Automatic billiard ball storage and placement device

Abstract

The utility model discloses an automatic billiard ball containing and placing device which comprises a ball rail assembly, a ball jacking unit, a billiard ball recognition unit, a rotary ball placing unit, a longitudinal moving unit, a height adjusting unit, a containing and placing ball unit and a control unit, the containing and placing ball unit comprises a ball feeding frame, a ball pushing frame and a ball pressing plate, the ball feeding frame comprises a ball feeding arm and a ball feeding dustpan, and the ball feeding arm is connected with the ball pushing frame. The ball feeding dustpan is located on the front lower portion of the ball feeding arm, nine strip-shaped billiard ball limiting holes are formed in the ball feeding dustpan, the ball pushing frame comprises a triangular frame and an extension arm, the extension arm is slidably connected with the ball feeding arm, the triangular frame is located above the ball feeding dustpan, the ball pressing plate is arranged on the rear portion in the triangular frame, and the lower portion of the ball pressing plate is rotatably connected with the triangular frame. The upper end of the ball pressing plate is connected with a rear cross beam of the triangular frame through a traction rope, the upper portion of the ball pressing plate can incline forwards, and the forward inclination angle is limited under the action of the traction rope. By arranging the ball pressing plate capable of inclining forwards, the balls are stacked tightly, and the requirement is met.

Description

TECHNICAL FIELD

[0001] The utility model relates to billiards device technical field, concretely relates to a billiards automatic storage and placement device. BACKGROUND

[0002] Billiards is a sports movement that is popular in the world, and the process of participation needs to hit the ball according to certain rules, and the ball needs to be placed according to the rules after each game. The traditional way is manual collection and ball placement, which is time-consuming and laborious. In the prior art, automatic collection and automatic ball placement can be achieved.

[0003] However, there are still some deficiencies in the prior art, as follows: 1. The ball pile after automatic ball placement is sometimes tight and sometimes loose, and the loose ball pile does not meet the requirements of ball placement; 2. In special cases, there are billiards on the billiard table (such as negligence), and the ball frame (ball sieve) is placed in the process, which will press on the billiard below, and since it does not have an automatic stop function, it will damage the billiard, billiard table or ball placement equipment; 3. The bottom of the ball sieve is provided with a plurality of circular holes (for positioning the billiard), and in the process of pushing out the billiard, the resistance is large and not smooth enough; 4. The ball track is divided into left ball track, right ball track and straight ball track, and the left and right ball tracks converge with the straight ball track, and in the case of determining the winner, the ball on the table will be artificially sent into the ball hole, and multiple balls will move along the left and right ball tracks to the straight ball track, sometimes causing ball jamming (i.e. the phenomenon that the balls in the left and right ball tracks enter the straight ball track or the triangular sieve at the entrance of the straight ball track at the same time, and the two balls are stuck); 5. The recognition rate of the recognition device for billiards needs to be improved; 6. The electromagnetic push rod is used to push the ball, which takes a little longer, and the push rod will be magnetized, causing the ball to be not in place; 7. The ball placement equipment is hidden under the billiard table, and will slide out from one side of the billiard table along the track during ball placement, which may cause accidents. UTILITY MODEL CONTENT

[0004] Therefore, the utility model provides a billiards automatic storage and placement device to solve one or more of the above technical problems.

[0005] In order to achieve the above purpose, the utility model provides the following technical scheme:

[0006] The application discloses a billiard automatic storage and arrangement device which comprises a ball track assembly, a ball pushing unit, a billiard recognition unit, a rotating ball arrangement unit, a longitudinal moving unit, a height adjusting unit, a ball storage and arrangement unit and a control unit, wherein the ball storage and arrangement unit comprises a ball feeding frame, a ball pushing frame and a ball pressing plate, the ball feeding frame comprises a ball feeding arm and a ball feeding hopper, the ball feeding hopper is arranged at the lower front part of the ball feeding arm, the ball feeding hopper is provided with nine strip-shaped billiard limiting holes, the ball pushing frame comprises a triangular frame and extension arms arranged at the two ends of the rear part of the triangular frame, the extension arms are slidably connected with the ball feeding arm, the triangular frame is arranged above the ball feeding hopper, the ball pressing plate is arranged at the rear part in the triangular frame, the lower part of the ball pressing plate is rotatably connected with the triangular frame, the upper end of the ball pressing plate is connected with the rear beam of the triangular frame through a pulling rope, and the upper part of the ball pressing plate can be tilted forward and the forward tilting angle of the upper part of the ball pressing plate is limited under the action of the pulling rope.

[0007] Further, the rear beam of the triangular frame is provided with an elastic sheet at each end, the lower end of the elastic sheet is provided with a through hole, and the lower part of the ball pressing plate is provided with a through shaft rotatably arranged in the through hole.

[0008] Further, the upper edge of the ball pressing plate is provided with a convex edge extending backward, the convex edge and the middle part of the horizontal frame are respectively provided with a rope tying hole, and the two ends of the pulling rope are tied to the two rope tying holes respectively.

[0009] Further, the ball storage and arrangement unit further comprises limiting columns movably arranged in the billiard limiting holes, and the nine strip-shaped billiard limiting holes are divided into 15 ball falling points by the limiting columns.

[0010] Further, the ball track assembly comprises a left ball track, a right ball track, a straight ball track, a triangular hopper, a rudder and a swing arm, the left ball track, the right ball track and the straight ball track are connected through the triangular hopper, two strip-shaped holes are arranged on the bottom plate of the triangular hopper and correspond to the ball outlets of the left ball track and the right ball track respectively, the rudder is installed below the triangular hopper, one end of the swing arm is installed on the output shaft of the rudder, and the other end of the swing arm can swing out of the strip-shaped holes.

[0011] Further, the top ball unit comprises two top ball mechanisms which are identical in structure and are respectively used for lifting a billiard ball at the end of a straight ball rail into the billiard ball identification unit and lifting a billiard ball in the billiard ball identification unit into the rotating pendulum ball unit, wherein the top ball mechanism comprises a top ball motor, a crank, a connecting rod, a lifting rod and a sliding sleeve, the top ball motor is a servo motor, one end of the crank is fixed on an output shaft of the top ball motor, the other end of the crank is connected with the connecting rod through a rotating shaft, the other end of the connecting rod is connected with one end of the lifting rod through a rotating shaft, the sliding sleeve is fixed relative to the top ball motor, and the other end of the lifting rod extends into the billiard ball to be lifted after the lifting rod passes through a center hole of the sliding sleeve.

[0012] Further, the billiard ball identification unit comprises an identification table, a rotating support, an identification driving motor, an identification switch and three color sensors, the identification table is provided with a mounting hole in the middle part, the rotating support is rotatably mounted in the mounting hole, the identification driving motor is fixed on the identification table, the identification driving motor is in transmission connection with the rotating support, the rotating support is provided with a hole-shaped ball falling seat in the middle part, the ball falling seat is provided with the identification switch below, and the three color sensors are fixed on the identification table.

[0013] Further, the height adjusting unit comprises a vertical guide rail, a guide sliding block, a limiting U-shaped block, a lifting support, a vertical moving driving device and a pressing stop switch, one side in the vertical guide rail is provided with a guide groove, the guide sliding block is slidably arranged in the guide groove, and one side of the guide sliding block is fixedly connected with the limiting U-shaped block, the limiting U-shaped block is hingedly connected with a leg portion of the lifting support through a transverse pivot, the leg portion of the lifting support is located in a U-shaped cavity of the limiting U-shaped block, and a spacing is left between the leg portion of the lifting support and a cavity bottom of the U-shaped cavity of the limiting U-shaped block, the guide sliding block moves along the vertical guide rail under the action of the vertical moving driving device, the pressing stop switch is arranged on the leg portion of the lifting support, and one side of the leg portion of the lifting support corresponds to the pressing stop switch and is provided with a pushing point.

[0014] Further, the control unit comprises a PLC controller and a collision avoidance radar, and the PLC controller is electrically connected with a steering wheel of the ball rail assembly, a top ball motor of the top ball unit, a color sensor of the billiard ball identification unit, an identification driving motor of the billiard ball identification unit, an identification switch of the billiard ball identification unit, a rotating pendulum ball motor of the rotating pendulum ball unit, a longitudinal moving driving device of the longitudinal moving unit, a vertical moving driving device of the height adjusting unit, a pressing stop switch of the height adjusting unit, a pushing device of the storage pendulum ball unit and the collision avoidance radar.

[0015] The utility model has the advantages of the following:

[0016] 1. By setting the ball pressing plate can be forward, make the ball pile tightly, meet the requirements; 2. By setting the stop switch, when the ball frame is put down to the table, it will automatically stop, and stop after lifting a certain height, avoid damage to the billiard ball, billiard table or equipment, after moving the billiard ball, press the key (pause / continue key), the ball frame continues to put down, continue to place the ball; 3. Change the round hole at the bottom of the ball frame to a strip-shaped billiard ball limiting hole, the resistance is small and smooth during the process of withdrawing the billiard ball, and the noise is reduced; 4. By setting the rudder at the ball track convergence, the ball jamming problem can be effectively avoided; 5. An additional (total of three) color sensor, the scanning range of the rotating billiard ball is larger, and the single-chip microcomputer is replaced by a PLC controller, which improves the recognition rate of the device to the billiard ball; 6. The top rod is driven by a servo motor, which avoids the misplacement of the ball caused by magnetization; 7. By setting the anti-collision radar, avoid the mobile trolley from moving out from under the billiard table.

[0017] The above summary is merely intended to illustrate the present application and is not intended to limit the present application in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be apparent from a study of the drawings and the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those skilled in the art, other drawings can be obtained from the provided drawings without creative labor.

[0019] The structures, proportions, sizes, etc. shown in the present specification are only used to cooperate with the content disclosed in the specification, to be understood and read by those skilled in the art, and do not have technical significance. Any modification of structure, change of proportion relationship or adjustment of size, which does not affect the effects and purposes that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0020] Figure 1 Structure schematic view of the billiard ball automatic storage and placement device (omitting left and right ball tracks);

[0021] Figure 2 Structure schematic view of the billiard ball automatic storage and placement device from another view (omitting left and right ball tracks); Figure 1 Enlarged view of A in the middle;

[0022] Figure 3 Structure schematic view of the billiard ball automatic storage and placement device from another view (omitting left and right ball tracks);

[0023] Figure 4 For Figure 3 Enlarged view of B;

[0024] Figure 5 For the main view structural schematic diagram of the automatic storage and placement device of billiard balls (omit left and right ball tracks);

[0025] Figure 6 For Figure 5 Enlarged view of C;

[0026] Figure 7 For the top view structural schematic diagram of the automatic storage and placement device of billiard balls (omit left and right ball tracks);

[0027] Figure 8 For Figure 7 Enlarged view of D;

[0028] Figure 9 For the schematic diagram of left and right ball tracks;

[0029] Figure 10 For the top view structural schematic diagram of the triangular dustpan of the ball track assembly;

[0030] Figure 11 For Figure 10 The main view direction sectional view of the structure shown;

[0031] Figure 12 For the main view direction sectional view of the top ball unit, billiard ball recognition unit and rotating ball placement unit;

[0032] Figure 13 For the three-dimensional structural schematic diagram of the top ball unit, billiard ball recognition unit and rotating ball placement unit;

[0033] Figure 14 For the position relationship schematic diagram (main view) of the lifting support, limiting U block and pressure stop switch;

[0034] Figure 15 For the position relationship schematic diagram (top view) of the lifting support, limiting U block and pressure stop switch;

[0035] Figure 16 For the structural schematic diagram of the ball sending frame of the storage and placement ball unit;

[0036] Figure 17 For the structural schematic diagram of the ball pushing frame of the storage and placement ball unit;

[0037] Figure 18 For the position relationship schematic diagram of the ball sending frame and limiting column at a certain moment;

[0038] Figure 19 For the position relationship schematic diagram of the ball sending frame, ball pushing frame, limiting column and billiard ball;

[0039] Figure 20 Principle diagram for compacting ball stack by pressing plate;

[0040] Figure 21 Schematic diagram for 6 balls;

[0041] Figure 22 Schematic diagram for 9 balls;

[0042] Figure 23 Electric control principle diagram.

[0043] In the figure: 1, frame; 11, track; 12, cross brace; 13, first support frame; 14, first mounting plate; 15, second support frame; 16, second mounting plate; 17, third mounting plate; 18, fourth mounting plate; 2, ball track assembly; 21, left ball track; 22, right ball track; 23, straight ball track; 24, triangular sieve; 241, strip-shaped hole; 25, steering engine; 251, swing arm; 26, ball blocking plate; 3, top ball unit; 31, top ball motor; 32, crank; 33, connecting rod; 34, top rod; 35, sliding sleeve; 4, billiard ball recognition unit; 41, recognition table; 42, rotating support; 43, recognition drive motor; 44, recognition switch; 45, color sensor; 46, ball protection plate; 5, rotating swing ball unit; 51, rotating swing ball motor; 52, swing ball arm; 53, swing ball pivot; 6, longitudinal movement unit; 61, movement trolley; 62, longitudinal movement drive device; 7, height adjustment unit; 71, vertical guide rail; 72, inclined brace; 73, guide sliding block; 74, limit U block; 75, lifting support; 751, actuating point; 76, vertical movement drive device; 77, stop switch; 78, transverse pivot; 8, storage swing ball unit; 81, ball feeding frame; 811, ball feeding arm; 812, ball feeding sieve; 813, billiard ball limiting hole; 82, ball pushing frame; 821, triangular frame; 822, extension arm; 823, elastic sheet; 83, pushing device; 84, ball pressing plate; 841, penetrating shaft; 85, pulling rope; 86, limiting column; 87, filling block; 9, control unit; 91, PLC controller; 92, anti-collision radar. DETAILED DESCRIPTION

[0044] The embodiments of the present application will be described in detail with specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the disclosed content. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0045] The prior art (such as CN110694255A discloses a kind of Chinese billiards automatic storage and placement device and its working method) billiards automatic storage and placement device, including ball track, ball lifting device, billiard recognition device, rotating ball placing device, longitudinal travel device, height travel device, storage and placement device and control device, ball lifting device is used to top into billiard recognition device to the billiard at the end of ball track, and after identification, billiard is lifted into rotating ball placing device, billiard recognition device is used to identify billiard, rotating ball placing device is used to place the billiard after identification to the corresponding position of storage and placement device, longitudinal travel device is used to move height travel device, storage and placement device is moved to the outside of billiard table and moves storage and placement device to the above of ball placing position, height travel device is used to lift storage and placement device to billiard table and place storage and placement device to the desktop, storage and placement device is used to accept the billiard sent by rotating ball placing device and push ball stack to the desktop, the action of above each part is completed under the control of control device.

[0046] The present embodiment provides a billiards automatic storage and placement device, which is an improvement on the prior art. Therefore, the present embodiment mainly introduces the improvements, and the technical solutions in the prior art will not be completely described in the present embodiment.

[0047] As shown in Figures 1 to 23 The billiards automatic storage and placement device provided by the present embodiment includes a rack 1, a ball track assembly 2, a ball lifting unit 3, a billiard recognition unit 4, a rotating ball placing unit 5, a longitudinal moving unit 6, a height adjusting unit 7, a storage and placement unit 8, and a control unit 9.

[0048] The rack 1 is the installation basis of each unit, including a track 11, a cross brace 12 connected to the track 11, a first support frame 13 arranged on a moving trolley 61, a first mounting plate 14 arranged on the first support frame 13, a second support frame 15 arranged on the track 11, a second mounting plate 16 arranged on the second support frame 15, a third mounting plate 17 arranged on the second mounting plate 16, and a fourth mounting plate 18 arranged on the third mounting plate 17.

[0049] The ball rail assembly 2 comprises a left ball rail 21, a right ball rail 22, a straight ball rail 23 and a triangular dustpan 24. The left ball rail 21 is arranged below the left side of the billiard table, the right ball rail 22 is arranged below the right side of the billiard table, the left ball rail 21 and the right ball rail 22 are provided with ball tubes corresponding to the positions of the holes, the straight ball rail 23 is arranged below the middle of the billiard table, and the left ball rail 21, the right ball rail 22 and the straight ball rail 23 are connected through the triangular dustpan 24. Therefore, the triangular dustpan 24 can be simultaneously entered by the billiard balls transported from the left ball rail 21 and the right ball rail 22, causing the billiard balls to be stuck. The left ball rail 21, the right ball rail 22 and the triangular dustpan 24 are fixed to the billiard table, one end of the straight ball rail 23 is fixed to the triangular dustpan 24, and the other end is fixed to the second mounting plate 16 (for example, by welding a long screw rod or a long reinforcing bar). In this embodiment, the ball rail assembly 2 further comprises two steering gears 25, the output shaft of each steering gear 25 is provided with a swing arm 251, two strip-shaped holes 241 are arranged on the bottom plate of the triangular dustpan 24, the two strip-shaped holes 241 correspond to the ball outlets of the left ball rail 21 and the right ball rail 22 respectively, and the steering gears 25 are arranged below the triangular dustpan 24, the swing arms 251 are arranged in the strip-shaped holes 241, and the swing arms 251 switch between the vertical and flat states when the output shaft of the steering gear 25 rotates forward or reversely by 90°. The vertical swing arm 251 can block the billiard balls of the ball outlet on this side from entering the triangular dustpan 24, and the flat swing arm 251 does not have the blocking function, so that the billiard balls of the ball outlet on this side can enter the triangular dustpan 24 smoothly, thereby avoiding the problem of billiard balls being stuck. Since the white ball can enter the hole, the swing arm 251 is usually in the vertical state to avoid the white ball running to the end of the straight ball rail 23 (which is not convenient to take). After a game is finished, the two swing arms 251 are arranged in the flat state in sequence, so that the billiard balls of the left ball rail 21 and the right ball rail 22 enter the triangular dustpan 24 in sequence, and finally enter the straight ball rail 23 and roll to the end of the straight ball rail 23. A ball blocking plate 26 is arranged at the end of the straight ball rail 23, and the ball blocking plate 26 is fixed to the recognition table 41.

[0050] The top ball unit 3 comprises a first top ball mechanism and a second top ball mechanism, both of which are identical in structure and are used for respectively lifting the billiard ball at the end of the straight ball rail 23 into the billiard ball recognition unit 4 and lifting the billiard ball in the billiard ball recognition unit 4 into the rotating billiard ball unit 5. In the embodiment, the top ball mechanism comprises a top ball motor 31, a crank 32, a connecting rod 33, a top rod 34 and a sliding sleeve 35. The top ball motor 31 is a servo motor and is fixed on the fourth mounting plate 18. The length direction of the crank 32 is perpendicular to the axis direction of the output shaft of the top ball motor 31. One end of the crank 32 is fixed on the output shaft of the top ball motor 31, and the other end is connected with the connecting rod 33 through a rotating shaft which is parallel to the output shaft of the top ball motor 31. The other end of the connecting rod 33 is connected with one end of the top rod 34 through a rotating shaft which is also parallel to the output shaft of the top ball motor 31. The sliding sleeve 35 is fixed on the third mounting plate 17. After the top rod 34 passes through the center hole of the sliding sleeve 35, the other end of the top rod 34 extends into the billiard ball to be lifted. During one rotation of the output shaft of the top ball motor 31, the top rod 34 is driven by the crank 32 and the connecting rod 33 to extend and retract (reset) along the sliding sleeve 35. During the extension of the top rod 34, the upper end of the top rod 34 hits the lower part of the billiard ball to lift the billiard ball from one station to another (lift the billiard ball at the end of the straight ball rail 23 into the billiard ball recognition unit 4 or lift the billiard ball in the billiard ball recognition unit 4 into the rotating billiard ball unit 5). It should be noted that the top rod 34 is inclined to enable the top rod 34 of the first top ball mechanism to lift the billiard ball at the end of the straight ball rail 23 into the billiard ball recognition unit 4 and enable the top rod 34 of the second top ball mechanism to lift the billiard ball from the billiard ball recognition unit 4 into the rotating billiard ball unit. In the embodiment, the servo motor is used to drive the top rod 34 to avoid the problem of the billiard ball not being lifted into place due to magnetization.

[0051] The billiard ball recognition unit 4 is close to the prior art, except that three color sensors 45 are used. Specifically, the billiard ball recognition unit 4 comprises a recognition table 41, a rotating holder 42, a recognition driving motor 43, a recognition switch 44, color sensors 45, and a ball protection plate 46, wherein the color sensors 45 are provided in three. The middle part of the recognition table 41 is provided with a mounting hole, and the rotating holder 42 is rotatably mounted in the mounting hole. The edge of the rotating holder 42 is provided with a ring of external teeth, the recognition driving motor 43 is fixed to the recognition table 41, and a driving gear is mounted on the output shaft of the recognition driving motor 43, which is engaged with the external teeth of the rotating holder 42. The middle part of the rotating holder 42 is provided with a hole-shaped ball falling seat (in fact, a stepped through hole with a large upper part and a small lower part), and the diameter of the ball falling seat is smaller than the diameter of the billiard ball. The ball falling seat is provided below the recognition switch 44, and the billiard ball will fall onto the ball falling seat after being pushed into the rotating holder 42 from the end of the straight ball track 23, and the bottom of the billiard ball will press the contact of the recognition switch 44. The first color sensor 45 is fixed to the recognition table 41 and located on the left side or the right side of the ball falling seat, and the other two color sensors are fixed below the recognition table 41. The second color sensor 45 is located on the left side or the right side of the ball falling seat, and the third color sensor 45 is located on the front side or the rear side of the ball falling seat. It should be noted that the installation positions of the second and third color sensors 45 should not affect the pressing of the contact of the recognition switch 44 by the billiard ball. The probe directions of the three color sensors 45 are all directed towards the center of the billiard ball on the rotating holder 42 (or the ball falling seat). The probe direction of the first color sensor 45 is almost horizontally arranged, the probe direction of the second color sensor 45 is arranged at an angle of 45° with the horizontal plane, and the probe direction of the third color sensor is arranged at an angle of 70° with the horizontal plane. In this way, compared with the double color sensors in the prior art (equivalent to the first color sensor and the second color sensor in the present application, in this scheme, if the two white surfaces of the flower ball are in a vertical position, neither of the two color sensors can recognize the white surface, so the flower ball cannot be well recognized), the present application increases one color sensor, and the sensing angle of the third color sensor 45 is different from those of the other two color sensors 45, so as to cover a larger detection (sensing) area and improve the recognition rate. When the recognition switch 44 is closed by the billiard ball, the recognition driving motor 43 and the color sensors 45 will be powered on and work. The ball protection plate 46 is installed on the recognition table 41 and located on the side away from the straight ball track 23 of the ball falling seat, and the middle part of the ball protection plate 46 is provided with a window for the billiard ball to be pushed out.

[0052] The rotating pendulum unit 5 is arranged on the second mounting plate 16, at a side of the billiard ball recognition unit 4 away from the straight ball track 23. The rotating pendulum unit 5 adopts an existing device, specifically, including a rotating pendulum motor 51, a pendulum arm 52, and a pendulum pivot 53, the rotating pendulum motor 51 is fixed with the second mounting plate 16, the pendulum pivot 53 is rotatably arranged on the second mounting plate 16, one end of the pendulum arm 52 as a rotating end is installed on the upper end of the pendulum pivot 53, for receiving the billiard ball ejected from the billiard ball recognition unit 4, the other end of the pendulum arm 52 as a swinging end is provided with a ball falling hole, after the billiard ball rolls from the rotating end to the swinging end, the billiard ball will fall into the storage pendulum unit 8 below from the ball falling hole, the output shaft of the rotating pendulum motor 51 is installed with a driving gear, the pendulum pivot 53 is installed with a driven gear, the rotating pendulum motor 51 and the pendulum pivot 53 are connected through gear transmission, through the action of the rotating pendulum motor 51, the swinging of the pendulum arm 52 is controlled, and the billiard ball is sent to the corresponding position of the storage pendulum unit 8.

[0053] The longitudinal moving unit 6 includes a moving trolley 61 and a longitudinal moving driving device 62, the moving trolley 61 is movable along the track 11 under the action of the longitudinal moving driving device 62. Exemplarily, the longitudinal moving driving device 62 adopts any one of a gear and rack mechanism, a synchronous belt mechanism, a screw and nut mechanism, a hydraulic push rod, an electric push rod, etc., and is preferably a synchronous belt mechanism.

[0054] The height adjusting unit 7 comprises a vertical guide rail 71, an inclined brace 72, a guide sliding block 73, a limiting U-shaped block 74, a lifting support 75, a vertical moving driving device 76 and a pressure stop switch 77. The vertical guide rail 71 is arranged at one end of the moving trolley 61 away from the straight rail 23. The inclined brace 72 connects the vertical guide rail 71 and the moving trolley 61 to reinforce the vertical guide rail 71. One side of the vertical guide rail 71 is provided with a guide groove vertically arranged and penetrating through both ends of the vertical guide rail 71. The guide sliding block 73 is slidingly arranged in the guide groove and is fixed to one side of the limiting U-shaped block 74. The limiting U-shaped block 74 is hingedly connected to the leg of the lifting support 75 through a horizontal pivot 78. The leg of the lifting support 75 is located in the U-shaped cavity of the limiting U-shaped block 74. There is a space between the leg of the lifting support 75 and the bottom of the U-shaped cavity of the limiting U-shaped block 74. Thus, the leg of the lifting support 75 can swing around the horizontal pivot 78 and the swinging angle is limited. Generally, the swinging angle (the angle with the vertical plane) is ±10°. The guide sliding block 73 and / or the lifting support 75 are moved along the vertical guide rail 71 under the action of the vertical moving driving device 76. Exemplarily, the vertical moving driving device 76 adopts any one of a gear and rack mechanism, a synchronous belt mechanism, a lead screw and nut mechanism, a hydraulic push rod, an electric push rod and the like, and is preferably a synchronous belt mechanism. The pressure stop switch 77 is arranged on the leg of the lifting support 75. One side of the leg of the lifting support 75 corresponding to the pressure stop switch 77 is provided with a pressing point 751. The pressing point 751 can use a bolt or a welding block and the like. When the lifting support 75 swings reversely (i.e. leans backward, in this state, the ball arrangement unit 8 is pressed on the billiard ball left on the billiard table) by a certain angle, the pressing point 751 will contact the contact point of the pressure stop switch 77, so that the pressure stop switch 77 is closed. The PLC controller 91 receives the signal of the pressure stop switch 77 to control the height adjusting unit 7 to stop lowering the height. After the billiard ball is removed, the key (pause / continue key) is pressed, the ball feeding frame continues to lower and the ball arrangement is continued. Thus, the billiard ball, the billiard table or the equipment will not be damaged.

[0055] The ball receiving unit 8 comprises a ball feeding frame 81, a ball pushing frame 82, a pushing device 83 and a ball pressing plate 84. The ball feeding frame 81 comprises a ball feeding arm 811 and a ball feeding hopper 812. The rear end of the ball feeding arm 811 is fixed to the top front side of the lifting support 75, and the ball feeding hopper 812 is located at the front lower part of the ball feeding arm 811. The ball feeding hopper 812 is provided with nine strip-shaped billiard ball limiting holes 813 arranged in the front-rear direction, and the width of the billiard ball limiting hole 813 is smaller than the diameter of the billiard ball, for example, the width of the billiard ball limiting hole 813 is about 2 cm. The ball pushing frame 82 comprises a triangular frame 821 and extension arms 822 arranged at the two ends of the rear part of the triangular frame 821. The extension arms 822 and the ball feeding arm 811 are connected by the pushing device 83. Under the action of the pushing device 83, the extension arms 822 slide along the ball feeding arm 811. The triangular frame 821 is located above the ball feeding hopper 812 (when the ball pile is pushed to the table surface, the triangular frame 821 moves forward relative to the ball feeding hopper 812 in the reset state). Exemplarily, the pushing device 83 can adopt any one of a gear and rack mechanism, a synchronous belt mechanism, a lead screw and nut mechanism, a hydraulic push rod, an electric push rod and the like, and the synchronous belt mechanism is preferred. The synchronous belt mechanism can quickly push out the ball feeding frame 82, so that the billiard balls in the triangular frame 821 and the ball pressing plate 84 have greater forward inertia. The length direction of the ball pressing plate 84 is parallel to the length direction of the rear side horizontal frame (beam) of the triangular frame 821. An elastic sheet 823 is arranged at each end of the horizontal frame of the triangular frame 821. A through shaft 841 is arranged at each end of the lower part of the ball pressing plate 84. The elastic sheet 823 is provided with a through hole, the through shaft 841 is arranged in the through hole, and a limiting ring is arranged on the through shaft 841. A rearwardly extending convex edge is arranged on the upper edge of the ball pressing plate 84. A tethering hole is arranged on the convex edge and the middle part of the horizontal frame respectively. A pulling rope 85 is connected between the ball pressing plate 84 and the horizontal frame. The two ends of the pulling rope 85 are tied to the two tethering holes respectively. Under the action of the pulling rope 85, the forward inclination angle of the ball pressing plate 84 is limited, and the forward inclination angle is generally 30°. The ball pressing plate 84 inclines forward under the action of inertia. The ball pile is extruded by the inertia and weight of the ball pressing plate 84 (when the billiard balls are pushed, the billiard balls have a speed. Under the action of the inertia of the billiard balls and the limiting action of the triangular frame 821 and the billiard ball limiting hole 813, the ball pile is initially formed). The ball pile is tightly extruded. When the triangular frame 821 is lifted upward, the pulling rope 85 pulls the ball pressing plate 84, so that the ball pressing plate 84 does not always extrude the billiard balls, thereby avoiding the ball pressing plate 84 from destroying the tightness of the ball pile (if the forward inclination angle is not limited, the ball pressing plate 84 will destroy the tightness of the ball pile when the triangular frame 821 is lifted upward). When reset, the forwardly inclined ball pressing plate 84 is restored to the upright state or even slightly backwardly inclined state under the action of a limiting column 86. In the embodiment, the original circular hole at the bottom of the ball feeding hopper 812 is changed to a strip-shaped hole (the billiard ball limiting hole 813). The resistance is smaller and more smooth during the process of pushing out the billiard balls.

[0056] The ball receiving unit 8 further comprises a plurality of limiting posts 86, the lower ends of which are fixed on the first mounting plate 14, and the upper ends of which extend into the triangular frame 821 through the ball limiting holes 813. According to the arrangement of the 15 balls, the plurality of limiting posts 86 separate the 9 strip-shaped ball limiting holes 813 into 15 ball falling positions (for example, one limiting post 86 is arranged in front of and behind each ball). The limiting of the balls in the left and right directions is achieved by the ball limiting holes 813. In this way, the balls arranged in the ball receiving unit 8 of the rotating ball unit 5 are preliminarily limited. When all the balls are arranged in the triangular frame 821, the limiting posts 86 are actually not in use. In particular, when the lifting support 75 is raised, the limiting posts 86 are extracted from the ball limiting holes 813, and the ball supporting sieve 812 supports the balls, and the triangular frame 821 and the ball limiting holes 813 limit the balls. Generally, a gap is left between the ball supporting sieve 812 and the second mounting plate 16, so that a small part of the balls is arranged in the ball limiting holes 813.

[0057] The triangular frame 821 in the embodiment is designed according to 15 balls, but can also be applied to 6-ball and 9-ball games. For example, in a 6-ball game, the position of the elastic sheet 823 is moved forward, the ball pressing plate 84 is replaced by a shorter one which is also moved forward, and a temporary detachable cross beam is arranged behind the ball pressing plate 84. In this way, the 6-ball ball pile can be compressed. For example, in a 9-ball game, a detachable filler 87 is arranged at each of the left and right bottom corners of the triangular frame 821, to occupy the extra space in the 15-ball game compared with the 9-ball game. In this way, the inertia of the balls when being pushed forward and the last ball pressed by the ball pressing plate 84 can compress the ball pile, that is, the last ball presses the two balls in the second last row, the two balls in the second last row press the three balls in the third row, and the ball pile is compressed.

[0058] The control unit 9 comprises a PLC controller 91 and a collision radar 92. The PLC controller 91 is electrically connected with the steering gear 25, the color sensor 45, the top ball motor 31, the identification driving motor 43, the identification switch 44, the rotating swing ball motor 51, the longitudinal movement driving device 62, the vertical movement driving device 76, the stop switch 77, the pushing device 83 and the collision radar 92 respectively. The collision radar 92 is arranged on the side of the moving trolley 61 away from the straight ball track 23, and can also be arranged on the vertical guide rail 71. When the moving trolley 61 moves out from the bottom of the billiard table, if the collision radar 92 detects a person within a certain distance (for example, 20 cm), the PLC controller 91 stops the movement of the moving trolley 61 through the longitudinal movement driving device 62; after detecting that the person has left, the moving trolley 61 continues to move until it is in place. Compared with the single-chip microcomputer in the prior art, the PLC controller 91 is more powerful, and on the basis of adding one color sensor 45 (i.e. three color sensors 45), the recognition rate of the billiard ball and the reliability of the machine can be significantly improved.

[0059] The principle of the swing ball (automatic storage and placement method or working process) is as follows:

[0060] After the billiard ball falls into the pocket, it moves to the triangular dustpan 24 through the left ball track 21 or the right ball track 22;

[0061] The PLC controller 91 controls the two steering gears 25 to release the billiard balls in the left ball track 21 and the right ball track 22 into the triangular dustpan 24 at the same time, so as to avoid ball jamming and make the billiard balls smoothly enter the straight ball track 23;

[0062] The PLC controller 91 controls the top ball motor 31 of the first top ball mechanism to act, and the top rod 34 of the first top ball mechanism tops the billiard ball at the end of the straight ball track 23 into the rotating support 42;

[0063] The billiard ball presses the identification switch 44, and the PLC controller 91 controls the identification driving motor 43 and the color sensor 45 to start based on the signal of the identification switch 44, so as to identify the billiard ball in the rotating support 42;

[0064] The PLC controller 91 controls the rotating swing ball motor 51 and / or the longitudinal movement driving device 62 to act after determining the position where the billiard ball should be placed according to the feedback information of the color sensor 45, so that the ball falling hole of the swing ball arm 52 corresponds to the position where the billiard ball should be placed in the triangular frame 821; at the same time, the PLC controller 91 controls the top ball motor 31 of the second top ball mechanism to act, and the top rod 34 of the second top ball mechanism tops the billiard ball in the rotating support 42 into the rotating end of the swing ball arm 52. The billiard ball rolls to the ball falling hole of the swing ball arm 52 under the action of the slope of the swing ball arm 52 and the self weight, and rolls into the relative position of the triangular frame 821;

[0065] Under the control of the PLC controller 91, the above steps are repeated until all the billiard balls are placed into the designated positions in the triangular frame 821.

[0066] The PLC controller 91 drives the longitudinal movement device 62 to move the moving trolley 61 out of the bottom of the billiard table;

[0067] The PLC controller 91 drives the vertical movement device 76 to raise the lifting support 75 to a set height, and the ball feeding frame 81, the ball pushing frame 82, the pushing device 83, the ball pressing plate 84 and the billiard balls are raised simultaneously;

[0068] The PLC controller 91 drives the longitudinal movement device 62 to move the moving trolley 61 a certain distance towards the billiard table, so that the ball feeding frame 81 and the ball pushing frame 82 are above the billiard table;

[0069] The PLC controller 91 drives the vertical movement device 76 to lower the lifting support 75, so that the ball feeding sieve 812 is placed on the table top;

[0070] The PLC controller 91 drives the pushing device 83 to move the ball pushing frame 82 forward, and at this time, the triangular frame 821 moves forward relative to the ball feeding sieve 812, so that the ball pile reaches the designated position on the table top;

[0071] The PLC controller 91 stops the movement of the pushing device 83, and under the action of inertia, the upper end of the ball pressing plate 84 is tilted forward to squeeze the billiard balls still in the triangular frame 821 (the billiard balls in the rear row are squeezed), so that the billiard balls in the ball pile are closely attached to each other;

[0072] The PLC controller 91 drives the vertical movement device 76 to raise the lifting support 75, and the ball feeding frame 81, the ball pushing frame 82, the pushing device 83 and the ball pressing plate 84 are raised simultaneously;

[0073] Under the control of the PLC controller 91, the ball pile is reset for the next time of ball placement.

[0074] Although the utility model has been described in detail above with general description and specific embodiments, some modifications or improvements can be made on the basis of the utility model, which is obvious to those skilled in the art. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the utility model all belong to the scope of protection required by the utility model.

Claims

1. A billiard automatic storing and placing device comprising a ball track assembly (2), a ball pushing unit (3), a billiard recognition unit (4), a rotating and placing unit (5), a longitudinal moving unit (6), a height adjusting unit (7), a storing and placing unit (8) and a control unit (9), characterized in that, The accommodation swing ball unit (8) comprises a ball feeding frame (81), a ball pushing frame (82) and a ball pressing plate (84), the ball feeding frame (81) comprises a ball feeding arm (811) and a ball feeding hopper (812), the ball feeding hopper (812) is located at the lower front part of the ball feeding arm (811), the ball feeding hopper (812) is provided with nine strip-shaped billiard ball limiting holes (813), the ball pushing frame (82) comprises a triangular frame (821) and extension arms (822) arranged at the two ends of the rear part of the triangular frame (821), the extension arms (822) are slidably connected with the ball feeding arm (811), the triangular frame (821) is located above the ball feeding hopper (812), the ball pressing plate (84) is arranged at the rear part in the triangular frame (821), the lower part of the ball pressing plate (84) is rotatably connected with the triangular frame (821), the upper end of the ball pressing plate (84) is connected with the rear beam of the triangular frame (821) through a pulling rope (85), and the upper part of the ball pressing plate (84) can be tilted forward and the forward tilting angle of the ball pressing plate (84) is limited under the action of the pulling rope (85).

2. The device of claim 1, wherein: The rear beam of the triangular frame (821) is provided with an elastic sheet (823) at each end, the lower end of the elastic sheet (823) is provided with a through hole, and the lower part of the ball pressing plate (84) is provided with a through shaft (841) at each end, the through shaft (841) is rotatably arranged in the through hole.

3. The automatic table ball storing and placing device according to claim 1 or 2, characterized in that, The upper edge of the ball pressing plate (84) is provided with a rearwardly extending convex edge, the convex edge and the middle part of the horizontal frame are respectively provided with a rope tying hole, and the two ends of the pulling rope (85) are tied to the two rope tying holes respectively.

4. The device of claim 1, wherein: The accommodation swing ball unit (8) further comprises limiting columns (86), the limiting columns (86) are movably arranged in the billiard ball limiting holes (813), and a plurality of the limiting columns (86) separate the nine strip-shaped billiard ball limiting holes (813) into fifteen ball falling positions.

5. The device of claim 1, wherein: The ball track assembly (2) comprises a left ball track (21), a right ball track (22), a straight ball track (23), a triangular hopper (24), a rudder (25) and a swing arm (251), the left ball track (21), the right ball track (22) and the straight ball track (23) are connected through the triangular hopper (24), two strip-shaped holes (241) are arranged on the bottom plate of the triangular hopper (24), the two strip-shaped holes (241) correspond to the ball outlets of the left ball track (21) and the right ball track (22) respectively, the rudder (25) is installed below the triangular hopper (24), one end of the swing arm (251) is installed on the output shaft of the rudder (25), and the other end of the swing arm (251) can swing out of the strip-shaped hole (241).

6. The device of claim 5, wherein the device further comprises a ball return mechanism. The top ball unit (3) comprises two top ball mechanisms with the same structure, which are respectively used for lifting the billiard ball at the end of the straight ball rail (23) to the billiard ball identification unit (4) and lifting the billiard ball of the billiard ball identification unit (4) to the rotating pendulum ball unit (5), wherein the top ball mechanism comprises a top ball motor (31), a crank (32), a connecting rod (33), a top rod (34) and a sliding sleeve (35), the top ball motor (31) is a servo motor, one end of the crank (32) is fixed on the output shaft of the top ball motor (31), the other end is connected with the connecting rod (33) through a rotating shaft, the other end of the connecting rod (33) is connected with one end of the top rod (34) through a rotating shaft, the sliding sleeve (35) is fixed relative to the position of the top ball motor (31), after the top rod (34) passes through the center hole of the sliding sleeve (35), the other end of the top rod (34) extends below the billiard ball to be lifted out.

7. The device of claim 1, wherein: The billiard ball identification unit (4) comprises an identification table (41), a rotating support (42), an identification drive motor (43), an identification switch (44) and three color sensors (45), the middle part of the identification table (41) is provided with a mounting hole, the rotating support (42) is rotatably mounted in the mounting hole, the identification drive motor (43) is fixed with the identification table (41), the identification drive motor (43) is in transmission connection with the rotating support (42), the middle part of the rotating support (42) is provided with a hole-shaped ball falling seat, the lower part of the ball falling seat is provided with the identification switch (44), and the three color sensors (45) are fixed on the identification table (41).

8. The device of claim 1, wherein: The height adjusting unit (7) comprises a vertical guide rail (71), a guide sliding block (73), a limiting U-shaped block (74), a lifting support (75), a vertical movement driving device (76) and a pressure stop switch (77), one side in the vertical guide rail (71) is provided with a guide groove, the guide sliding block (73) is slidably arranged in the guide groove, and the guide sliding block (73) is fixed with one side of the limiting U-shaped block (74), the limiting U-shaped block (74) is hinged with the leg part of the lifting support (75) through a transverse pivot (78), and the leg part of the lifting support (75) is located in the U-shaped cavity of the limiting U-shaped block (74), a spacing is left between the leg part of the lifting support (75) and the cavity bottom of the U-shaped cavity of the limiting U-shaped block (74), the guide sliding block (73) moves along the vertical guide rail (71) under the action of the vertical movement driving device (76), the pressure stop switch (77) is arranged on the leg part of the lifting support (75), and the leg part of the lifting support (75) is provided with a poking point (751) corresponding to one side of the pressure stop switch (77).

9. The device of claim 1, wherein: The control unit (9) comprises a PLC controller (91) and a collision avoidance radar (92), the PLC controller (91) is electrically connected with the steering engine (25) of the ball rail assembly (2), the top ball motor (31) of the top ball unit (3), the color sensor (45) of the table ball recognition unit (4), the recognition driving motor (43) of the table ball recognition unit (4), the recognition switch (44) of the table ball recognition unit (4), the rotating pendulum ball motor (51) of the rotating pendulum ball unit (5), the longitudinal movement driving device (62) of the longitudinal movement unit (6), the vertical movement driving device (76) of the height adjusting unit (7), the stop switch (77) of the height adjusting unit (7), the push device (83) of the storage pendulum ball unit (8) and the collision avoidance radar (92).

Images