CN113398550B - A fully automatic table tennis ball service device - Google Patents

Abstract

The invention discloses a fully automatic table tennis ball serving device, which includes a base system, a recovery system, a serving system and a control system. Adjust the serving height of the serving system, the recovery system is installed on the bottom plate in the base system, and is installed in cooperation with the serving system, the returned table tennis balls are recovered to the serving system by the recovery system, the control system It is installed on the ball-serving system, and the control system is connected with the ball-serving system for control. The invention is beneficial to realize automatic recovery and serving of the table tennis balls, saves time and energy for picking up the balls, and improves the efficiency of ball training.

Description

A fully automatic table tennis ball service device

technical field

The invention relates to a service device for fully automatic recovery of table tennis balls, which belongs to the field of table tennis devices.

Background technique

As a sport suitable for all ages, table tennis is very popular in China. As a sport with strong skills, beginners need to spend a certain amount of energy on training, and professional athletes also have certain requirements for the quality of rotation of the serve. Therefore, table tennis There is a great market demand for ball serving machines.

Contents of the invention

In order to solve the problem of fully automatic collection of table tennis balls, the present invention provides a fully automatic ball recovery device for table tennis balls. With the blower as the power, the movement of the table tennis balls is realized from bottom to top, which is beneficial to the realization of full-automatic recovery of the table tennis balls. Automatic recovery, reducing the time and energy of picking up the ball.

The technical scheme mainly adopted in the present invention is:

A kind of fully automatic table tennis ball serving device, comprising a base system, a recovery system, a serving system and a control system, the serving system is installed on a mounting frame in the base system, and the base system adjusts the position of the serving system. Serving height, the recovery system is installed on the bottom plate in the base system, and is installed in cooperation with the serving system, the recovered table tennis balls are returned to the serving system by the recovery system, and the control system is installed on the The ball launching system, and the control system is connected with the ball launching system and the recovery system.

Preferably, the base system includes a plurality of moving rollers, a bottom plate, a slide rail, locking screws, a slider, a triangular stabilizer and a mounting frame, wherein the bottom end of the bottom plate is provided with a number of moving rollers, and the slide rail It is fixed on the top surface of the bottom plate by countersunk head bolts. There are several threaded holes on the slide rail. The slide block is slidably arranged in the slide rail and moves along the slide rail. The threaded holes on the slide rail are locked and fixed, the bottom end of one leg of the tripod stabilizer is connected to the slider, and the other two legs of the tripod stabilizer are installed on the base plate. The frame is installed on the top of the tripod stabilizer for fixing the serving system.

Preferably, the tripod stabilizer includes a first leg, a second leg and a third leg, the bottom end of the first leg is connected to the slider, the bottom ends of the second leg and the third leg are connected to the The connecting seat on the top surface of the bottom plate is connected by a rotating pair, and the connecting seat is fixed on the bottom plate by countersunk bolts, and the top ends of the first leg, the second leg and the third leg are all installed with frame connection.

Preferably, the recovery system includes a recovery box, a support frame, a blower, a bottom infrared sensor module, a guide ball channel, a transmission channel, a top infrared sensor module, and a baffle, and the support frame is fixed on the bottom plate in a bolted manner , the recovery box is installed on the support frame, one end of the ball guide channel communicates with the ball drop port of the recovery box, and the other end of the ball guide channel intersects with the lower end of the transmission channel. The track realizes the matching connection, and the ball guiding channel is arranged obliquely along the direction from the recovery box to the lower end of the conveying channel, and the end of the ball guiding channel close to the conveying channel is provided with a baffle; the bottom end of the conveying channel is provided with a blower , the blower is fixedly installed on the upper surface of the bottom plate, the top ball outlet of the transmission channel is located above the ball storage box of the ball serving device, and the bottom infrared sensor module is installed at the bottom position in the transmission channel. The top infrared sensor module is arranged at the position of the top ball outlet in the transmission channel.

Preferably, the inner baffle installation hole of the guide ball passage near one end of the transmission passage is installed in the baffle installation hole, the bottom of the baffle has a certain slope, and is aligned with the guide ball The slopes of the channels are the same.

Preferably, the ball-serving system includes a launching conduit, a casing, a casing upper cover, a ball distribution device, a ball storage box, a first power wheel, a steering gear, a first power motor, a steering motor, a second power motor and a second power wheel ,in,

The bottom of the shell is fixedly installed on the mounting frame, and the top of the shell is provided with a shell upper cover, and the shell upper cover is provided with a round hole for passing through the ball drop pipe of the ball storage box, and the ball storage box It is arranged outside the shell and is located directly below the ball outlet at the top of the transmission channel. The ball drop channel of the ball storage box is inserted into the shell through the round hole on the upper cover of the shell, and cooperates with the ball distribution device set in the shell. Work;

The central axis of the steering gear is connected to the output shaft of the steering motor, the steering motor is fixedly installed in the casing, and is located directly below the launching conduit, and a threading line is symmetrically arranged at both ends of the steering gear. The holes are respectively used to pass through the two traction ropes connecting the threading pipes on both sides of the launch catheter; the central shaft of the steering gear is connected to the output shaft of the steering motor, and the steering motor is fixedly installed in the casing , and located directly below the launch conduit, two ends of the diverter are symmetrically provided with a threading hole, which are respectively used to pass through the two traction ropes connecting the two sides of the launch conduit;

The first power motor and the second power motor are respectively fixedly installed on the inner bottom of the housing, and are located on both sides of the launch duct, the output shaft of the first power motor is connected to the rotating shaft of the first power wheel, The output shaft of the second power motor is connected to the rotating shaft of the second power wheel, and the first power motor and the second power wheel are respectively located on both sides of the launching duct, and are connected with the power on the launching duct. The slots work together.

Preferably, the ball distribution device includes a ball distribution box, a ball distribution box upper cover, a ball distribution wheel and a ball distribution motor, the ball distribution box is fixedly installed on the inner bottom of the shell, and the ball distribution motor is fixedly installed on the The inner bottom of the housing is located at the center of the ball distribution box, the output shaft of the ball distribution motor is connected to the central axis of the ball distribution roulette, and several ball distribution roulettes are evenly arranged along the circumferential direction A ball groove, the ball grooves are all U-shaped ball grooves that open outwards, and the ball grooves are set in cooperation with the ball outlet of the ball distribution box, and the top of the ball distribution box is provided with a ball distribution box upper cover, so The upper cover of the ball distribution box is provided with notches corresponding to the ball drop opening of the ball storage box and the ball groove.

Preferably, rubber rings are provided on the first power wheel and the second power wheel.

Preferably, the control system is respectively connected to the first power motor, the steering motor, the second power motor, the ball-distributing motor and the blower control, and the top infrared sensor module and the bottom infrared sensor module are respectively connected to the control system signal transport connection.

Preferably, there are several fixed columns inside the housing for determining the installation heights of the ball distribution box and the launch guide.

Beneficial effects: the present invention provides a fully automatic table tennis ball serving device, which has the following advantages: using the blower as the power, the movement of the table tennis ball is realized from bottom to top; The fully automatic recovery and serving of the ball improves the efficiency of players' practice and saves time and energy spent picking up the ball.

Description of drawings

Fig. 1 is the structural representation of device of the present invention;

Fig. 2 is a structural representation of the base system of the device of the present invention;

Fig. 3 is the structural representation of the recovery system of device of the present invention;

Fig. 4 is the partial sectional view of the recovery system of device of the present invention;

Fig. 5 is the structural representation of the serving system of device of the present invention;

Fig. 6 is the schematic diagram of the launch conduit of the ball system of the device of the present invention;

7 is a schematic diagram of the internal structure of the serving system of the device of the present invention;

Fig. 8 is a structural schematic diagram of the ball distribution roulette of the serving system of the device of the present invention;

Fig. 9 is a schematic diagram of the position of each motor of the serving system of the device of the present invention;

Fig. 10 is a schematic structural diagram of the diverter of the serving system of the device of the present invention;

In the figure: base system 1, roller 101, bottom plate 102, slide rail 103, locking screw 104, slider 105, triangular stabilizer 106, mounting frame 107, first leg 108, second leg 109, third leg 110 , threaded hole 111, connecting seat 112, recovery system 2, recovery box 201, support frame 202, blower 203, bottom infrared sensor module 204, guide ball channel 205, transmission channel 206, top infrared sensor module 207, baffle plate 208 , Serving system 3, launch conduit 301, shell 302, shell loam cake 303, ball storage box 304, ball box 305, ball box loam cake 306, rubber ring 307, first power wheel 308, ball roulette 309, Steering gear 310, first power motor 311, steering motor 312, ball distribution motor 313, second power motor 314, second power wheel, 315, power groove 316, ball limiting groove 317, central shaft 318, threading hole 319, Ball groove 320, fixed column 321, threading pipe 322, arc notch 323, control system 4.

Detailed ways

In order to enable those skilled in the art to better understand the technical solutions in the application, the technical solutions in the embodiments of the application are clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the application, and Not all examples. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

Example 1

As shown in Figure 1, a kind of ball device of fully automatic recovery table tennis, comprises base system 1, recovery system 2, ball system 3 and control system 4, and described ball system 3 is installed in the base system 1 On the installation frame 107, the serving height of the serving system 3 is adjusted by the base system 1. 2 recovering the returned table tennis balls to the serving system 3, the control system 4 is installed on the serving system 3, and the control system 4 is connected to the serving system 3 and the recovering system 2 for control.

As shown in Figure 2, the base system 1 includes a number of moving rollers 101, a base plate 102, a slide rail 103, locking screws 104, a slider 105, a tripod stabilizer 106 and a mounting frame 107, wherein the base plate 102 The bottom end is provided with some moving rollers, and the slide rail 103 is fixed on the top surface of the bottom plate 102 by countersunk bolts, and the slide rail 103 is provided with several threaded holes 111, and the slide block 105 is slidably arranged on the slide rail 103, and move along the slide rail 103, the slide block 105 is locked and fixed with the threaded hole on the slide rail 103 through the locking screw 104, and the bottom end of a leg of the tripod stabilizer 106 is connected to the slide rail 103 block connection, the other two legs of the triangular stabilizer 106 are installed on the bottom plate 102 , and the mounting frame 107 is installed on the top of the triangular stabilizer 106 for fixing the serving system 3 .

In the present invention, the tripod stabilizer 106 includes a first leg 108, a second leg 109 and a third leg 110, the bottom end of the first leg is connected to the slider 105, the second leg 109 and the third leg The bottom ends of the three legs 110 are connected with the connecting seat 112 on the top surface of the bottom plate through a rotating pair, and the connecting seat 112 is fixed on the bottom plate 102 by countersunk bolts. The first leg 108, the second leg 109 and The top ends of the third legs 110 are connected to the installation frame 107 in the form of a rotating pair.

In this embodiment, the base system stabilizes the serving system 3 through the triangular stabilizer 106 , and controls the height of serving by moving the position of the slider 105 .

In this embodiment, the bottom plate 102 has been rounded, the locking screw 104 has been knurled, and the slide rail 103 is connected to the middle position of the bottom plate 102 by using countersunk bolts. 3 height, the height can be locked by the tripod stabilizer 106, so that the serving system 3 reaches stability.

As shown in Figures 3-4, the recovery system 2 includes a recovery box 201, a support frame 202, a blower 203, a bottom infrared sensor module 204, a guide ball channel 205, a transmission channel 206, a top infrared sensor module 207, and a baffle 208, The support frame 202 is fixed on the base plate 102 in a bolted manner, the recovery box 201 is installed on the support frame 202, and one end of the ball guide channel 205 communicates with the ball drop port of the recovery box 201 The other end of the guide ball channel 205 is connected with the lower end of the delivery channel 206 in a track of intersecting lines, and the guide ball channel 205 is arranged obliquely along the direction from the recovery box 201 to the lower end of the delivery channel 206, and the The guide ball passage 205 is provided with a baffle plate 208 near one end of the transmission passage; the bottom end of the transmission passage 206 is provided with a blower 203, and the blower 203 is fixedly installed on the upper surface of the base plate 102, and the transmission passage 206 The top ball outlet is located above the ball storage box of the serving device, the bottom infrared sensor module 204 is installed at the bottom position in the transmission channel 206, and the top infrared sensor module 207 is arranged at the top outlet in the transmission channel 206. The position of the ball.

The guide ball channel 205 is close to the installation hole of the inner baffle plate at one end of the transmission channel 206. The baffle plate is installed in the installation hole of the baffle plate. The slopes of the channels 205 are the same, so the one-way movement of the baffle plate 208 can be realized, so as to realize the airtightness of the air channel.

In this embodiment, the baffle plate 208 and the guide ball channel 205 are installed by bolts, and the friction is ensured to be as small as possible, so that the gravity component of the table tennis ball can move away from the baffle plate 208 and fall into the transmission channel. The installation position of recovery box 201 is lower than the ball-serving system.

As shown in Figures 5-7, the ball serving system 3 includes a launch guide 301, a casing 302, a casing upper cover 303, a ball distribution device, a ball storage box 304, a first power wheel 308, a steering gear 310, and a first power motor 311 , steering motor 312, second power motor 314 and second power wheel 315, wherein,

The bottom of the housing 302 is fixedly mounted on the mounting frame 107, and the top of the housing 302 is provided with a housing loam cake 303, and the housing loam cake 303 is provided with a round hole for passing through the ball drop pipe of the ball storage box 304 , the ball storage box 304 is arranged outside the shell 302, and is located directly below the ball outlet at the top of the transmission channel 206, and the ball drop channel of the ball storage box 304 is inserted into the shell through a round hole on the upper cover 303 of the shell , cooperate with the ball distribution device arranged in the housing 302;

The ball outlet of the ball distribution device communicates with the ball entrance of the launching conduit 301, the launching conduit 301 is installed in the shell, and the ball opening of the launching conduit 301 is limited from the ball set on the shell. Through the groove 317, symmetrical power grooves 316 are provided on both sides of the end of the launch conduit 301 near the ball outlet of the ball distribution device, and a number of arrangements are arranged symmetrically on both sides of the end of the launch conduit 301 near the ball outlet. The threading pipe 322 and the arc-shaped notch 323, and the threading pipe 322 and the arc-shaped notch 323 are arranged at intervals, and the two traction ropes respectively pass through the threading pipe 322 on both sides of the launching catheter 301 and the diverter 310 connection; in the present invention, the threading pipe plays a role of traction, and the arc-shaped notch is to realize the flexible steering of the launch catheter, thereby realizing the change of the direction of the ball. The number of threading pipes in the present invention can be selected and set according to actual conditions.

As shown in Figure 10, the central shaft 318 of the steering gear 310 is connected to the output shaft of the steering motor 312, the steering motor 312 is fixedly installed in the housing 302, and is located directly below the launching conduit 301 , the two ends of the diverter are symmetrically provided with a threading hole 319, which are respectively used to pass through the two traction ropes connecting the threading pipes 322 on both sides of the launching conduit 301;

The first power motor 311 and the second power motor 314 are fixedly installed on the inner bottom of the housing 302 respectively, and are located on both sides of the launching duct 301, the output shaft of the first power motor 311 is connected to the first power motor The rotating shaft of the wheel 308 is connected, the output shaft of the second power motor 314 is connected with the rotating shaft of the second power wheel 305, and the first power motor 311 and the second power wheel 305 are respectively located at the two ends of the launching duct 301. side, and cooperate with the power groove 316 on the launch guide tube 301.

As shown in Figures 8-9, the ball distribution device includes a ball distribution box 305, a ball distribution box upper cover 306, a ball distribution wheel 309 and a ball distribution motor 313, and the ball distribution box 305 is fixedly installed on the shell 302 The inner bottom, the ball distribution motor 313 is fixedly installed on the inner bottom of the housing 302, and is located at the center of the ball distribution box 305, the output shaft of the ball distribution motor 313 is connected to the ball distribution wheel 309 The central shaft is connected, and the ball distribution wheel 309 is uniformly provided with several ball grooves 320 along the circumferential direction, and the ball grooves are all U-shaped ball grooves that open outwards, and the ball grooves 320 and the outlet of the ball distribution box 305 The ball opening is arranged in cooperation, and the top of the ball distribution box 305 is provided with a ball distribution box upper cover 306, and the described ball distribution box upper cover 306 is provided with a notch corresponding to the ball drop opening of the ball storage box 304 and the ball groove. The ball box 305 is not in direct contact with the ball distribution roulette 309 . In this embodiment, the number of ball grooves is 6.

In this embodiment, the outer circumferences of the first power wheel 308 and the second power wheel 315 are sheathed with rubber rings for increasing frictional force.

The control system 4 is respectively connected with the first power motor 311, the steering motor 312, the second power motor 314, the ball-pointing motor 313 and the blower 203, and the top infrared sensor module 207 and the bottom infrared sensor module 204 are respectively connected with The control system 4 is connected for signal transmission. In this embodiment, the signals collected by the top infrared sensor module 207 and the bottom infrared sensor module 204 are changed and then fed back to the control system, and the control system controls the start and stop of the blower through the received feedback signals. In this embodiment, the control system adjusts the rotating speed of the ball-distributing motor to control the launch speed of the table tennis ball, adjusts the rotating speed of the first power motor and the second power motor to control the launch force of the table tennis ball, and controls the steering motor to pull the launch tube to face different directions. direction.

Preferably, there are several fixed columns 321 inside the housing 302 for determining the installation heights of the ball distribution box 305 and the launch guide 301 .

All passages are slightly larger than the diameter 40mm of table tennis in the present embodiment, can guarantee the smooth movement of table tennis.

In this embodiment, the first power motor, the steering motor, the ball-distributing motor, and the second power motor are all servo motors with sensors, which can realize precise control of the position. connected to the control system.

The launching catheter in this embodiment is made of nylon material, and adopts 3D printing technology. The threading tubes on both sides of the launching catheter tail are put on equal nylon threads as a traction rope to connect with the diverter 310. The initial position of the diverter 310 is perpendicular to the launching catheter 301. When the steering motor 310 moves at a certain angle, the two traction ropes will pull the tail of the launching catheter due to uneven force, thereby realizing launching in different directions.

In the present invention, the working principle of the base system is as follows:

The base system 1 is the carrier on which the ball-serving system 3 and the recovering system 2 are installed. By moving the slider 105 to move in the slide rail 103, the height of the triangular stabilizer 106 can be adjusted, thereby adjusting the height of the serving system fixed on the installation frame 107. The bottom plate 102 is lowered and installed with four rollers, which can easily move the whole device.

In the present invention, the operating principle of the recovery system is as follows:

The recovery box 201 installation position should be as low as possible. The recycling process of the table tennis ball is as follows. When the table tennis ball is hit back by someone, it is collected by the block and falls into the recycling box. Then, under the action of gravity, the table tennis ball passes through the guide ball channel 205 with a certain slope, and is knocked away and installed on the guide ball. The baffle plate 208 at the end of the channel 205 falls into the transmission channel 206 installed on the blower 203, and triggers the bottom infrared sensor module 204 installed at the bottom of the transmission channel 206. At this time, the blower starts to work, because the inclined opening at the bottom of the baffle plate can only One-way rotation, under the action of wind force, baffle plate 208 will firmly block the guide ball channel 205, and now the recovery system will form the only air channel, and the table tennis balls will rise along the transmission channel 206 under the action of wind force, and fall into the In the ball storage box 304 of the ball serving system 3, the recovery of table tennis balls is realized. Simultaneously, the table tennis ball will trigger the top infrared sensor module 207 at the top of the transmission channel 206. At this time, the blower will be closed immediately, and the baffle plate 208 will lose the obstruction of the wind force. Recycling, the whole process is powered by the blower without human participation, which greatly saves manpower.

In the present invention, the operating principle of the serving system is as follows:

After a certain amount of table tennis balls are loaded into the ball storage box, the ball distribution motor is controlled to rotate, thereby driving the ball distribution roulette to rotate, so that the table tennis balls in the ball storage box fall into the ball groove 320 of the ball distribution roulette 309, when the ball distribution When the motor rotates and drives the ball groove 320 of the ball distribution wheel 309 to rotate and align to the outlet of the ball distribution box, the table tennis ball enters the launching conduit 301 (the present invention can adjust the tilting structure of the whole ball serving system through the triangle stabilizer), at this time, The control system controls the first power motor 311 and the second power motor 314 to drive the first power wheel 308 and the second power wheel 305 to rotate at a high speed respectively. The table tennis balls generate friction, so that the table tennis balls in the launching duct 301 slide out at a high speed to realize the launching of the table tennis balls.

When it is necessary to adjust the launch direction, the steering motor is controlled to drive the steering gear to rotate, so that the two traction ropes connected to the threading holes on both sides of the launch guide 301 are stressed unevenly, thereby pulling the launch guide 301 to adjust the launch direction along the serving limit groove 317 , so as to achieve emission in different directions.

The above is only a preferred embodiment of the present invention, it should be pointed out that, for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.

Claims (6)

1. The utility model provides a full-automatic service device who retrieves table tennis, its characterized in that includes base system (1), recovery system (2), service system (3) and control system (4), service system (3) install on mounting bracket (107) in base system (1), by base system (1) adjust the service height of service system (3), recovery system (2) install on bottom plate (102) in base system (1) and with service system (3) cooperation installation, retrieve service system (3) with the table tennis of hitting back by recovery system (2), control system (4) install on service system (3), and control system (4) with service system (3) and recovery system (2) control connection;

the recovery system (2) comprises a recovery box (201), a support frame (202), a blower (203), a bottom infrared sensor module (204), a ball guide channel (205), a conveying channel (206), a top infrared sensor module (207) and a baffle plate (208), wherein the support frame (202) is fixed on the bottom plate (102) in a bolt connection mode, the recovery box (201) is installed on the support frame (202), one end of the ball guide channel (205) is communicated with a ball falling port of the recovery box (201), the other end of the ball guide channel (205) is connected with the lower end of the conveying channel (206) in a matched mode according to the track of an intersecting line, the ball guide channel (205) is obliquely arranged along the direction from the recovery box (201) to the lower end of the conveying channel (206), and the baffle plate (208) is arranged at one end of the ball guide channel (205) close to the conveying channel; the bottom end of the conveying channel (206) is provided with a blower (203), the blower (203) is fixedly arranged on the upper surface of the bottom plate (102), a ball outlet at the top end of the conveying channel (206) is positioned above a ball storage box of the ball serving device, the bottom infrared sensor module (204) is arranged at the bottom position in the conveying channel (206), and the top infrared sensor module (207) is arranged at the position of the ball outlet at the top in the conveying channel (206);

an inner baffle mounting hole is formed in one end, close to the conveying channel (206), of the ball guide channel (205), the ball guide channel is mounted in the baffle mounting hole, and the bottom of the baffle (208) is provided with a certain inclination and is the same as the inclination of the ball guide channel (205);

the service system (3) comprises a transmitting guide pipe (301), a shell (302), a shell upper cover (303), a ball separating device, a ball storage box (304), a first power wheel (308), a steering gear (310), a first power motor (311), a steering motor (312), a second power motor (314) and a second power wheel (315), wherein,

the bottom of the shell (302) is fixedly arranged on the mounting frame (107), the top of the shell (302) is provided with a shell upper cover (303), the shell upper cover (303) is provided with a round hole for passing through a ball falling pipeline of the ball storage box (304), the ball storage box (304) is arranged outside the shell (302) and is positioned right below a ball outlet at the top of the conveying channel (206), and a ball falling channel of the ball storage box (304) passes through the round hole on the shell upper cover (303) and is inserted into the shell to work in cooperation with a ball distributing device arranged in the shell;

the ball outlet of the ball distributing device is communicated with the ball inlet of the transmitting catheter (301), the transmitting catheter (301) is installed in the shell, the ball outlet of the transmitting catheter (301) penetrates out of a ball sending limit groove (317) formed in the shell, symmetrical power grooves (316) are formed in two side edges of one end, close to the ball outlet of the ball distributing device, of the transmitting catheter (301), a plurality of threading pipes (322) and arc-shaped notches (323) which are arranged in a arrayed mode are symmetrically formed in two sides of one end, close to the ball outlet, of the transmitting catheter (301), the threading pipes (322) and the arc-shaped notches (323) are arranged at intervals, and two traction ropes respectively penetrate through the threading pipes (322) on two sides of the transmitting catheter (301) in sequence to be connected with the steering gear (310);

the central shaft (318) of the steering device (310) is connected with the output shaft of the steering motor (312), the steering motor (312) is fixedly arranged in the shell (302) and is positioned right below the transmitting catheter (301), and two threading holes (319) are symmetrically arranged at two ends of the steering device and are respectively used for penetrating through two traction ropes connected with two threading pipes (322) at two sides of the transmitting catheter (301);

the first power motor (311) and the second power motor (314) are respectively and fixedly arranged at the inner bottom of the shell (302) and are positioned at two sides of the transmitting guide pipe (301), an output shaft of the first power motor (311) is connected with a rotating shaft of the first power wheel (308), an output shaft of the second power motor (314) is connected with a rotating shaft of the second power wheel (305), and the first power motor (311) and the second power wheel (305) are respectively positioned at two sides of the transmitting guide pipe (301) and are matched with a power groove (316) on the transmitting guide pipe (301);

the ball separating device comprises a ball separating box (305), a ball separating box upper cover (306), a ball separating wheel disc (309) and a ball separating motor (313), wherein the ball separating box (305) is fixedly arranged at the inner bottom of the shell (302), the ball separating motor (313) is fixedly arranged at the inner bottom of the shell (302) and is positioned at the central position in the ball separating box (305), an output shaft of the ball separating motor (313) is connected with a central shaft of the ball separating wheel disc (309), a plurality of ball grooves (320) are uniformly formed in the ball separating wheel disc (309) along the circumferential direction, the ball grooves are U-shaped ball grooves with outward openings, the ball grooves (320) are matched with ball outlets of the ball separating box (305), the top of the ball separating box (305) is provided with a ball separating box upper cover (306), and the ball separating box upper cover (306) is provided with notches corresponding to ball falling openings and ball grooves of the ball storing boxes (304).

2. The full-automatic table tennis ball serving device according to claim 1, wherein the base system (1) comprises a plurality of moving rollers (101), a bottom plate (102), a sliding rail (103), a locking screw (104), a sliding block (105), a triangular stabilizer (106) and a mounting frame (107), wherein the bottom end of the bottom plate (102) is provided with the plurality of moving rollers, the sliding rail (103) is fixed on the top surface of the bottom plate (102) through countersunk bolts, the sliding rail (103) is provided with a plurality of threaded holes (111), the sliding block (105) is slidably arranged in the sliding rail (103) and moves along the sliding rail (103), the sliding block (105) is matched and locked and fixed with the threaded holes (111) on the sliding rail (103) through the locking screw (104), one bottom end of a supporting leg of the triangular stabilizer (106) is connected with the sliding block (105), the other two supporting legs of the triangular stabilizer (106) are mounted on the bottom plate (102), and the mounting frame (107) is mounted on the top end of the triangular stabilizer (106) and used for fixing the ball serving system (3).

3. The full-automatic table tennis ball serving device according to claim 2, wherein the triangular stabilizer (106) comprises a first supporting leg (108), a second supporting leg (109) and a third supporting leg (110), the bottom ends of the first supporting leg are connected with the sliding block (105), the bottom ends of the second supporting leg (109) and the third supporting leg (110) are connected with a connecting seat (112) on the top surface of the bottom plate through a revolute pair, the connecting seat (112) is fixed on the bottom plate (102) through countersunk bolts, and the top ends of the first supporting leg (108), the second supporting leg (109) and the third supporting leg (110) are connected with the mounting frame (107) in the form of revolute pairs.

4. A fully automatic table tennis ball retrieving service device according to claim 3, wherein the outer circumferences of the first power wheel (308) and the second power wheel (315) are respectively sleeved with a rubber ring (307).

5. The full-automatic table tennis ball serving device according to claim 4, wherein the control system (4) is respectively in control connection with the first power motor (311), the steering motor (312), the second power motor (314), the ball separating motor (313) and the blower (203), and the top infrared sensor module (207) and the bottom infrared sensor module (204) are respectively in signal transmission connection with the control system (4); the signals collected by the top infrared sensor module (207) and the bottom infrared sensor module (204) are transmitted to the control system in a feedback mode after being changed, and the control system controls the start and stop of the blower through the received feedback signals.

6. The full-automatic table tennis ball serving device according to claim 5, wherein a plurality of fixing posts (321) are arranged in the shell (302) for determining the installation height of the ball separating box (305) and the launching guide tube (301).