (28) to drive the longitudinal swing elbow (7) to swing in a pitching motion; a longitudinal swing gearbox (25) is also provided on the longitudinal swing base (26). A small gear (24) is led out from the longitudinal swing worm (29), and the small gear (24) is connected to the longitudinal swing gearbox (25). The longitudinal swing gearbox (25) is used to convert the rotation angle of the longitudinal swing worm (29) into a digital signal and send it to the main board, and the main board correspondingly issues a longitudinal swing command to the longitudinal swing motor (30); the longitudinal swing motor (30) is installed on the side of the ball track conveying channel (2) opposite to the head of the ball launcher (1) through a longitudinal swing motor bracket. The longitudinal swing turbine (28) is installed on the runner of the longitudinal swing elbow (7), and the longitudinal swing worm (29) is located in front of the longitudinal swing elbow (7) and meshes with the teeth on the longitudinal swing turbine (28); two longitudinal swing springs (27) are symmetrically arranged in the longitudinal swing mechanism (5). The two longitudinal swing springs (27) are respectively arranged on both sides below the longitudinal swing elbow (7). The longitudinal swing springs (27) are always in a stretched state, used for counterweighting the weight of the head and realizing the buffering of the adjustment of the upward attitude.

[0012] In the present invention, the yaw mechanism (6) is arranged on the lane conveying channel (2) and is located below the pitch mechanism (5). The yaw mechanism (6) includes a yaw flexible coupling sleeve (32), a yaw cloud platform (33), a yaw gearbox (34), a yaw motor (35), a yaw worm (36), and a yaw turbine (37). Two sets of bearing structures can be provided on the yaw flexible coupling sleeve (32), and the yaw turbine (37) is arranged in the space between the two sets of bearing structures. The upper end of the yaw flexible coupling sleeve (32) is fixedly connected to the lower end of the lane conveying channel (2), and the lower end sleeve body of the yaw flexible coupling sleeve (32) is installed on the yaw cloud platform (33). The yaw motor (35) is fixed on the yaw flexible coupling sleeve (32) via a yaw motor bracket (16). The output end of the yaw motor (35) is meshed with the yaw worm (36) via a gear. The yaw worm (36) is matched with the yaw turbine (37), so as to drive the yaw turbine (37) and the yaw flexible coupling sleeve (32) connected thereto to swing in the horizontal direction by means of the yaw motor (35). A yaw pinion (38) is led out from the yaw worm (36), and the yaw pinion (38) is connected to the yaw gearbox (34), so as to convert the rotation angle signal of the yaw worm (36) into a digital signal that can be processed by the control main board, and realize the control of the yaw motor (35).

[0013] In the present invention, the upper end of the main lane (4) is communicated with the lane conveying channel (2). A horizontal pipe section (40) for communicating with a ball storage pool in the ball storage and feeding mechanism is arranged at the lower part of the main lane (4). The vertical pipe section of the main lane (4) located below the horizontal pipe section (40) is a ball return pipe section (41), and the vertical pipe section located above the horizontal pipe section (40) is a ball feeding pipe section (42). An inlet / return ball assembly (39) is further arranged on the main lane (4). The inlet / return ball assembly (39) includes a ball deflector (43) and a driving component for driving the deflector to rotate. The inlet / return ball deflector (43) is located in the main lane (4) and is arranged on the inner wall of the main lane opposite to the horizontal pipe section (40). The rear end of the inlet / return ball deflector (43) is connected to the driving component located outside the main lane via a rotating shaft. The driving component drives the inlet / return ball deflector to rotate, so as to communicate the horizontal pipe section (40) with the ball feeding pipe section (42) to realize ball feeding, or communicate the horizontal pipe section (40) with the ball return pipe section (41) to realize ball return.

[0014] The deflector body of the inlet / return ball deflector (43) in the present invention is arc-shaped. Further, the upper surface of the deflector body has a concave part adapted to the table tennis ball. The driving component adopts an inlet / return ball driving motor (44) and an inlet / return ball gearbox (gearbox) (45). By means of the inlet / return ball driving motor (44) and the inlet / return ball gearbox (45), the rotation of the rotating shaft connected to the rear end of the inlet / return ball deflector (43) is driven, and the switching between the ball return lane and the ball feeding lane is completed.

[0015] In the ball storage and supply mechanism of the present invention, there is also a ball storage base (46) serving as a ball storage pool. The ball storage base (46) is provided with a box body with an open upper end for accommodating table tennis balls to be conveyed. A ball supply component is arranged in the box body. The ball supply component includes a ball supply motor (48) and a ball supply wave wheel (47). The blades of the ball supply wave wheel (47) push the table tennis balls into the ball inlet of the horizontal pipe section (40). The ball supply motor (48) is used to drive the ball supply wave wheel (47) to rotate.

[0016] In the present invention, the ball path conveying channel (2) is connected to the upper end of the main ball path (4) through a plug-in locking structure. There are two symmetrically distributed wedge-shaped bosses at both the upper and lower ends of the main ball path (4). Corresponding to this, there are two grooves on the machine head and the ball storage base (46) respectively. The upper and lower ends of the main ball path (4) are inserted into the corresponding grooves and tightened clockwise, or loosened vice versa. During the assembly process, the ball serving machine head installed on the ball path conveying channel (2) can be conveniently installed on the main ball path (4), and the disassembly is also very simple.

[0017] On the side of the box body of the ball storage base (46) in the present invention, there is also a lithium battery box (49) for accommodating lithium batteries. In order to improve the support stability of the equipment, pull-out lithium battery boxes for accommodating lithium batteries can be symmetrically arranged on both sides of the box body, making the base of the entire table tennis ball serving device more stable.

[0018] In order to adapt to the connection with the ball table, the present invention is also provided with a suspension locking mechanism on the ball storage base (46), and the suspension locking mechanism includes a rectangular support frame, an axial hole is provided on the upper crossbeam of the support frame, a bearing is installed at the inner side of the support frame corresponding to the axial hole, an adjusting bolt (50) is installed on the support frame via the bearing, and the upper end extends out of the support frame and is connected to the adjusting handle (51) outside the support frame, a fine-tuning hook (52) is provided in the support frame, a threaded hole is provided on the fine-tuning hook (52), the fine-tuning hook (52) is connected to the adjusting bolt (50) via a thread, and the lower end of the adjusting bolt (50) is connected to the bottom of the support frame via a bearing, when the adjusting handle (52) rotates forward or reverse, the adjusting bolt (50) is driven to rotate, and the fine-tuning hook (52) moves along with the adjusting bolt (50) ) makes linear reciprocating motion, and when in use, the upper surface of the fine-tuning hook (52) abuts against the lower surface of the ball table (53); a suspension bracket is also provided which is hinged on the upper crossbeam of the support frame, and the suspension bracket includes an L-shaped support arm (54, the upper end of the L-shaped support arm (54) is hinged to the upper crossbeam via a rotating shaft, a pressure rod (55) is provided at the upper end of the vertical section of the L-shaped support arm (54) and is pressed against the upper surface of the ball table (53), and an abutment rod (56) is provided at the end of the horizontal section of the L-shaped support arm (54) and is vertically arranged to abut against the lower surface of the ball table (53), and a mounting seat is provided at each end of the suspension locking mechanism, and a circular hole is provided on the mounting seat, and an aluminum tube passes through two abutment rods (56) and is installed in the circular hole, and the mounting seat is fixed on the ball storage base, so that the suspension locking mechanism and the ball outlet base become a whole.

[0019] The upper surface of the fine-tuning hook (52) of the present invention is an inclined surface, which is used to realize the function of locking the table of different specifications and sizes. Furthermore, the upper surface of the fine-tuning hook (52) and the lower surface of the pressure rod (55) are provided with an elastic rubber layer to increase the contact friction with the table (53); the upper end of the abutment rod (56) is provided with a suction cup for increasing the contact area with the bottom surface of the table (53). Furthermore, in order to improve the supporting stability of the suspension locking mechanism, at least two side-by-side L-shaped support arms (54) are provided on the suspension bracket, and corresponding pressure rods (55) and abutment rods (56) are provided.

[0020] The present invention further comprises a control main board (23). A pinion gear (24) is led out from a rotating worm (18) in the head rotating mechanism (8). The pinion gear (24) is connected to a gear box (25). Through the conversion of the transmission ratio of the gear box (25), the angle of the turbine rotation is converted into a digital signal and sent into the control main board (23). The control main board (23) is also respectively connected to a rotation signal processing circuit (22) and a rotating motor (17). The control main board (23) can transmit a projectile control signal to a friction wheel driving motor through the rotation signal processing circuit (22) and a slip ring (20) to realize the adjustment of the rotation speed of the friction wheel (13). The yaw mechanism and the pitch mechanism cooperate with the head rotating mechanism to realize the adjustment and cooperation of the rotation offset angle, horizontal position, and pitch position of the sphere projectile in the head of the ball serving machine.

[0021] When the present invention is working, the head (1) of the ball serving machine can realize 360° rotation under the cooperation of the rotating slipknot sleeve and the head rotating mechanism (8). Therefore, when the head (1) of the ball serving machine needs to perform circumferential rotation, it can perform the shortest rotation path between the initial rotation position and the target position, thereby shortening the interval time between consecutive serves, which is conducive to simulating high-intensity training projects and thus improving the training level. The present invention also realizes the pitch attitude adjustment of the pitch elbow and the front end assembly of the pitch elbow through the longitudinal swing mechanism. In this process, the pitch attitude adjustment process can be ensured to be smooth through the configuration of the installation positions of various components and the counterweight and buffering of the longitudinal swing spring. The pitch swing can be realized by the longitudinal swing turbine worm structure, and the pitch swing can be self-locked in place to avoid motion distortion. The horizontal direction of the components above the transverse swing slipknot sleeve can be realized by the transverse swing mechanism. The whole device has a reasonable structure, low power consumption, good heat dissipation, and no need to configure a cooling fan. Compared with the prior art, it has a significant improvement. By changing the structure of the friction wheel skeleton and the rubber ring, the overall weight of the friction wheel is reduced, so that the friction wheel can adapt to the high-speed rotation requirements. According to the test, the friction wheel structure of the present application can reach 10,000 revolutions per minute. In addition, the unique structure of the friction wheel skeleton can improve the stability of the rubber ring under high-temperature conditions caused by high-speed rotation and frequent contact with the table tennis ball, so that the rubber ring can fit smoothly and tightly on the surface of the annular wheel rim, ensuring the quality of the ball output; using the ball storage and supply mechanism, a large number of table tennis balls in the box in the ball storage base can be continuously delivered to the main lane one by one. During the ball delivery process, if the delivered table tennis ball is found to be deformed or damaged, the ball feed / return component can be used to switch to the ball return lane in time. , the broken balls are removed from the entire ball supply system, and the continuous stability of the serving equipment is guaranteed from the source; in addition, the present invention can provide a stable suspension support, and the ball storage base can be hung on the edge of the table as a whole by using the suspension locking mechanism. In this process, the fine-adjusting hook of the suspension locking mechanism contacts the bottom surface of the table, the pressure rod is pressed against the upper surface of the table, and the upper end of the abutment rod contacts the bottom surface of the table. The abutment rod and the pressure rod utilize the lever principle of the L-shaped support arm, and are firmly locked, which can avoid the problems of unstable hooking, being knocked crooked, vibration, etc. of the existing equipment causing the serving failure; Description of the drawings:

[0022] Attached Figure 1 It is a structural schematic diagram of the present invention.

[0023] Attached Figure 2 It is a cross-sectional view of the present invention.

[0024] Attached Figure 3 is a schematic diagram of the structure of the friction wheel in the present invention, wherein Figure 3 (a) is a schematic diagram of the structure of the friction wheel. Figure 3 (b) is a schematic diagram of the friction wheel skeleton structure. Figure 3 (c) is a cross-sectional view of the friction wheel.

[0025] Appended Figure 4 is a schematic structural view of the serving machine head in the present invention.

[0026] Appended Figure 5 is a schematic structural view of the rotating flexible knot sleeve in the present invention.

[0027] Appended Figure 6 is a schematic structural view of the ball track conveying pipeline and its accessories in the serving machine head of the present invention.

[0028] Appended Figure 7 is a schematic structural view of the ball track conveying pipeline and its rear longitudinal swing elbow in the serving machine head of the present invention.

[0029] Appended Figure 8 is a schematic structural view of the longitudinal swing elbow in the present invention.

[0030] Appended Figure 9 is a schematic structural view of the longitudinal swing mechanism in the present invention, appended Figure 9 (a) is a schematic structural view of the longitudinal swing mechanism at the first angle, appended Figure 9 (b) is a schematic structural view of the longitudinal swing mechanism at the second angle.

[0031] Figure 10 is a schematic structural view of the transverse swing mechanism in the present invention, wherein Figure 10(a) is a schematic structural view at the first angle, and Figure 10(b) is a schematic structural view at the second angle.

[0032] Appended Figure 11 is a schematic structural view of a kind of transverse swing flexible knot sleeve in the embodiment of the present invention.

[0033] Appended Figure 12 is a schematic view of a rotating working state of the serving machine head in Embodiment 1 of the present invention.

[0034] Appended Figure 13 is a schematic structural view of the ball advancing and retreating component in Embodiment 2 of the present invention, wherein Figure 13 (a) is in the working state of ball feeding, and 13(b) is in the working state of ball retreating.

[0035] Appended Figure 14 is a schematic structural view of the ball storage and feeding mechanism in Embodiment 2 of the present invention, Figure 14 (a) is a schematic view at the first angle, Figure 14 (b) is a schematic structural view at the second angle.

[0036] Appended Figure 15 is a schematic view of the usage state of the present invention.

[0037] Reference numerals: serving machine head (1), ball track conveying pipe (2), ball storage and feeding mechanism (3), main ball track (4), longitudinal swing mechanism (5), transverse swing mechanism (6), longitudinal swing elbow (7), head rotation mechanism (8), sphere projection channel (9), friction wheel (10), hollow hole (11), friction wheel skeleton (12), rubber ring (13), drive shaft connection part (14), support rib (15), rotating loop (16), rotating motor (17), rotating worm (18), turbine (19), slip ring (20), elastic piece (21), rotation signal processing circuit (22), control main board (23), pinion (24), longitudinal swing gearbox (25), longitudinal swing base (26), longitudinal swing spring (27), longitudinal swing turbine (28), longitudinal swing worm (29), longitudinal swing motor (30), runner (31), transverse swing loop (32), transverse swing cloud platform (33), transverse swing gearbox (34), transverse swing motor (35), transverse swing worm (36), transverse swing turbine (37), transverse swing pinion (38), ball in / out assembly (39), horizontal pipe section (40), ball discharging pipe section (41), ball feeding pipe section (42), ball in / out paddle (43), ball in / out drive motor (44), ball in / out gearbox (45), ball storage base (46), ball feeding wave wheel (47), ball feeding motor (48), lithium battery box (49), adjusting bolt (50), adjusting handle (51), fine-tuning hook (52), billiard table (53), L-shaped support arm (54), pressing rod (55), abutting rod (56), motor support (57), longitudinal swing ball outlet (58), bearing on transverse swing loop (59). Detailed implementation manners:

[0038] The present invention will be further described below in conjunction with the drawings and embodiments.

[0039] Embodiment 1:

[0040] As shown in the attached Figure 1As shown in the figure, this example provides a full-stack intelligent table tennis ball serving machine, which is provided with a serving machine head (1), a ball track conveying pipeline (2), and a ball storage and feeding mechanism (3). The lower end of the ball track conveying pipeline (2) is connected to the ball storage and feeding mechanism through the main ball track (4). The ball track conveying pipeline (2) is also provided with a longitudinal swing mechanism (5) and a transverse swing mechanism (6). Among them, the longitudinal swing mechanism (5) is arranged on the upper part of the ball track conveying pipeline (2), and the longitudinal swing elbow (7) in the longitudinal swing mechanism (5) is communicated with the ball track conveying pipeline (2). The serving machine head (1) is connected to the ball track conveying pipeline (2) through the head rotation mechanism (8), and the sphere projection channel (9) in the serving machine head (1) is communicated with the longitudinal swing elbow (7). A projection component is arranged on the sphere projection channel (9) in the serving machine head (1). The projection component includes two friction wheels (10) symmetrically arranged on the inner wall of the sphere projection channel (9), and friction wheel driving motors respectively used for driving the two friction wheels (10) to rotate.

[0041] In this example, elastic pieces (21) are symmetrically installed on both sides of the ball track conveying pipeline (2). When the ball is sent into the ball track conveying pipeline (2), it is first blocked by the elastic pieces (21). The feeding system continuously feeds the balls. The balls are squeezed against each other and deformed, forcing the elastic pieces (21) to expand outwards, allowing the sphere to pass through. Then, it returns to its original position and blocks the next ball. Since the table tennis ball is a sphere, the gap between the two elastic pieces (21) has a process of sudden expansion and sudden contraction, causing a certain forward impulse to the sphere. This impulse makes the table tennis ball directly enter the middle of the two friction wheels (10). At this time, the two friction wheels (10) are rotating at high speed and instantly shoot the ball in the linear velocity direction. The elastic pieces (21) can ensure that the spheres are shot out one by one rhythmically and feed the balls to the friction wheels rhythmically, ensuring the good operation of the projection component.

[0042] As Figure 3 shown, the friction wheel (10) is provided with a friction wheel skeleton (12) and a rubber ring (13). The friction wheel skeleton (12) includes an annular rim for supporting and fixing the rubber ring. The rim is provided with hollow holes (11). The rubber ring (13) includes an outer layer sleeved on the rim and an engaging part fitted into the hollow holes. As shown in Figure 3 (c), the rubber ring (13) also includes an annular inner layer located inside the rim. The inner layer is connected to the outer layer through the engaging part. The inner layer, the engaging part, and the outer layer of the rubber ring (13) are of an integral structure, thus effectively improving the bonding force between the rubber ring (13) and the friction wheel skeleton (12), ensuring that in the high-speed rotation state, the rubber ring (13), especially the outer layer for contacting the table tennis ball body, always fits tightly with the outer peripheral surface of the rim.

[0043] As shown in Figure 3As shown in (b), in this example, two or more hollow holes are evenly arranged on the rim of the friction wheel (10). The hollow holes are circular holes or rectangular holes, and the hollow holes are opened at the edge or the center line of the rim wall. Further, circular or rectangular hollow holes are respectively opened on both side edges and the center line of the rim wall, so as to ensure that the body of the rubber ring can fit the rim wall of the friction wheel to the greatest extent. The friction wheel skeleton (12) is further provided with a drive shaft connection part (14) for connecting with the friction wheel drive mechanism. The drive shaft connection part (14) is arranged along the central axis of the rim and is in the shape of a shaft sleeve for connecting with an external drive shaft. Two or more support ribs (15) are arranged on the outer side of the drive shaft connection part (14). The support ribs (15) are radially distributed around the shaft sleeve-shaped drive shaft connection part (14), and the ends are connected to the inner wall of the rim. In this example, all the support ribs (15) are arranged on the same side edge of the rim, and the drive shaft connection part (14) is located outside the rim body. By arranging the radially distributed support ribs (15), the stability of the rim can be effectively improved, and it can be avoided that the rim is deformed by heat under the friction of high-speed rotation, resulting in the deformation of the rubber ring supported by it.

[0044] In this example, the friction wheel (10) adopted reduces the overall weight of the friction wheel by changing the structures of the friction wheel skeleton (12) and the rubber ring, so that the friction wheel can meet the requirements of high-speed rotation. After testing, the structure of the friction wheel (10) in this application can reach 10,000 revolutions per minute. In addition, the special structure of the friction wheel skeleton can improve the stability of the rubber ring under the high-temperature working conditions caused by high-speed rotation and frequent contact with the table tennis ball. The rubber ring (13) fits tightly and smoothly on the surface of the circular rim, ensuring the quality of the ball output. As shown in the appendix Figure 5 、 6As shown in FIGS. 7, in the head rotation mechanism (8) described in this example, there are a rotary ball joint sleeve (16), a rotary motor (17), transmission gears, a rotary worm (18), a turbine (19), and a slip ring (20). The rear end of the sphere projection channel (9) in the head of the ball dispenser is connected to the rotary ball joint sleeve (16). The head rotation mechanism further has the following. The rotary motor (17) is fixed to the rotary ball joint sleeve (16) via a motor support (57) and drives the rotary worm (18) to rotate through the transmission gears. The turbine (19) is installed on the sphere projection channel (9) and is engaged with the rotary worm (18). The slip ring (20) is arranged between the head of the ball dispenser and the rotary ball joint sleeve (16). The slip ring (20) adopts a disc type slip ring, which includes a stator, a rotor, and elastic pieces. One end of the elastic piece is connected to the stator, and the other end of the elastic piece contacts the rotor. The stator and the rotor are respectively provided with mounting holes to mount the disc type slip ring on the support frame of the head of the ball dispenser and the rotary ball joint sleeve (16). A wire is welded to the rotor, and a rotating signal processing circuit (22) connected to the wire of the slip ring (20) is further provided. The stator and the rotor are electrically connected through the contact of the elastic pieces. The rotating signal processing circuit (22) is connected to the projection driving component in the projection assembly. By providing the slip ring (20), the head of the ball dispenser can receive the electrical signal output by the main machine at the rear end of the head of the ball dispenser when rotating 360°. The rotary ball joint sleeve (16) has a tubular sleeve body. The front end of the rotary ball joint sleeve (16) is sleeved on the goal mouth of the sphere projection channel (9) of the head of the ball dispenser. A matching annular fitting groove and an annular fitting boss are provided between the inner wall of the rotary ball joint sleeve (16) and the outer wall of the ball channel outlet pipe. Further, balls are provided in the annular fitting groove so that after the ball channel outlet pipe and the tubular sleeve body of the rotary ball joint sleeve are coaxially sleeved, a bearing-like structure is formed and the two can rotate relative to each other. Further, specifically, the tooth grooves of the turbine (19) are arranged along the outer wall circumferential surface of the sphere projection channel (9) to form the turbine (19). A slot for accommodating the rotary worm (18) is opened on the outer wall of the rotary ball joint sleeve (16) so that the tooth grooves of the rotary worm (18) are engaged with the tooth grooves of the turbine (19) on the sphere projection channel (9). The rear end of the rotary ball joint sleeve (16) is connected to the longitudinal swing mechanism (5).

[0045] As shown in the attached Figure 8As shown in the figure, the longitudinal swing mechanism (5) includes a longitudinal swing base (26), a longitudinal swing spring (27), a longitudinal swing elbow (7), a longitudinal swing turbine (28), a longitudinal swing worm (29), and a longitudinal swing motor (30). The longitudinal swing base (26) has a cavity communicating with the spherical conveying pipe (2). The longitudinal swing elbow (7) has an elbow body, which is hollow and symmetrically provided with inner runners (31) at the lower end. At the position corresponding to the inner runner (31) on the outer side of the upper end of the longitudinal swing base (26), there is an outer runner. The longitudinal swing base (26) is sleeved on the lower end of the longitudinal swing elbow (7), and the inner runner and the outer runner are hinged by a wheel shaft. The longitudinal swing elbow (7) communicates with the longitudinal swing base (26). Tooth grooves are provided on the circumferential surface of at least one inner runner, so that the inner runner and the tooth grooves form a longitudinal swing turbine (28). A slot is opened on the side wall of the longitudinal swing elbow (7), and the longitudinal swing worm (29) meshes with the tooth grooves of the longitudinal swing turbine (28) inside the longitudinal swing elbow (7) through the slot. The output shaft of the longitudinal swing motor (7) drives the longitudinal swing worm (29) to rotate through a gear, driving the longitudinal swing turbine (28) to rotate and driving the longitudinal swing elbow (7) to swing up and down.

[0046] As shown in the attached Figure 9 figure, in this example, the spherical conveying pipe (2) is vertically arranged; the upper end of the longitudinal swing elbow (7) is connected to the rear end of the ball feeder head (1); the lower end of the longitudinal swing spring (27) is fixed on the outside of the longitudinal swing base (26), and the upper end is connected to the outer wall of the longitudinal swing elbow (7); a longitudinal swing gearbox (25) is also provided on the longitudinal swing base (26). The longitudinal swing worm (29) extends out a pinion (24), and the pinion (24) is connected to the longitudinal swing gearbox (25). The longitudinal swing gearbox converts the rotation angle of the longitudinal swing worm (29) into a digital signal and sends it to the main board, and the main board correspondingly issues a longitudinal swing command to the longitudinal swing motor (7); the longitudinal swing worm (29) is located in front of the longitudinal swing elbow (7) and meshes with the tooth grooves on the longitudinal swing turbine (28).

[0047] As shown in the attached Figure 9 figure, in this example, two longitudinal swing springs (27) are symmetrically arranged in the longitudinal swing mechanism. The two longitudinal swing springs (27) are respectively arranged on both sides below the longitudinal swing elbow (7). The longitudinal swing springs (27) are always in a stretched state, used for counterweighting the weight of the ball feeder head and realizing the buffering of the adjustment of the upward attitude.

[0048] As shown in Figure 10, this example also has a yaw mechanism (6). The yaw mechanism (6) is arranged on the sphere conveying pipe (2) and is located below the pitch mechanism. The yaw mechanism includes a yaw flexible coupling sleeve (32), a yaw cloud platform (33), a yaw gearbox (34), a yaw motor (35), a yaw worm (36), and a yaw turbine (37). The yaw flexible coupling sleeve (32) includes two coaxial sleeves sleeved with each other. A bearing structure is provided between the inner sleeve and the outer sleeve. The inner sleeve and the sphere conveying pipe (2) are of an integral structure, that is, a matching annular fitting groove and an annular boss are provided between the inner sleeve and the outer sleeve, and ball bearings are arranged in the annular fitting groove, so that the inner sleeve and the outer sleeve can rotate relative to each other. Further, a tooth groove is arranged along the circumferential surface of the inner sleeve on the outer wall of the inner sleeve to form a yaw turbine (37). A slot hole is correspondingly opened on the outer sleeve so that the tooth groove of the yaw worm (36) located outside the outer sleeve meshes with the tooth groove of the yaw turbine (37).

[0049] As shown in Figure 10 and the attached Figure 11 figure, two sets of bearing structures can be provided on the yaw flexible coupling sleeve (32), and a yaw turbine (37) is arranged in the space between the two sets of bearing structures. The upper end of the yaw flexible coupling sleeve (32) is fixedly connected to the lower end of the sphere conveying pipe (2). The lower end sleeve of the yaw flexible coupling sleeve (32) is installed on the yaw cloud platform (33). The yaw motor (35) is fixed on the yaw flexible coupling sleeve (32) through a yaw motor bracket (16). The output end of the yaw motor (35) is meshed with the yaw worm (36) through a gear. The yaw worm (36) is matched with the yaw turbine (37), so as to drive the yaw turbine (37) and the yaw flexible coupling sleeve (32) connected thereto to swing in the horizontal direction through the yaw motor (35). A yaw pinion (38) is led out from the yaw worm (36). The yaw pinion (38) is connected to the yaw gearbox (34) to convert the rotation angle signal of the yaw worm (36) into a digital signal that can be processed by the control main board, so as to realize the control of the yaw motor (35). During operation, the pitch attitude of the pitch elbow and the front-end assembly of the pitch elbow is adjusted through the pitch mechanism. During this process, through the configuration of the installation positions of each component, as well as the weight and buffering of the pitch spring, the pitch attitude adjustment process can be ensured to be stable. Through the pitch turbine and worm structure, the pitch swing can be locked in place to avoid action distortion. In addition, a yaw mechanism is also provided. Through the yaw mechanism, the components above the yaw flexible coupling sleeve can be stably swung in the horizontal direction. The whole device has a reasonable structure, low power consumption, good heat dissipation, and does not need to be equipped with a cooling fan, and has significant progress compared with the prior art.

[0050] The present invention is further provided with a control main board (23). A pinion gear (24) is led out from a rotating worm (18) in the head rotating mechanism (8). The pinion gear (24) is connected to a gear box (25). Through the conversion of the transmission ratio of the gear box (25), the angle of the turbine rotation is converted into a digital signal and sent into the control main board (23). The control main board (23) is also respectively connected to a rotation signal processing circuit (22) and a rotating motor (17). The control main board (23) can transmit a projectile control signal to a friction wheel driving motor through the rotation signal processing circuit (22) and a slip ring (20) to realize the adjustment of the rotation speed of the friction wheel (13). The yaw mechanism and the pitch mechanism cooperate with the head rotating mechanism to realize the adjustment and cooperation of the projectile rotation offset angle, horizontal position, and pitch position in the head of the ball serving machine.

[0051] When the present invention is working, the head (1) of the ball serving machine can achieve 360° rotation under the cooperation of a rotating slip knot sleeve and the head rotating mechanism (8). Therefore, when the head (1) of the ball serving machine needs to perform circumferential rotation, it can execute the shortest rotation path between the initial rotation position and the target position, as shown in the appendix Figure 12 shown, so as to shorten the continuous ball serving interval time, which is beneficial to simulating high-intensity training projects and thus improving the training level. The present invention also realizes the adjustment of the pitch attitude of the pitch elbow and the front-end assembly of the pitch elbow through the pitch mechanism. During this process, through the configuration of the installation positions of various components, as well as the weight and buffering of the pitch spring, the pitch attitude adjustment process can be ensured to be stable. Through the pitch turbine worm structure, the pitch swing can be locked in place to avoid action distortion. Through the yaw mechanism, the components above the yaw slip knot sleeve can be stably swung in the horizontal direction. The whole device has a reasonable structure, low power consumption, good heat dissipation, and does not need to be equipped with a cooling fan, showing significant progress compared with the prior art.

[0052] Embodiment 2:

[0053] This example proposes a table tennis serving robot, which is provided with a ball serving machine head (1), a ball path conveying pipeline (2), and a ball storage and feeding mechanism (3). Among them, in this example, a vertically arranged main ball path (4) in the ball storage and feeding mechanism (3) has its upper end connected to the ball path conveying channel (2). The lower part of the main ball path (4) is provided with a horizontal pipe section (40) for communicating with the ball storage pool in the ball storage and feeding mechanism. The vertical pipe section of the main ball path (4) below the horizontal pipe section (40) is a ball retreat pipe section (41), and the vertical pipe section above the horizontal pipe section (40) is a ball feeding pipe section (42);

[0054] As shown in the appendix Figure 13As shown, an advancing / retreating ball component (39) is further provided on the main ball path (4) in this example. The advancing / retreating ball component (39) includes a spherical flap (43) and a driving component for driving the flap to rotate. The advancing / retreating ball flap (43) is located within the main ball path (4) and is disposed on the inner wall of the main ball path opposite to the horizontal pipe section (40). The rear end of the advancing / retreating ball flap (43) is connected to the driving component located outside the main ball path through a rotating shaft. The driving component drives the advancing / retreating ball flap to rotate, connecting the horizontal pipe section (40) and the ball feeding pipe section (42) to achieve ball feeding, or connecting the horizontal pipe section (40) and the ball retreating pipe section (41) to achieve ball retreating.

[0055] In this example, the flap body of the advancing / retreating ball flap (43) is arc-shaped. Further, the upper surface of the flap body has a concave portion adapted to the table tennis ball. The driving component adopts an advancing / retreating ball driving motor (44) and an advancing / retreating ball gearbox (transmission) (45). Through the advancing / retreating ball driving motor (44) and the advancing / retreating ball gearbox (45), the rotation of the rotating shaft connected to the rear end of the advancing / retreating ball flap (43) is driven to complete the switching between the ball retreating path and the ball feeding path.

[0056] As shown in the appendix Figure 14 As shown, a ball storage base (46) for serving as a ball storage pool is further provided in the ball storage and feeding mechanism. The ball storage base (46) is provided with a box body with an open upper end for accommodating the table tennis balls to be conveyed. A ball feeding component is provided in the box body. The ball feeding component includes a ball feeding motor (48) and a ball feeding wave wheel (47). The blades of the ball feeding wave wheel (47) push the table tennis balls into the ball inlet of the horizontal pipe section (40). The ball feeding motor (48) is used to drive the ball feeding wave wheel (47) to rotate.

[0057] In this example, the ball path conveying channel (2) and the upper end of the main ball path (4) are connected through a plug-in locking structure. There are two symmetrically distributed wedge-shaped bosses at each of the upper and lower ends of the main ball path (4). Corresponding grooves are provided on the machine head and the ball storage base (46). The upper and lower ends of the main ball path (4) are inserted into the corresponding grooves and tightened clockwise, or loosened vice versa. During the assembly process, the serving machine head installed on the ball path conveying channel (2) can be conveniently installed on the main ball path (4), and the disassembly is also very simple.

[0058] In this example, a lithium battery box (49) for accommodating lithium batteries is further provided on the side of the box body of the ball storage base (46). In order to improve the support stability of the device, pull-out lithium battery boxes for accommodating lithium batteries can be symmetrically provided on both sides of the box body to make the base of the entire table tennis serving device more stable.

[0059] In order to adapt to the connection with the ball table, the ball storage base (46) is also provided with a suspension locking mechanism, which includes a rectangular support frame, an axial hole is provided on the upper crossbeam of the support frame, a bearing is installed at the inner side of the support frame corresponding to the axial hole, an adjusting bolt (50) is installed on the support frame via the bearing, and the upper end extends out of the support frame and is connected to an adjusting handle (51) outside the support frame, a fine-tuning hook (52) is provided in the support frame, a threaded hole is provided on the fine-tuning hook (52), the fine-tuning hook (52) is connected to the adjusting bolt (50) via a thread, and the lower end of the adjusting bolt (50) is connected to the bottom of the support frame via a bearing, when the adjusting handle (52) rotates forward or reverse, the adjusting bolt (50) is driven to rotate, and the fine-tuning hook (52) moves with the adjusting bolt (50). The device can be used for linear reciprocating motion. When in use, the upper surface of the fine-tuning hook (52) abuts against the lower surface of the ball table (53); a suspension bracket is also provided which is hinged on the upper crossbeam of the support frame, and the suspension bracket includes an L-shaped support arm (54, the upper end of the L-shaped support arm (54) is hinged to the upper crossbeam via a rotating shaft, a pressure rod (55) is provided at the upper end of the vertical section of the L-shaped support arm (54) and is pressed against the upper surface of the ball table (53), and an abutment rod (56) is provided at the end of the horizontal section of the L-shaped support arm (54) and is vertically arranged to abut against the lower surface of the ball table (53). A mounting seat is provided at each end of the suspension locking mechanism, and a circular hole is provided on the mounting seat. The aluminum tube passes through the two abutment rods (56) and is installed in the circular hole. The mounting seat is fixed on the ball storage base, so that the suspension locking mechanism and the ball outlet base become a whole.

[0060] The upper surface of the fine-tuning hook (52) described in this example is an inclined surface, which is used to realize the function of locking tables of different specifications and sizes. Furthermore, the upper surface of the fine-tuning hook (52) and the lower surface of the pressure rod (55) are provided with an elastic rubber layer to increase the contact friction with the table (53); the upper end of the abutment rod (56) is provided with a suction cup for increasing the contact area with the bottom surface of the table (53). Furthermore, in order to improve the supporting stability of the suspension locking mechanism, at least two side-by-side L-shaped support arms (54) are provided on the suspension bracket, and corresponding pressure rods (55) and abutment rods (56) are provided.

[0061] Compared with the prior art, in this example, by using the ball storage and feeding mechanism, a large number of table tennis balls in the box of the ball storage base can be continuously fed into the main ball path (4) one by one. During the ball feeding process, if it is found that the fed table tennis balls are deformed or damaged, the ball can be switched to the return ball path in time through the forward / backward ball component, and the damaged balls can be removed from the entire ball feeding system, ensuring the continuous stability of the serving device from the source. In addition, the present invention can provide stable suspension support, and the table tennis serving robot can be stably fixed on the table by using the suspension locking mechanism. The table tennis serving device does not have the phenomenon of ball interruption during operation, the accessories are easy to repair, low-cost, the structure and operation are simple, it can imitate people to complete projectile serving, spin balls and straight throws, can reduce the wear of table tennis balls, will not damage the table tennis balls, and can automatically change the serving route through a pre-set program, accurately generate various combinations of the speed, spin and route of table tennis balls, and adjust the serving rate, so as to allow repeated practice of special serves or returns. This serving device is particularly suitable for table tennis training and ability improvement.

Claims

1. A full-stack intelligent table tennis ball serving machine is provided with a serving machine head (1), a ball path conveying pipeline (2), and a ball storage and feeding mechanism, and is characterized in that, The lower end of the lane conveying pipe (2) is connected to the ball storage and feeding mechanism through the main lane (4). A longitudinal swing mechanism (5) and a transverse swing mechanism (6) are also provided on the lane conveying pipe (2). Among them, the longitudinal swing mechanism (5) is arranged at the upper part of the lane conveying pipe (2), and the longitudinal swing elbow (7) in the longitudinal swing mechanism (5) is communicated with the lane conveying pipe (2); the head of the ball dispenser (1) is connected to the lane conveying pipe (2) through the head rotation mechanism (8), and the ball projection channel (9) in the head of the ball dispenser (1) is communicated with the longitudinal swing elbow (7); a projection assembly is provided on the ball projection channel (9) in the head of the ball dispenser (1). The projection assembly includes two friction wheels (10) symmetrically arranged on the inner wall of the ball projection channel (9), and two friction wheel driving motors respectively used for driving the two friction wheels (10) to rotate.

2. The full-stack intelligent table tennis ball serving machine according to claim 1, characterized in that, The friction wheel (10) is provided with a friction wheel skeleton (12) and a rubber ring (13). The friction wheel skeleton (12) includes an annular rim for supporting and fixing the rubber ring. Hollow holes are formed in the rim. The rubber ring (13) includes an outer layer sleeved on the rim and a fitting part fitted into the hollow holes. The rubber ring (13) further includes an annular inner layer located inside the rim. The inner layer and the outer layer are connected through the fitting part. The inner layer, the fitting part and the outer layer of the rubber ring are of an integral structure.

3. The all-stack intelligent table tennis ball serving machine according to claim 2, characterized in that, Two or more hollow holes are equidistantly formed in the rim of the friction wheel (10). The hollow holes (11) are circular holes or rectangular holes, and the hollow holes (11) are formed at the edge or the midline of the rim wall of the rim.

4. A full-stack intelligent table tennis ball serving machine according to claim 1, characterized in that, The head rotation mechanism (8) is provided with a rotating ball joint sleeve (16), a rotating motor (17), a transmission gear, a rotating worm (18), a turbine (19), and a slip ring (20). The rear end of the sphere projection channel (9) in the serving machine head is connected to the rotating ball joint sleeve (16). The head rotation mechanism is further provided with: the rotating motor (17) is fixed on the rotating ball joint sleeve (16) through a motor support, and drives the rotating worm (18) to rotate through the transmission gear. The turbine (19) is installed on the sphere projection channel (9) and is matched with the rotating worm (18). The slip ring (20) is arranged between the serving machine head and the rotating ball joint sleeve (16). The slip ring (20) adopts a disc-type slip ring, which includes a stator, a rotor, and elastic pieces. One end of the elastic piece is connected to the stator, and the other end of the elastic piece contacts the rotor. The stator and the rotor are respectively provided with mounting holes to mount the disc-type slip ring on the serving machine head support frame and the rotating ball joint sleeve (16). A wire is welded on the rotor, and a rotating signal processing circuit (22) connected to the wire of the slip ring (20) is further provided. The stator and the rotor are electrically connected through the contact of the elastic pieces. The rotating signal processing circuit (22) is connected to the projection driving component in the projection assembly. By setting the slip ring (20), the serving machine head can receive the electrical signal output by the main machine at the rear end of the serving machine head under the condition of 360° rotation. The rotating ball joint sleeve (16) has a tubular sleeve body. The front end of the rotating ball joint sleeve (16) is sleeved on the goal inlet of the sphere projection channel (9) of the serving machine head. A matching annular fitting groove and an annular fitting boss are provided between the inner wall of the rotating ball joint sleeve (16) and the outer wall of the ball channel outlet pipe. Further, balls are arranged in the annular fitting groove, so that after the ball channel outlet pipe and the tubular sleeve body of the rotating ball joint sleeve (16) are coaxially sleeved, a bearing-like structure is formed, and the two can rotate relatively.

5. The full-stack intelligent table tennis ball serving machine according to claim 1, characterized in that, The longitudinal swing mechanism (5) includes a longitudinal swing base (26), a longitudinal swing spring (27), a longitudinal swing elbow (7), a longitudinal swing turbine (28), a longitudinal swing worm (29), and a longitudinal swing motor (30). The longitudinal swing elbow (7) includes an upper pipe section and a lower pipe section hinged by a rotating shaft. The upper pipe section is communicated with the lower pipe section. A runner (31) fixedly connected coaxially with the rotating shaft is arranged on the outer side of the longitudinal swing elbow (7). The lower pipe section of the longitudinal swing elbow (7) is communicated with the ball track conveying channel (2), and the upper pipe section is connected to the head of the ball launcher (1). The longitudinal swing base (26) is located below the longitudinal swing elbow (7) and is fixed outside the ball track conveying channel (2). The lower end of the longitudinal swing spring (27) is fixed on the longitudinal swing base (26), and the upper end is connected to the outer wall of the upper pipe section of the longitudinal swing elbow (7). The longitudinal swing turbine (28) is arranged on the runner of the longitudinal swing elbow (7), and the longitudinal swing turbine (28) is matched with the longitudinal swing worm (29). The output shaft of the longitudinal swing motor (18) drives the longitudinal swing worm (29) to rotate through a gear, driving the longitudinal swing turbine (28) to drive the longitudinal swing elbow (7) to swing in a pitching motion. A longitudinal swing gearbox (25) is also arranged on the longitudinal swing base (26). A small gear (24) is led out from the longitudinal swing worm (29), and the small gear (24) is connected to the longitudinal swing gearbox (25). The longitudinal swing gearbox (25) is used to convert the rotation angle of the longitudinal swing worm (29) into a digital signal and send it to the main board, and the main board correspondingly issues a longitudinal swing command to the longitudinal swing motor (30). The longitudinal swing motor (30) is installed on one side of the ball track conveying channel (2) opposite to the head of the ball launcher (1) through a longitudinal swing motor bracket. The longitudinal swing turbine (28) is installed on the runner of the longitudinal swing elbow (7), and the longitudinal swing worm (29) is located in front of the longitudinal swing elbow (7) and meshes with the teeth on the longitudinal swing turbine (28). Two longitudinal swing springs (27) are symmetrically arranged in the longitudinal swing mechanism (5). The two longitudinal swing springs (27) are respectively arranged on both sides below the longitudinal swing elbow (7). The longitudinal swing springs (27) are always in a stretched state, used for counterweighting the weight of the head and realizing buffering for the adjustment of the upward attitude.

6. The all-stack intelligent table tennis ball serving machine according to claim 1, characterized in that, The yaw mechanism (6) is arranged on the lane conveying channel (2) and is located below the pitch mechanism (5). The yaw mechanism (6) includes a yaw flexible coupling sleeve (32), a yaw cloud platform (33), a yaw gearbox (34), a yaw motor (35), a yaw worm (36), and a yaw turbine (37). Two sets of bearing structures can be provided on the yaw flexible coupling sleeve (32), and the yaw turbine (37) is arranged in the space between the two sets of bearing structures. The upper end of the yaw flexible coupling sleeve (32) is fixedly connected to the lower end of the lane conveying channel (2). The lower end sleeve body of the yaw flexible coupling sleeve (32) is installed on the yaw cloud platform (33). The yaw motor (35) is fixed on the yaw flexible coupling sleeve (32) via a yaw motor bracket (16). The output end of the yaw motor (35) is meshed with the yaw worm (36) via a gear. The yaw worm (36) is matched with the yaw turbine (37), so as to drive the yaw turbine (37) and the yaw flexible coupling sleeve (32) connected thereto to swing in the horizontal direction by the yaw motor (35). A yaw pinion (38) is led out from the yaw worm (36), and the yaw pinion (38) is connected to the yaw gearbox (34) to convert the rotation angle signal of the yaw worm (36) into a digital signal that can be processed by the control main board, so as to realize the control of the yaw motor (35).

7. The full-stack intelligent table tennis ball serving machine according to claim 1, characterized in that, The upper end of the main lane (4) is communicated with the lane conveying channel (2). A horizontal pipe section (40) for communicating with the ball storage pool in the ball storage and feeding mechanism is arranged at the lower part of the main lane (4). The vertical pipe section of the main lane (4) below the horizontal pipe section (40) is a ball return pipe section (41), and the vertical pipe section above the horizontal pipe section (40) is a ball feeding pipe section (42). An inlet / outlet ball assembly (39) is further arranged on the main lane (4). The inlet / outlet ball assembly (39) includes a ball dial (43) and a driving component for driving the dial to rotate. The inlet / outlet ball dial (43) is located in the main lane (4) and is arranged on the inner wall of the main lane opposite to the horizontal pipe section (40). The rear end of the inlet / outlet ball dial (43) is connected to the driving component located outside the main lane via a rotating shaft. The driving component drives the inlet / outlet ball dial to rotate, so as to communicate the horizontal pipe section (40) with the ball feeding pipe section (42) to realize ball feeding, or communicate the horizontal pipe section (40) with the ball return pipe section (41) to realize ball return.

8. The full-stack intelligent table tennis ball serving machine according to claim 7, characterized in that The dial body of the inlet / outlet ball dial (43) is arc-shaped. Further, the upper surface of the dial body has a concave part adapted to the table tennis ball. The driving component adopts an inlet / outlet ball driving motor (44) and an inlet / outlet ball gearbox (gearbox) (45). The rotation of the rotating shaft connected to the rear end of the inlet / outlet ball dial (43) is driven by the inlet / outlet ball driving motor (44) and the inlet / outlet ball gearbox (45) to complete the switching between the ball return lane and the ball feeding lane.

9. The full-stack intelligent table tennis ball serving machine according to claim 1, characterized in that, The ball storage and feeding mechanism further includes a ball storage base (46) serving as a ball storage pool. The ball storage base (46) is provided with a box body with an open upper end for accommodating table tennis balls to be conveyed. A ball feeding assembly is arranged in the box body. The ball feeding assembly includes a ball feeding motor (48) and a ball feeding wave wheel (47). The blades of the ball feeding wave wheel (47) push the table tennis balls into the ball inlet of the horizontal pipe section (40). The ball feeding motor (48) is used to drive the ball feeding wave wheel (47) to rotate.

10. The full-stack intelligent table tennis ball serving machine according to claim 1, characterized in that, The ball path conveying channel (2) is connected to the upper end of the main ball path (4) through a plug-in locking structure. There are two symmetrically distributed wedge-shaped bosses at both the upper and lower ends of the main ball path (4). Corresponding grooves are provided on the machine head and the ball storage base (46). The upper and lower ends of the main ball path (4) are inserted into the corresponding grooves and tightened clockwise or loosened vice versa. During the assembly process, the ball serving machine head installed on the ball path conveying channel (2) can be conveniently installed on the main ball path (4), and the disassembly is also very simple.

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