CN105194859A - Automatic table tennis ball serving machine - Google Patents
Automatic table tennis ball serving machine Download PDFInfo
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- CN105194859A CN105194859A CN201510608292.1A CN201510608292A CN105194859A CN 105194859 A CN105194859 A CN 105194859A CN 201510608292 A CN201510608292 A CN 201510608292A CN 105194859 A CN105194859 A CN 105194859A
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Abstract
The invention relates to an automatic table tennis ball serving machine. The automatic table tennis ball serving machine comprises a ball serving part, a swing part, an elevation angle and height regulation part and a ball storing and sending part. The elevation angle and height regulation part is composed of a swing type hydraulic cylinder and a piston type hydraulic cylinder. The piston type hydraulic cylinder supports the whole mechanism. The swing type hydraulic cylinder is arranged on a bearing support of the piston type hydraulic cylinder through a hydraulic cylinder support and a bearing and supports the swing part at the same time. The ball serving part is arranged on the front portion of a machine shell of the swing part. The ball storing and sending mechanism is arranged on the upper portion of a machine shell. The automatic table tennis ball serving machine manly solves the problem that various types of rotating ball serving can not be achieved through serving machines of the same type in the current market, two types of rotation movement perpendicular to each other serve as a base to be synthesized according to the movement synthesis principle for emitting all types of rotating balls. In addition, by means of the automatic table tennis ball serving machine, the regulation mechanism for tilt angles, heights and elevation angles is optimized; variable-rotation, variable-angle and variable-height ball serving partner training can be provided for table tennis fans in daily training.
Description
Technical field
The present invention relates to a kind of table tenning ball servicing machine automatically, be mainly table tennis fan and the service training mate that rotation is changeable, angle is changeable, highly changeable is provided in daily workout.
Background technology
The table tenning ball servicing machine sold in the market, pressing out ball mode can be divided three classes: paddle type mill service robot, air pressing type service robot, wheeled service robot.First kind paddle type mill service robot is by cam driven fork, and hit by the table tennis falling into service mouth, this mode performance is single, and is inconvenient to control, and is eliminated gradually.Equations of The Second Kind air pressing type service robot utilizes air compressor to launch ball, and the bottom that ball is loaded into long bucket is fixed by a slot, and the diameter of this slot is slightly smaller.When compressed air pushes table tennis through slot time, ball has just been launched away, and the advantage of this service robot is that price comparison is cheap, it shortcoming be noise greatly and high verticity can not be provided, the power of air compressing consumption is simultaneously very large, is difficult to use battery to power.The operation principle of the wheeled service robot of the 3rd class is when ball rolls into from slide rail the catwalk that wheel is housed, and ball just sprays by wheel, and this situation is similar on wheel that handstone is punched in High Rotation Speed and is ejected.This serving way has two kinds, and one is single wheel drive, and another kind is Two-wheeled.The drawback of single wheel drive service robot is: if the ball speed sent is fast, rotate also strong so simultaneously; If speed is slow, rotate also weak so simultaneously.It is diverse that this and people play ball under battle conditions, and in fact ball and rotation are not be directly proportional completely.Although Two-wheeled service robot solves the contradiction of single wheel drive speed and rotation, there is following shortcoming in this mechanism: the first, and Two-wheeled only can be launched and revolves or chop, cannot meet the requirement realizing whole rotation types; The second, the drive path of swing mechanism is longer, and transmission accuracy is difficult to control, and takies larger space; 3rd, in height regulating mechanism, ball-screw does not possess latching characteristics.
For above problem, the present invention uses movement composition principle, makes table tennis before arriving the passage between two-wheel, obtains the rotate effect perpendicular with friction pulley by the hollow straight pipe road rotated; Adopt Worm Wheel System, gear drive, double rocker mechanism, realize swinging adjustment; The adjustment of the elevation angle, height is realized by spiral swing hydranlic pressure jar and piston-type hydraulic cylinder.
Summary of the invention
The present invention will provide a kind of table tennis automatic pitching machine, propose a kind of service principle newly, when service robot works, the service effect rotated can be realized by movement composition principle more, compared with same category of device, can send a greater variety of screw, and wabbler mechanism, the elevation angle and height regulating mechanism have also been obtained larger improvement.
For achieving the above object, technical scheme of the present invention is achieved in that
A kind of table tennis automatic pitching machine, comprises service parts, teeter member, the elevation angle, Height Adjustment parts, and storage, release parts, the described elevation angle, Height Adjustment parts are made up of spiral swing hydranlic pressure jar and piston-type hydraulic cylinder; Spiral swing hydranlic pressure jar is arranged on piston-type hydraulic cylinder upper end by hydraulic cylinder leg and centripetal angular contact ball bearing, and support and connection teeter member, service parts and storage, release parts, realized the adjustment up and down of service parts, teeter member and storage, release parts by piston up-down in piston-type hydraulic cylinder; Described spiral swing hydranlic pressure jar is connected with teeter member by general flat key, for transmitting torque, by spiral swing hydranlic pressure jar (rotate realize service parts, teeter member and storage, release parts the elevation angle change; Described service parts are arranged on the front portion of the casing of teeter member, storage, release parts are arranged on the top of casing, and connected the straight pipeline of service parts through teeter member by arc pipe, described service parts have two friction pulleys, two motors, friction pulley connects motor, realizes the rotate effect of table tennis horizontal direction and the control of serve speed by the rotating speed controlling two motors; Described straight pipeline connects the electric machine assembly of teeter member, straight pipeline is driven to rotate the rotate effect realizing table tennis vertical direction by electric machine assembly, described electric machine assembly passes through worm and worm wheel connecting crank and zigzag rocking bar after driving gear and driven gear in teeter member, for the change driving teeter member to realize left and right pivot angle.
Described service parts comprise upper bracket, lower carriage, centripetal angular contact ball bearing C, E, electric machine support, friction wheel axle, straight pipeline connecting rack, gear wheel, pinion, clutch shaft bearing seat, described two friction pulleys are arranged on upper bracket respectively by friction wheel axle and centripetal angular contact ball bearing C, in the dead eye of lower carriage, an integral support is bolted between upper bracket with lower carriage, the overhanging end of friction wheel axle is fixedly connected with the rotating shaft of motor, motor is arranged on above upper bracket by electric machine support, integral support is connected to the front portion of casing by straight pipeline connecting rack, hollow straight pipeline is arranged in the dead eye of straight pipeline connecting rack and casing by centripetal angular contact ball bearing E, and one end and the gear wheel of straight pipeline are connected, and gear wheel and pinion are connected with a joggle, and are fixed to the inner surface of casing by clutch shaft bearing seat.
Described teeter member comprises regulating shaft, steel ball-spring, casing, centripetal angular contact ball bearing A, B, second bearing block, bearing upper cover, rotate support bracket, swing support bracket, described worm screw is coaxially connected with the rotating shaft of electric machine assembly, worm gear withstands worm gear inside groove location and installation by the steel ball-spring in through hole on regulating shaft, regulating shaft is located by centripetal angular contact ball bearing A and bearing upper cover hole interference fits, driving gear and regulating shaft bottom are located by screw, driven gear is located by the hole interference fits of centripetal angular contact ball bearing B and the second bearing block, the overhanging end of driven gear is fixedly connected with crank, and crank is connected to swing support bracket by zigzag rocking bar, electric machine assembly is by rotating support bracket and casing, swinging support bracket and be located by connecting.
Described storage, release parts comprise upper box lid, lower box, storage, release motor, storage, release electric machine support, shaft coupling, gear shaft, bevel gear, interval release sheave, centripetal angular contact ball bearing D, bearing cap, dial ball axle, ball-moving arm, ball-storing box, described storage, release motor is by storage, release electric machine support is arranged in lower box, storage, the axle of release motor is connected by shaft coupling with gear shaft, bevel gear and axle are installed by interference fits and jackscrew and are located, and respectively by motion assignment to interval release sheave and shift lever axis, interval release sheave is arranged in the dead eye of upper box lid and lower box by centripetal angular contact ball bearing D with interference fits, shift lever axis is vertically arranged on lower box, and its outrigger shaft stretches in ball-storing box, and ball-moving arm is installed by interference fits in end, ball-storing box is arranged on upper box lid.
The invention has the beneficial effects as follows:
1, the present invention is by using movement composition principle, by two kinds of orthogonal rotary motions synthesis, define revolve, backspin, left-handed, dextrorotation, the rotating model such as sidespin, realize multiple rotate effect.
2, the present invention improves wabbler mechanism, and the rotary motion of motor is assigned to double rocker mechanism by worm and gear and gear, and shorten drive path length, make more compact structure, transmission accuracy is higher.
3, the present invention is by spiral swing hydranlic pressure jar and piston-type hydraulic cylinder, and realize the elevation angle of whole device and the step-less adjustment of height, the precision of adjustment is higher.
4, whole service robot is divided into four modules by the present invention, and the modular construction of modules is compact, is easy for installation and maintenance.
Accompanying drawing explanation
Fig. 1 is the front view of table tennis automatic pitching machine of the present invention;
Fig. 2 is the left view of table tennis automatic pitching machine of the present invention;
Fig. 3 is the rearview of table tennis automatic pitching machine of the present invention.
Fig. 4 is tilting member section transmission structural scheme of mechanism of the present invention;
Fig. 5 is storage of the present invention, release block diagram;
Fig. 6 is along A-A sectional view in Fig. 5.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the present invention is further illustrated.
Refer to Fig. 1-6, table tennis automatic pitching machine of the present invention, by service parts 200, teeter member 300, the elevation angle, Height Adjustment parts 400 and storage, release parts 100 form.
The elevation angle, Height Adjustment parts 400 are made up of spiral swing hydranlic pressure jar 15 and piston-type hydraulic cylinder 17; Spiral swing hydranlic pressure jar 15 is arranged on piston-type hydraulic cylinder 17 upper end by hydraulic cylinder leg 13 and centripetal angular contact ball bearing 14, and support and connection teeter member 300, service parts 200 and storage, release parts 100, realized the adjustment up and down of service parts, teeter member and storage, release parts by piston up-down in piston-type hydraulic cylinder 17; Described spiral swing hydranlic pressure jar 15 is connected with teeter member by general flat key 13, for transmitting torque, by spiral swing hydranlic pressure jar 15 rotate realization serve a ball parts, teeter member and storage, release parts the elevation angle change; Described service parts are arranged on the front portion of the casing 32 of teeter member, storage, release parts are arranged on the top of casing 32, and connected the straight pipeline 36 of service parts through teeter member by arc pipe 2, described service parts have two friction pulleys, 20, two motors 18, friction pulley 20 connects motor 18, realizes the rotate effect of table tennis horizontal direction and the control of serve speed by the rotating speed controlling two motors 18; Described straight pipeline 36 connects the electric machine assembly 31 of teeter member, drive straight pipeline 36 to rotate by electric machine assembly 31 and realize the rotate effect of table tennis vertical direction, described electric machine assembly 31 is by the worm screw 27 in teeter member and worm gear 21 connecting crank 5 and zigzag rocking bar 9 after driving gear 26 and driven gear 29) change for driving teeter member to realize left and right pivot angle.
Service parts 200 comprise lower carriage 41, upper bracket 39, two motors 18, electric machine support 38, shaft coupling 43, two friction pulleys 20, friction wheel axle 40, straight pipeline 36, centripetal angular contact ball bearing C, E42,37, arc pipe 2, straight pipeline connecting rack 19, gear wheel 35, pinion 34, clutch shaft bearing seat 3.Two friction pulleys 20 are arranged in the dead eye of upper bracket 39, lower carriage 41 respectively by friction wheel axle 40 and centripetal angular contact ball C42, upper and lower support is bolted, the overhanging end of friction wheel axle 40 is connected by shaft coupling 43 with the rotating shaft of motor 18, motor 18 is arranged on above upper bracket 39 by electric machine support 38, and support entirety is connected to the front portion of casing 32 again by straight pipeline connecting rack 19; Hollow straight pipeline 36 is arranged in the dead eye of straight pipeline connecting rack 19 and casing 32 by centripetal angular contact ball bearing E37, one end and the gear wheel 35 of straight pipeline 36 are connected, coordinate with 8 grades of running accuracies between gear wheel 35 with pinion 34, be fixed to the inner surface of casing 32 by clutch shaft bearing seat 3.
Teeter member 300 comprises electric machine assembly 31, worm gear 21, worm screw 27, steel ball-spring 22, casing 32, driving gear 26, driven gear 29, centripetal angular contact ball bearing A, B23, the 30, second bearing block 4, bearing upper cover 28, sleeve 24, rotation support bracket 8, crank 5, zigzag rocking bar 9, swing support bracket 8.Worm screw 27 is coaxially connected with the rotating shaft of electric machine assembly 31, worm gear 21 withstands worm gear 21 inside groove location and installation by the steel ball-spring 22 in through hole on regulating shaft 25, regulating shaft 25 is located by centripetal angular contact ball bearing A23 and bearing upper cover 28 hole interference fits, driving gear 26 and regulating shaft 25 bottom are located by screw, and driven gear 29 is located by the hole interference fits of centripetal angular contact ball bearing B30 and the second bearing block 4; Overhanging end and the crank 5 of driven gear 29 are fixedly connected, crank 5 is connected to by zigzag rocking bar 9 and swings support bracket 8, be connected by bolt 6 and nut 7 between crank 5 with zigzag rocking bar 9, and electric machine assembly 31 is by rotating support bracket) with casing 32, swing support bracket 10 and locate.
Storage, release parts 100 comprise upper box lid 55, lower box 58, storage, release motor 45, storage, release electric machine support 62, shaft coupling 47, gear shaft 48, bevel gear 49, interval release sheave 53, centripetal angular contact ball bearing D56, bearing cap 61, dial ball axle 50, ball-moving arm 51, ball-storing box 54.Storage, release motor 45 are arranged in lower box 58 by storage, release electric machine support 62, the axle of storage, release motor 45 is connected by shaft coupling with gear shaft 48, bevel gear 49 is installed by interference fits and jackscrew with group ball axle 50 and locates, respectively by motion assignment to interval release sheave 53 and shift lever axis 50, interval release sheave 53 is arranged on upper box lid 55, in the dead eye of lower box 58 by fluted roller shaft 57 and centripetal angular contact ball bearing D56 interference fits; Shift lever axis 50 is vertically arranged on lower box 58, and its outrigger shaft stretches in ball-storing box 54, and ball-moving arm 51 is equipped with by interference fits in end; Ball-storing box 54 is arranged on upper box lid 55.When storage, release motor 45 are rotated, drive interval release sheave 53 to send in arc pipe 2 one by one by ball, drive shift lever axis 50 and ball-moving arm 51 to rotate, to prevent the generation of card ball phenomenon simultaneously.
The elevation angle, Height Adjustment parts 400 comprise spiral swing hydranlic pressure jar 15, hydraulic cylinder leg 16, piston-type hydraulic cylinder 17, centripetal angular contact ball bearing 14, sleeve 12, general flat key 13, bearing (ball) cover 11.Piston-type hydraulic cylinder 17 supports whole mechanism, and spiral swing hydranlic pressure jar 15 is arranged on piston-type hydraulic cylinder 17 by hydraulic cylinder leg 16 and centripetal angular contact ball bearing 14, supports teeter member simultaneously, by general flat key 13 transmitting torque.
After all component installs location, start two stepper motors driving friction wheel from rotation respectively, control to realize the rotate effect of horizontal direction and the control of serve speed by the rotating speed (or differential) of these two motors; Start the motor driving straight pipeline to rotate, can realize the rotate effect of vertical direction, the motion simultaneously distributed by worm and gear can realize the change of left and right pivot angle; To ball speed and the very meticulous control of realization can be rotated; When needs change in elevation, the elevation angle, the control program in the locking loop of startup hydraulic control one-way valve.
The present invention by service parts, teeter member, the elevation angle, Height Adjustment parts, and storage, release parts combination, define and have that service rotation type is many, function that position is changeable.The present invention mainly solves the problem not realizing all kinds of rotation service at present, and it can use movement composition principle, orthogonal two kinds of rotary motions is synthesized as one group of substrate, can launch all kinds of screw; In addition, the present invention also optimize pivot angle, highly, the governor motion at the elevation angle.
Claims (4)
1. a table tennis automatic pitching machine, comprise service parts (200), teeter member (300), the elevation angle, Height Adjustment parts (400), and storage, release parts (100), it is characterized in that: the described elevation angle, Height Adjustment parts (400) are made up of spiral swing hydranlic pressure jar (15) and piston-type hydraulic cylinder (17); Spiral swing hydranlic pressure jar (15) is arranged on piston-type hydraulic cylinder (17) upper end by hydraulic cylinder leg (13) and centripetal angular contact ball bearing (14), and support and connection teeter member (300), service parts (200) and storage, release parts (100), realize service parts (200), teeter member (300) by piston up-down in piston-type hydraulic cylinder (17) and store up, the adjustment up and down of release parts (100); Described spiral swing hydranlic pressure jar (15) is connected with teeter member by general flat key (13), for transmitting torque, by spiral swing hydranlic pressure jar (15) rotate realize service parts, teeter member and storage, release parts the elevation angle change; Described service parts are arranged on the front portion of the casing (32) of teeter member, storage, release parts are arranged on the top of casing (32), and connected the straight pipeline (36) of service parts through teeter member by arc pipe (2), described service parts have two friction pulleys (20), two motors (18), friction pulley (20) connects motor (18), realizes the rotate effect of table tennis horizontal direction and the control of serve speed by the rotating speed controlling two motors (18); Described straight pipeline (36) connects the electric machine assembly (31) of teeter member, straight pipeline (36) is driven to rotate the rotate effect realizing table tennis vertical direction by electric machine assembly (31), described electric machine assembly (31) is connecting crank (5) and zigzag rocking bar (9) after driving gear (26) and driven gear (29) by the worm screw (27) in teeter member and worm gear (21), for the change driving teeter member to realize left and right pivot angle.
2. table tennis automatic pitching machine according to claim 1, it is characterized in that: described service parts (200) comprise upper bracket (39), lower carriage (41), centripetal angular contact ball bearing C, E (42, 37), electric machine support (38), friction wheel axle (40), straight pipeline connecting rack (19), gear wheel (35), pinion (34), clutch shaft bearing seat (3), described two friction pulleys (20) are arranged on upper bracket (39) respectively by friction wheel axle (40) and centripetal angular contact ball bearing C (42), in the dead eye of lower carriage (41), an integral support is bolted between upper bracket (39) with lower carriage (41), the overhanging end of friction wheel axle (40) is fixedly connected with the rotating shaft of motor (18), motor (18) is arranged on upper bracket (39) top by electric machine support (38), integral support is connected to the front portion of casing (32) by straight pipeline connecting rack (19), hollow straight pipeline (36) is arranged in the dead eye of straight pipeline connecting rack (19) and casing (32) by centripetal angular contact ball bearing E (37), one end and the gear wheel (35) of straight pipeline (36) are connected, gear wheel (35) and pinion (34) are connected with a joggle, and are fixed to the inner surface of casing (32) by clutch shaft bearing seat (3).
3. table tennis automatic pitching machine according to claim 1, it is characterized in that: described teeter member (300) comprises regulating shaft (25), steel ball-spring (22), casing (32), centripetal angular contact ball bearing A, B (23, 30), second bearing block (4), bearing upper cover (28), rotate support bracket (8), swing support bracket (8), described worm screw (27) is coaxially connected with the rotating shaft of electric machine assembly (31), worm gear (21) withstands worm gear (21) inside groove location and installation by the steel ball-spring (22) in the upper through hole of regulating shaft (25), regulating shaft (25) is located by centripetal angular contact ball bearing A (23) and bearing upper cover (28) hole interference fits, driving gear (26) and regulating shaft (25) bottom are located by screw, driven gear (29) is located by the hole interference fits of centripetal angular contact ball bearing B (30) with the second bearing block (4), the overhanging end of driven gear (29) is fixedly connected with crank (5), and crank (5) is connected to by zigzag rocking bar (9) and swings support bracket (8), electric machine assembly (31) by rotate support bracket (8) with casing (32), swing support bracket (10) and be located by connecting.
4. table tennis automatic pitching machine according to claim 1, is characterized in that: described storage, release parts (100) comprise upper box lid (55), lower box (58), storage, release motor (45), storage, release electric machine support (62), shaft coupling (47), gear shaft (48), bevel gear (49), interval release sheave (53), centripetal angular contact ball bearing D (56), bearing cap (61), dial ball axle (50), ball-moving arm (51), ball-storing box (54), described storage, release motor (45) is by storage, release electric machine support (62) is arranged in lower box (58), storage, the axle of release motor (45) is connected by shaft coupling with gear shaft (48), bevel gear (49) and axle are installed by interference fits and jackscrew and are located, and respectively by motion assignment to interval release sheave (53) and shift lever axis (50), intermittently release sheave (53) is arranged in the dead eye of upper box lid (55) and lower box (58) by centripetal angular contact ball bearing D (56) with interference fits, shift lever axis (50) is vertically arranged on lower box (58), and its outrigger shaft stretches in ball-storing box (54), and ball-moving arm (51) is installed by interference fits in end, ball-storing box (54) is arranged on upper box lid (55).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510608292.1A CN105194859B (en) | 2015-09-22 | 2015-09-22 | Table tennis automatic pitching machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510608292.1A CN105194859B (en) | 2015-09-22 | 2015-09-22 | Table tennis automatic pitching machine |
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| Publication Number | Publication Date |
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| CN105194859A true CN105194859A (en) | 2015-12-30 |
| CN105194859B CN105194859B (en) | 2017-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510608292.1A Expired - Fee Related CN105194859B (en) | 2015-09-22 | 2015-09-22 | Table tennis automatic pitching machine |
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| CN (1) | CN105194859B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105797345A (en) * | 2016-05-05 | 2016-07-27 | 哈尔滨工程大学 | Tennis ball service device |
| CN107137899A (en) * | 2017-06-29 | 2017-09-08 | 荆门宁杰机电技术服务有限公司 | A kind of automatic serving trainer of table tennis |
| CN107551518A (en) * | 2017-09-29 | 2018-01-09 | 汕头大学 | A kind of smart table tennis service robot |
| CN111249709A (en) * | 2020-02-21 | 2020-06-09 | 哈尔滨体育学院 | Table tennis beginner forehand attack training device |
| CN111603743A (en) * | 2020-06-03 | 2020-09-01 | 平顶山学院 | Sports teaching tennis service trainer |
| CN112263823A (en) * | 2020-11-02 | 2021-01-26 | 李军利 | Ball serving device |
| CN113521698A (en) * | 2021-07-17 | 2021-10-22 | 哈尔滨体育学院 | Table tennis beginner forehand ball-attacking training device |
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| WO2001097928A1 (en) * | 2000-06-22 | 2001-12-27 | Newgy Industries, Inc. | Ball size adjustment mechanism for table tennis robot |
| CN201253464Y (en) * | 2008-05-10 | 2009-06-10 | 杨子奕 | Transmitting tube swing mechanism of pingpong pitching machine |
| CN202620643U (en) * | 2012-06-19 | 2012-12-26 | 张震 | Three-dimensional movable type table tennis serving machine |
| CN203280999U (en) * | 2013-03-29 | 2013-11-13 | 广西工学院 | Table tennis serving machine |
| CN203540011U (en) * | 2013-07-01 | 2014-04-16 | 黎洁玲 | Platform type table tennis serving machine with simple base |
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| GB2173112A (en) * | 1985-04-03 | 1986-10-08 | Gary Gatchel | Automatic table tennis ball serving device |
| CN2376321Y (en) * | 1999-04-01 | 2000-05-03 | 柯振群 | Improved structure for table tennis ball-serving machine mounted on table tennis table |
| WO2001097928A1 (en) * | 2000-06-22 | 2001-12-27 | Newgy Industries, Inc. | Ball size adjustment mechanism for table tennis robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105797345A (en) * | 2016-05-05 | 2016-07-27 | 哈尔滨工程大学 | Tennis ball service device |
| CN105797345B (en) * | 2016-05-05 | 2017-11-21 | 哈尔滨工程大学 | A kind of tennis emitter |
| CN107137899A (en) * | 2017-06-29 | 2017-09-08 | 荆门宁杰机电技术服务有限公司 | A kind of automatic serving trainer of table tennis |
| CN107551518A (en) * | 2017-09-29 | 2018-01-09 | 汕头大学 | A kind of smart table tennis service robot |
| CN111249709A (en) * | 2020-02-21 | 2020-06-09 | 哈尔滨体育学院 | Table tennis beginner forehand attack training device |
| CN111603743A (en) * | 2020-06-03 | 2020-09-01 | 平顶山学院 | Sports teaching tennis service trainer |
| CN112263823A (en) * | 2020-11-02 | 2021-01-26 | 李军利 | Ball serving device |
| CN112263823B (en) * | 2020-11-02 | 2021-08-03 | 郑州大学体育学院 | Ball serving device |
| CN113521698A (en) * | 2021-07-17 | 2021-10-22 | 哈尔滨体育学院 | Table tennis beginner forehand ball-attacking training device |
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|---|---|
| CN105194859B (en) | 2017-07-18 |
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