CN110368664A - Billiard ball placement machine people - Google Patents
Billiard ball placement machine people Download PDFInfo
- Publication number
- CN110368664A CN110368664A CN201910480893.7A CN201910480893A CN110368664A CN 110368664 A CN110368664 A CN 110368664A CN 201910480893 A CN201910480893 A CN 201910480893A CN 110368664 A CN110368664 A CN 110368664A
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- CN
- China
- Prior art keywords
- billiard ball
- ball
- billiard
- turntable
- machine people
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63D—BOWLING GAMES, e.g. SKITTLES, BOCCE OR BOWLS; INSTALLATIONS THEREFOR; BAGATELLE OR SIMILAR GAMES; BILLIARDS
- A63D15/00—Billiards, e.g. carom billiards or pocket billiards; Billiard tables
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- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of billiard ball placement machine people, including mechanical gripper, hatch door sliding equipment, sorting mechanism, X-Y axial direction dribble mechanism, falling sphere tripper, sorting mechanism is driven by a motor gear rotation, then drives top turntable rotation, rotates turntable with constant rate of speed；Multiple grooves are set on turntable, billiard ball is enable to sequentially enter groove, realize the separation of more billiard ball.For the present apparatus independently of billiard table, the failure of device whether, will not generate interference to the use of ball table；Three kinds of the present apparatus different adaptability grippers can be respectively applied to the billiard ball on crawl desktop and falling sphere track, and adapt to its different position；The connection type of main shaft and mechanical arm and gear mechanism are able to achieve total tune movement and the independently moving of mechanical arm, can be according to the positions of billiard ball voluntarily adjusting working mode；Top head achievees the purpose that detect in all directions as the platform for carrying sensor by the rotary motion of main shaft.
Description
Technical field
The invention belongs to billiard ball pose technology field more particularly to a kind of billiard ball placement machine people.
Background technique
Along with the development of billiard movement, the business for serving billiard ball contest is consequently increased, and this requires a large amount of professions
Personnel and attendant participate among the relevant enterprise of billiard movement, billiard ball service enterprise automatic technology it is advanced with
It is no, largely affect working efficiency, the service quality of billiard ball service.
Classify according to billiard ball playing method and show, the form of billiard ball is varied at present, is primarily present following five kinds of classifications: Chinese style eight
Ball, russian Snooker, English Snooker, American Snooker and snooker.For this five kinds different object for appreciation regulations
Then, traditional manual service increasingly shows its short slab, and not only workload is huge, but also works and repeat agitation for manually putting
It puts and does not have good operability, it is low to put accuracy rate, and consumer need to fall into a long wait movement and experience poor, inefficiency.
Chinese Patent Application No. CN201621185210.3 in the prior art discloses a kind of billiard ball Number Reorganization and puts
Device；Including billiard ball slideway, the first flapper and the second flapper, the first flapper are disposed on billiard ball slideway
Billiard ball are stopped to slide on the billiard ball slideway when stretching out with the second flapper, and first flapper and second is lived
The distance between dynamic baffle is not less than the diameter of billiard ball；Billiard ball NID number identifier further includes that color reaction unit and judgement are single
Member；Color reaction unit is used to incude at multiple positions of the billiard ball between the first flapper and the second flapper
Color；Color at the multiple positions for the billiard ball that judging unit is used to be induced according to the color reaction unit, sentences
Break the numbers of the billiard ball.The invention does not have the function that billiard ball are put to desktop automatically.
Summary of the invention
It is that one kind is more intelligent, energy is real the technical problem to be solved by the invention is to provide a kind of billiard ball placement machine people
The billiard robot of ball, swing ball movement is now more accurately grabbed, the function that robot can be realized has mobile, identification, crawl, sieve
It selects, put.
The technical solution adopted by the present invention to solve the technical problems is: providing a kind of billiard ball placement machine people, including machine
Tool handgrip, the steering mechanism of robot bottom, hatch door sliding equipment, sorting mechanism, dribble platform, falling sphere tripper, screening
Mechanism is driven by a motor gear rotation, then drives top turntable rotation, turntable is enable to rotate with constant rate；Mechanical gripping
After hand picks up billiard ball, hatch door sliding equipment is opened, and multiple grooves are arranged on turntable, billiard ball is enable to sequentially enter groove, is realized
The separation of more billiard ball.
According to the above technical scheme, dribble platform puts billiard ball arrangement with Chu Qiugong by X-Y axial direction dribble mechanism
Can triangle put in disk, drive that pulley rotation, tooth socket and belt are meshed transmitting with tooth on workbench by motor
Power drives dribble platform to realize moving for X and Y direction along trapped orbit, covers the region that entire triangle puts disk.
According to the above technical scheme, billiard ball from the whereabouts of workbench use tripper, turn open-and-close mechanism by main stand, turn
Disk and blade composition, blade are centrosymmetric distribution, and when driving turntable, turntable acts blade by cam pair, in machine
Under frame cam and driving dial cams collective effect, blade forms opening and closing movement.
According to the above technical scheme, blade folding diameter ratio is 0.5, and blade design is concave shape.
According to the above technical scheme, mechanical gripper includes the single ball handgrip of desktop and the multiple ball handgrips of falling sphere track, by
Different mechanical grippers switch different mechanical grippers using same docking facilities, are realized not by the locking and release of docking facilities
With exchanging for for mechanical gripper.
According to the above technical scheme, docking facilities are fastened to robot wrist joint, desktop by hydraulic stem promotion
Single ball handgrip includes grabbing ball ball clack, connecting rod and linear motor.
The beneficial effect comprise that: the present apparatus is independently of the set of device of billiard table, whether the failure of device
Interference will not be generated to the use of ball table；There are three types of different adaptability grippers for present apparatus tool, can be respectively applied to grab
Billiard ball on desktop and falling sphere track, and adapt to its different position；The connection type and gear mechanism of main shaft and mechanical arm
It is able to achieve total tune movement and the independently moving of mechanical arm, it can be according to the positions of billiard ball voluntarily adjusting working mode；Distal end chip
Portion achievees the purpose that detect in all directions as the platform for carrying sensor by the rotary motion of main shaft.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the overall appearance figure of billiard ball placement machine people of the embodiment of the present invention；
Fig. 2 is overall structure diagram inside billiard ball placement machine of embodiment of the present invention people；
Fig. 3 is mechanical arm structural schematic diagram in the embodiment of the present invention；
Fig. 4 is gripper structural schematic diagram in the embodiment of the present invention；
Fig. 5 is sucker gripper structural schematic diagram in the embodiment of the present invention；
Fig. 6 is billiard ball separating mechanism structural schematic diagram in the embodiment of the present invention；
Fig. 7 is billiard ball taxonomic revision structural scheme of mechanism in the embodiment of the present invention；
Fig. 8 is billiard ball delivering mechanism structural schematic diagram in the embodiment of the present invention；
Fig. 9 is the device of that embodiment of the invention lower leg portion schematic diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
In the embodiment of the present invention, as shown in Figure 1, in the overall appearance figure of the present embodiment billiard ball placement machine people, including branch
Frame 1, side casings 2, abdomen shell 3, front shell 4, front hatch door shell 5.As shown in Fig. 2, billiard ball placement machine people wraps
Include: arm segment I, gripper part ii, Leg portion III, bridge pastern point IV screen finishing part V.Using robot as
The workbench fast moved integrates a series of sensors thereon and carries vision inspection apparatus, passes through computer distal end wireless controlled
Billiard ball in robot processed, system identification Billiards table and ball bag, identify the serial number of billiard ball, are rotated to different grippers and carry out
Accurate crawl controls robot for the billiard ball grabbed and is put into robot interior after identification, by X-Y, axially dribble mechanism etc. is more
The rule that a module carries out billiard ball arranges, and then sends out the billiard ball put in order by guide rail, is drawn by triangle manipulator and is accurately put
It is put on Billiards table.The robot can also carry video acquisition system, by the acquisition and transmission of video, pass through software system
System analyzes billiard ball information in passed back video, improves efficiency, reduces fault.
Arm segment includes shoulder joints motor 6, shoulder 7, large arm 8, ancon joint motor 9, the big shell 10 of forearm, forearm
Small shell 11.Mechanical claw portion includes gripper linear motor 12, push rod 13, limited block 14, connecting rod 15, and connecting rod 16 grabs ball ball
Valve 17 docks handgrip 18, docks limited block 19, electric pushrod 20.
Wherein, gripper linear motor 12 works, and drives the linear motion of push rod 13 to drive the movement of connecting rod 15, is limiting
Under the action of the block 14 of position, connecting rod 16 suffers restraints and moves under the promotion of connecting rod 15 according to unique direction, affects and grabs ball ball clack
17 complete the movement of crawl ball；It pushes docking handgrip 18 to collapse when electric pushrod 20 works, to complete docking operation, realizes machine
The installation of tool hand.
Sucker gripper part includes vacuum pump 21, taps mouth 22, spring 23, rubber suction cups 24, hose 25, intermediate pump
21 work air-breathings, are expanded air entry number by decomposing mouth 22, such as be extended to 15, and air-flow passes to rubber suction by hose 25
24 air-breathing of disk completes function so that billiard ball be picked up.
Billiard ball separating mechanism includes separation module motor 26, gear 1, gear 2 28, gear 3 29, gear 4 30, support
Disk 31 rotates card slot 32, and separation module motor 26 works, band dynamic bevel gear 27,28, then is transmitted movement by gear 29,30
31 bottom cog of pallet, gear drive swivelling chute 32 at the uniform velocity to rotate, and will be scrolled into the billiard ball come and separate by a, for it rear billiard ball
Screening prepare.
Billiard ball taxonomic revision mechanism includes sorting module motor 1, synchronous belt 1, synchronous pulley 1, guide rod one
35, synchronous belt 2 37, Y-direction support 38, sorting module motor 2 39, synchronous belt 2 40, X to dribble support 41, synchronous pulley three
42, synchronous pulley 4 43, synchronous belt 3 44, synchronous pulley 5 45, guide rod 3 46.Wherein sorting module motor 1, which drives, synchronizes
Belt wheel then drives synchronous belt 2 37 to rotate to drive synchronous belt 1, and Y-direction support 38 is driven to realize Y-direction dribble；Arrange mould
Block motor 2 39 works, and drives pulley rotation, so that X be driven to realize X to dribble to dribble support.
Billiard ball delivering mechanism includes synchronous pulley 1, bevel gear 48, multi-diameter shaft 1, bearing block 1, bearing block two
51, send out module stepper motor 52, spherical guide 53, synchronous belt 54, multi-diameter shaft 2 55, synchronous pulley 2 56.Wherein send out mould
Block stepper motor 52 works, and band dynamic bevel gear rotates, and then synchronous belt 54 is driven to move, and the pallet for holding billiard ball is sent out, complete
At ejecting motion.
Lower leg portion includes small leg support 1, shank damper 58, shank stepper motor 59, shank spline 60, shank
Bracket 2 61, hub motor 62, wheel 63, shank hydraulic stem 64.Shank stepper motor 59 work drive shank spline 60 to
Band motor car wheel 63 turns to, and realizes the pivot stud of whole device.Hub motor 62 is powered on the band rotation of motor car wheel 63 and realizes dress
Set overall movement；Shank hydraulic push rod 64 elongates or shortens to realize the variation of 63 certain angle of wheel to adapt to different angle
Landform.
First locomotive function use In-wheel motor driving four-wheel various dimensions steering mechanism: wheel leg steering mechanism rely on
The wheel shaft of spline connection, is rotated with the motor driven being installed on inside leg, realizes the original place rotation of robot.Hydraulic stem both ends point
Not Lian Jie wheel shaft end and midleg, realize rotating upwardly and downwardly for wheel, play good damping effect and adapt to different terrain feelings
Condition.It grabs, collect for realization robot, putting switching smoothness between function, devising two kinds of mechanical grippers, respectively desktop list
A ball handgrip and the multiple ball handgrips of falling sphere track switch different manipulators mainly by docking in different manipulators using same
Device realizes exchanging for for different mechanical grippers by the locking and release of docking facilities.Docking facilities are pushed by hydraulic stem to be locked
It is fastened to robot wrist joint.Single ball handgrip is formed by grabbing ball ball clack, connecting rod and linear motor etc..Crawl movement master
Will with shoulder ancon motor, rotating shaft transmission mechanism, multi-degree-of-freemechanical mechanical arm movement mechanism and gripper grasping mechanism work
It completes.Mechanical arm realizes the deformation and self-movement of manipulator by shoulder electric machine rotational axis, cooperates two kinds of different function machines
The Grasping skill of tool hand realizes that this series of actions is placed in identification-crawl-transfer-of billiard ball.When needing to grab, motor turns
Dynamic, push rod linear motion drives the ball clack on connecting rod to collapse, and ball movement is grabbed in realization.Multiple ball handgrips are by motor, bearing, endless
The composition such as all gear, support frame, motor rotation drive partial gear to move in the trapped orbit of support frame, partial gear
Between have a certain distance, not will cause the collision between ball and ball.Billiard ball process is arranged mainly by hatch door sliding equipment, screening
Axially successively cooperating is completed for dribble mechanism, falling sphere tripper by mechanism, X-Y.That realizes billiard ball falls rail-separation-identification-shifting
Move-place this series of actions.Hydraulic stem provides power, hydraulic stem top connection sliding block, and bottom is fixed on skeleton, hydraulic stem
Telescopic band movable slider is moved along fixed track, so that driving the hatch door to link together with sliding block globally to move realizes back
The folding of hatch door.
Mechanical gripper picks up billiard ball rear door and opens, and billiard ball enter screening machine along the guide rail with slight oblique angle
Structure, sorting mechanism are driven by a motor gear rotation, then drive top turntable rotation, enable turntable with smaller constant rate
Rotation；Turntable is designed as four grooves, and billiard ball is enable to sequentially enter groove, realizes the separation of more billiard ball.Platform of dribbling passes through
Cross X-Y the triangle with storage ball function put into billiard ball arrangement to dribble mechanism and put in disk, realize billiard ball from movable pendulum
It puts.It is meshed by tooth socket on motor drive pulley rotation, workbench with belt band tooth to transmit power to drive fortune
Ball platform realizes moving for X and Y direction along trapped orbit, covers the region that entire triangle puts disk.Billiard ball are from workbench
It falls and uses tripper, turn open-and-close mechanism (central shutter machine) and be made of main stand, turntable and 6 blades, 6 blades are in
Central symmetry distribution, when driving turntable, turntable acts blade by cam pair, convex in rack cam and driving turntable
It takes turns under collective effect, 6 blades form opening and closing movement, can be with effectively save spaces, cramped construction layout, folding diameter ratio is 0.5.
Furthermore blade design be concave shape, can preferably stabilized billiard ball, avoid billiard ball during movable workbench from falling.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (6)
1. a kind of billiard ball placement machine people, which is characterized in that sliding including mechanical gripper, the steering mechanism of robot bottom, hatch door
Motivation structure, sorting mechanism, dribble platform, falling sphere tripper, sorting mechanism are driven by a motor gear rotation, then drive top
Turntable rotation, enables turntable to rotate with constant rate；After mechanical gripper picks up billiard ball, hatch door sliding equipment is opened, turntable
The upper multiple grooves of setting, enable billiard ball to sequentially enter groove, realize the separation of more billiard ball.
2. billiard ball placement machine people according to claim 1, which is characterized in that dribble platform is by X-Y axial direction dribble machine
Billiard ball arrangement is put the triangle with storage ball function and put in disk by structure, drives pulley rotation, work flat by motor
Tooth socket and belt band tooth, which are meshed, on platform transmits power, and dribble platform is driven to realize moving for X and Y direction along trapped orbit,
Cover the region that entire triangle puts disk.
3. billiard ball placement machine people according to claim 1 or 2, which is characterized in that billiard ball are used from the whereabouts of workbench
Tripper turns open-and-close mechanism and is made of main stand, turntable and blade, and blade is centrosymmetric distribution, when driving turntable, turns
Disk acts blade by cam pair, and under rack cam and driving dial cams collective effect, it is dynamic that blade forms folding
Make.
4. billiard ball placement machine people according to claim 3, which is characterized in that it is 0.5 that blade, which opens and closes diameter ratio, blade design
For concave shape.
5. billiard ball placement machine people according to claim 1 or 2, which is characterized in that mechanical gripper includes the single ball of desktop
Handgrip and the multiple ball handgrips of falling sphere track, by switching different mechanical grippings using same docking facilities in different mechanical grippers
Hand realizes exchanging for for different mechanical grippers by the locking and release of docking facilities.
6. billiard ball placement machine people according to claim 5, which is characterized in that docking facilities are pushed by hydraulic stem and latched
It is fastened to robot wrist joint, the single ball handgrip of desktop includes grabbing ball ball clack, connecting rod and linear motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910480893.7A CN110368664B (en) | 2019-06-04 | 2019-06-04 | Robot is put to billiard ball |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910480893.7A CN110368664B (en) | 2019-06-04 | 2019-06-04 | Robot is put to billiard ball |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110368664A true CN110368664A (en) | 2019-10-25 |
| CN110368664B CN110368664B (en) | 2020-10-16 |
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ID=68249663
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910480893.7A Active CN110368664B (en) | 2019-06-04 | 2019-06-04 | Robot is put to billiard ball |
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| Country | Link |
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| CN (1) | CN110368664B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112891907A (en) * | 2021-01-28 | 2021-06-04 | 深圳市瑞驰文体发展有限公司 | Billiard box with billiard number recognition function |
| CN116215694A (en) * | 2022-12-26 | 2023-06-06 | 北京理工大学 | Active-passive combined shank structure of suspension cushioning wheel leg robot |
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| GB190307524A (en) * | 1903-03-31 | 1904-03-31 | Francis Augustus Nash | Improvements in Covers for Billiard, Bagatelle and other Game Tables and for other like Purposes. |
| TW200611802A (en) * | 2004-10-04 | 2006-04-16 | Jr-Syu Yang | Billiards robot |
| CN204307334U (en) * | 2014-11-28 | 2015-05-06 | 于洪超 | A kind of racking device and billiard table automatically |
| CN105690362A (en) * | 2016-04-14 | 2016-06-22 | 林飞飞 | Multifunctional palletizing robot based on Stewart parallel connection platform |
| CN105690363A (en) * | 2016-04-14 | 2016-06-22 | 林飞飞 | Palletizing robot based on parallel connection mechanism |
| CN109011535A (en) * | 2018-09-28 | 2018-12-18 | 大连理工大学 | A kind of automatic Shou Bai robot of movable type snooker |
| JP2019170566A (en) * | 2018-03-27 | 2019-10-10 | 千代田アド・パック株式会社 | Billiard ball set device |
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2019
- 2019-06-04 CN CN201910480893.7A patent/CN110368664B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB190307524A (en) * | 1903-03-31 | 1904-03-31 | Francis Augustus Nash | Improvements in Covers for Billiard, Bagatelle and other Game Tables and for other like Purposes. |
| TW200611802A (en) * | 2004-10-04 | 2006-04-16 | Jr-Syu Yang | Billiards robot |
| CN204307334U (en) * | 2014-11-28 | 2015-05-06 | 于洪超 | A kind of racking device and billiard table automatically |
| CN105690362A (en) * | 2016-04-14 | 2016-06-22 | 林飞飞 | Multifunctional palletizing robot based on Stewart parallel connection platform |
| CN105690363A (en) * | 2016-04-14 | 2016-06-22 | 林飞飞 | Palletizing robot based on parallel connection mechanism |
| JP2019170566A (en) * | 2018-03-27 | 2019-10-10 | 千代田アド・パック株式会社 | Billiard ball set device |
| CN109011535A (en) * | 2018-09-28 | 2018-12-18 | 大连理工大学 | A kind of automatic Shou Bai robot of movable type snooker |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112891907A (en) * | 2021-01-28 | 2021-06-04 | 深圳市瑞驰文体发展有限公司 | Billiard box with billiard number recognition function |
| CN116215694A (en) * | 2022-12-26 | 2023-06-06 | 北京理工大学 | Active-passive combined shank structure of suspension cushioning wheel leg robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110368664B (en) | 2020-10-16 |
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