CN103007510A - Four-degree of freedom mechanical arm for training volleyball spiking technology - Google Patents
Four-degree of freedom mechanical arm for training volleyball spiking technology Download PDFInfo
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- CN103007510A CN103007510A CN2012105398868A CN201210539886A CN103007510A CN 103007510 A CN103007510 A CN 103007510A CN 2012105398868 A CN2012105398868 A CN 2012105398868A CN 201210539886 A CN201210539886 A CN 201210539886A CN 103007510 A CN103007510 A CN 103007510A
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- 238000012549 training Methods 0.000 title abstract description 27
- 238000005516 engineering process Methods 0.000 title abstract description 11
- 238000012421 spiking Methods 0.000 title abstract description 8
- 238000000034 method Methods 0.000 claims description 30
- 210000002310 elbow joint Anatomy 0.000 claims description 8
- 210000003423 ankle Anatomy 0.000 abstract description 2
- 230000000903 blocking effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 210000003811 finger Anatomy 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 210000003127 knee Anatomy 0.000 abstract description 2
- 230000009191 jumping Effects 0.000 abstract 2
- 230000000638 stimulation Effects 0.000 abstract 2
- 208000012260 Accidental injury Diseases 0.000 abstract 1
- 238000013461 design Methods 0.000 description 5
- 238000004088 simulation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 229910000754 Wrought iron Inorganic materials 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Abstract
The invention provides a four-degree of freedom mechanical arm for training volleyball spiking technology, and relates to auxiliary equipment for volleyball specialized training. Four degrees of freedom of the mechanical arm are as follows: the upper and down movement of the mechanical arm, the adjustable included angle between the mechanical arm and the horizontal plane, the left and right swinging of the mechanical arms and extension of a stimulation arm. The mechanical arm can stimulate one-man block, and provide true environment for training the volleyball spiking technology for volleyball athletes, so that an excellent training effect can be achieved. The volleyball athletes can exercise some specialized spiking technologies for multiple times by aiming at the blocking in some range, so that the specialized skills are improved. The partner training coach can control the left and right swinging and extension of the stimulation arm through keys at the position far away from the volleyball net without jumping, so that large amount of manpower consumption can be avoided, and the accidental injury of ankles, knees and fingers caused by jumping can be avoided.
Description
Technical field
The present invention relates to a kind of accessory system for the vollyball specialized training, especially based on monolithic processor controlled a kind of four-degree-of-freedom manipulator for the volleyball smash technique drill, swinging and expanding-contracting action of this manipulator simulation block sportsman arm improved volleyballer's slam-shot technical merit.
Background technology
Slam-shot is one of five large technology of sending out in the volleyball movement, filling up, pass, detain, blocking.In volleyball match, slam-shot is main score technology.At crucial moment, can the score of spiking be related to the triumph that obtain in play initiative or even match.A volleyballer wants skilled grasp slam-shot technology, all must pass through long-term specialized training, based on the sentific training theory and technology, suitably introduce auxiliary training system and special equipment, can effectively reduce training mate coach's working strength, can be for improving the guarantee that provides the necessary technical of the athletic level of training.
At present, though having obtained, the scientific research of volleyball movement specialized training auxiliary equipment enriches achievement, but commercialization and commercial aspect still be in the starting stage, can not satisfy current international volleyball skill development to scientific, informationization and the industrialization demand of vollyball specialized training system, hinder to a certain extent the development process of China Volleyball.Such as the volleyball spiking technique assisting trainer that designs among the Chinese patent CN201701712U, this design mainly be that to consist of be a long handle and a pair of simulation palm, both are connected to form this vollyball ball gimmick auxiliary apparatus of spiking.The training mate coach holds long handle, stretches act simulation palm and blocks.Although use this volleyball spiking technique assisting trainer, can avoid training mate coach's take-off action, the physical efficiency that training mate is trained has certain requirement.
Manipulator in patent " a kind of manipulator for the volleyball smash technique drill " design, regulate the height of manipulator before can realizing training and with the angle of horizontal plane and be fixed, the flexible of extraterrestrial use Keyboard Control artificial hand on the scene trained in training mate in the training process.Although use this manipulator, can reduce the physical efficiency requirement to training mate coach, the manipulator that should be used for the volleyball smash technique drill only have three degree of freedom, and namely the moving up and down of manipulator, the manipulator adjustable and artificial hand's with the angle of horizontal plane stretches.The manipulator that should be used for the volleyball smash technique drill can only be blocked at a certain ad-hoc location, and the block scope is little.
Summary of the invention
The object of the present invention is to provide a kind of simple, the safe and practical auxiliary training system that can simulate the block real environment.Use this manipulator in the volleyball smash technique drill, the volleyballer can repeatedly practise some special slam-shot technology for the block of a certain scope.Extraterrestrial passing through by the work of key control auxiliary training system on the scene trained in training mate.
The technical solution adopted in the present invention:
-kind of the four-degree-of-freedom manipulator for the volleyball smash technique drill, it is characterized in that: base (1) is for cylindrical, this base (1) center cylinder shape groove, the groove inwall is provided with internal thread, column (2) is cylindrical, this column (2) bottom periphery is provided with the external screw thread that matches with internal thread on the groove inwall, and this base (1) is screwed in by screw thread machinery with this column (2).
Described a kind of four-degree-of-freedom manipulator for the volleyball smash technique drill, it is characterized in that: support (3) one ends are cylindrical sleeve, one end is T-shaped, the cylindrical sleeve of support (3) can be seamless be enclosed within on the column (1), and can in the expedite situation along moving up and down under the column (1).There is a circular hole side of sleeve, and circular-hole internal-wall is provided with internal thread, and knob (9) bottom periphery is provided with the external screw thread that matches with internal thread on the circular-hole internal-wall.Inside rotation this knob (9) can fastening this support (3) and this column (2), and this support (3) is fixed on this column (2), can not will move up and down.To this knob of inner rotary (9), this support (3) unclamps with this column (2), and this support (3) can move up and down along column (2), thereby regulates the height of manipulator.
Described a kind of four-degree-of-freedom manipulator for the volleyball smash technique drill, it is characterized in that: the left-hand face of cabinet shell (4) is given prominence to two cylinders, these two cylinders can be seamless the T-shaped two ends that are socketed in support (3), and can in expedite situation, do rotation take the T-shaped cross bar of this support (3) as axle, there is a circular hole side of cylinder, circular-hole internal-wall is provided with internal thread, and two knobs (10,11) bottom periphery is provided with the external screw thread that matches with internal thread on the circular-hole internal-wall.Inwardly rotate this knob (10,11), can fastening this cabinet shell (4) and this support (3), this cabinet shell (4) does not rotate, to this knob of inner rotary (10,11), this cabinet shell (4) unclamps with this support (3), this cabinet shell (4) can be done the rotation take the T-shaped cross bar of this support (3) as axle, thereby regulates manipulator and horizontal plane angle.
Described a kind of four-degree-of-freedom manipulator for the volleyball smash technique drill, it is characterized in that: the right lateral surface of cabinet shell (4) has the lower right-hand corner of two circular holes and front surface that a circular hole is arranged, the wire of connecting key disk module (14) is drawn from the circular hole of the lower surface of cabinet shell (4), control two link arms (5, the rotating shaft of two stepper motors that 6) rotate is stretched out from two circular holes of the right lateral surface of cabinet shell (4) respectively, two link arms (5,6) a end is fixed together by screw with the rotating shaft of two stepper motors respectively, the rotating shaft of two stepper motors is rotated, just can drive two link arms (5,6) do mechanical rotation, thereby realize swinging of manipulator.
Described a kind of four-degree-of-freedom manipulator for the volleyball smash technique drill, it is characterized in that: two artificial hands (7,8) link together by two elbow joints (12,13) with two link arms (5,6) respectively, in two elbow joints (12,13) stepper motor is arranged respectively, the rotating shaft of two stepper motors is rotated, just can drive two artificial hands (7,8) and do stretching motion, reach the purpose of block.
Described a kind of four-degree-of-freedom manipulator for the volleyball smash technique drill is characterized in that: power module is used to each module of control section that energy is provided.
Described a kind of four-degree-of-freedom manipulator for the volleyball smash technique drill, it is characterized in that: Keysheet module (14) is provided with 5 buttons, 5 buttons are respectively: " L " key (Left), " R " key (Right), " E " key (Extend), " S " key (Shrink) and " D " key (Disjunctor), as " L " when key is pressed, two link arms (5,6) turn left with respect to volleyball net, as " R " when key is pressed, two link arms (5,6) turn right with respect to volleyball net, as " E " when key is pressed, two artificial hands (7,8) stretch out, as " S " when key is pressed, two artificial hands (7,8) retract, as " D " when key is pressed, if power module is opening, then the Single-chip Controlling power module is closed, if power module is closed condition, then the Single-chip Controlling power module is opened.
Described a kind of four-degree-of-freedom manipulator for the volleyball smash technique drill, it is characterized in that: the control signal that stepper motor driver provides according to single-chip microcomputer, the rotation of Driving Stepping Motor rotating shaft, thereby the rotation and two artificial hands (7,8) that drive two link arms (5,6) do stretching motion, reach the purpose of block.
Described manipulator for the volleyball smash technique drill, it is characterized in that: the control signal that stepper motor driver provides according to single-chip microcomputer, the rotation of Driving Stepping Motor rotating shaft, thereby the rotation and two artificial hands (7,8) that drive two link arms (5,6) do stretching motion, reach the purpose of block.
Advantage of the present invention is: the present invention can simulate one-man block, for the volleyballer provides the true environment of volleyball smash technique drill, thereby obtains good training effect.The volleyballer can also repeatedly practise some special slam-shot technology for the block of a certain scope, improves the know-how level.Flexible away from the position button control simulation palm of volleyball net of training mate coach needn't carry out take-off, do not consume a large amount of manpowers, the unexpected injury of avoiding take-off to bring to ankle, knee, finger.
Description of drawings
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is working-flow schematic diagram of the present invention;
Fig. 3 is each module annexation schematic diagram of control section among the present invention;
Fig. 4 is the electrical block diagram of control section among the present invention;
The specific embodiment
A kind of four-degree-of-freedom manipulator for the volleyball smash technique drill, first free degree is moving up and down of manipulator, second free degree is that the angle of manipulator and horizontal plane is adjustable, and Three Degree Of Freedom is swinging of manipulator, and four-degree-of-freedom is the flexible of artificial hand.The four-degree-of-freedom manipulator that should be used for the volleyball smash technique drill comprises mechanical part and control section two parts.Training mate is trained on the scene extraterrestrial, operation keyboard module (14), the different signal of difference input by button, single-chip microcomputer is according to the not different signal of stepper motor driver output in the same way of input signal, the rotating shaft of stepper motor is made corresponding rotation according to the difference of stepper motor driver control signal, thereby the swing of driving mechanical hand and two artificial hands' (7,8) is flexible, reaches the purpose of simulation block.
Described mechanical part comprises: a base (1), a root post (2), a support (3), a cabinet shell (4), two link arms (5,6), two artificial hands (7,8) and two elbow joints (12,13).
The embodiment of mechanical part is as follows:
Base (1) is cylindrical, and radius is 200mm, and height is 200mm.It is 50mm that there is Radius base (1) center, and the degree of depth is the cylinder shape groove of 80mm, and the groove inwall is provided with internal thread.Column (2) is cylindrical, and radius is 50mm, and height is 2000mm.This column bottom periphery is provided with the external screw thread that matches with internal thread on the groove inwall, and this base (1) is screwed in by screw thread machinery with this column (2).
Support (3) one ends are cylindrical sleeve, and an end is T-shaped.The cylindrical sleeve of support (3) can be seamless be enclosed within on the column (1), and can in the expedite situation along moving up and down under the column (1).There is a circular hole side of sleeve, and circular-hole internal-wall is provided with internal thread, and knob (9) bottom periphery is provided with the external screw thread that matches with internal thread on the circular-hole internal-wall.Inside rotation this knob (9) can fastening this support (3) and this column (2), and this support (3) is fixed on this column (2), can not will move up and down.To this knob of inner rotary (9), this support (3) unclamps with this column (2), and this support (3) can move up and down along column (2), thereby regulates the height of manipulator.
Cabinet shell (4) is a cuboid, and the length of this cabinet shell (4) is 250mm, and wide is 200mm, and height is 200mm.Left-hand face is given prominence to two cylinders, the T-shaped two ends that are socketed in support (3) that these two cylinders can be seamless, and can in expedite situation, do rotation take the T-shaped cross bar of this support (3) as axle.There is a circular hole side of cylinder, and circular-hole internal-wall is provided with internal thread, and two knobs (10,11) bottom periphery is provided with the external screw thread that matches with internal thread on the circular-hole internal-wall.Inside rotation this knob (10,11) can fastening this cabinet shell (4) and this support (3), and this cabinet shell (4) does not rotate.To this knob of inner rotary (10,11), this cabinet shell (4) and this support (3) unclamp, and this cabinet shell (4) can be done the rotation take the T-shaped cross bar of this support (3) as axle, thereby regulate the angle of manipulator and horizontal plane.
The right lateral surface of cabinet shell (4) has the lower right-hand corner of two circular holes and front surface that a circular hole is arranged, the wire of connecting key disk module is drawn from the circular hole of the lower surface of cabinet shell (4), and the rotating shaft of controlling two stepper motors that two link arms (5,6) rotate is stretched out from two circular holes of the right lateral surface of cabinet shell (4) respectively.One end of two link arms (5,6) is fixed together by screw with the rotating shaft of two stepper motors respectively.The rotating shaft of two stepper motors is rotated, and just can drive two link arms (5,6) and do mechanical rotation, thereby realize swinging of manipulator.Rotational angle and velocity of rotation are controlled by mcu programming.
The other end of two link arms (5,6) links together by two elbow joints (12,13) with two artificial hands (7,8) respectively.Two artificial hands' (7,8) arm is long to be 250mm, and wide is 100mm.Two artificial hands (7,8) respectively with two elbow joints (12,13) in the rotating shaft of two stepper motors be fixed together by screw.The rotating shaft of two stepper motors is rotated, and just can drive two artificial hands (7,8) and do stretching motion.Rotational angle and velocity of rotation are controlled by mcu programming.[0029] member of above-mentioned mechanical part: a base (1), a root post (2), a support (3), a cabinet shell (4), two link arms (5,6) and two elbow joints (12,13), all adopt toughness preferably wrought iron make.Two artificial hands (7,8) employing elasticity preferably lightweight rubber is made.
Described control section comprises: a Keysheet module (14), a power module, a single-chip microcomputer, two stepper motor drivers and four stepper motors.
The embodiment of control section is as follows:
Power module is used to each module of control section that energy is provided.
Be connected with 6 wires on the Keysheet module (14), wherein 1 is ground wire, and other 5 is the control line that links to each other with the single-chip processor i/o port.Keysheet module (14) is provided with 5 buttons, and 5 buttons are respectively: " L " key (Left), " R " key (Right), " E " key (Extend), " S " key (Shrink) and " D " key (Disjunctor).As " L " when key is pressed, two link arms (5,6) turn left with respect to volleyball net; As " R " when key is pressed, two link arms (5,6) turn right with respect to volleyball net; As " E " when key is pressed, two artificial hands (7,8) stretch out; As " S " when key is pressed, two artificial hands (7,8) retract; As " D " when key is pressed, single-chip microcomputer verifies that at first power module is opening or closed condition, if power module is opening, then the Single-chip Controlling power module is closed; If power module is closed condition, then the Single-chip Controlling power module is opened.
Be connected with 9 wires on the single-chip microcomputer, wherein 2 is power line, and also having 3 is the control line that links to each other with Keysheet module (14), and other 4 is the control line that links to each other with stepper motor driver.Single-chip microcomputer is used for storage program, the input message of identification key disk module (14), and export corresponding information to stepper motor driver.
Respectively be connected with 8 wires on two stepper motor drivers, wherein 1 is ground wire, and also having 3 is the pilot that links to each other with the single-chip processor i/o port, and other 4 is the control line that links to each other with stepper motor.The control signal that stepper motor driver provides according to single-chip microcomputer, the rotation of Driving Stepping Motor rotating shaft.
4 wires are respectively arranged on four stepper motors.4 wires controlling on two stepper motors that two link arms (5,6) rotate all link to each other with one of them stepper motor driver, and 4 wires controlling on two stepper motors that two artificial hands (7,8) stretch all link to each other with another stepper motor driver.The rotation of stepper motor driver Driving Stepping Motor rotating shaft, two link arms (5,6) are done mechanical rotation and two artificial hands (7,8) do stretching motion thereby drive, and reach the purpose of block.
Power module and Keysheet module (14) simple structure can be made by hand in each module of above-mentioned control section.
Single-chip microcomputer, stepper motor driver and two stepper motors all can bought on the market in each module of above-mentioned control section.
Single-chip microcomputer is selected the single-chip microcomputer of MSP430 series, and the single-chip microcomputer of MSP430 series has following characteristics:
1, disposal ability is strong
2, fast operation
3, super low-power consumption
In the present invention, single-chip microcomputer connects the 5V power supply, occupied 6 pins of I/O port, and operating frequency is elected the 8MHz dominant frequency as.
Stepper motor driver is selected the stepper motor driver of 42 these models of two-phase step actuator DQ542MA, adopts direct current 18～50V power supply, is fit to driving voltage 18V～50V, and electric current is less than the two-phase hybrid stepping motor of 42～86 millimeters of 4.0A external diameters.This driver adopts the electric current loop of AC servo driver to segment control, and the torque ripple of motor is very little, and low cruise is very steady, does not almost vibrate and noise.Moment also is much higher than other two-phase driver during high speed, and positioning accuracy is high.
In the present invention, stepper motor driver connects the 24V power supply, and the step number of motor revolution was set to respectively for 400 steps.
Two stepper motors are selected 42 stepper motor 42BYGHW609, the stepper motor 42BYGHW609 design parameter of this model as shown in Table 1:
Claims (8)
1. four-degree-of-freedom manipulator that is used for the volleyball smash technique drill, it is characterized in that: base (1) is for cylindrical, this base (1) center cylinder shape groove, the groove inwall is provided with internal thread, column (2) is cylindrical, this column (2) bottom periphery is provided with the external screw thread that matches with internal thread on the groove inwall, and this base (1) is screwed in by screw thread machinery with this column (2).
2. a kind of four-degree-of-freedom manipulator for the volleyball smash technique drill according to claim 1, it is characterized in that: support (3) one ends are cylindrical sleeve, one end is T-shaped, the cylindrical sleeve of support (3) can be seamless be enclosed within on the column (1), and can in the expedite situation along moving up and down under the column (1).There is a circular hole side of sleeve, and circular-hole internal-wall is provided with internal thread, and knob (9) bottom periphery is provided with the external screw thread that matches with internal thread on the circular-hole internal-wall.Inside rotation this knob (9) can fastening this support (3) and this column (2), and this support (3) is fixed on this column (2), can not will move up and down.To this knob of inner rotary (9), this support (3) unclamps with this column (2), and this support (3) can move up and down along column (2), thereby regulates the height of manipulator.
3. a kind of four-degree-of-freedom manipulator for the volleyball smash technique drill according to claim 1, it is characterized in that: the left-hand face of cabinet shell (4) is given prominence to two cylinders, these two cylinders can be seamless the T-shaped two ends that are socketed in support (3), and can in expedite situation, do rotation take the T-shaped cross bar of this support (3) as axle, there is a circular hole side of cylinder, circular-hole internal-wall is provided with internal thread, and two knobs (10,11) bottom periphery is provided with the external screw thread that matches with internal thread on the circular-hole internal-wall.Inwardly rotate this knob (10,11), can fastening this cabinet shell (4) and this support (3), this cabinet shell (4) does not rotate, to this knob of inner rotary (10,11), this cabinet shell (4) unclamps with this support (3), this cabinet shell (4) can be done the rotation take the T-shaped cross bar of this support (3) as axle, thereby regulates manipulator and horizontal plane angle.
4. a kind of four-degree-of-freedom manipulator for the volleyball smash technique drill according to claim 1, it is characterized in that: the right lateral surface of cabinet shell (4) has the lower right-hand corner of two circular holes and front surface that a circular hole is arranged, the wire of connecting key disk module (14) is drawn from the circular hole of the lower surface of cabinet shell (4), control two link arms (5, the rotating shaft of two stepper motors that 6) rotate is stretched out from two circular holes of the right lateral surface of cabinet shell (4) respectively, two link arms (5,6) a end is fixed together by screw with the rotating shaft of two stepper motors respectively, the rotating shaft of two stepper motors is rotated, just can drive two link arms (5,6) do mechanical rotation, thereby realize swinging of manipulator.
5. a kind of four-degree-of-freedom manipulator for the volleyball smash technique drill according to claim 1, it is characterized in that: two artificial hands (7,8) link together by two elbow joints (12,13) with two link arms (5,6) respectively, in two elbow joints (12,13) stepper motor is arranged respectively, the rotating shaft of two stepper motors is rotated, just can drive two artificial hands (7,8) and do stretching motion, reach the purpose of block.
6. a kind of four-degree-of-freedom manipulator for the volleyball smash technique drill according to claim 1, it is characterized in that: power module is used to each module of control section that energy is provided.
7. a kind of four-degree-of-freedom manipulator for the volleyball smash technique drill according to claim 1, it is characterized in that: Keysheet module (14) is provided with 5 buttons, 5 buttons are respectively: " L " key (Left), " R " key (Right), " E " key (Extend), " S " key (Shrink) and " D " key (Dis junctor), as " L " when key is pressed, two link arms (5,6) turn left with respect to volleyball net, as " R " when key is pressed, two link arms (5,6) turn right with respect to volleyball net, as " E " when key is pressed, two artificial hands (7,8) stretch out, as " S " when key is pressed, two artificial hands (7,8) retract, as " D " when key is pressed, if power module is opening, then the Single-chip Controlling power module is closed, if power module is closed condition, then the Single-chip Controlling power module is opened.
8. a kind of four-degree-of-freedom manipulator for the volleyball smash technique drill according to claim 1, it is characterized in that: the control signal that stepper motor driver provides according to single-chip microcomputer, the rotation of Driving Stepping Motor rotating shaft, thereby the rotation and two artificial hands (7,8) that drive two link arms (5,6) do stretching motion, reach the purpose of block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105398868A CN103007510A (en) | 2012-12-13 | 2012-12-13 | Four-degree of freedom mechanical arm for training volleyball spiking technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105398868A CN103007510A (en) | 2012-12-13 | 2012-12-13 | Four-degree of freedom mechanical arm for training volleyball spiking technology |
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| CN103007510A true CN103007510A (en) | 2013-04-03 |
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| CN2012105398868A Pending CN103007510A (en) | 2012-12-13 | 2012-12-13 | Four-degree of freedom mechanical arm for training volleyball spiking technology |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107441688A (en) * | 2017-09-01 | 2017-12-08 | 渤海大学 | A kind of physical education practises multi-function composite accessory |
| CN107982889A (en) * | 2017-12-29 | 2018-05-04 | 庄岩 | Vollyball combined trainer |
| CN111001148A (en) * | 2019-12-24 | 2020-04-14 | 温州医科大学 | Volleyball service robot |
-
2012
- 2012-12-13 CN CN2012105398868A patent/CN103007510A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107441688A (en) * | 2017-09-01 | 2017-12-08 | 渤海大学 | A kind of physical education practises multi-function composite accessory |
| CN107441688B (en) * | 2017-09-01 | 2019-07-05 | 渤海大学 | A kind of multifunctional combined equipment for physical education teaching practice |
| CN107982889A (en) * | 2017-12-29 | 2018-05-04 | 庄岩 | Vollyball combined trainer |
| CN107982889B (en) * | 2017-12-29 | 2024-04-23 | 庄岩 | Volleyball comprehensive training device |
| CN111001148A (en) * | 2019-12-24 | 2020-04-14 | 温州医科大学 | Volleyball service robot |
| CN111001148B (en) * | 2019-12-24 | 2021-04-30 | 温州医科大学 | volleyball ball machine |
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Application publication date: 20130403 |