Mahjong machine and control method

Abstract

This invention discloses a mahjong machine and its control method, relating to the field of mahjong machine technology. The mahjong machine includes: a tile-lifting assembly, rotatably mounted on a table assembly along a vertical axis; the tile-lifting assembly includes a tile-lifting mechanism, a tabletop fixing component, and a tray; the tile-lifting mechanism drives the tray to rise and fall; the tray has at least one travel point, allowing it to be detachably and fixedly connected to the tabletop of the table assembly via the tabletop fixing component; at least one robotic arm assembly, fixedly or rotatably mounted on the table assembly along a vertical axis; the tray has at least one travel point, allowing the robotic arm assembly to grasp and / or adjust the placement of the mahjong tiles carried on the tray; and a tile-sorting assembly, used to acquire tile information from the robotic arm assembly for adjusting the tile placement order. This mahjong machine and its control method enable the mahjong machine to automatically grasp and sort tiles, improving the user experience.

Description

Technical Field

[0001] This invention relates to the field of mahjong machine technology, and more specifically, to a mahjong machine and its control method. Background Technology

[0002] Traditional automatic mahjong machines use a mechanical structure design that can replace manual labor in shuffling and stacking the tiles during the mahjong game. After shuffling and stacking, the stacked tiles are pushed onto the tabletop of the table assembly by a tile-lifting mechanism for users to pick up and use.

[0003] However, existing mahjong machines do not have the ability to automatically draw and arrange tiles after shuffling and stacking them, and manual drawing and arranging of tiles is still required, so the overall user experience needs to be improved.

[0004] In conclusion, how to solve the problem that existing automatic mahjong machines do not have the functions of drawing and arranging tiles is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a mahjong machine and a control method that enable the mahjong machine to automatically draw and arrange tiles, thereby improving the user experience.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A mahjong machine, including a table assembly;

[0008] Mahjong machine, including:

[0009] The card lifting assembly is rotatably mounted on the table body assembly along a vertical axis. The card lifting assembly includes a card lifting mechanism, a desktop fixing component, and a tray. The card lifting mechanism is used to drive the tray to lift and lower. The tray has at least one travel point, which allows the tray to be detachably and fixedly connected to the desktop of the table body assembly through the desktop fixing component.

[0010] At least one robotic arm assembly is fixed or rotates along a vertical axis on the table assembly, and the tray has at least one stroke point, so that the mahjong tiles carried on the tray can be grasped and / or the stacking position adjusted by the robotic arm assembly;

[0011] The tile arrangement assembly is used to acquire the tile information of the mahjong tiles grasped by the robotic arm assembly, so as to adjust the arrangement order of the mahjong tiles.

[0012] In some technical solutions, the card arrangement assembly is fixedly connected to the card lifting assembly or the table assembly. The card arrangement assembly includes:

[0013] Temporary stop plate, used to temporarily store mahjong tiles grasped by the robotic arm assembly;

[0014] The tile information acquisition component is fixedly connected to the temporary stop plate and is used to acquire the tile information of the mahjong tiles temporarily stored on the temporary stop plate. This information is then used to drive the robotic arm assembly to place the mahjong tiles onto the tray according to a preset pattern.

[0015] In some technical solutions, the tray includes at least two stacking areas, and at least one stacking area is used to receive mahjong tiles stacked by the robotic arm assembly.

[0016] In some technical solutions, the mahjong machine also includes a long, straight partition plate for holding the mahjong tiles together so that they are arranged neatly.

[0017] The partition plate is fixedly connected to the tray; or, the partition plate is fixedly connected to the lifting plate assembly, the tray includes a partition joint, and when the tray is at a second preset travel point, the partition plate passes through the partition joint.

[0018] In some technical solutions, the tabletop is equipped with a tile-lifting hole. When the tray is at the first preset travel point, the tray closes the tile-lifting hole, and the mahjong tiles carried by the tray pass over the tile-lifting hole.

[0019] In some technical solutions, the tray has downward folding connection areas at both ends, and the desktop fixing component includes a desktop electromagnet located at the bottom of the desktop. When the tray is at the first preset stroke point, the desktop electromagnet abuts against the adsorption connection area.

[0020] In some technical solutions, the card lifting mechanism includes a card lifting slider and a card lifting drive assembly that drives the card lifting slider to move. The card lifting slider includes a tray fixing assembly for connecting and fixing a tray.

[0021] In some technical solutions, there are at least two sets of lifting mechanisms and trays that can move asynchronously, and at least one set of lifting mechanisms includes a collision avoidance guide assembly for ensuring that the two sets of lifting sliders or the trays carried by the lifting sliders avoid each other when they meet.

[0022] In some technical solutions, the obstacle avoidance guidance components include a tray connecting block and a lifting guide component;

[0023] The tray connecting block is slidably connected to the lifting slider, and the relative sliding direction has a non-zero angle with the feeding direction of the lifting drive component. The tray connecting block is fixedly connected to the tray fixing component for fixing the tray.

[0024] The lifting guide component and the lifting drive component are fixedly connected, and the tray connecting block is slidably installed with the lifting guide component. The lifting guide component includes a straight segment and a bent segment that are connected together. The guiding direction of the straight segment is the same as the feeding direction of the lifting drive component.

[0025] A control method for controlling a mahjong machine that contains any of the above features;

[0026] Control methods, including steps:

[0027] Obtain the angle α1 between the card-grabbing position and the robotic arm assembly;

[0028] Control the rotation angle α1 of the lifting assembly;

[0029] The robotic arm assembly is controlled to grab the mahjong tiles from the tray corresponding to the tile-grabbing position and transfer them to the tile-sorting assembly for temporary storage.

[0030] The control unit obtains the face information of the temporarily stored mahjong tiles;

[0031] Obtain the angle α2 between the code plate position and the robotic arm assembly;

[0032] Control the rotation angle α2 of the lifting assembly;

[0033] The robotic arm assembly grabs the mahjong tiles temporarily stored in the tile arrangement assembly according to the acquired tile information and places them on the tray corresponding to the tile arrangement position.

[0034] The mahjong machine provided by this invention has at least the following advantages compared with the prior art:

[0035] 1. By adding a robotic arm assembly, the mahjong machine can automatically grab mahjong tiles. At the same time, the rotating tile-lifting assembly can change the relative spatial position of different trays and the robotic arm assembly, so that the robotic arm assembly can easily grab and stack mahjong tiles in different trays.

[0036] 2. The card-raising assembly uses a detachable and fixedly connected tray, which physically decouples the tray fixed on the table from the card-raising mechanism, thus ensuring that the shuffling, stacking, and arranging of cards inside the table assembly do not interfere with the mahjong game on the table.

[0037] 3. The tile sorting assembly identifies the tile information, enabling the robotic arm assembly to arrange the tiles according to the arrangement pattern of the tile information during tile sorting. This achieves the automatic tile grabbing and sorting functions of the mahjong machine, improving the user experience.

[0038] The control method provided by this invention is used to control the aforementioned mahjong machine, thereby achieving the functions of automatically drawing and arranging tiles. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure of the mahjong machine provided by the present invention;

[0041] Figure 2 This is a schematic diagram of the internal structure of the table assembly of the mahjong machine provided by the present invention;

[0042] Figure 3 This is an assembly diagram of the center plate assembly, card transport assembly, card stacking assembly, card lifting assembly, and card sorting assembly provided by the present invention;

[0043] Figure 4 This is a schematic diagram of the structure of the brand-upgrading assembly provided by the present invention;

[0044] Figure 5 This is a schematic diagram of the structure of the first card-lifting mechanism provided by the present invention;

[0045] Figure 6 This is a schematic diagram of the first card-lifting mechanism provided by the present invention from another perspective;

[0046] Figure 7 This is a schematic diagram of the structure of the second plate-lifting mechanism provided by the present invention;

[0047] Figure 8 This is a schematic diagram of the second card-lifting mechanism provided by the present invention from another perspective;

[0048] Figure 9 This is a schematic diagram of the structure of the tray provided by the present invention;

[0049] Figure 10 This is a schematic diagram of the internal structure of the table assembly of another embodiment of the mahjong machine provided by the present invention;

[0050] Figure 11 This is an assembly diagram of another embodiment of the center plate assembly, card transport assembly, card stacking assembly, card lifting assembly, and card sorting assembly provided by the present invention;

[0051] Figure 12 This is a schematic diagram of another embodiment of the brand-upgrading assembly provided by the present invention;

[0052] Figure 13 This is a schematic diagram of the bidirectional card-lifting mechanism provided by the present invention;

[0053] Figure 14 This is a schematic diagram of the robotic arm assembly provided by the present invention;

[0054] Figure 15 This is a schematic diagram of the structure of the center disk assembly provided by the present invention;

[0055] Figure 16 A cross-sectional view of the center disk assembly provided by the present invention;

[0056] Figure 17 This is an assembly diagram of the card-carrying assembly and the card-stacking assembly provided by the present invention;

[0057] Figure 18 This is an assembly diagram of the card-carrying assembly and card-stacking assembly provided by the present invention from another perspective;

[0058] Figure 19 This is a schematic diagram of the stacked card assembly provided by the present invention;

[0059] Figure 20 This is a structural schematic diagram of the stacked card assembly provided by the present invention from another perspective;

[0060] Figure 21 This is a schematic diagram of another embodiment of the robotic arm assembly provided by the present invention;

[0061] Figure 22 This is a schematic diagram of the internal structure of the robotic arm assembly provided by the present invention.

[0062] Figure 23 This is a schematic diagram of the gripper structure provided by the present invention;

[0063] Figure 24 This is a schematic diagram of the gripper provided by the present invention from another perspective;

[0064] Figure 25 This is a schematic diagram of the drive mechanism for the movable clamping plate provided by the present invention;

[0065] Figure 26 This is a schematic diagram of the structure of the mahjong tiles provided by the present invention;

[0066] Figure 27 This is a schematic diagram of another embodiment of the gripper provided by the present invention;

[0067] Figure 28 This is a schematic diagram of another embodiment of the robotic arm assembly provided by the present invention.

[0068] In the picture:

[0069] 1. Table assembly; 11. Tabletop; 111. Card holder hole; 112. Wireless charging assembly; 113. Card holder hole; 12. Table cabinet; 13. Table legs;

[0070] 2. Center plate assembly; 21. Turntable; 22. Shuffle plate; 221. Card-pulling bar; 23. Center column assembly; 231. Control panel; 232. Upper lever; 233. Lower lever; 234. Control panel lifting drive assembly;

[0071] 3. Card transport assembly; 31. Card suction wheel; 32. Conveyor belt; 33. Driven wheel; 34. Side baffle;

[0072] 4. Stacking plate assembly; 41. Receiving plate; 411. Receiving plate guide assembly; 42. Dispensing plate; 421. Dispensing plate guide assembly; 43. Holding rack; 44. Stacking plate drive assembly; 45. End baffle; 46. Monitoring assembly;

[0073] 5. Tile lifting assembly; 51. First tile lifting mechanism; 511. First tile lifting base; 5111. First position sensing component; 5112. First tile lifting guide component; 512. First tile lifting slider; 5121. First tray connecting block; 5122. First tray fixing component; 513. First tile lifting screw assembly; 514. First tile lifting drive component; 52. Second tile lifting mechanism; 521. Second tile lifting base; 5211. Second position sensing component; 5212. Second tile lifting guide component; 522. Second tile lifting slider; 5 221. Second tray connecting block; 5222. Second tray fixing assembly; 523. Second card lifting screw assembly; 524. Second card lifting drive assembly; 53. Tray; 531. Connecting area; 54. Desktop fixing assembly; 55. Bidirectional card lifting mechanism; 551. Bidirectional card lifting base; 5511. Upward guide assembly; 5512. Downward guide assembly; 5513. First track changing assembly; 5514. Second track changing assembly; 552. Bidirectional card lifting slider; 553. Bidirectional card lifting screw assembly; 554. Bidirectional card lifting drive assembly;

[0074] 6. Robotic arm assembly; 61. Gripper; 611. First movable clamping plate; 6111. First clamping plate guide assembly; 612. Second movable clamping plate; 6121. Second clamping plate guide assembly; 613. Gripper transmission slider; 614. Gripper drive assembly; 615. Gripper base; 616. Fixed clamping plate; 617. Grasping base; 618. Electromagnet; 62. Robotic arm; 621. Base; 6211. Rotary drive assembly; 6212. Linear drive assembly; 622. Arm body; 623. Angle detection assembly; 63. Robotic arm rotary track;

[0075] 7. Card arrangement assembly; 71. Temporary parking plate; 72. Card information collection component; 73. Divider plate;

[0076] 8. Mahjong tiles. Detailed Implementation

[0077] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0078] The core of this invention is to provide a mahjong machine and a control method that enable the mahjong machine to automatically draw and arrange tiles, thereby improving the user experience.

[0079] Existing automatic mahjong machines only have the functions of shuffling and stacking tiles, but not the ability to draw and arrange tiles. Therefore, before each game begins, users need to draw and arrange tiles themselves, which wastes a lot of time. Moreover, different users have different speeds in drawing and arranging tiles, which affects the rhythm and progress of the game, and thus affects the gaming experience.

[0080] Example 1:

[0081] In view of the above problems, this application provides a mahjong machine, including a table assembly 1;

[0082] Mahjong machine, including:

[0083] The card lifting assembly 5 is rotatably mounted on the table body assembly 1 along the vertical axis. The card lifting assembly 5 includes a card lifting mechanism, a desktop fixing component 54, and a tray 53. The card lifting mechanism is used to drive the tray 53 to rise and fall. The tray 53 has at least one stroke point, so that the tray 53 can be detachably and fixedly connected to the desktop 11 of the table body assembly 1 through the desktop fixing component 54.

[0084] At least one robotic arm assembly 6 is fixed or rotates along a vertical axis on the table assembly 1. The tray 53 has at least one travel point, so that the mahjong tiles 8 carried by the tray 53 can be grasped and / or the stacking position adjusted by the robotic arm assembly 6.

[0085] The tile arrangement assembly 7 is used to obtain the tile information of the mahjong tiles 8 grasped by the robotic arm assembly 6, so as to adjust the stacking order of the mahjong tiles 8.

[0086] like Figures 1-4 As shown, the table assembly 1 includes a tabletop 11, a table box 12, and table legs 13. The internal cavity of the table box 12 is used to accommodate the card-raising assembly 5, the robotic arm assembly 6, and the card-sorting assembly 7.

[0087] The table box 12 is equipped with a central plate assembly 2. The central plate assembly 2 includes a turntable 21 and a turntable drive assembly that drives the turntable 21 to rotate relative to the table box 12 along a vertical axis. The card-raising assembly 5 is fixedly mounted on the turntable 21 and rotates together with the turntable 21. The turntable drive assembly adopts a combination of a motor and a gear ring. The gear ring is coaxially fixed with the turntable 21. The motor meshes with the gear ring to drive the turntable 21 to rotate relative to the table body assembly 1.

[0088] During the card-grabbing phase, due to the diversity of card-grabbing positions—that is, the same robotic arm assembly 6 needs to grab mahjong tiles 8 held by trays 53 in different positions—and the limited space within the table box 12 restricts the grabbing area of ​​the robotic arm assembly 6, a turntable 21 is used to drive the card-lifting assembly 5 to rotate. This allows the trays 53 in different positions to be moved to the grabbing area of ​​the robotic arm assembly 6 by the rotation of the turntable 21, thereby satisfying the grabbing and stacking requirements of the robotic arm assembly 6. Alternatively, the robotic arm assembly 6 can be driven to revolve, moving it to the corresponding positions of the trays 53 in different positions to satisfy the grabbing and stacking requirements of the robotic arm assembly 6. Or, the card-lifting assembly 5 and the robotic arm assembly 6 can be driven to rotate simultaneously until the robotic arm assembly 6 and the trays 53 holding the cards achieve a corresponding positional relationship, satisfying the grabbing and stacking requirements of the robotic arm assembly 6.

[0089] During the tile arrangement stage, the robotic arm assembly 6 sequentially grabs the mahjong tiles 8 carried by the trays 53 at different positions and places them temporarily in the tile arrangement assembly 7. During the temporary storage period, the tile arrangement assembly 7 identifies the tile information of the temporarily stored mahjong tiles 8 and, based on the acquired tile information, controls the robotic arm assembly 6 to arrange the mahjong tiles 8 in the trays 53 in the correct order according to the arrangement pattern of the tile information.

[0090] After the cards are drawn and arranged, and at the end of the current round, the tray 53, which was originally fixed to the tabletop 11 by the tabletop fixing component 54, descends through the card lifting assembly 5. This causes the tray 53, which carries the arranged mahjong tiles 8, to rise under the action of another card lifting assembly 5. The tray 53 is then fixed to the tabletop 11 by the tabletop fixing component 54, thus achieving physical decoupling between the tray 53 and the card lifting assembly 5.

[0091] In some embodiments, the card arrangement assembly 7 is fixedly connected to the card raising assembly 5 or the table body assembly 1, and the card arrangement assembly 7 includes:

[0092] Temporary stop plate 71, used to temporarily store the mahjong tiles 8 grasped by the robotic arm assembly 6;

[0093] The tile information acquisition component 72 is fixedly connected to the temporary stop plate 71 and is used to acquire the tile information of the mahjong tiles 8 temporarily stored in the temporary stop plate 71. It is used to drive the robotic arm assembly 6 to place the mahjong tiles 8 on the tray 53 according to a preset pattern.

[0094] like Figure 2 and Figure 3 As shown, in some cases, the temporary stop plate 71 is fixed to the turntable 21. After the robotic arm assembly 6 grabs the mahjong tile 8, the turntable 21 rotates at a certain angle, so that the corresponding temporary stop plate 71 rotates into the grabbing area of ​​the robotic arm assembly 6. The robotic arm assembly 6 then lays the grabbed mahjong tile 8 flat on the temporary stop plate 71.

[0095] In some cases, the temporary stop plate 71 is fixed to the table assembly 1, and after the robotic arm assembly 6 grabs the mahjong tiles 8, it is directly laid flat and stacked inside the temporary stop plate 71.

[0096] The temporary stop plate 71 includes a transparent support plate, and the tile information acquisition component 72 includes a camera. The camera is set below the transparent support plate and is used to collect the tile information of the mahjong tiles 8 carried by the transparent support plate through the transparent support plate. The collected tile information is fed back to the control module of the mahjong machine or robotic arm assembly 6, so that the robotic arm assembly 6 can grab the mahjong tiles 8 in the temporary stop plate 71 in the order of the tile information during the tile stacking stage, and stack them in the corresponding trays 53.

[0097] It should be noted that the tray 53 is equipped with at least two stacking areas. One is used for stacking the mahjong tiles 8 after shuffling, which is usually stacked in two layers. This is the stacking area for the mahjong tiles 8 that have not been picked up. The other stacking area is used to receive the mahjong tiles 8 stacked by the robotic arm assembly 6 during the sorting process. This is usually stacked in a single layer and arranged according to the arrangement rules of the tile information.

[0098] In use, the components used to acquire, analyze, and store card information are usually physically isolated from the mahjong machine's interaction module to prevent users from obtaining card information in advance through the interaction module.

[0099] In some embodiments, the mahjong machine further includes a long, straight partition 73 for abutting against the mahjong tiles 8 so that the mahjong tiles 8 are arranged neatly;

[0100] The partition plate 73 is fixedly connected to the tray 53; or, the partition plate 73 is fixedly connected to the plate lift assembly 5, the tray 53 includes a partition joint, and when the tray 53 is at the second preset travel point, the partition plate 73 passes through the partition joint.

[0101] like Figure 2 , Figure 3 and Figure 9 As shown, in some cases, a divider plate 73 is provided on the surface of the tray 53, so that when the mahjong tiles 8 are stacked, one end of the mahjong tiles 8 can abut against the divider plate 73, thereby allowing the mahjong tiles 8 to be stacked neatly.

[0102] In some cases, a dividing slit is provided in the middle of the tray 53, and the dividing plate 73 is fixedly installed with the tile lifting mechanism. When the tray 53 descends to the lower end, the dividing plate 73 passes through the dividing slit. When the mahjong tiles 8 are stacked, one end of the dividing plate 73 can also abut against the dividing plate 73 to ensure that the tiles are stacked neatly. When the tray 53 rises to the upper end, the dividing plate 73 separates from the dividing slit to maintain the flatness of the surface of the tray 53 and avoid affecting the user and / or the robotic arm assembly 6 in grasping the mahjong tiles 8.

[0103] In some embodiments, the tabletop 11 is provided with a tile-lifting hole 111. When the tray 53 is at a first preset travel point, the tray 53 closes the tile-lifting hole 111, and the mahjong tiles 8 carried by the tray 53 pass over the tile-lifting hole 111.

[0104] like Figures 1-4 As shown, the tabletop 11 of the table assembly 1 is provided with a tile lifting hole 111, which is used to transport the mahjong tiles 8 in the table box 12 to the tabletop 11 through the tile lifting assembly 5. During the transportation process, the tray 53 serves as a carrier. After the transportation is completed, the tray 53 closes the tile lifting hole 111 to prevent the mahjong tiles 8 from entering the table box 12 through the tile lifting hole 111 and to keep the tabletop 11 flat.

[0105] In some embodiments, the tray 53 is provided with downward folding connection areas 531 at both ends, and the desktop fixing component 54 includes a desktop electromagnet disposed at the bottom of the desktop 11. When the tray 53 is at a first preset stroke point, the desktop electromagnet abuts against the adsorption connection area 531.

[0106] like Figures 1-9 As shown, an electromagnet-type desktop fixing component 54 is provided at the bottom of the desktop 11 at the edge of the lifting hole 111. When the tray 53 rises to the upper end point, the electromagnet attracts the tray 53. At the same time, in order to ensure the flatness of the upper surface of the tray 53 and the desktop 11, downward folding connection areas 531 are provided at both ends of the tray 53 to accommodate the desktop fixing component 54.

[0107] In some embodiments, the card lifting mechanism includes a card lifting slider and a card lifting drive assembly for driving the movement of the card lifting slider. The card lifting slider includes a tray fixing assembly for connecting and fixing a tray 53.

[0108] like Figures 1-9 As shown, the lifting slider in the lifting mechanism uses an electromagnet-type tray fixing component. When the tray 53 is driven to rise and fall by the lifting mechanism, the electromagnet attracts and fixes the tray 53. When the tray 53 is fixed to the table 11, the electromagnet releases the fixation of the tray 53, realizing the physical decoupling between the lifting mechanism and the tray 53.

[0109] In some cases, the lifting drive assembly uses a combination of a motor and a lead screw assembly to drive the lifting slider to move up and down. In other cases, the lifting drive assembly uses other drive mechanisms such as cylinders or hydraulic cylinders to achieve the same function.

[0110] In some embodiments, there are at least two sets of lifting mechanisms and trays 53 that are capable of asynchronous movement, and at least one set of lifting mechanisms includes a avoidance guide assembly for avoiding each other when the two sets of lifting sliders or the trays 53 carried by the lifting sliders meet.

[0111] like Figures 1-9As shown, the tile-raising assembly 5 includes at least two independently operating tile-raising mechanisms and trays 53. One set of trays 53 is used to raise the mahjong tiles 8 above the tabletop 11 and then block the tile-raising hole 111. The other set of trays 53 descends into the table box 12 for stacking, drawing, and arranging tiles after shuffling. After a game ends, the two sets of tile-raising mechanisms activate, driving the two trays 53 to interchange positions.

[0112] Generally, the two sets of pallets 53 each have two stroke endpoints, and the stroke endpoints of the two sets of pallets 53 are the same. Therefore, when the two sets of pallets 53 move towards each other, there will inevitably be a meeting point. In order to avoid mutual interference when the two sets of pallets 53 meet, a collision avoidance guide component is set in the lifting mechanism of at least one set. When the pallet 53 is driven to rise or fall, it is guided by the collision avoidance guide component and produces a lateral offset, thereby realizing the collision avoidance of the two sets of pallets 53.

[0113] In some cases, the avoidance guide assembly is a guide assembly with a guide rail or chute structure. In addition to vertical feed, it also has partial horizontal feed. When the pallet 53 slides with the avoidance guide assembly, it has both vertical and horizontal guidance. When two sets of pallets 53 intersect, one set has horizontal displacement, or the two sets of pallets 53 have horizontal displacement in opposite directions, thus achieving avoidance between the two intersecting pallets 53.

[0114] In some embodiments, the obstacle avoidance guide assembly includes a tray connection block and a lift guide assembly;

[0115] The tray connecting block is slidably connected to the lifting slider, and the relative sliding direction has a non-zero angle with the feeding direction of the lifting drive component. The tray connecting block is fixedly connected to the tray fixing component for fixing the tray 53.

[0116] The lifting guide component and the lifting drive component are fixedly connected, and the tray connecting block is slidably installed with the lifting guide component. The lifting guide component includes a straight segment and a bent segment that are connected together. The guiding direction of the straight segment is the same as the feeding direction of the lifting drive component.

[0117] like Figures 5-8 As shown, the lifting slider slides up and down under the driving action of the lifting drive component, and the pallet connecting block slides up and down synchronously with the lifting slider. During the sliding process, the pallet connecting block is guided by the lifting guide component and moves according to the preset trajectory of the lifting guide component. That is, when the pallet connecting block moves to the bending section, it generates a partial horizontal displacement, thereby avoiding another set of intersecting pallet connecting blocks or the pallet 53 carried by the pallet connecting block.

[0118] In some cases, the pallet connecting block and the lifting slider slide relative to each other in the horizontal direction. Therefore, when the pallet connecting block slides to the straight section, the pallet connecting block and the lifting slider are relatively stationary. When the pallet connecting block slides to the bent section, the pallet connecting block and the lifting slider slide relative to each other.

[0119] Example 2:

[0120] This application also provides a control method for controlling any of the above-mentioned mahjong machines;

[0121] Control methods, including steps:

[0122] Obtain the angle α1 between the card-grabbing position and the robotic arm assembly 6;

[0123] Control the rotation angle α1 of turntable 21 or the lifting plate assembly 5;

[0124] The robotic arm assembly 6 controls the grabbing of the mahjong tiles 8 held on the tray 53 corresponding to the grabbing position, and transfers them to the tile sorting assembly 7 for temporary storage;

[0125] The control unit 7 obtains the tile information of the temporarily stored mahjong tiles 8;

[0126] Obtain the angle α2 between the code plate position and the robotic arm assembly 6;

[0127] Control the rotation angle α2 of turntable 21 or the lifting plate assembly 5;

[0128] The robotic arm assembly 6 grabs the mahjong tiles 8 temporarily stored in the tile arrangement assembly 7 according to the acquired tile information and places them on the tray 53 corresponding to the tile arrangement position.

[0129] When using a mahjong machine, two sets of mahjong tiles 8 are typically used alternately. One set of mahjong tiles 8 is placed on the table 11 for the user's use, while the other set is temporarily stored inside the table box 12 for shuffling and arranging. This method is mainly used in the tile-drawing and arranging stage after the shuffling of the mahjong tiles 8 inside the table box 12, and specifically includes the following steps:

[0130] S1: Obtain the angle α1 between the card-grabbing position and the robotic arm assembly 6;

[0131] S2: Controls the rotation angle α1 of turntable 21 or the lifting plate assembly 5;

[0132] In actual operation, there are usually four users, that is, four robotic arm assemblies 6 to grab cards. The four robotic arms can take turns grabbing cards, which simulates the traditional manual card grabbing order and reduces the total rotation of the turntable 21 or the card lifting assembly 5.

[0133] S3: Control the robotic arm assembly 6 to grab the mahjong tiles 8 carried by the tile tray 53 and transfer them to the tile arrangement assembly 7 for temporary storage;

[0134] Repeat steps S1-S3 until all card-drawing operations are completed;

[0135] S4: Control the tile arrangement assembly 7 to obtain the tile information of the temporarily stored mahjong tiles 8;

[0136] After completing all the card-grabbing operations, the card-sorting assembly 7 collects the card information of all the temporarily stored mahjong tiles 8, and arranges the collected information according to the suit, rank, etc., so that the robotic arm assembly 6 can grab and stack them in sequence.

[0137] S5: Obtain the angle α2 between the code plate position and the robotic arm assembly 6;

[0138] S6: Controls the rotation angle α2 of turntable 21 or the lifting plate assembly 5;

[0139] S7: Control the robotic arm assembly 6 to grab the mahjong tiles 8 temporarily stored in the tile arrangement assembly 7 according to the obtained tile information, and place them on the tray 53 corresponding to the tile arrangement position.

[0140] During the card-drawing stage, since the turntable 21 and the card-raising assembly 5 rotate multiple times, it is necessary to re-determine the card positions corresponding to the user. Only after the card positions are matched with the user can the robotic arm assembly 6 be controlled to draw and arrange the mahjong tiles 8 temporarily stored in the card-arranging assembly 7. During the card-arranging process, the mahjong tiles 8 are arranged according to the card-drawing order, thereby achieving the sequential arrangement of the mahjong tiles 8.

[0141] In some embodiments, a positioner is provided between the rotating component and the table box 12 to confirm the angle between the rotating component and the table box 12 after one rotation, so as to achieve reset. For example, a positioner is provided between the card-raising assembly 5 or the turntable 21 and the table box 12, or when the robot arm assembly 6 rotates around the axis of the table box 12, a positioner is provided between the robot arm assembly 6 and the table box 12.

[0142] It should be noted that the card arrangement described in this application refers to the card arrangement behavior after drawing cards from the deck and before playing them, and is not the card arrangement during the card stacking stage, which is a fundamental difference.

[0143] Example 3:

[0144] This application also provides a center disk assembly 2, which further includes a shuffle disk 22 and a shuffle disk drive assembly for driving the shuffle disk 22 to rotate relative to the turntable 21 along a vertical axis;

[0145] Several card-pulling strips 221 are provided on the surface of the shuffling plate 22.

[0146] like Figure 15 and Figure 16As shown, a shuffling plate 22 is set in the center of the inside of the table box 12. The shuffling plate 22 can be driven to rotate by the shuffling plate drive component, which causes the mahjong tiles 8 it carries to be shuffled under the action of the tile-pulling strip 221, that is, the mahjong tiles 8 are scattered and randomly arranged.

[0147] The shuffling disc drive assembly includes a meshing motor and a gear ring. The gear ring is coaxially fixed with the shuffling disc 22. Under the action of the motor, the shuffling disc 22 is driven to rotate relative to the table box 12 or the turntable 21, thereby completing the shuffling operation.

[0148] In some embodiments, the mahjong machine further includes a card-carrying assembly 3 and a card-stacking assembly 4 that are fixedly disposed relative to the turntable 21;

[0149] The card transport assembly 3 is used to pick up and transport the mahjong tiles 8 in the shuffling tray 22 to the stacking assembly 4 one by one;

[0150] The stacking assembly 4 is used to receive the mahjong tiles 8 conveyed by the tile transport assembly 3, and stack the mahjong tiles 8 and push them to the tray 53 at the preset travel point.

[0151] like Figures 15-20 As shown, by setting up the card transport assembly 3 and the card stacking assembly 4 inside the table box 12, the mahjong tiles 8 in the shuffling tray 22 can be transported and double-stacked into the corresponding tray 53 after shuffling.

[0152] In some embodiments, the vehicle assembly 3 includes:

[0153] The card-attracting wheel 31 is used to magnetically attract mahjong tiles 8;

[0154] Driven wheel 33 is arranged at a height not lower than the minimum height of the stacking assembly 4 used to support mahjong tiles 8;

[0155] The conveyor belt 32 is fitted between the card-collecting wheel 31 and the driven wheel 33, and is used to transfer the mahjong tiles 8 magnetically attracted by the card-collecting wheel 31 to the driven wheel 33.

[0156] like Figure 2 , Figure 3 , Figure 17 and Figure 18 As shown, in some cases, the arrangement of the card-collecting wheel 31 is relatively close to the surface of the shuffling tray 22, which facilitates the collection of mahjong tiles 8 on the shuffling tray 22. Then, with the help of magnetic attraction, the mahjong tiles 8 are fed synchronously with the card-collecting wheel 31 and the conveyor belt 32. When the mahjong tiles 8 move to the upper surface of the conveyor belt 32, the mahjong tiles 8 are released from the magnetic attraction of the card-collecting wheel 31 and are fed with the conveyor belt 32 until they move to one end of the driven wheel 33.

[0157] In some cases, the driven wheel 33 is positioned relatively close to the receiving position of the stacking tile assembly 4, so that the mahjong tiles 8 are conveyed into the stacking tile assembly 4 by the conveyor belt 32.

[0158] In some cases, the card-attracting wheel 31 is driven by a hub motor and has magnets on the bottom and the outer periphery of the horizontal side for magnetically attracting the mahjong tiles 8.

[0159] In some embodiments, the conveyor assembly 3 further includes two sets of side baffles 34, which are arranged on both sides of the feed direction of the conveyor belt 32.

[0160] like Figure 2 , Figure 3 , Figure 17 and Figure 18 As shown, side baffles 34 are provided on both sides of the conveyor belt 32 to prevent the mahjong tiles 8 from falling off from both sides of the conveyor belt 32.

[0161] In some cases, one set of side baffles 34 separates the card transport assembly 3 and the card lifting assembly 5 on both sides to prevent them from interfering with each other.

[0162] In some embodiments, the tile transport assembly 3 further includes a counting component for collecting the number of mahjong tiles 8 transported by the tile transport assembly 3 within a preset time period.

[0163] like Figure 17 and Figure 18 As shown, a counting component is installed inside the table box 12 to monitor the number of mahjong tiles 8 conveyed by the tile conveying assembly 3. During the tile stacking stage, the number of mahjong tiles 8 carried by different pallets 53 is close to or the same. When the number of mahjong tiles 8 stacked on one of the pallets 53 reaches the preset value, that is, when the counting component detects that the number of mahjong tiles 8 conveyed by the tile conveying assembly 3 has reached the preset number, the operation stops or the conveyor rotates in the reverse direction, returning the remaining mahjong tiles 8 on the surface of the conveyor belt 32 to the shuffling tray 22 for transport by the tile conveying assembly 3 corresponding to other pallets 53.

[0164] Counting components typically employ cameras, combined with image recognition algorithms, to achieve dynamic counting.

[0165] In some cases, the stacking assembly 4 also includes a counting sensor on the end baffle 45 to count the mahjong tiles 8 above the holding rack 43 and / or the receiving plate 41, thereby knowing the number of mahjong tiles 8 stacked on the corresponding tray 53. When the maximum number of stacked tiles is met, the stacking assembly 3 is controlled to reverse and send the mahjong tiles 8 it is carrying back to the shuffling tray 22.

[0166] In some embodiments, the mahjong machine further includes a tile arrangement assembly 7, which is used to acquire the tile information of the mahjong tiles 8 grasped by the robotic arm assembly 6, so as to adjust the stacking order of the mahjong tiles 8.

[0167] During the tile arrangement stage, the robotic arm assembly 6 sequentially grabs the mahjong tiles 8 carried by the trays 53 at different positions and places them temporarily in the tile arrangement assembly 7. During the temporary storage period, the tile arrangement assembly 7 identifies the tile information of the temporarily stored mahjong tiles 8 and, based on the acquired tile information, controls the robotic arm assembly 6 to arrange the mahjong tiles 8 in the trays 53 in the correct order according to the arrangement pattern of the tile information.

[0168] In some cases, the temporary stop plate 71 is fixed to the table assembly 1, and after the robotic arm assembly 6 grabs the mahjong tiles 8, it is directly laid flat and stacked inside the temporary stop plate 71.

[0169] The temporary stop plate 71 includes a transparent support plate and a camera under the transparent support plate. The camera collects the tile information of the mahjong tiles 8 carried by the transparent support plate. The collected tile information is fed back to the control module of the mahjong machine or the robotic arm assembly 6, so that the robotic arm assembly 6 can grab the mahjong tiles 8 in the temporary stop plate 71 in the order of the tile information during the tile stacking stage, and stack them in the corresponding trays 53.

[0170] Example 4:

[0171] This application also provides a tile-raising assembly for a mahjong machine;

[0172] Upgrade assembly 5, including:

[0173] Tray 53;

[0174] The lifting mechanism includes a tray connecting block and a lifting drive assembly. The lifting drive assembly is used to drive the tray connecting block to lift and lower. The tray connecting block includes a tray fixing assembly for detachably fixing the tray 53.

[0175] The desktop fixing component 54 is fixedly connected to the table body assembly 1 of the mahjong machine and is used for the detachable fixing connection tray 53.

[0176] like Figures 1-9 As shown, a pallet fixing component is provided at the connection position between the pallet lifting mechanism and the pallet 53, so that the pallet 53 and the pallet lifting mechanism can be detachably fixed. When the pallet 53 is driven upward to the end point, the pallet 53 can be physically decoupled from the pallet lifting mechanism.

[0177] A desktop fixing component 54 is provided on the desktop 11 of the table assembly 1. When the tray 53 is driven upward to the end point, the tray 53 is fixedly connected to the desktop 11 through the desktop fixing component 54. When the tray 53 needs to be driven downward, the desktop fixing component 54 releases the fixed connection between the tray 53 and the desktop 11, and the tray fixing component fixes the tray 53 to the plate lifting mechanism.

[0178] In the above embodiments, the tray fixing component and the desktop fixing component 54 are fixed to the plate lifting mechanism and the desktop 11 respectively, thereby facilitating the wiring layout and realizing the power supply and control of the tray fixing component and the desktop fixing component 54.

[0179] In some embodiments, a tray fixing component is integrated within the tray 53. The tray fixing component is detachably fixed to the tile-lifting mechanism or the tabletop 11 at different times. For example, when the tray 53 is at the upward endpoint, the tray fixing component is detachably fixed to the tabletop 11. When the tray 53 is not at the upward endpoint, the tray fixing component is detachably fixed to the tile-lifting mechanism. At this time, since the tray 53 needs to have the ability to physically decouple from the tabletop 11 and the tile-lifting mechanism, the power supply and control components of the tray fixing component need to be independently integrated within the tray 53. Moreover, the control component needs to have communication capability with the control module of the mahjong machine.

[0180] In some cases, the tray fixing assembly and the tabletop fixing assembly 54 use electromagnets. By controlling the on and off of the electromagnets, the connection or decoupling of the tray 53 from the lifting mechanism and / or the tabletop 11 can be achieved.

[0181] In some embodiments, the card-lifting mechanism includes a card-lifting guide component and a card-lifting slider that slides vertically, and the card-lifting drive component is used to drive the card-lifting slider to move.

[0182] The tray connecting block is slidably installed with both the lifting guide assembly and the lifting slider, and the tray connecting block and the lifting slider slide relative to each other in a horizontal direction;

[0183] At least one pallet lifting mechanism has a pallet lifting guide component provided with a clearance part to allow two sets of pallet connecting blocks or pallets 53 carried by the pallet connecting blocks to avoid each other when they meet.

[0184] like Figures 2-8 As shown, the lifting drive assembly uses a combination of a motor and a lead screw assembly to achieve synchronous vertical drive of the lifting slider and the tray connecting block. At the same time, while the tray connecting block slides vertically, it is guided by the avoidance part inside the lifting guide assembly and can generate a horizontal relative displacement relative to the tray slider. Therefore, when the two sets of tray connecting blocks move towards each other, the tray connecting block that generates horizontal displacement can avoid the other set of tray connecting blocks.

[0185] In some embodiments, the clearance portion is a bent section that bends to one side horizontally, and the two ends of the bent section are coplanar with the lifting guide components of another set of lifting mechanisms.

[0186] like Figures 2-8As shown, the tile-lifting assembly 5 includes a first tile-lifting mechanism 51 and a second tile-lifting mechanism 52. The total stroke of the first tile-lifting mechanism 51 is greater than that of the second tile-lifting mechanism 52. The first tile-lifting mechanism 51 is used to directly drive the tray 53 from the lower end to the upper end. During the process, the tray 53 carries the stacked mahjong tiles 8, so the pauses in the travel of the tray 53 should be reduced. The second tile-lifting mechanism 52 is used to receive the empty tray 53 at the upper end and move it down to the lower end. During the process, the avoidance part is used to make horizontal displacement to avoid the tray 53 driven by the first tile-lifting mechanism 51.

[0187] The first card lifting mechanism 51 includes a first card lifting base 511, a first card lifting slider 512, a first card lifting screw assembly 513, and a first card lifting drive assembly 514.

[0188] The first lifting screw assembly 513 and the first lifting drive assembly 514 together form the lifting drive assembly, which drives the first lifting slider 512 to move up and down relative to the first lifting base 511.

[0189] The first plate lifting base 511 includes a first plate lifting guide component 5112. The first plate lifting slider 512 includes a first tray connecting block 5121 and a first tray fixing component 5122. The first tray connecting block 5121 is slidably connected to the first plate lifting guide component 5112. The first tray fixing component 5122 is used to detachably fix the tray 53.

[0190] In some cases, the first tile-raising guide component 5112 is a vertically arranged straight segment. In other cases, the first tile-raising guide component 5112 has a bent segment in the middle and lower section. The bent segment is a pause segment with a small horizontal stroke. It does not need to be used for avoidance but is only used for the pause and waiting of the tray 53, thereby avoiding the problem of mahjong tiles 8 being disordered due to the large horizontal displacement of the tray 53.

[0191] In some cases, during the tile arrangement stage, the robotic arm assembly 6 needs to grab and release the mahjong tiles 8 in the tray 53. To avoid insufficient working stroke of the robotic arm assembly 6, a bending section is provided in the first tile lifting guide component 5112 to change the distance between the robotic arm assembly 6 and the tray 53, thereby compensating for the working stroke of the robotic arm assembly 6.

[0192] The second card lifting mechanism 52 includes a second card lifting base 521, a second card lifting slider 522, a second card lifting screw assembly 523, and a second card lifting drive assembly 524;

[0193] The second lifting screw assembly 523 and the second lifting drive assembly 524 together form the lifting drive assembly, which drives the second lifting slider 522 to move up and down relative to the second lifting base 521.

[0194] The second lifting base 521 includes a second lifting guide component 5212, and the second lifting slider 522 includes a second tray connecting block 5221 and a second tray fixing component 5222. The second tray connecting block 5221 is slidably connected to the second lifting guide component 5212, and the second tray fixing component 5222 is used to detachably fix the tray 53.

[0195] In some cases, the second pallet guide component 5212 is a bent section used for avoidance. When the second pallet connecting block 5221 moves to the bend point of the bent section, it can effectively avoid the first pallet connecting block 5121 of the same height.

[0196] In some embodiments, the horizontal length of the bent section is not less than the width of the tray 53.

[0197] The horizontal length of the second pallet guide component 5212 is not less than the width of the pallet 53, so that when the second pallet connecting block 5221 moves to the bending point of the bending section, the pallet 53 it carries can effectively avoid the pallet 53 carried by the first pallet connecting block 5121 of the same height.

[0198] In some embodiments, position sensing components are provided at least at both ends of the bent section and at the inflection point to detect the position of the lifting slider or the tray connecting block.

[0199] like Figure 5 As shown, first position sensing components 5111 are respectively arranged at the upper and lower ends of the first plate lifting guide component 5112, the two ends of the bending section and the bending point, to monitor the position of the first plate lifting slider 512 in the first plate lifting guide component 5112, thereby facilitating precise control of the first plate lifting mechanism 51.

[0200] like Figure 8 As shown, second position sensing components 5211 are respectively arranged at the two ends and the bending point of the bending section of the second lifting plate guide component 5212 to monitor the position of the second lifting plate slider 522 within the second lifting plate guide component 5212, thereby facilitating precise control of the second lifting plate mechanism 52.

[0201] In some embodiments, the lifting assembly 5 further includes a control module for controlling the pallet connecting block of one set of lifting mechanisms to move to the clearance section, and then controlling the pallet connecting block of another set of lifting mechanisms to rise or fall.

[0202] The control module receives the height positions of the trays 53 in the first and second lifting mechanisms 51 and 52 obtained by the first position sensing component 5111 and the second position sensing component 5211, thereby achieving coordinated control of the first and second lifting mechanisms 51 and 52 and avoiding interference between the trays 53 in the two lifting mechanisms.

[0203] In some embodiments, the tray connecting block is provided with a downwardly extending connecting rod, the bottom end of which is slidably mounted with the lifting plate slider and the lifting plate guide assembly.

[0204] To improve the decoupling capability between the card lifting mechanism and the table 11, in some cases, the top of the card lifting mechanism is kept at a certain gap with the table 11 to avoid interference between the card lifting mechanism and the table 11 when the turntable 21 rotates. Therefore, a downwardly extending connecting rod is provided on the tray connecting block to compensate for the gap between the upper stroke end point of the card lifting mechanism and the table 11.

[0205] In some embodiments, two sets of lifting mechanisms are respectively arranged at corresponding positions at both ends of the tray 53, so that the tray fixing components of the two sets of lifting mechanisms are detachably and fixedly connected to different positions of the tray 53.

[0206] Two sets of card-lifting mechanisms are arranged at both ends of the tray 53, ensuring that the connection between the two sets of card-lifting mechanisms and the tray 53 will not interfere with each other.

[0207] In some embodiments, the tray 53 has downwardly folding connection areas 531 at both ends for accommodating and detachably fixing the desktop fixing component 54.

[0208] like Figure 9 As shown, when the tray 53 is at the upper end of the stroke, the upper surface of the tray 53 is flush with the tabletop 11. Therefore, a downward folding connection area 531 is provided at both ends of the tray 53, which can effectively accommodate the tabletop fixing component 54, thereby avoiding the problem of the tray 53 and the tabletop 11 not being flush due to the space occupied by the tabletop fixing component 54.

[0209] Example 5:

[0210] This application also provides a stacking card assembly, the stacking card assembly 4 including:

[0211] The receiving plate 41 is used to receive the mahjong tiles 8 transported by the tile transport assembly 3;

[0212] The holding frame 43 moves relative to the receiving plate 41 in the vertical direction. When the receiving plate 41 is descending and passes over the holding frame 43, the holding frame 43 receives the mahjong tiles 8 carried by the receiving plate 41.

[0213] The card-shifting plate 42 moves horizontally relative to the holding rack 43 to push and transfer the mahjong tiles 8 carried by the holding rack 43 to the corresponding position of the tray 53;

[0214] The card stacking drive assembly 44 is used to drive the card receiving plate 41 and / or the card dispensing plate 42 to move relative to the retaining frame 43.

[0215] like Figure 18 , Figure 19 and Figure 20As shown, after the shuffling plate 22 completes the shuffling operation, the transporting assembly 3 transports the mahjong tiles 8 on the shuffling plate 22 one by one to the stacking assembly 4, where they are received by the receiving plate 41. After receiving the mahjong tiles 8, the receiving plate 41 moves down and is received by the holding rack 43. Then, the card-pulling plate 42 moves and pushes the mahjong tiles 8 carried by the holding rack 43 horizontally into the tray 53 of the same height. Several mahjong tiles 8 are stacked in sequence according to the above process.

[0216] In some cases, the stacking assembly 4 also includes an end baffle 45, which blocks the mahjong tiles 8 from crossing the receiving plate 41 when the transport assembly 3 delivers the mahjong tiles 8 to the receiving plate 41.

[0217] In some embodiments, there are at least two travel points, with the receiving plate 41 being higher than the holding frame 43, for receiving the mahjong tiles 8 conveyed by the tile transport assembly 3.

[0218] Furthermore, the height difference between the two travel points is not less than the thickness of a single mahjong tile.

[0219] During the lifting and lowering process, the receiving plate 41 has at least two stroke points above the holding frame 43. When it is at the first stroke point, the height difference between the upper surface of the receiving plate 41 and the outlet of the card transport assembly 3 is the thickness of one mahjong tile 8. The height difference between the second stroke point and the first stroke point is also the thickness of one mahjong tile 8. Therefore, after the receiving plate 41 receives one mahjong tile 8, it lowers to the second stroke point and continues to receive the second mahjong tile 8. The two mahjong tiles 8 are stacked vertically. Then the receiving plate 41 continues to lower until the mahjong tile 8 is received by the holding frame 43. Then, under the action of the card-pushing plate 42, the stacked mahjong tiles 8 are pushed to the tray 53 of the same height.

[0220] In some embodiments, the card receiving plate 41 includes a horizontal card receiving guide component 411;

[0221] The card-dispensing plate 42 includes a card-dispensing guide component 421, which includes a connected arc segment and a vertical segment;

[0222] The stacking drive assembly 44 includes a rotating swing arm mechanism, the free end of which is slidably connected to both the receiving guide assembly 411 and the card-dispensing guide assembly 421.

[0223] When the free end of the swing arm mechanism slides relative to the arc segment, the card receiving plate 41 is driven to move, and the card deflecting plate 42 is driven to stay still.

[0224] When the free end of the swing arm mechanism slides relative to the vertical section, the card receiving plate 41 is driven to move, and the card dispensing plate 42 is driven to move.

[0225] In some cases, the card stacking drive assembly 44 uses a combination of two sets of motors and lead screw assemblies to drive the card receiving plate 41 and the card pushing plate 42 respectively.

[0226] In some cases, the stacking drive assembly 44 adopts a structural design that combines a set of motors with the receiving guide assembly 411 and the card-pulling guide assembly 421 to realize the sequential driving of the receiving plate 41 and the card-pulling plate 42;

[0227] Specifically, when the free end of the swing arm mechanism rotates, the direction of motion has a non-zero angle with the horizontally arranged card receiving guide component 411, thus always driving the card receiving plate 41 to lift and lower.

[0228] When the free end of the swing arm mechanism rotates to the arc segment of the card guide assembly 421, the direction of motion is consistent with the direction of the arc segment, so the card guide plate 42 remains stationary.

[0229] When the free end of the swing arm mechanism rotates to the vertical section of the card-pulling guide assembly 421, the direction of motion has a non-zero angle with the vertical section, so the card-pulling plate 42 is driven to translate.

[0230] When the free end of the swing arm mechanism rotates to the vertical section of the card-dispensing guide assembly 421, the card receiving plate 41 is below the retaining frame 43 and will not interfere with the translation of the card-dispensing plate 42.

[0231] In some cases, the stacking assembly 4 also includes a monitoring component 46 for monitoring the stacking of mahjong tiles 8 on the surface of the receiving plate 41 in order to control the operation of the stacking drive component 44.

[0232] In some cases, the stacking assembly 4 also includes a counting sensor on the end baffle 45 to count the mahjong tiles 8 above the holding rack 43 and / or the receiving plate 41, thereby knowing the number of mahjong tiles 8 stacked on the corresponding tray 53. When the maximum number of stacked tiles is met, the stacking assembly 3 is controlled to reverse and send the mahjong tiles 8 it is carrying back to the shuffling tray 22.

[0233] In some embodiments, the table assembly 1 includes a card-lifting hole 111;

[0234] There is at least one travel point where the mahjong tile 8 carried by the tray 53 passes through the tile-raising hole 111, and the tray 53 blocks the tile-raising hole 111.

[0235] like Figure 1 As shown, the tray 53 is lifted and lowered under the drive of the tile lifting assembly 5. When it is at the upper stroke point, the mahjong tiles 8 it carries are on the tabletop 11 for user use. The tray 53 also blocks the tile lifting hole 111 to ensure the flatness of the tabletop 11 and improve the user experience.

[0236] In some embodiments, the mahjong machine further includes a central column assembly 23, which includes a control panel 231 and a control panel lifting drive assembly 234 for driving the control panel 231 to rise and fall. The upper surface of the control panel 231 is provided with a plurality of interactive components.

[0237] Table assembly 1 includes card inlet hole 113;

[0238] It has at least one travel point, and the control panel 231 blocks the card inlet hole 113.

[0239] like Figure 1 , Figure 15 and Figure 16 As shown, a card-feeding hole 113 is provided in the center area of ​​the tabletop 11 for sending the mahjong tiles 8 after the game ends into the table box 12 for shuffling. The card-feeding hole 113 is blocked by the control disk 231 at the top of the central column assembly 23 to ensure the flatness of the tabletop 11 during the game. When the game ends, the control disk 231 rises or falls to open the card-feeding hole 113.

[0240] The surface of the control panel 231 is equipped with several interactive components, such as dice control and display components, or suit setting and display components for missing a suit in Sichuan Mahjong, etc.

[0241] In some embodiments, the central column assembly 23 further includes an upper rod 232 and a lower rod 233. The upper rod 232 is fixedly connected to the control panel 231, and the lower rod 233 is fixedly connected to the table box 12. A control panel lifting drive assembly 234 is provided in the table box 12 to drive the upper rod 232 and the lower rod 233 to move relative to each other in the vertical direction.

[0242] The control panel lifting drive assembly 234 includes a horizontal guide assembly disposed at the bottom end of the upper rod 232 and a motor-driven swing arm mechanism. The free end of the swing arm mechanism is slidably mounted with the horizontal guide assembly. As the motor rotates, it drives the free end of the swing mechanism to revolve, thereby driving the upper rod 232 to move up and down relative to the lower rod 233.

[0243] In some embodiments, the table assembly 1 includes at least one set of wireless charging components 112 disposed on the desktop 11 of the table assembly 1.

[0244] like Figure 1 As shown, a wireless charging component 112 is set on the desktop 11 for charging the mobile phone of the player user, thereby improving the user experience.

[0245] Example 6:

[0246] This application also provides a tile-raising assembly for a mahjong machine;

[0247] Upgrade assembly, including:

[0248] The license plate upgrade mechanism includes the license plate upgrade guide component and the license plate upgrade drive component;

[0249] Tray 53 is slidably connected to the lifting guide assembly, and the lifting drive assembly is used to drive tray 53 to slide relative to the lifting guide assembly;

[0250] The plate-raising guidance component includes an uplink guidance component 5511 and a downlink guidance component 5512. The downlink guidance component 5512 runs parallel to a portion of the uplink guidance component 5511. Both ends of the downlink guidance component 5512 are connected to the uplink guidance component 5511, and a track-changing component is provided at each connection point.

[0251] like Figure 1 and Figures 10-13 As shown, a lifting mechanism is used to drive the tray 53 to move up and down. During the process, the tray 53 carries the mahjong tiles 8, and the mahjong tiles 8 and the tray 53 remain relatively fixed. During the play, there is no relative movement or friction between the surface of the mahjong tiles 8 and the table 11, which effectively avoids wear and tear on the surface information of the mahjong tiles 8.

[0252] The lifting mechanism includes a bidirectional lifting mechanism 55, which includes a bidirectional lifting base 551, a bidirectional lifting slider 552, a bidirectional lifting screw assembly 553, and a bidirectional lifting drive assembly 554. The tray 53 is slidably installed with the guide components in the bidirectional lifting slider 552 and the bidirectional lifting base 551. The guide components include an upward guide assembly 5511 and a downward guide assembly 5512. The upward guide assembly 5511 and the downward guide assembly 5512 are parallel in some sections, and under the action of the track-changing assembly, the tray 53 changes track during the upward or downward process so that the two sets of trays 53 that meet avoid each other and prevent interference.

[0253] The bidirectional lifting slider 552 is slidably mounted on the bidirectional lifting base 551. The bidirectional lifting screw assembly 553 and the motor-type bidirectional lifting drive assembly 554 are combined to drive the bidirectional lifting slider 552 to move up and down relative to the bidirectional lifting base 551.

[0254] In some embodiments, the feeding directions of the up guide component 5511 and the lifting drive component are the same, and the maximum horizontal distance between the down guide component 5512 and the up guide component 5511 is not less than the width of the tray 53.

[0255] like Figure 13As shown, the upward guide component 5511 and the bidirectional lifting drive component 554 have the same driving feed direction, that is, the tray 53 does not deviate horizontally when it moves upward; while the downward guide component 5512 has a certain horizontal displacement in addition to vertical displacement, that is, the tray 53 has a certain horizontal displacement when it moves downward, and the displacement is not less than the width of the tray 53 itself, so as to avoid the rising tray 53.

[0256] In some embodiments, the track-changing assembly includes a first track-changing assembly 5513 and a second track-changing assembly 5514 that are rotatably mounted to the lifting plate guide assembly via a torsion spring;

[0257] The first track-changing component 5513 is disposed at the upper end connection position of the downlink guide component 5512, and is used to keep the upper end connection position in constant communication with the downlink guide component 5512.

[0258] The second track-changing component 5514 is located at the lower end of the downlink guide component 5512, and is used to keep the lower end of the guide component 5511 in constant communication.

[0259] like Figure 13 As shown, a section of the upward guide component 5511 runs parallel to the downward guide component 5512. The downward guide component 5512 has both vertical and horizontal displacement. When the tray 53 moves downward, it generates a horizontal displacement to avoid the upward tray 53.

[0260] The upper and lower ends of the downlink guide component 5512 are respectively connected to the uplink guide component 5511, and the first track-changing component 5513 and the second track-changing component 5514 are respectively provided. The first track-changing component 5513 is normally connected to the downlink guide component 5512, and the second track-changing component 5514 is normally connected to the uplink guide component 5511. Both the first track-changing component 5513 and the second track-changing component 5514 are paddles set by torsion springs. When the movement trend of the tray 53 is consistent with the normal direction of the track-changing component, the track-changing component does not move when the tray 53 passes. When the movement trend of the tray 53 is inconsistent with the normal direction of the track-changing component, the track-changing component is driven by the tray 53 to change its own conduction state when the tray 53 passes. After the tray 53 passes, the track-changing component is reset under the action of the torsion spring.

[0261] like Figure 13 As shown, when the tray 53 moves upward, the second track-changing component 5514 does not operate, and the first track-changing component 5513 operates to change tracks. When the tray 53 moves downward, the first track-changing component 5513 does not operate, and the second track-changing component 5514 operates to change tracks.

[0262] In some embodiments, the downlink guide component 5512 is a bent section;

[0263] A position sensing component is installed at the inflection point of the bending section to detect the position of the tray 53.

[0264] In some cases, by setting a position sensing component at the inflection point of the bending section, when the tray 53 passes the inflection point, the position sensing component can detect the position of the tray 53, thereby controlling the downward tray 53 to stop moving and wait for the upward tray 53 to pass before the downward tray 53 continues to move downward.

[0265] In some embodiments, a portion of the uplink guide component 5511 is a bent segment, which is arranged in the portion in which the uplink guide component 5511 and the downlink guide component 5512 are not parallel.

[0266] A position sensing component is installed at the inflection point of the bending section to detect the position of the tray 53.

[0267] In some cases, during the tile arrangement stage, the robotic arm assembly 6 needs to grab and release the mahjong tiles 8 in the tray 53. To avoid insufficient working stroke of the robotic arm assembly 6, a bending section is provided in the first tile lifting guide component 5112 to change the distance between the robotic arm assembly 6 and the tray 53, thereby compensating for the working stroke of the robotic arm assembly 6.

[0268] In some embodiments, the card-raising mechanism further includes a card-raising slider, and the card-raising drive component drives the card-raising slider to slide vertically;

[0269] Tray 53 is slidably connected to both the plate lifter slider and the plate lifter guide assembly;

[0270] There is a non-zero angle between the relative sliding direction of the tray 53 and the lifting slider and the feeding direction of the lifting drive assembly.

[0271] In some cases, the lifting slider includes a bidirectional lifting slider 552, the lifting drive assembly includes a bidirectional lifting drive assembly 554, and the relative sliding direction of the tray 53 to the bidirectional lifting slider 552 is perpendicular to the feed direction of the bidirectional lifting drive assembly 554.

[0272] In some embodiments, tray 53 includes a downwardly extending connecting rod, the bottom end of which is slidably mounted to the plate lifter slider and the plate lifter guide assembly.

[0273] In some cases, a certain gap is maintained between the top of the card lifting mechanism and the table 11 to avoid interference between the card lifting mechanism and the table 11. Therefore, by setting a downwardly extending connecting rod on the tray 53, the gap between the upper stroke end point of the card lifting mechanism and the table 11 is eliminated.

[0274] In some embodiments, the lifting mechanism and the tray 53 are at least two sets and can operate independently;

[0275] It also includes a control module for controlling one set of card-lifting mechanisms to drive the tray 53 downward to engage with the downward guide component 5512, and controlling another set of card-lifting mechanisms to drive the other set of trays 53 upward through the parallel section.

[0276] The control module receives the height position of the upward and downward trays 53 from the position sensing component, thereby achieving coordinated control of the two sets of bidirectional tray lifting mechanisms 55 and avoiding interference between the upward and downward trays 53.

[0277] Example 7:

[0278] This application also provides a mahjong machine, including a table assembly 1;

[0279] Mahjong machine, including:

[0280] The card lifting assembly 5 is fixedly installed on the table body assembly 1. The card lifting assembly 5 includes a two-way card lifting mechanism 55 and a tray 53. The two-way card lifting mechanism 55 is used to drive the tray 53 to lift up and down.

[0281] At least one robotic arm assembly 6 is disposed on the table assembly 1 and is capable of moving along a preset track to grab mahjong tiles 8 carried by one of the trays 53 and place the mahjong tiles 8 onto any tray 53;

[0282] The tile arrangement assembly 7 is used to obtain the tile information of the mahjong tiles 8 grasped by the robotic arm assembly 6, so as to adjust the stacking order of the mahjong tiles 8.

[0283] like Figure 1 , Figures 10-14 As shown, the table assembly 1 includes a tabletop 11, a table box 12, and table legs 13. The internal cavity of the table box 12 is used to accommodate the card-raising assembly 5, the robotic arm assembly 6, and the card-sorting assembly 7.

[0284] Multiple bidirectional tile-lifting mechanisms 55 form a closed-loop space. A pre-set circular track is set on the inner or outer side of this space. The robotic arm assembly 6 moves along the pre-set track, thereby meeting the needs of the robotic arm assembly 6 to grasp the inner tray 53 of the tile-lifting assembly 5 at different positions to carry the mahjong tiles 8.

[0285] In some cases, the preset track is fixedly connected to the table box 12, and the robot arm assembly 6 is equipped with a revolution drive component to drive the robot arm assembly 6 to move along the preset track, thereby adjusting the spatial position relationship between the robot arm assembly 6 and the tray 53 in different bidirectional card lifting mechanisms 55.

[0286] In some cases, the preset track is rotatably connected to the table box 12, and several robotic arm assemblies 6 are fixedly arranged at equal intervals with the preset track. A revolution drive component is provided to drive the preset track and the table box 12 to rotate relative to each other. Through the rotation of the preset track, the robotic arm assemblies 6 and the bidirectional card lifting mechanism 55 at different positions are driven to adjust their spatial positions.

[0287] In some cases, the two-way card-raising mechanism 55 and the robotic arm assembly 6 are both set into four groups, each corresponding to four player users.

[0288] Example 8:

[0289] This application also provides a robotic arm assembly, including a gripper 61, the gripper 61 comprising:

[0290] Several grabbing modules, which can be driven asynchronously to grab mahjong tiles 8;

[0291] The gripper drive assembly 614 is used to sequentially drive the gripping module.

[0292] In some embodiments, the gripping module includes a movable clamping plate and a fixed clamping plate 616, with different movable clamping plates having different arrangement heights;

[0293] The gripper drive assembly 614 is used to sequentially drive several moving grippers to move relative to the fixed gripper 616.

[0294] like Figures 21-25 As shown, the movable clamping plate is driven to move relative to the fixed clamping plate 616 by the gripper drive component 614, thereby achieving the clamping of the object. There are at least two sets of movable clamping plates, and they are arranged at different heights to clamp objects with different stacking heights. For example, when the mahjong tiles 8 are stacked in two layers, the movable clamping plate of the lower layer is used to clamp the lower layer mahjong tiles 8. When moving, it can drive the upper layer mahjong tiles 8 to move synchronously. The movable clamping plate of the upper layer only clamps the upper layer mahjong tiles 8 and has no effect on the lower layer mahjong tiles 8.

[0295] In some cases, the horizontal width of the lower movable clamping plate is greater than that of the upper movable clamping plate, and the connection between the lower movable clamping plate and the gripper drive assembly 614 has the same arrangement height as the upper movable clamping plate. Therefore, when the lower movable clamping plate clamps, it can partially clamp the stacked objects on the upper layer. For example, the horizontal width of the second movable clamping plate 612 on the lower layer is the width of two mahjong tiles 8, and the horizontal width of the connection is not greater than the width of a single mahjong tile 8. The horizontal width of the first movable clamping plate 611 on the upper layer is not greater than the width of a single mahjong tile 8. Therefore, during the tile-grabbing stage, moving the first movable clamping plate 611 alone can achieve the grabbing of a single mahjong tile 8, such as when performing the final tile-jumping step. Moving the first movable clamping plate 611 and the second movable clamping plate 612 sequentially or simultaneously can achieve the simultaneous grabbing of four mahjong tiles 8.

[0296] In some cases, the width of the first movable clamping plate 611 and the second movable clamping plate 612 is no greater than the width of a single mahjong tile 8. Therefore, when the first movable clamping plate 611 and the second movable clamping plate 612 clamp the middle position of the mahjong tile 8, it is possible to grasp a single or stacked mahjong tile 8. If the first movable clamping plate 611 and the second movable clamping plate 612 simultaneously clamp the abutting position of two sets of stacked mahjong tiles 8, it is possible to complete the stacking of four mahjong tiles 8.

[0297] In some cases, the gripper drive assembly 614 is provided with two sets of drive units to drive the first moving clamp 611 and the second moving clamp 612 respectively. By controlling the action sequence of the two sets of drive units, the clamping sequence of the first moving clamp 611 and the second moving clamp 612 can be controlled.

[0298] In some cases, the gripper drive assembly 614 is equipped with only one set of drive units. Through the structural design of the drive connector, the clamping sequence control of the first moving clamp 611 and the second moving clamp 612 is realized. For example, during the clamping stage, the first moving clamp 611 is driven to clamp first, and during the release stage, the first moving clamp 611 is driven to release first.

[0299] In some embodiments, the movable clamping plate includes a clamping plate guiding assembly, which includes a driving segment and a retaining segment;

[0300] The gripper 61 also includes a gripper drive slider 613 that is slidably mounted relative to both the fixed clamping plate 616 and the clamping plate guide assembly;

[0301] The gripper drive assembly 614 drives the gripper transmission slider 613 to slide relative to the fixed clamping plate 616;

[0302] When the gripper drive slider 613 slides relative to the drive section and the holding section respectively, the moving gripper obtains different driven action states.

[0303] like Figure 25 As shown, the first movable clamping plate 611 includes a first clamping plate guide assembly 6111, and the second movable clamping plate 612 includes a second clamping plate guide assembly 6121. Both the first clamping plate guide assembly 6111 and the second clamping plate guide assembly 6121 include a holding section and a driving section. When the gripper drive slider 613 moves in contact with the holding section, the first movable clamping plate 611 and the second movable clamping plate 612 are driven to remain stationary. When the gripper drive slider 613 moves in contact with the driving section, the first movable clamping plate 611 and the second movable clamping plate 612 are driven to move. As the direction of movement of the gripper drive assembly 614 changes, the direction of the driven movement of the first movable clamping plate 611 and the second movable clamping plate 612 changes synchronously.

[0304] In some embodiments, the gripper 61 further includes a gripper base 615, wherein a horizontal guide component and a vertical guide component are provided in the gripper base 615, which are used to guide the movement direction of the moving clamp and the gripper drive slider 613, respectively.

[0305] In some embodiments, the driving section and the holding section have a non-zero included angle, and the guiding direction of the holding section is consistent with the relative sliding direction of the gripper drive slider 613 and the fixed clamping plate 616.

[0306] When the gripper drive slider 613 slides relative to the drive section, the moving gripper is driven to move relative to the fixed gripper 616.

[0307] When the gripper drive slider 613 slides relative to the holding section, the moving clamp is driven to remain stationary relative to the fixed clamp 616.

[0308] like Figure 25 As shown, the holding section and the driving section have a non-zero included angle, which is usually an obtuse angle. An arc segment is set at the connection position of the holding section and the driving section to ensure that the gripper transmission slider 613 switches smoothly when switching between the holding section and the driving section.

[0309] In some embodiments, there are two sets of movable clamps, and the gripper drive slider 613 is slidably mounted with the clamp guide assemblies of both sets of movable clamps at the same time, and the gripper drive slider 613 is always slidably connected with the holding section of at least one set of clamp guide assemblies.

[0310] like Figures 23-25 As shown, the gripper drive slider 613 can drive the first moving clamp 611 and the second moving clamp 612 in time intervals. When the first moving clamp 611 is driven to move, the second moving clamp 612 is stationary. Conversely, when the second moving clamp 612 is driven to move, the first moving clamp 611 is stationary.

[0311] In some embodiments, the movable clamping plate includes a first movable clamping plate 611 and a second movable clamping plate 612, wherein the arrangement height of the first movable clamping plate 611 is greater than that of the second movable clamping plate 612.

[0312] When the gripper drive slider 613 moves from one end of its stroke to the other, it sequentially drives the first moving clamp 611 and the second moving clamp 612 to move closer to the fixed clamp 616, or sequentially drives the second moving clamp 612 and the first moving clamp 611 to move away from the fixed clamp 616.

[0313] like Figure 23 and Figure 25As shown, by adjusting the arrangement order of the holding section and the driving section in the first moving clamp 611 and the second moving clamp 612, the single-direction movement of the gripper transmission slider 613 can achieve the same driving action direction for the first moving clamp 611 and the second moving clamp 612.

[0314] When the gripper drive slider 613 moves downward, it sequentially drives the first moving clamping plate 611 and the second moving clamping plate 612 to move closer to the fixed clamping plate 616. When the gripper drive slider 613 moves upward, it sequentially drives the second moving clamping plate 612 and the first moving clamping plate 611 to move away from the fixed clamping plate 616.

[0315] The gripper drive slider 613 is driven by the gripper drive assembly 614, which includes a motor and a lead screw assembly to realize the upward and downward movement of the gripper drive slider 613. In some cases, the gripper drive assembly 614 uses a cylinder, hydraulic cylinder or other means to drive the gripper drive slider 613 to move, which can also achieve the above functions.

[0316] In some embodiments, the system also includes a gripping base 617, wherein a plurality of gripping modules are arranged in a ring array on the outer peripheral wall of the gripping base 617.

[0317] The gripping module includes an electromagnet 618, which is used to attract the magnets inside the mahjong tiles 8;

[0318] The gripper drive assembly 614 includes a motor for driving the gripping base 617 to rotate about its own axis.

[0319] like Figures 27-28 As shown, by arranging multiple electromagnets 618 in a ring array on a rotatable gripping base 617 and using a sequential drive, the robotic arm assembly 6 can sequentially adsorb mahjong tiles 8 at different layers of stacked tiles through the stepping rotation of the gripping base 617 and the time-division switching of the electromagnets 618 without changing the internal magnetic structure of the mahjong tiles 8. This enables the robotic arm assembly 6 to grasp multiple tiles at once within the same action cycle. At the same time, when only a single tile needs to be grasped, only a single electromagnet 618 can be used without switching the rotation. This solves the problem that the existing magnetic attraction structure can only attract single tiles and cannot handle stacked tiles, and it also takes into account both the practical needs of grasping single tiles and grasping multiple tiles. Furthermore, this structure is compact, simple to control, causes little wear on the tiles, and is easy to integrate directly into existing automatic mahjong machines.

[0320] In some embodiments, the system further includes a robotic arm 62, with a gripper 61 rotatably disposed at the distal end of the robotic arm 62, the rotation axis of the gripper 61 being perpendicular to the opening direction of the gripper 61.

[0321] like Figure 21 and Figure 22As shown, the gripper 61 is rotatably mounted on the end of the robotic arm 62, thereby improving the flexibility of the gripper 61 and reducing the difficulty of controlling the gripping angle of the robotic arm assembly 6.

[0322] In some embodiments, the robotic arm 62 includes a base 621 and an arm body 622. Both the base 621 and the arm body 622 are provided with a rotary drive assembly 6211 that slides along its own length direction and a linear drive assembly 6212 that drives the rotary drive assembly 6211 to slide.

[0323] The base 621 and the arm 622 are perpendicular in their length directions;

[0324] The proximal end of the arm 622 is fixedly connected to the output end of the rotary drive assembly 6211 of the base 621;

[0325] The gripper 61 is fixedly connected to the output end of the rotary drive assembly 6211 of the arm body 622.

[0326] like Figure 21 and Figure 22 As shown, the structural design of the base 621 and the arm 622 effectively expands the gripping radius and height of the robotic arm assembly 6.

[0327] The linear drive component 6212 inside the base 621 moves, effectively increasing the height of the gripping range of the robotic arm assembly 6. The rotary drive component 6211 inside the base 621 moves, causing the arm body 622 to rotate as a whole, expanding the gripping range.

[0328] The linear drive component 6212 inside the arm 622 moves, effectively increasing the radius of the gripping range of the robotic arm assembly 6. The rotary drive component 6211 inside the arm 622 moves, driving the gripper 61 to rotate and adjust the gripping angle.

[0329] In some cases, a multi-stage boom 622 connected in series structure is adopted to achieve effective extension of the boom 622 length and turning of the boom 622 in space to avoid obstacles.

[0330] Among them, the linear drive assembly 6212 uses a combination of a motor and a lead screw assembly to achieve linear drive, or uses a structure such as a cylinder or hydraulic cylinder. The rotary drive assembly 6211 uses a motor to drive two rotating platforms to rotate relative to each other, so as to achieve mutual rotation of the two connected components.

[0331] In some embodiments, the length direction of the base 621 is the same as the rotation axis direction of the rotary drive assembly 6211 within the base 621;

[0332] The length direction of the arm body 622 is perpendicular to the rotation axis direction of the rotation drive assembly 6211 inside the arm body 622.

[0333] like Figure 21 and Figure 22 As shown, the length directions of the base 621 and the arm 622 are perpendicular. Therefore, through the action of the linear drive component 6212 in the base 621 and the arm 622, the gripper 61 is driven to move in different axis directions. The rotation axes of the rotary drive component 6211 in the base 621 and the arm 622 are parallel. Therefore, the opening direction of the gripper 61 will not be affected during the adjustment of the robotic arm 62, thereby reducing the difficulty of control.

[0334] In some embodiments, the robotic arm 62 further includes an angle detection component 623 for detecting the rotation angle at the output end of the rotary drive component 6211.

[0335] The robotic arm 62 also includes an angle detection component 623 for monitoring the rotation angle of the rotary drive component 6211, such as the rotation angle of the arm body 622 relative to the base 621, or the rotation angle of two adjacent arm bodies 622, or the rotation angle of the gripper 61 relative to the arm body 622.

[0336] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0337] The mahjong machine and control method provided by this invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this invention. It should be noted that those skilled in the art can make several improvements and modifications to this invention without departing from the principles of this invention, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A mahjong machine, comprising a table assembly (1), characterized in that, include: The card-lifting assembly (5) is rotatably mounted on the table body assembly (1) along the vertical axis. The card-lifting assembly (5) includes a card-lifting mechanism, a desktop fixing component (54), and a tray (53). The card-lifting mechanism is used to drive the tray (53) to rise and fall. The tray (53) has at least one travel point, so that the tray (53) can be detachably and fixedly connected to the desktop (11) of the table body assembly (1) through the desktop fixing component (54). At least one robotic arm assembly (6) is fixed or rotates along a vertical axis on the table assembly (1), and the tray (53) has at least one stroke point, so that the mahjong tiles (8) carried by the tray (53) can be grasped and / or the stacking position adjusted by the robotic arm assembly (6); The tile arrangement assembly (7) is used to obtain the tile information of the mahjong tiles (8) grasped by the robotic arm assembly (6) so as to adjust the stacking order of the mahjong tiles (8).

2. The mahjong machine according to claim 1, characterized in that, The card arrangement assembly (7) is fixedly connected to the card raising assembly (5) or the table assembly (1), and the card arrangement assembly (7) includes: Temporary stop plate (71) is used to temporarily store the mahjong tiles (8) grasped by the robotic arm assembly (6); The tile information acquisition component (72) is fixedly connected to the temporary stop plate (71) and is used to acquire the tile information of the mahjong tile (8) temporarily stored in the temporary stop plate (71) and to drive the robotic arm assembly (6) to place the mahjong tile (8) on the tray (53) according to a preset pattern.

3. The mahjong machine according to claim 1, characterized in that, The tray (53) includes at least two tile stacking areas, and at least one of the tile stacking areas is used to receive the mahjong tiles (8) stacked by the robotic arm assembly (6).

4. The mahjong machine according to claim 2, characterized in that, It also includes a long, straight partition (73) for abutting the mahjong tiles (8) so that the mahjong tiles (8) are stacked neatly; The partition plate (73) is fixedly connected to the tray (53); or, the partition plate (73) is fixedly connected to the plate lift assembly (5), the tray (53) includes a partition seam, and when the tray (53) is at the second preset travel point, the partition plate (73) passes through the partition seam.

5. The mahjong machine according to claim 1, characterized in that, The tabletop (11) is provided with a tile-raising hole (111). When the tray (53) is at the first preset travel point, the tray (53) closes the tile-raising hole (111), and the mahjong tile (8) carried by the tray (53) passes through the tile-raising hole (111).

6. The mahjong machine according to claim 1, characterized in that, The tray (53) has a downward folding connection area (531) at each end. The desktop fixing component (54) includes a desktop electromagnet located at the bottom of the desktop (11). When the tray (53) is at the first preset stroke point, the desktop electromagnet abuts against and attracts the connection area (531).

7. The mahjong machine according to claim 1, characterized in that, The card-lifting mechanism includes a card-lifting slider and a card-lifting drive assembly for driving the card-lifting slider. The card-lifting slider includes a tray fixing assembly for connecting and fixing the tray (53).

8. The mahjong machine according to claim 7, characterized in that, The lifting mechanism and the tray (53) are at least two sets and can move asynchronously, and at least one set of the lifting mechanism includes a collision avoidance guide component for avoiding each other when the two sets of lifting sliders or the tray (53) carried by the lifting sliders meet.

9. The mahjong machine according to claim 8, characterized in that, The obstacle avoidance guide assembly includes a tray connecting block and a lifting guide assembly; The tray connecting block is slidably connected to the lifting slider, and the relative sliding direction has a non-zero angle with the feeding direction of the lifting drive component. The tray connecting block is fixedly connected to the tray fixing component for fixing the tray (53). The card-lifting guide component is fixedly connected to the card-lifting drive component, and the tray connecting block is slidably installed with the card-lifting guide component. The card-lifting guide component includes a straight segment and a bent segment that are connected together. The guiding direction of the straight segment is the same as the feeding direction of the card-lifting drive component.

10. A control method for controlling a mahjong machine according to any one of claims 1-9, characterized in that, Including the following steps: Obtain the angle α1 between the card-grabbing position and the robotic arm assembly (6); Control the rotation angle α1 of the lifting assembly (5); The robotic arm assembly (6) is controlled to grab the mahjong tiles (8) carried on the tray (53) corresponding to the tile grabbing position and transfer them to the tile sorting assembly (7) for temporary storage; The control unit (7) obtains the face information of the temporarily stored mahjong tiles (8); Obtain the angle α2 between the code plate position and the robotic arm assembly (6); Control the rotation angle α2 of the lifting assembly (5); The robotic arm assembly (6) is controlled to grab the mahjong tiles (8) temporarily stored in the tile sorting assembly (7) in the order of the acquired tile information and place them on the tray (53) corresponding to the tile sorting position.

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