CN108404384B - Shuttlecock training service robot - Google Patents
Shuttlecock training service robot Download PDFInfo
- Publication number
- CN108404384B CN108404384B CN201810338439.3A CN201810338439A CN108404384B CN 108404384 B CN108404384 B CN 108404384B CN 201810338439 A CN201810338439 A CN 201810338439A CN 108404384 B CN108404384 B CN 108404384B
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- Prior art keywords
- ball
- ball cylinder
- full
- empty
- shuttlecock
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000007246 mechanism Effects 0.000 claims abstract description 114
- 210000003746 feather Anatomy 0.000 claims abstract description 11
- 230000000007 visual effect Effects 0.000 claims abstract description 7
- 230000006378 damage Effects 0.000 claims abstract description 6
- 238000000151 deposition Methods 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/0017—Training appliances or apparatus for special sports for badminton
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/0036—Accessories for stowing, putting away or transporting exercise apparatus or sports equipment
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention belongs to shuttlecock training service robots.Robot is realized using the chassis of omni-directional wheel and is moved freely, comprising: the area Jian Qiu arranges call area, pocket, the area Cun Qiu.Shuttlecock keeps feather damage minimum in the unidirectional transport that robot interior is along feather direction.The area Jian Qiu: it is made of visual sensor and connecting rod mechanical arm.It arranges call area: being mainly made of the gear set of spring return mechanism, movable pulley travel multiplier mechanisms, mechanical count mechanism, exchanging mechanism and these mechanisms that link.Pocket: it is made of the ball mouth of conveyer chain and top with dead point fixture.The area Cun Qiu: it is made of empty ball case and full ball case.While calling the area Kong Qiu Tong Zhicunqiu from empty ball case, the ball cylinder for filling ball before enters full ball case and completes storage.It is divided into when use and deposits ball mode and invocation pattern.Shuttlecock at random on the ground can be efficiently collected by robot, carried out flexible storage in inside to shuttlecock and called, pass for people, substituted with machine.
Description
Technical field
The present invention is a kind of shuttlecock training service robot applied to shuttlecock training place, belongs to robot architecture and sets
Meter field.
Background technique
With epoch progress, people increasingly pay attention to sports, and shuttlecock is because its is easy to learn, is suitble to all age brackets
And favor by people.But whether being arranged all during shuttlecock training or leisure are taken exercise to the recycling of shuttlecock
It is the thing for making us expending energy.Again due to the fragility of the special and feather of feather ball shape, subtract during compiling
The degree of injury of featherlet just becomes a series of design difficulties of shuttlecock service class robot.So far, shuttlecock is compiled
It is mostly simple semi-automatic mechanical using manpower or structure.If recycling arrangement and spirit rapidly and efficiently can will be carried out to shuttlecock
Calling function living is integrated in a robot, then is equipped with function of containing articles, and user is just allowed preferably to enjoy simple pleasure
Move the time.This caddie robot will become the new lover of shuttlecock training place or family.
Summary of the invention
Shuttlecock at random on the ground can be efficiently collected by the present invention, flexibly be deposited to shuttlecock in inside
Storage is called, and is passed for people, is substituted with machine, and people is allowed to remove the worry for the ball that plumes from, enjoys the simple pleasant movement time.
Shuttlecock training service robot is realized using the chassis of omni-directional wheel and is moved freely.According to function, mechanism is broadly divided into five areas:
The area Jian Qiu arranges call area, pocket, the area Cun Qiu and storing part.Shuttlecock is in the list that robot interior is along feather direction
To transport, keep feather damage minimum.
The area Jian Qiu: it is located at below chassis, including visual sensor and connecting rod mechanical arm.
It arranges call area: being located above chassis, including being located at spring return mechanism, movable pulley row above connecting rod mechanical arm
Journey multiplication mechanism, the exchanging mechanism opposite with spring return mechanism and movable pulley travel multiplier mechanisms and exchanging mechanism turntable
Opposite mechanical count mechanism and between spring return mechanism and movable pulley travel multiplier mechanisms, link spring reset machine
The gear-box of structure, movable pulley travel multiplier mechanisms and mechanical count mechanism.
The area Cun Qiu: being located at exchanging mechanism turntable two sides, including the empty ball case opposite with turntable hollow ball cylinder position and with
The opposite full ball case in full ball cylinder position in turntable.
Pocket: call area is opposite including opposite with exchanging mechanism with arranging, and conveyer chain with dead point fixture and is located at
Ball mouth above the area Cun Qiu.
Storing part: it is the independent storage space in robot side door, slips off robot side door, people can take
Required article.
Wherein, include three functional ball cylinder positions for being mutually 120 ° on the turntable in exchanging mechanism: depositing ball cylinder position, empty ball
Cylinder position and full ball cylinder position.It is mutually converted when turntable rotates three function cylinder positions.Function cylinder position is according to opposite machine
The name of structure positional relationship: face spring return mechanism be deposit ball cylinder position, face sky ball case is that empty ball cylinder position, face expire ball
Case is full ball cylinder position.Wherein, depositing ball cylinder on ball cylinder position is to deposit ball cylinder, the ball cylinder on empty ball cylinder position be empty ball cylinder,
Ball cylinder on full ball cylinder position is full ball cylinder.Ball cylinder, empty ball cylinder and full ball cylinder are deposited during the work time due to turntable rotation, spring
Resetting-mechanism storage shuttlecock and movable pulley travel multiplier mechanisms, which release shuttlecock, to be called and mutually converts.Each function cylinder position
Set includes that a scissors mechanism realizes the scissors mechanism elongation, by empty ball cylinder or completely when needs store empty ball cylinder or full ball cylinder
Ball cylinder is pushed into empty ball case or full ball case, and when needing to call empty ball cylinder or full ball cylinder, scissors mechanism is shunk, empty ball case or full ball case
In an empty ball cylinder or full ball cylinder fall into sky ball cylinder position or full ball cylinder position.
In use, being divided into two modes: depositing ball mode and invocation pattern.
Deposit ball mode: visual sensor and connecting rod mechanical arm cooperate and realize that clamping badminton head position picks up to spring
In front of resetting-mechanism.Spring return mechanism repeats to be pushed into deposit inside ball cylinder by shuttlecock, and previous shuttlecock can be due to the latter
The push-in of shuttlecock and passively advance.It can be counted simultaneously by gear-box interlocking mechanism counting mechanism and drive exchanging mechanism creeling,
Realize that the turntable triggered on exchanging mechanism whenever being pushed into a certain number of shuttlecocks turns 120 °, make to be filled with deposits ball cylinder from depositing ball
Cylinder position goes to full ball cylinder position, at the same fall into behind sky ball cylinder position from one in empty ball case empty ball cylinder go to deposit ball cylinder position after
Renew ball work.If being filled with a ball again, full ball cylinder is pushed into full ball case (storehouse) and carried out by the scissors mechanism on full ball cylinder position
Storage so recycles.
Invocation pattern: the shuttlecock in full ball cylinder is pushed out to dead point clamp bulb position by movable pulley travel multiplier mechanisms
It sets, moves to ball mouth with conveyer chain, dead point fixture unclamps, and shuttlecock is transmitted to user after falling into ball mouth.During pushing the ball, move
Pulley travel multiplier mechanisms interlocking mechanism counting mechanism drives exchanging mechanism creeling, realizes creeling after ball has been pushed away in ball cylinder
Turntable in mechanism turns 120 °, so that the full ball cylinder for pushing away sky is gone to sky ball cylinder position from full ball cylinder position, while one in full ball case
Full ball cylinder, which is fallen into full ball cylinder position, to be continued to call work.If pushing away an empty ball again, the scissors mechanism of empty ball cylinder position can will be empty
Ball cylinder is pushed into sky ball case and is stored, and so recycles.
The design of shuttlecock training service robot has following several features:
1. shuttlecock training service robot guarantees that shuttlecock unidirectionally transports, and reduces feather in whole work process
Degree of injury；
2. shuttlecock training service robot uses the design philosophy of storehouse, i.e. Badmintons holder holds in storage ball Shi Zuowei
Device, as Transfer pipe when calling, realizing shuttlecock in robot interior can be carried out the flexible function of storing and call；
3. the mechanical arm for clamping shuttlecock is link mechanism, design dead-centre position, the i.e. plane when connecting rod and crank are utilized
When link mechanism is conllinear, gripper clamps shuttlecock；
4. during the arrangement of shuttlecock, mostly passively, working more reliable；
5. arranging process balls cylinder using the dribbling cylinder certainly for removing both ends lid of shuttlecock on the market, conveniently fastly
It is prompt.
Detailed description of the invention
Fig. 1 is shuttlecock training service robot monnolithic case schematic diagram
Fig. 2 is that shuttlecock training services robot interior structure front schematic view (concealing cylindrical shell)
Fig. 3 is that shuttlecock training services robot interior structured rear surface schematic diagram (concealing cylindrical shell and top cover)
Fig. 4 is that mechanical arm, spring return mechanism, movable pulley travel multiplier mechanisms, mechanical count mechanism and exchanging mechanism show
It is intended to
Fig. 5 is to deposit ball, call (storehouse) functional schematic
Fig. 6 is conveyer chain dead point fixture schematic diagram
Specific embodiment
Robot is realized using the chassis (4) of omni-directional wheel (2) and is moved freely.According to function, mechanism is broadly divided into five
Area: the area Jian Qiu arranges call area, pocket, the area Cun Qiu and storing part (5).Shuttlecock is along feather side in robot interior
To unidirectional transport, keep feather damage minimum.
The area Jian Qiu: it is located at below chassis (4), including visual sensor (3) and connecting rod mechanical arm (12).
It arranges call area: being located above chassis (4), including being located at the spring return mechanism above connecting rod mechanical arm (12)
(13), movable pulley travel multiplier mechanisms (14) and spring return mechanism (13) and movable pulley travel multiplier mechanisms (14) are opposite
Exchanging mechanism (10), with the opposite mechanical count mechanism (15) of exchanging mechanism (10) turntable (11) and be located at spring return mechanism
(13) between movable pulley travel multiplier mechanisms (14), link spring return mechanism (13), movable pulley travel multiplier mechanisms (14)
With the gear-box (6) of mechanical count mechanism (15).
The area Cun Qiu: be located at exchanging mechanism (10) turntable (11) two sides, including with turntable (11) hollow ball cylinder position (21)
Opposite empty ball case (23) and the full ball case (16) opposite with ball cylinder position (18) full in turntable (11).
Pocket: it is opposite with call area is arranged, including relatively with exchanging mechanism (10), have the transmission of dead point fixture (24)
Chain (8) and the ball mouth (7) above the area Cun Qiu.
Storing part (5): it is the independent storage space in robot side door (1), slips off robot side door (1), people
The required article that can take.
Wherein, include three functional ball cylinder positions for being mutually 120 ° on the turntable (11) in exchanging mechanism (10): depositing ball cylinder
Position (19), empty ball cylinder position (21) and full ball cylinder position (18).Three function cylinder positions mutually turn when turntable (11) rotate
It changes.Function cylinder position is named according to opposite mechanism position relationship: face spring return mechanism (13) be deposit ball cylinder position (19),
Face sky ball case (23) is that expire ball case (16) be full ball cylinder position (18) for empty ball cylinder position (21), face.Wherein, ball cylinder is deposited
Ball cylinder on position (19) is to deposit ball cylinder (20), and the ball cylinder on empty ball cylinder position (21) is empty ball cylinder (22), full ball cylinder position
(18) the ball cylinder on is full ball cylinder (17).It deposits ball cylinder (20), empty ball cylinder (22) and expires ball cylinder (17) during the work time due to turning
Shuttlecock is released and is called by disk (11) rotation, spring return mechanism (13) storage shuttlecock and movable pulley travel multiplier mechanisms (14)
And it mutually converts.Each function cylinder position includes that a scissors mechanism (9) is realized when needs store empty ball cylinder (22) or full ball
When cylinder (17), empty ball cylinder (22) or full ball cylinder (17) are pushed into empty ball case (23) or full ball case (16) by scissors mechanism (9) elongation,
When needing to call empty ball cylinder (22) or full ball cylinder (17), scissors mechanism (9) is shunk, in empty ball case (23) or full ball case (16)
One empty ball cylinder (22) or full ball cylinder (17) fall into sky ball cylinder position (21) or full ball cylinder position (18).
In use, being divided into two modes: depositing ball mode and invocation pattern.
Deposit ball mode: visual sensor (3) and connecting rod mechanical arm (12) cooperate and realize clamping badminton head position
It picks up to spring return mechanism (13).Spring return mechanism (13) repeats that shuttlecock is pushed into to deposit ball cylinder (20) inside, previous
A shuttlecock can due to the latter shuttlecock push-in and passively advance.Gear-box (6) interlocking mechanism counting machine can be passed through simultaneously
Structure (15), which counts, drives exchanging mechanism (10) creeling, realizes whenever being pushed into a certain number of shuttlecocks, triggers exchanging mechanism (10)
On turntable (11) turn 120 °, the ball cylinder (20) of depositing for making to be filled with goes to full ball cylinder position (18) from ball cylinder position (19) is deposited, simultaneously
An empty ball cylinder (22), which falls into behind sky ball cylinder position (21) to go to, from empty ball case (23) deposits ball cylinder position (19) after renewing ball work
Make.If being filled with a ball again, full ball cylinder (17) are pushed into full ball case (16) (heap by the scissors mechanism (9) on full ball cylinder position (18)
Stack) it is stored, so recycle.
Invocation pattern: the shuttlecock in full ball cylinder (17) is pushed out to dead point fixture by movable pulley travel multiplier mechanisms (14)
(24) bulb position is clamped, is moved to ball mouth (7) with conveyer chain (8), dead point fixture (24) unclamps, and shuttlecock falls into ball mouth
(7) user is transmitted to after.During pushing the ball, movable pulley travel multiplier mechanisms (14) interlocking mechanism counting mechanism (15) drives creeling machine
Structure (10) creeling realizes that after ball has been pushed away in ball cylinder, the turntable (11) on exchanging mechanism (10) turns 120 °, makes to push away empty full ball
Cylinder (17) goes to sky ball cylinder position (21) from full ball cylinder position (18), at the same in full ball case (16) one full ball cylinder (17) fall into
Continue to call work in full ball cylinder position (18).If pushing away an empty ball again, the scissors mechanism (9) of empty ball cylinder position (21) can be by empty ball
Cylinder (22) is pushed into sky ball case and is stored, and so recycles.
Claims (3)
1. shuttlecock training service robot, it is characterised in that: including the area Jian Qiu, arrange call area, pocket and the area Cun Qiu；Plumage
Ball top keeps feather damage minimum in the unidirectional transport that robot interior is along feather direction；
The area Jian Qiu: it is located at below chassis (4), including visual sensor (3) and connecting rod mechanical arm (12)；
Arrange call area: be located at chassis (4) above, including be located at connecting rod mechanical arm (12) above spring return mechanism (13),
Movable pulley travel multiplier mechanisms (14), the creeling machine opposite with spring return mechanism (13) and movable pulley travel multiplier mechanisms (14)
Structure (10), with the opposite mechanical count mechanism (15) of exchanging mechanism (10) turntable (11) and be located at spring return mechanism (13) and
Between movable pulley travel multiplier mechanisms (14), linkage spring return mechanism (13), movable pulley travel multiplier mechanisms (14) and machinery
The gear-box (6) of counting mechanism (15)；
The area Cun Qiu: being located at exchanging mechanism (10) turntable (11) two sides, including opposite with turntable (11) hollow ball cylinder position (21)
Empty ball case (23) and the full ball case (16) opposite with ball cylinder position (18) full in turntable (11)；
Pocket: it is opposite with call area is arranged, including relatively with exchanging mechanism (10), have the conveyer chain of dead point fixture (24)
(8) ball mouth (7) and above the area Cun Qiu；
The flexible conversion deposited ball and call both of which is realized using storehouse；Include on turntable (11) in exchanging mechanism (10)
It is mutually 120 ° of three functional ball cylinder positions: depositing ball cylinder position (19), empty ball cylinder position (21) and full ball cylinder position (18)；Three
It is mutually converted when turntable (11) rotate function cylinder position；Function cylinder position is named according to opposite mechanism position relationship: face
Spring return mechanism (13) be deposit ball cylinder position (19), face sky ball case (23) is that empty ball cylinder position (21), face expire ball case
It (16) is full ball cylinder position (18)；Wherein, depositing the ball cylinder on ball cylinder position (19) is to deposit ball cylinder (20), empty ball cylinder position (21)
On ball cylinder be empty ball cylinder (22), the ball cylinder on full ball cylinder position (18) is full ball cylinder (17)；Deposit ball cylinder (20), empty ball cylinder (22)
With full ball cylinder (17) during the work time due to turntable (11) rotation, spring return mechanism (13) storage shuttlecock and movable pulley row
Journey multiplication mechanism (14), which releases shuttlecock, to be called and mutually converts；Each function cylinder position includes a scissors mechanism (9)
It realizes when needing to store empty ball cylinder (22) or full ball cylinder (17), empty ball cylinder (22) is pushed into empty ball case by scissors mechanism (9) elongation
(23), or full ball cylinder (17) are pushed into full ball case (16), when needing to call empty ball cylinder (22) or full ball cylinder (17), scissors mechanism
(9) it shrinks, the empty ball cylinder (22) of one in empty ball case (23) or full ball case (16) falls into sky ball cylinder position (21), or full ball cylinder
(17) full ball cylinder position (18) is fallen into；
In use, being divided into two modes: depositing ball mode and invocation pattern；
Deposit ball mode: visual sensor (3) and connecting rod mechanical arm (12) cooperate realize clamp badminton head position pick up to
In front of spring return mechanism (13)；Spring return mechanism (13) repeats that shuttlecock is pushed into to deposit ball cylinder (20) inside, previous plumage
Ball top can due to the latter shuttlecock push-in and passively advance；Gear-box (6) interlocking mechanism counting mechanism can be passed through simultaneously
(15) it counts and drives exchanging mechanism (10) creeling, realize whenever on the shuttlecock for being pushed into setting quantity, triggering exchanging mechanism (10)
Turntable (11) turn 120 °, the ball cylinder (20) of depositing for making to be filled with goes to full ball cylinder position (18) from depositing ball cylinder position (19), at the same from
An empty ball cylinder (22), which falls into behind sky ball cylinder position (21) to go to, in empty ball case (23) deposits ball cylinder position (19) after renewing ball work；
If being filled with a ball again, full ball cylinder (17) are pushed into full ball case (16) and deposited by the scissors mechanism (9) on full ball cylinder position (18)
Storage so recycles；
Invocation pattern: the shuttlecock in full ball cylinder (17) is pushed out to dead point fixture (24) and pressed from both sides by movable pulley travel multiplier mechanisms (14)
Tight bulb position, moves to ball mouth (7) with conveyer chain (8), and dead point fixture (24) unclamps, after shuttlecock falls into ball mouth (7)
It is transmitted to user；During pushing the ball, movable pulley travel multiplier mechanisms (14) interlocking mechanism counting mechanism (15) drives exchanging mechanism
(10) creeling realizes that after ball has been pushed away in ball cylinder, the turntable (11) on exchanging mechanism (10) turns 120 °, makes to push away empty full ball cylinder
(17) go to sky ball cylinder position (21) from full ball cylinder position (18), at the same in full ball case (16) one full ball cylinder (17) fall into full
Continue to call work in ball cylinder position (18)；If pushing away an empty ball again, the scissors mechanism (9) of empty ball cylinder position (21) can be by empty ball cylinder
(22) it is pushed into sky ball case to be stored, so recycle.
2. robot according to claim 1, which is characterized in that realized and moved freely using the chassis (4) of omni-directional wheel (2).
3. robot according to claim 1, which is characterized in that storing part (5): being only in robot side door (1)
Vertical storage space slips off robot side door (1), and people can take required article.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810338439.3A CN108404384B (en) | 2018-04-16 | 2018-04-16 | Shuttlecock training service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810338439.3A CN108404384B (en) | 2018-04-16 | 2018-04-16 | Shuttlecock training service robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108404384A CN108404384A (en) | 2018-08-17 |
| CN108404384B true CN108404384B (en) | 2019-12-03 |
Family
ID=63135489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810338439.3A Expired - Fee Related CN108404384B (en) | 2018-04-16 | 2018-04-16 | Shuttlecock training service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108404384B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109847291B (en) * | 2019-01-10 | 2020-09-15 | 浙江科技学院 | Automatic ball picking robot and ball picking method |
| CN110681132B (en) * | 2019-10-13 | 2021-03-09 | 吉林大学 | Badminton picking robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106390398A (en) * | 2016-08-31 | 2017-02-15 | 孙雨佳 | Apparatus for automatically picking up shuttlecocks |
| CN107019883A (en) * | 2017-05-17 | 2017-08-08 | 成都理工大学 | A kind of tennis automatically picking up balls robot of machine vision |
| CN206508504U (en) * | 2016-10-12 | 2017-09-22 | 东北林业大学 | Badminton training |
| CN206853035U (en) * | 2017-06-24 | 2018-01-09 | 上海海洋大学 | One kind picks feather ball device automatically |
| CN107596665A (en) * | 2017-09-21 | 2018-01-19 | 西南大学 | A kind of badminton service robot with arrangement function |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9448031B2 (en) * | 2013-03-15 | 2016-09-20 | Mahesh Wijegunawardana | Shuttlecock launching method and apparatus |
-
2018
- 2018-04-16 CN CN201810338439.3A patent/CN108404384B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106390398A (en) * | 2016-08-31 | 2017-02-15 | 孙雨佳 | Apparatus for automatically picking up shuttlecocks |
| CN206508504U (en) * | 2016-10-12 | 2017-09-22 | 东北林业大学 | Badminton training |
| CN107019883A (en) * | 2017-05-17 | 2017-08-08 | 成都理工大学 | A kind of tennis automatically picking up balls robot of machine vision |
| CN206853035U (en) * | 2017-06-24 | 2018-01-09 | 上海海洋大学 | One kind picks feather ball device automatically |
| CN107596665A (en) * | 2017-09-21 | 2018-01-19 | 西南大学 | A kind of badminton service robot with arrangement function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108404384A (en) | 2018-08-17 |
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