CN108786065A - tennis training robot - Google Patents

tennis training robot Download PDF

Info

Publication number
CN108786065A
CN108786065A CN201810978339.7A CN201810978339A CN108786065A CN 108786065 A CN108786065 A CN 108786065A CN 201810978339 A CN201810978339 A CN 201810978339A CN 108786065 A CN108786065 A CN 108786065A
Authority
CN
China
Prior art keywords
ball
wheel
gear
motor
handset
Prior art date
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.)
Granted
Application number
CN201810978339.7A
Other languages
Chinese (zh)
Other versions
CN108786065B (en
Inventor
岳领
岳一领
潘建业
刘�文
郭会强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Taiyuan University of Science and Technology
Original Assignee
Taiyuan University of Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Taiyuan University of Science and Technology filed Critical Taiyuan University of Science and Technology
Priority to CN201810978339.7A priority Critical patent/CN108786065B/en
Publication of CN108786065A publication Critical patent/CN108786065A/en
Application granted granted Critical
Publication of CN108786065B publication Critical patent/CN108786065B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00Training appliances or apparatus for special sports
    • A63B69/38Training appliances or apparatus for special sports for tennis
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B47/00Devices for handling or treating balls, e.g. for holding or carrying balls
    • A63B47/02Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
    • A63B47/021Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00Training appliances or apparatus for special sports
    • A63B69/40Stationarily-arranged devices for projecting balls or other bodies
    • A63B69/406Stationarily-arranged devices for projecting balls or other bodies with rotating discs, wheels or pulleys gripping and propelling the balls or bodies by friction
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00Training appliances or apparatus for special sports
    • A63B69/40Stationarily-arranged devices for projecting balls or other bodies
    • A63B69/409Stationarily-arranged devices for projecting balls or other bodies with pneumatic ball- or body-propelling means
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B47/00Devices for handling or treating balls, e.g. for holding or carrying balls
    • A63B47/02Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
    • A63B47/021Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
    • A63B2047/022Autonomous machines which find their own way around the playing surface
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00Training appliances or apparatus for special sports
    • A63B69/40Stationarily-arranged devices for projecting balls or other bodies
    • A63B2069/402Stationarily-arranged devices for projecting balls or other bodies giving spin
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00Training appliances or apparatus for special sports
    • A63B69/40Stationarily-arranged devices for projecting balls or other bodies
    • A63B2069/402Stationarily-arranged devices for projecting balls or other bodies giving spin
    • A63B2069/405Stationarily-arranged devices for projecting balls or other bodies giving spin top spin

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)

Abstract

Tennis training robot provided by the invention, belongs to tennis training equipment technical field, mainly solves the problems, such as that the quality of the artificial training mate of the prior art influences practitioner's enthusiasm.Including machine tool and handset, its main feature is that:The machine tool includes elevating mechanism, screw air compressor, steering wheel, cam enter ball device, inverted triangle chassis, emitter, screw rod supplying device of ball, double-screw lifting device;The screw air compressor is mounted on the lower section of steering wheel on inverted triangle chassis.The handset includes hydraulic push rod, ball frame, handset chassis, ball frame door, running gear, dribble system, dials ball system;Tennis is launched from transmitting pipeline using compressed air.Handset supplements the tennis in ball frame at any time, and the enthusiasm that practitioner trains is made to greatly improve.True man's service is simulated by elevating mechanism, steering wheel and rotation direction adjuster.Ball is quickly received by handset, improves training effectiveness.

Description

Tennis training robot
Technical field
The invention belongs to tennis training equipment technical fields, and in particular to tennis training robot.
Background technology
Currently, this sports of tennis are larger by peer influence, double training is needed, exercise intensity is big, so to accompanying White silk person is more demanding, them has not only been needed to have certain tennis technology, but also them is needed to have good physical efficiency, so as to continue Ball is fed, these all make the cost that tennis is taken exercise improve, it can be seen that the technology status of ladder player, the quality of release quality, The factors such as complexity all restrict the practice of tennis, especially influence the enthusiasm of practitioner, thus tennis serve machine With and give birth to, assist practitioner batting, reach training requirement.
In addition, for common tennis trainer, it is impossible to there is caddie to be responsible for it and pick up ball.Especially beginner, just Just contact tennis often makes tennis become to pick up ball movement because of the inadequate specification of shot;To in order to improve the instruction of playing skill White silk person, multi-ball practice are necessary, and frequently pick up the inconvenience that ball also increases practice.Therefore, to improve the level of training, increase tennis The enjoyment of movement, ball picker of tennis device people come into being.
For practitioner, to rapidly improve ball game skills, advanced tennis training equipment be it is essential, still Domestic relevant tennis training equipment is still defective, the tennis serve machine of service is especially used for, due to higher price, rapid wear It is bad, the use of people is affected to a certain extent.For this purpose, exploitation one kind is high in technological content, price is relatively low, attractive and durable, simultaneous The tennis training robot that tool picks up ball and service function is meaningful thing.
Invention content
The object of the present invention is to provide the tennis training robots for having both automatic service and two big function of automatically picking up balls.
The present invention adopts the technical scheme that solve above-mentioned technical problem:
Tennis training robot, including machine tool and handset, its main feature is that:
The machine tool includes elevating mechanism, screw air compressor, steering wheel, cam enter ball device, inverted triangle chassis, transmitting dress It sets, screw rod supplying device of ball, double-screw lifting device;The screw air compressor is mounted on inverted triangle chassis under steering wheel Side;
The elevating mechanism includes pinion gear, gear wheel, inside shell, driving gearshaft, outside shell, guide rail, sector Wheel, bearing, motion bracket, elevating mechanism motor rack, elevating mechanism motor;The pinion gear is connect with the elevating mechanism motor, and with Gear wheel engagement, gear wheel and the transmission gear axis connection, the lower part of driving gearshaft be located at the inside shell with In the space that outside shell is surrounded;The inside shell and outside shell can slide on the guide rail, the transmission gear Axis is engaged with sector gear, which is connect by bearing with motion bracket;
The motion bracket of the elevating mechanism and the third section transmitting pipeline of emitter are hinged, the end of the sector gear It is contacted with the first segment transmitting pipeline of emitter;
The steering wheel includes lower turning handle, steering wheel shell, sector gear guide rail, upper turning handle, shaft coupling, direction electromechanics Machine, steering wheel motor rack;
The steering wheel motor is fixed on the steering wheel motor rack, the output shaft of steering wheel motor by shaft coupling with Transmission device connects, and upper turning handle one end is hinged with swing rod, and the gear being fixed on swing rod is engaged with sector gear guide rail;Under described Turning handle one end is connect with transmission device, and the other end is hinged with swing rod;The sector gear guide rail and inverted triangle chassis are affixed;
The cam enter ball device include for bulb pipeline joint, connecting rod, turning handle, end cap, connecting rod rack, goal pinion gear, Into ball motor, goal gear wheel, goal piston;
Described affixed into ball motor and goal pinion gear, goal pinion gear is engaged with goal gear wheel, the goal canine tooth Wheel is connected by the transmission shaft on connecting rod rack with jointed gear unit, and the jointed gear unit includes turning handle, connecting rod and company Bar holder is provided with end cap in the transmission shaft end;Described connecting rod one end and goal piston hinge, the other end are hinged with turning handle;
The inverted triangle chassis includes rear guard, planetary reduction gear, machine tool driving motor, machine tool front hub connection dress Set, front wheel carrier constraint, front wheel carrier, front-wheel, direction machine support, bottom plate, chassis fixed frame, chain gearing, machine tool trailing wheel Frame, machine tool trailing wheel, transfer;The bottom plate is fixed on the fixed frame of chassis;
The machine tool driving motor is fixed on bottom plate, and is transmitted power on planetary reduction gear by belt, planet The output shaft of retarder is by chain gearing by power transmission to machine tool trailing wheel;The chain gearing includes chainlet Wheel, transmission chain tensioning wheel carrier, chain tension gear, transmission big sprocket wheel and chain;
The transfer includes the first steering link, turns to hinge, the second steering link, third steering link, the 4th Steering link, steering engine driver plate, transfer are located at below bottom plate;First steering link respectively with the machine tool front hub on both sides Attachment device connects;Second steering link both ends are hinged with first steering link, and one end of the second steering link is same When it is hinged with third steering link, described 4th steering link one end is connect with steering engine driver plate, the other end and third steering link It is hinged;
The emitter includes first segment transmitting pipeline, the second section transmitting pipeline, third section transmitting pipeline, third section hair Penetrate pipeline front rotary flange connector, Section of four transmitting pipeline, rotation direction adjuster, Section of five transmitting pipeline, gas-guide tube, constant pressure type Supply high pressure gas storehouse, for bulb rotary flange connector, for bulb road, third section transmitting pipeline rear portion rotary flange connector;
The first segment transmitting pipeline, the second section transmitting pipeline, third section transmitting pipeline, the common flange of transmitting pipeline connect Head, Section of four transmitting pipeline, Section of five transmitting pipeline are sequentially connected, and rotation direction adjuster is provided on Section of four transmitting pipeline, The rotation direction adjuster includes adjustment gear, external toothing, regulation motor, friction plate, Section of four transmitting pipeline front end rotary flange Connector and Section of four transmitting pipeline rear end rotary flange connector;It is provided with external toothing, the adjusting on Section of four transmitting pipeline Gear is engaged with the external toothing being arranged on Section of four transmitting pipeline;Under the action of regulation motor, Section of four transmitting pipeline can revolve Turn;Section of four transmitting pipeline is provided with rotation direction adjuster, the rotation direction adjuster by that can be such that friction plate pushes manually Or rise, when tennis being made to pass through, tennis rotation direction is changed by friction, emits the ball of different rotation directions;
The screw rod supplying device of ball include spiral release bar, release bar shaft coupling, pass pipeline, ball-storing box, for ball motor Frame, for ball motor;The pass pipeline is located at the lower section of ball-storing box, and the ball-storing box is connected to the pass pipeline, the spiral shell Rotation release bar is located in the pass pipeline, and one end is connect with release bar shaft coupling, the release bar shaft coupling and for ball motor One end of connection, the pass pipeline is connected with described for bulb pipeline joint;
The handset includes hydraulic push rod, ball frame, handset chassis, ball frame door, running gear, dribble system, dials ball system;
The hydraulic push rod is arranged between ball frame and ball frame door, is used to open ball frame door;
The running gear includes handset trailing wheel, omnidirectional's wheel carrier, omni-directional wheel, handset rear wheel frame, handset rear wheel drive motor; The handset rear wheel drive motor is fixed on handset rear wheel frame, and the handset rear wheel frame is fixed on handset chassis, described complete It is mounted on omnidirectional's wheel carrier to wheel, omnidirectional's wheel carrier is fixed on handset chassis;
The dribble system includes push the ball belt, transmission small pulley, driving belt, transmission big belt wheel, drive roll, tensioning Roller, driven roller, handset dribble motor, slideway;The handset dribble motor and the transmission small pulley, the transmission small band Wheel is connect by driving belt with transmission big belt wheel;The transmission big belt wheel is connect with the drive roll, the drive roll Belt of pushing the ball is installed between the driven roller, the belt tensioning drum is belt of pushing the ball with slideway spacing for adjusting;
Described group of ball system includes dialling ball disk, handset group ball coil motor, dialling ball retarder, slideway;The handset dials ball disk Motor is connected with described group of ball retarder, and described group of ball retarder is connect with ball disk is dialled, if described group of ball disk is by dry plate elastic dialing Piece is constituted.
Compared with prior art, the present invention having the advantages that:
The present invention is served a ball principle using air pressure, is launched from transmitting pipeline tennis using compressed air.Pass through height Low machine, steering wheel and the simulation true man's service of rotation direction adjuster.Compared to two-wheel to forwarding ball machine, air pressing type service robot is more just Preferably, preferably universal in China's large area, be conducive to the vast tennis enthusiast practice in China.Also, it is directed to traditional air pressing type The disadvantage that service robot noise is big, service is unstable gives improvement, keeps air pressing type service robot performance more superior.It is collection fixed point hair Ball and the primary-secondary type tennis training robot for quickly receiving two big function of ball.
Description of the drawings
Fig. 1 is schematic structural view of the invention;
Fig. 2 is the overall appearance structural upright schematic diagram of the present invention;
Fig. 3 is the emitter structural schematic diagram of the present invention;
Fig. 4 is the vertical view of Fig. 3 structures;
Fig. 5 is the front view of Fig. 3 structures;
Fig. 6 is the steering wheel structural schematic diagram of the emitter of the present invention;
Fig. 7 is the rear perspective view of structure shown in Fig. 6;
Fig. 8 is the right parallax stereogram of structure shown in Fig. 6;
Fig. 9 is the elevating mechanism structural schematic diagram of the emitter of the present invention;
Figure 10 is the face upwarding stereogram of structure shown in Fig. 9;
Figure 11 is the horizontal ball feeding device partial sectional view of the present invention;
Figure 12 is the top perspective view of structure shown in Figure 11;
Figure 13 is the perspective bottom view of structure shown in Figure 12;
Figure 14 is the cam enter ball device structural upright schematic diagram of the present invention;
Figure 15 Figure 14 face and partial sectional view;
Figure 16 is the sub- bassinet structure stereoscopic schematic diagram of the present invention;
Figure 17 is the rearview of structure shown in Figure 16;
Figure 18 is the face upwarding stereogram of structure shown in Figure 17;
Figure 19 is the inverted triangle chassis structure stereoscopic schematic diagram of the present invention;
Figure 20 is the upward view of structure shown in Figure 19.
In figure:In figure:1-machine tool;
1-1-elevating mechanism;
1-1a-pinion gear;1-1b-gear wheel;1-1c-inside shell;1-1d-driving gearshaft;1-1e-outside Shell;1-1f-guide rail;1-1g-sector gear;1-1h-bearing;1-1i-motion bracket;1-1j-elevating mechanism motor rack; 1-1k-elevating mechanism motor;
1-2-screw air compressor;
1-3-steering wheel;
The lower turning handles of 1-3a-;1-3b-steering wheel shell;1-3c-sector guide rail;1-3d-goes up turning handle;1-3e-connection Axis device;1-3f-steering wheel motor;1-3g-steering wheel motor rack;1-3h-gear shaft;1-3i-worm screw;
1-4-cam enter ball device;
1-4a-is for bulb pipeline joint;1-4b-connecting rod;1-4c-turning handle;1-4d-end cap;1-4e-connecting rod rack;1- 4f-goal pinion gear;1-4g-is into ball motor;1-4h-goal gear wheel;1-4l-goal piston;
1-5-inverted triangle chassis;
1-5a-rear guard;1-5b-planetary reduction gear;1-5c-machine tool driving motor;1-5d-machine tool front hub Attachment device;1-5e-front wheel carrier constraint;1-5f-front wheel carrier;1-5g-front-wheel;1-5h-direction machine support;1-5i-bottom Plate;1-5j-chassis fixed frame;1-5k-minor sprocket;1-5l-transmission chain tensioning wheel carrier;1-5m-chain tension gear;1- 5n-machine tool rear wheel frame;1-5o-transmission big sprocket wheel;1-5p-machine tool trailing wheel;1-5q-chain;The first steering links of 1-5r-; 1-5s-steering hinge;The second steering links of 1-5t-;1-5u-third steering link;The 4th steering links of 1-5v-;1- 5w-steering engine driver plate;
1-6-emitter;
1-6a-first segment transmitting pipeline;1-6b-second saves transmitting pipeline;1-6c-third section transmitting pipeline;1-6d— Section four, transmitting pipeline front end rotary flange connector;Section of four transmitting pipeline of 1-6e-;1-6f-adjustment gear;1-6g-adjusting Motor;Section of five transmitting pipeline of 1-6h-;1-6i-gas-guide tube;1-6j-constant pressure type supplies high pressure gas storehouse;1-6k-is for bulb Bump joint;1-6l-is for bulb road;Section of four transmitting pipeline rear end rotary flange connector of 1-6m-;1-6n-friction adjusts machine Structure holder;1-6o-rectangle friction plate regulating mechanism;1-6p-external toothing;1-6r-friction plate;
1-7-screw rod supplying device of ball;
1-7a-spiral release bar;1-7b-release bar shaft coupling;1-7c-pass pipeline;1-7d-ball-storing box;1- 7e-is for ball motor frame;1-7f-is for ball motor;
1-8-double-screw lifting device;
2-handsets;
2-1-hydraulic push rod;2-2-handset trailing wheel;2-3-omnidirectional's wheel carrier;2-4-omni-directional wheel;2-5-slideway;2-6— Dial ball disk;2-7-pushes the ball belt;2-8-transmission small pulley;2-9-driving belt;2-10-transmission big belt wheel;2-11-ball Frame;2-12-drive roll;2-13-belt tensioning drum;2-14-driven roller;2-15-handset dribble motor;2-16-handset Dial ball coil motor;2-17-dials ball retarder;2-18-handset chassis;2-19-handset rear wheel frame;2-20-handset trailing wheel drives Dynamic motor;2-21-ball frame door;
Specific implementation mode
As shown in Fig. 2, tennis training robot, including machine tool 1 and handset 2, its main feature is that:
As shown in Figure 1, the machine tool 1 includes elevating mechanism 1-1, screw air compressor 1-2, steering wheel 1-3, cam goal dress Set 1-4, inverted triangle chassis 1-5, emitter 1-6, screw rod supplying device of ball 1-7, double-screw lifting device 1-8;The twin-screw Air compressor machine 1-2 is mounted on the lower section of steering wheel 1-3 on the 1-5 of inverted triangle chassis;
As shown in Figure 9, Figure 10, the elevating mechanism 1-1 includes pinion gear 1-1a, gear wheel 1-1b, inside shell 1-1c, passes Movable gear shaft 1-1d, outside shell 1-1e, guide rail 1-1f, sector gear 1-1g, bearing 1-1h, motion bracket 1-1i, elevating mechanism Motor rack 1-1j, elevating mechanism motor 1-1k;The pinion gear 1-1a is connect with the elevating mechanism motor 1-1k, and with the canine tooth 1-1b engagements are taken turns, gear wheel 1-1b is connect with the driving gearshaft 1-1d, and the lower part of driving gearshaft 1-1d is located in described In the space that side shell 1-1c and outside shell 1-1e are surrounded;The inside shell 1-1c and outside shell 1-1e can be described It is slided on guide rail 1-1f, the driving gearshaft 1-1d is engaged with sector gear 1-1g, and sector gear 1-1g passes through bearing 1- 1h is connect with motion bracket 1-1i;
The third section transmitting pipeline 1-6c of the motion bracket 1-1i and emitter 1-6 of the elevating mechanism 1-1 are hinged, described The end of sector gear 1-1g is contacted with the first segment transmitting pipeline 1-6a of emitter 1-6;
As shown in Fig. 6, Fig. 7, Fig. 8, the steering wheel 1-3 includes lower turning handle 1-3a, steering wheel shell 1-3b, sector gear Guide rail 1-3c, upper turning handle 1-3d, shaft coupling 1-3e, steering wheel motor 1-3f, steering wheel motor rack 1-3g;
The steering wheel motor 1-3f is fixed on the steering wheel motor rack 1-3g, the output shaft of steering wheel motor 1-3f It is connect with transmission device by shaft coupling 1-3e, the one end upper turning handle 1-3d is hinged with swing rod 1-3h, is fixed on swing rod 1-3h Gear is engaged with sector gear guide rail 1-3c;Described one end lower turning handle 1-3a is connect with transmission device, the other end and swing rod 1-3h It is hinged;The sector gear guide rail 1-3c and inverted triangle chassis 1-5 are affixed;
As shown in Figure 14 and Figure 15, the cam enter ball device 1-4 includes for bulb pipeline joint 1-4a, connecting rod 1-4b, turns Handle 1-4c, end cap 1-4d, connecting rod rack 1-4e, goal pinion gear 1-4f, into ball motor 1-4g, goal gear wheel 1-4h, score Piston 1-4l;
Described affixed into ball motor 1-4g and goal pinion gear 1-4f, goal pinion gear 1-4f is nibbled with goal gear wheel 1-4h It closes, the goal gear wheel 1-4h is connected by the transmission shaft on connecting rod rack 1-4e with jointed gear unit, and the connecting rod passes Motivation structure includes turning handle 1-4c, connecting rod 1-4b and connecting rod rack 1-4e, and the transmission shaft end is provided with end cap 1-4d;The company The one end bar 1-4b is hinged with goal piston 1-4l, and the other end is hinged with turning handle 1-4c;
As illustrated in figures 19 and 20, the inverted triangle chassis 1-5 include rear guard 1-5a, planetary reduction gear 1-5b, Machine tool driving motor 1-5c, machine tool front-wheel hub connection 1-5d, front wheel carrier constraint 1-5e, front wheel carrier 1-5f, front-wheel 1-5g, side To machine support 1-5h, bottom plate 1-5i, chassis fixed frame 1-5j, chain gearing, machine tool rear wheel frame 1-5n, machine tool trailing wheel 1- 5p, transfer;The bottom plate 1-5i is fixed on the fixed frame 1-5j of chassis;
The machine tool driving motor 1-5c is fixed on bottom plate 1-5i, and transmits power to planetary reduction gear by belt On 1-5b, the output shaft of planetary reduction gear 1-5b is by chain gearing by power transmission to machine tool trailing wheel 1-5p;The chain Transmission device includes minor sprocket 1-5k, transmission chain tensioning wheel carrier 1-5l, chain tension gear 1-5m, transmission big sprocket wheel 1-5o and chain 1-5q;
As shown in figure 20, the transfer includes the first steering link 1-5r, turns to hinge 1-5s, the second steering link 1-5t, third steering link 1-5u, the 4th steering link 1-5v, steering engine driver plate 1-5w, transfer are located at below bottom plate 1-5i; The first steering link 1-5r is connect with the machine tool front-wheel hub connection 1-5d on both sides respectively;The second steering link 1- The both ends 5t and the first steering link 1-5r are hinged, one end of the second steering link 1-5t simultaneously with third steering link 1-5u Hinged, described 4th one end steering link 1-5v is connect with steering engine driver plate 1-5w, and the other end is hinged with third steering link 1-5u;
As shown in Fig. 3, Fig. 4, Fig. 5, the emitter 1-6 includes first segment transmitting pipeline 1-6a, the second section transmitting tube Road 1-6b, third section transmitting pipeline 1-6c, third section transmitting pipeline front rotary flange connector 1-6d, Section of four transmitting pipeline 1- 6e, rotation direction adjuster, Section of five transmitting pipeline 1-6h, gas-guide tube 1-6i, constant pressure type supply high pressure gas storehouse 1-6j, are rotated for bulb Bump joint 1-6k, for bulb road 1-6l, third section transmitting pipeline rear portion rotary flange connector 1-6m;
The first segment transmitting pipeline 1-6a, the second section transmitting pipeline 1-6b, third section transmitting pipeline 1-6c, transmitting pipeline Common bump joint 1-6d, Section of four transmitting pipeline 1-6e, Section of five transmitting pipeline 1-6h are sequentially connected, in Section of four transmitting tube Rotation direction adjuster is provided on road 1-6e, the rotation direction adjuster includes adjustment gear 1-6f, external toothing 1-6p, regulation motor 1- 6g, friction plate 1-6r, Section of four transmitting pipeline front end rotary flange connector 1-6d and Section of four transmitting pipeline rear end rotary flange Connector 1-6m;External toothing 1-6p, adjustment gear 1-6f and the 4th section of transmitting are provided on Section of four transmitting pipeline 1-6e The external toothing 1-6p engagements being arranged on pipeline 1-6e;Under the action of regulation motor 1-6g, Section of four transmitting pipeline 1-6e can revolve Turn;Section of four transmitting pipeline 1-6e is provided with rotation direction adjuster 1-6n, the rotation direction adjuster 1-6n is by manually may be used So that friction plate is pushed or is risen, when tennis being made to pass through, tennis rotation direction is changed by friction, emits the ball of different rotation directions;
As shown in Figure 11, Figure 12 and Figure 13, the screw rod supplying device of ball 1-7 includes spiral release bar 1-7a, release bar connection Axis device 1-7b, pass pipeline 1-7c, ball-storing box 1-7d, for ball motor frame 1-7e, for ball motor 1-7f;The pass pipeline 1-7c Positioned at the lower section of ball-storing box 1-7d, the ball-storing box 1-7d is connected to the pass pipeline 1-7c, the spiral release bar 1-7a In the pass pipeline 1-7c, one end is connect with release bar shaft coupling 1-7b, release bar shaft coupling 1-7b with for ball One end of motor 1-7f connections, the pass pipeline 1-7c is connected with described for bulb pipeline joint 1-4a;
As shown in Figure 16, Figure 17, Figure 18, the handset 2 include hydraulic push rod 2-1, ball frame 2-11, handset chassis 2-18, Ball frame door 2-21, running gear, dribble system, ball system is dialled;
The hydraulic push rod 2-1 is arranged between ball frame 2-11 and ball frame door 2-21, is used to open ball frame door 2-21;
Running gear includes handset trailing wheel 2-2, omnidirectional wheel carrier 2-3, omni-directional wheel 2-4, handset rear wheel frame 2-19, handset trailing wheel Driving motor 2-20;The handset rear wheel drive motor 2-20 is fixed on handset rear wheel frame 2-19, the handset rear wheel frame 2- 19 are fixed on the 2-18 of handset chassis, and the omni-directional wheel 2-4 is mounted on omnidirectional wheel carrier 2-3, and omnidirectional wheel carrier 2-3 is fixed on handset On the 2-18 of chassis;
Dribble system includes push the ball belt 2-7, transmission small pulley 2-8, driving belt 2-9, transmission big belt wheel 2-10, active Roller 2-12, belt tensioning drum 2-13, driven roller 2-14, handset dribble motor 2-15, slideway 2-5;The handset dribble motor The 2-15 and transmission small pulley 2-8, the transmission small pulley 2-8 are connect by driving belt 2-9 with transmission big belt wheel 2-10; The transmission big belt wheel 2-10 is connect with the drive roll 2-12, the drive roll 2-12 and the driven roller 2-14 it Between the belt 2-7 of pushing the ball is installed, the belt tensioning drum 2-13 is used to adjust the spacing with slideway 2-5 for the belt 2-7 that pushes the ball;
It includes dialling ball disk 2-6, handset group ball coil motor 2-16, dialling ball retarder 2-17, slideway 2-5 to dial ball system;It is described Handset dials ball coil motor 2-16 and is connected with described group of ball retarder 2-17, and described group of ball retarder 2-17 is connect with ball disk 2-6 is dialled, If described group of ball disk 2-6 is made of dry plate elastic plectrum.
The course of work:
Receive ball process:
When helping trainer's training, machine tool 1 is instructed according to trainer, is automatically moved to appointed place and is carried out fixed point hair Ball, while handset 2 is discharged, the tennis being scattered is collected in court by handset 2.Handset 2 recycles tennis in traveling, dials ball disk 2- Tennis is dialled in slideway 2-5 by 6, is then squeezed and is rubbed caused by the driving belt 2-9 by the roller drive by rotating, makes Tennis is admitted to along slideway 2-5 in ball-storing box 1-7d, completes to receive ball work.
Hand over ball process:
When handset 2, which receives ball, to be kept ball frame 2-11 full or receive the insufficient signal of ball number in 1 ball frame of machine tool, handset is maked a return voyage friendship Ball.It is dynamic to provide by the motor of double-screw lifting device 1-8 in the traveling to the bearing plate of double-screw lifting device 1-8 of handset 2 Power drives screw rod rotation, and the handset 2 carried by bearing plate is raised to the friendship ball position of setting by the cooperation rotation of both sides screw rod Set, since the bottoms ball frame 2-11 are equipped with constant slope, so when after chamber door by hydraulic push rod 2-1 opening after, tennis will be along Inclined-plane rolls into ball-storing box ball-storing box 1-7d, completes to hand over ball work.
For ball process:
Under the action of ball-storing box 1-7d bottom slight ramps, the tennis inside ball-storing box 1-7d can pour in pass pipeline 1- In 7c, then by being driven for ball motor 1-7f under the spiral release bar 1-7a effects of rotation, tennis is transmitted to cam enter ball device In 1-4.Power is provided into ball motor 1-4g, by the engaged transmission of goal pinion gear 1-4f and goal gear wheel 1-4h, is driven Turning handle 1-4c rotations have " characteristic that can be by convert rotational motion for linear reciprocating motion " further according to toggle, Goal piston 1-4l is enable to do linear motion up and down reciprocatingly, to be sent into for bulb road by screw rod supplying device of ball 1-7 Tennis in interface 1-4a heads into service pipeline, completes to work for ball.It, can be by adjusting Each part during for ball Operating rate control for ball frequency, and then control service frequency.
Service process:
Section five, the tennis in transmitting pipeline 1-6h is sent by cam enter ball device 1-4, is carried by screw air compressor 1-2 For, supplied by constant pressure type under the high pressure gas effect of high pressure gas storehouse 1-6j and proportioning valve adjusting control, pass through Section four successively and send out Pipeline 1-6e, third section transmitting pipeline 1-6c, the second section transmitting pipeline 1-6b and first segment transmitting pipeline 1-6a are penetrated, is emitted In vitro.
Inverted triangle chassis drives and steering procedure:
Chassis driving is to provide power by machine tool driving motor 1-5c, and planetary reduction gear is imparted power to by V belt translation 1-5b after retarder increases torque, and imparts power to machine tool trailing wheel 1-5p by chain drive, is independently driven to complete trailing wheel It is dynamic.
It is to provide torque by steering engine driver plate 1-5w that chassis, which turns to, and two front-wheel 1-5g are driven by the movement of steering link It is turned to.
It serves a ball high high adjustment:
Elevating mechanism motor 1-1k provides power, and by the engaged transmission of pinion gear 1-1a and gear wheel 1-1b, power is passed Pass driving gearshaft 1-1d, further through engaging for driving gearshaft 1-1d and sector gear 1-1g, make sector gear 1-1g with The central axis of oneself is that rotary shaft rotates in a vertical plane different positions, due to the tops sector gear 1-1g and first It saves transmitting pipeline 1-6a to be connected, so first segment transmitting pipeline 1-6a and second can be driven, which to save transmitting pipeline 1-6b, realizes vertical side Upward raises and drags down movement.
Horizontal direction of serving a ball is adjusted:
Steering wheel motor 1-3f provides power, is engaged, is imparted power to by the worm gear on worm and wheel gear shaft Worm-gear toothing wheel shaft engages with the gear on gear shaft further through the gear on worm-gear toothing wheel shaft, imparts power to gear shaft 1- 3h, and because the gear on gear shaft 1-3h is engaged with sector gear guide rail 1-3c, and sector gear guide rail 1-3c is fixed, So gear shaft 1-3h can be using the central axis of sector gear guide rail 1-3c as rotation axis, which is Fig. 3 for bulb road 1- The central axis of 6l;Different positions is rotated in the horizontal direction.Again because of the traversing pinion tops axis 1-3h and third section Transmitting pipeline 1-6c is connected with the tail portions elevating mechanism motion bracket 1-1i, so entire transmitting pipeline system and entire height can be driven Machine is that Pivot axle does the swing in horizontal direction for the central axis of bulb road 1-6l, and elevating mechanism is transported along guide rail 1-1f It is dynamic.
As shown in Fig. 3, Fig. 4, Fig. 5, tennis rotation direction is adjusted:
Emitter regulation motor 1-6g provides power, passes through emitter adjustment gear 1-6f and the 4th section of transmitting pipeline Gear wheel engaged transmission on 1-6e, makes Section of four transmitting pipeline 41-6e rotate around axis, drives and Section of four hair It penetrates the rotation direction adjuster that pipeline 41-6e is fixed together and rotates to different positions together.Rotation direction adjuster is stretched by one piece Rectangle friction plate in pipeline is squeezed and is rubbed to the tennis by pipeline, due to Section of four transmitting pipeline 41-6e Other parts of the inside in addition to stripper plate compared with friction plate surface it is smooth, so by tennis meeting after uneven friction With certain rotation direction, so as to launch the tennis of the various rotation directions such as top spin, chop.Also, works as and use inhomogeneity When tennis (the soft ball/hard sphere) of type, it can be rubbed by adjusting deeply measuring relatively for friction plate in rotation direction adjuster manually to change Wiping board avoids hindering ball to tennis extruding force and frictional force size.

Claims (1)

1. tennis training robot, including machine tool (1) and handset (2), it is characterized in that:
The machine tool (1) includes elevating mechanism (1-1), screw air compressor (1-2), steering wheel (1-3), cam enter ball device (1- 4), inverted triangle chassis (1-5), emitter (1-6), screw rod supplying device of ball (1-7), double-screw lifting device (1-8);It is described double Screw air compressor (1-2) is mounted on the lower section of steering wheel (1-3) on inverted triangle chassis (1-5);
The elevating mechanism (1-1) includes pinion gear (1-1a), gear wheel (1-1b), inside shell (1-1c), driving gearshaft (1- 1d), outside shell (1-1e), guide rail (1-1f), sector gear (1-1g), bearing (1-1h), motion bracket (1-1i), elevating mechanism Motor rack (1-1j), elevating mechanism motor (1-1k);The pinion gear (1-1a) connect with the elevating mechanism motor (1-1k), and with Gear wheel (1-1b) engagement, gear wheel (1-1b) are connect with the driving gearshaft (1-1d), driving gearshaft (1-1d) Lower part be located at the inside shell (1-1c) and space that outside shell (1-1e) is surrounded in;The inside shell (1-1c) It can be slided on the guide rail (1-1f) with outside shell (1-1e), the driving gearshaft (1-1d) and sector gear (1-1g) Engagement, the sector gear (1-1g) are connect by bearing (1-1h) with motion bracket (1-1i);
The motion bracket (1-1i) of the elevating mechanism (1-1) is hinged with the third section transmitting pipeline (1-6c) of emitter (1-6), The end of the sector gear (1-1g) is contacted with the first segment transmitting pipeline (1-6a) of emitter (1-6);
The steering wheel (1-3) includes lower turning handle (1-3a), steering wheel shell (1-3b), sector gear guide rail (1-3c), above turns Handle (1-3d), shaft coupling (1-3e), steering wheel motor (1-3f), steering wheel motor rack (1-3g);
The steering wheel motor (1-3f) is fixed on the steering wheel motor rack (1-3g), the output of steering wheel motor (1-3f) Axis is connect by shaft coupling (1-3e) with transmission device, and upper turning handle one end (1-3d) is hinged with swing rod (1-3h), is fixed in swing rod Gear on (1-3h) is engaged with sector gear guide rail (1-3c);Described lower turning handle (1-3a) one end is connect with transmission device, separately One end is hinged with swing rod (1-3h);The sector gear guide rail (1-3c) and inverted triangle chassis (1-5) are affixed;
The cam enter ball device (1-4) includes for bulb pipeline joint (1-4a), connecting rod (1-4b), turning handle (1-4c), end cap (1- 4d), connecting rod rack (1-4e), goal pinion gear (1-4f), into ball motor (1-4g), goal gear wheel (1-4h), goal piston (1-4l);
It is described affixed into ball motor (1-4g) and goal pinion gear (1-4f), goal pinion gear (1-4f) and goal gear wheel (1- It 4h) engages, the goal gear wheel (1-4h) is connected by the transmission shaft on connecting rod rack (1-4e) with jointed gear unit, institute It includes turning handle (1-4c), connecting rod (1-4b) and connecting rod rack (1-4e) to state jointed gear unit, is provided in the transmission shaft end End cap (1-4d);Described connecting rod one end (1-4b) is hinged with goal piston (1-4l), and the other end is hinged with turning handle (1-4c);
The inverted triangle chassis (1-5) includes rear guard (1-5a), planetary reduction gear (1-5b), machine tool driving motor (1- 5c), machine tool front-wheel hub connection (1-5d), front wheel carrier constraint (1-5e), front wheel carrier (1-5f), front-wheel (1-5g), steering wheel After holder (1-5h), bottom plate (1-5i), chassis fixed frame (1-5j), chain gearing, machine tool rear wheel frame (1-5n), machine tool Take turns (1-5p), transfer;The bottom plate (1-5i) is fixed on chassis fixed frame (1-5j);
The machine tool driving motor (1-5c) is fixed on bottom plate (1-5i), and transmits power to planetary reduction gear by belt On (1-5b), the output shaft of planetary reduction gear (1-5b) is by chain gearing by power transmission to machine tool trailing wheel (1-5p); The chain gearing includes minor sprocket (1-5k), transmission chain tensioning wheel carrier (1-5l), chain tension gear (1-5m), is driven greatly Sprocket wheel (1-5o) and chain (1-5q);
The transfer includes the first steering link (1-5r), turns to hinge (1-5s), the second steering link (1-5t), third Steering link (1-5u), the 4th steering link (1-5v), steering engine driver plate (1-5w), transfer are located at below bottom plate (1-5i); First steering link (1-5r) connect with the machine tool front-wheel hub connection (1-5d) on both sides respectively;Described second company of steering The bar both ends (1-5t) are hinged with first steering link (1-5r), and one end of the second steering link (1-5t) turns with third simultaneously Hinged to connecting rod (1-5u), the 4th steering link one end (1-5v) is connect with steering engine driver plate (1-5w), the other end and third Steering link (1-5u) is hinged;
The emitter (1-6) includes first segment transmitting pipeline (1-6a), the second section transmitting pipeline (1-6b), the transmitting of third section Pipeline (1-6c), third section transmitting pipeline front rotary flange connector (1-6d), Section of four transmitting pipeline (1-6e), rotation direction are adjusted Device, Section of five transmitting pipeline (1-6h), gas-guide tube (1-6i), constant pressure type supply high pressure gas storehouse (1-6j), for bulb rotary flange Connector (1-6k), for bulb road (1-6l), third section transmitting pipeline rear portion rotary flange connector (1-6m);
The first segment transmitting pipeline (1-6a), the second section transmitting pipeline (1-6b), third section transmitting pipeline (1-6c), transmitting tube The common bump joint in road (1-6d), Section of four transmitting pipeline (1-6e), Section of five transmitting pipeline (1-6h) are sequentially connected, the 4th It is provided with rotation direction adjuster on section transmitting pipeline (1-6e), the rotation direction adjuster includes adjustment gear (1-6f), external toothing (1- 6p), regulation motor (1-6g), friction plate (1-6r), Section of four transmitting pipeline front end rotary flange connector (1-6d) and Section four Transmitting pipeline rear end rotary flange connector (1-6m);It is provided with external toothing (1-6p), institute on Section of four transmitting pipeline (1-6e) It states adjustment gear (1-6f) and is engaged with the external toothing (1-6p) being arranged on Section of four transmitting pipeline (1-6e);In regulation motor (1- Under the action of 6g), Section of four transmitting pipeline (1-6e) is rotatable;Section of four transmitting pipeline (1-6e) is provided with rotation direction tune Device (1-6n) is saved, the rotation direction adjuster (1-6n) when tennis being made to pass through, passes through by the way that friction plate can be made to push or rise manually Friction changes tennis rotation direction, emits the ball of different rotation directions;
The screw rod supplying device of ball (1-7) includes spiral release bar (1-7a), release bar shaft coupling (1-7b), pass pipeline (1- 7c), ball-storing box (1-7d), for ball motor frame (1-7e), for ball motor (1-7f);The pass pipeline (1-7c) is located at ball-storing box The lower section of (1-7d), the ball-storing box (1-7d) are connected to the pass pipeline (1-7c), spiral release bar (1-7a) position In the pass pipeline (1-7c), one end is connect with release bar shaft coupling (1-7b), the release bar shaft coupling (1-7b) and It is connected for ball motor (1-7f), one end of the pass pipeline (1-7c) is connected with described for bulb pipeline joint (1-4a);
The handset (2) includes hydraulic push rod (2-1), ball frame (2-11), handset chassis (2-18), ball frame door (2-21), walking System, dials ball system at dribble system;
The hydraulic push rod (2-1) is arranged between ball frame (2-11) and ball frame door (2-21), is used to open ball frame door (2-21);
The running gear include handset trailing wheel (2-2), omnidirectional's wheel carrier (2-3), omni-directional wheel (2-4), handset rear wheel frame (2-19), Handset rear wheel drive motor (2-20);The handset rear wheel drive motor (2-20) is fixed on handset rear wheel frame (2-19), institute It states handset rear wheel frame (2-19) to be fixed on handset chassis (2-18), the omni-directional wheel (2-4) is mounted on omnidirectional's wheel carrier (2-3) On, omnidirectional's wheel carrier (2-3) is fixed on handset chassis (2-18);
The dribble system includes push the ball belt (2-7), transmission small pulley (2-8), driving belt (2-9), transmission big belt wheel (2- 10), drive roll (2-12), belt tensioning drum (2-13), driven roller (2-14), handset dribble motor (2-15), slideway (2- 5);The handset dribble motor (2-15) and the transmission small pulley (2-8), the transmission small pulley (2-8) is by being driven skin Band (2-9) is connect with transmission big belt wheel (2-10);The transmission big belt wheel (2-10) connect with the drive roll (2-12), institute It states and belt of pushing the ball (2-7) is installed between drive roll (2-12) and the driven roller (2-14), the belt tensioning drum (2- 13) it is used to adjust the spacing with slideway (2-5) of belt of pushing the ball (2-7);
Described group of ball system includes dialling ball disk (2-6), handset group ball coil motor (2-16), dialling ball retarder (2-17), slideway (2- 5);The handset dials ball coil motor (2-16) and is connected with described group of ball retarder (2-17), the described group of ball retarder (2-17) and Ball disk (2-6) connection is dialled, described group of ball disk (2-6) dry plate elastic plectrum if be made of.
CN201810978339.7A 2018-08-27 2018-08-27 Tennis training robot Active CN108786065B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810978339.7A CN108786065B (en) 2018-08-27 2018-08-27 Tennis training robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810978339.7A CN108786065B (en) 2018-08-27 2018-08-27 Tennis training robot

Publications (2)

Publication Number Publication Date
CN108786065A true CN108786065A (en) 2018-11-13
CN108786065B CN108786065B (en) 2023-09-26

Family

ID=64081177

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810978339.7A Active CN108786065B (en) 2018-08-27 2018-08-27 Tennis training robot

Country Status (1)

Country Link
CN (1) CN108786065B (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109395338A (en) * 2018-12-29 2019-03-01 浙江深酷机器人有限公司 A kind of intelligent tennis ball is received robot
CN109453500A (en) * 2018-11-14 2019-03-12 长春理工大学 Ball picking robot
CN109999455A (en) * 2019-04-02 2019-07-12 宋子祺 A kind of table tennis auxiliary device
CN111298418A (en) * 2020-04-09 2020-06-19 黑龙江中医药大学 Tennis emitter
CN111530054A (en) * 2020-04-28 2020-08-14 鞍山师范学院 Multifunctional field training pitching machine
CN114247111A (en) * 2021-12-23 2022-03-29 吉林体育学院 Badminton collection device

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103736260A (en) * 2013-09-12 2014-04-23 上海交通大学 Automatic tennis ball picking device and control method thereof
CN104288982A (en) * 2014-10-29 2015-01-21 上海大学 Air pressure type tennis training machine
CN205683553U (en) * 2016-06-22 2016-11-16 沈阳工学院机器人研究所 One is swung the bat and is impacted ball game counting assembly
CN106730714A (en) * 2016-12-19 2017-05-31 绍兴凯健科技有限公司 A kind of table tennis training mate robot
CN106924955A (en) * 2017-03-01 2017-07-07 三峡大学 A kind of tennis service machine people of Omni-mobile and application method
US20170232323A1 (en) * 2016-02-17 2017-08-17 Shaoxing Kaijian Technology Co., Ltd. Racket-free tennis training device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103736260A (en) * 2013-09-12 2014-04-23 上海交通大学 Automatic tennis ball picking device and control method thereof
CN104288982A (en) * 2014-10-29 2015-01-21 上海大学 Air pressure type tennis training machine
US20170232323A1 (en) * 2016-02-17 2017-08-17 Shaoxing Kaijian Technology Co., Ltd. Racket-free tennis training device
CN205683553U (en) * 2016-06-22 2016-11-16 沈阳工学院机器人研究所 One is swung the bat and is impacted ball game counting assembly
CN106730714A (en) * 2016-12-19 2017-05-31 绍兴凯健科技有限公司 A kind of table tennis training mate robot
CN106924955A (en) * 2017-03-01 2017-07-07 三峡大学 A kind of tennis service machine people of Omni-mobile and application method

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109453500A (en) * 2018-11-14 2019-03-12 长春理工大学 Ball picking robot
CN109395338A (en) * 2018-12-29 2019-03-01 浙江深酷机器人有限公司 A kind of intelligent tennis ball is received robot
CN109395338B (en) * 2018-12-29 2024-01-12 浙江深酷机器人有限公司 Intelligent tennis ball receiving and serving robot
CN109999455A (en) * 2019-04-02 2019-07-12 宋子祺 A kind of table tennis auxiliary device
CN111298418A (en) * 2020-04-09 2020-06-19 黑龙江中医药大学 Tennis emitter
CN111298418B (en) * 2020-04-09 2021-04-16 黑龙江中医药大学 Tennis emitter
CN111530054A (en) * 2020-04-28 2020-08-14 鞍山师范学院 Multifunctional field training pitching machine
CN111530054B (en) * 2020-04-28 2021-04-02 鞍山师范学院 Multifunctional field training pitching machine
CN114247111A (en) * 2021-12-23 2022-03-29 吉林体育学院 Badminton collection device

Also Published As

Publication number Publication date
CN108786065B (en) 2023-09-26

Similar Documents

Publication Publication Date Title
CN108786065A (en) tennis training robot
CN108992901B (en) Table tennis serving device for physical training
CN107596665B (en) Badminton service robot with arrangement function
CN209885189U (en) Volleyball launcher
CN107596666B (en) Tripod type badminton pitching machine with arrangement function
CN206853078U (en) Volleyball launcher
CN109045655B (en) A universal automatic service device for tennis training
CN113101626B (en) Tennis serving device
CN113633951B (en) Tennis trainer of training tennis sportsman's reaction
CN110302517A (en) A kind of athletic training tennis service device
CN208694213U (en) A kind of novel badminton pitching machine
CN201524394U (en) Batch type automatic golf ball feeding device
CN208975124U (en) Tennis training robot
CN207898918U (en) Mechanical badminton service device
CN110215376B (en) Auxiliary movement device for rheumatism part
CN210302310U (en) Novel tennis service robot
CN206867638U (en) A kind of football training device
CN2704391Y (en) Servicing device of badminton
CN110772777A (en) Automatic service robot for badminton training
CN209984903U (en) Partner training device for multiple badminton serving modes
CN210145438U (en) Ball picking equipment
CN210021110U (en) Tennis serving device convenient for trainees to hit
CN108686361B (en) Novel badminton service robot
CN1332728C (en) Ball service device for training volleyball technique
CN202497686U (en) Automatic volleyball serving machine

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant