CN110216695A - Basket-Shooting Robot - Google Patents
Basket-Shooting Robot Download PDFInfo
- Publication number
- CN110216695A CN110216695A CN201910583503.9A CN201910583503A CN110216695A CN 110216695 A CN110216695 A CN 110216695A CN 201910583503 A CN201910583503 A CN 201910583503A CN 110216695 A CN110216695 A CN 110216695A
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- CN
- China
- Prior art keywords
- shooting
- basket
- basketball
- poppet
- robot
- 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.)
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Classifications
-
- 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
- A63B47/021—Devices 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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
- A63H13/02—Toy figures with self-moving parts, with or without movement of the toy as a whole imitating natural actions, e.g. catching a mouse by a cat, the kicking of an animal
- A63H13/04—Mechanical figures imitating the movement of players or workers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2243/00—Specific ball sports not provided for in A63B2102/00 - A63B2102/38
- A63B2243/0037—Basketball
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Basket-Shooting Robots, including mechanism for picking, shooting mechanism, fore-stock, after-poppet, robot body and the walking mechanism for being fixed on robot body bottom；The one end for the mechanism that shoots and after-poppet are hinged, the other end is hinged with fore-stock, shooting mechanism includes catapult-launching gear, positioned at catapult-launching gear bottom and pushes the pneumatic cylinder of catapult-launching gear, the initial velocity of the thrust size control basketball projection of pneumatic cylinder is adjusted, after-poppet is moved up and down to adjust the crevice projection angle of shooting mechanism；Mechanism for picking is hinged by shaft and fore-stock, it further include the sensor for acquiring the location information of basketball and basketry, data transmission device and analysis location information and the data processing centre for judging crevice projection angle and projection initial velocity, data processing centre controls the mechanism that shoots according to the location information of basketry and adjusts crevice projection angle and project initial velocity.Basket-Shooting Robot of the invention can automatically adjust the angle and initial velocity of shooting, can accurately shoot at an arbitrary position, more intelligent.
Description
Technical field
The present invention relates to a kind of Basket-Shooting Robots, belong to kinematic robot technical field.
Background technique
Along with intelligentized rapid development, robot has been widely applied in the daily production and living of people.Machine
Device ethnic group class and function are varied, and sports class robot is exactly one of.But sports class robot type is not
It is more, and prevailing price is expensive, it is at high cost.With the artificial example of basketball machine, the basketball machine National People's Congress to put goods on the market extensively at present belongs to more
In fixed type, i.e. Basket-Shooting Robot is motionless, and the relationship after shooting by ground inclination makes basketball roll back throwing
Under basket robot foot, then Basket-Shooting Robot continues to pick up ball and carries out pitching according to the step of setting before.This shooting machine
People does not have the ability of accurate mobile shooting completely.There are also mobile Basket-Shooting Robots at present, but its with it is fixed
Basket-Shooting Robot difference less, such robot needs are moved to the shooting region set and could start to shoot, and do not have
Standby adjust automatically angle and the ability shot at an arbitrary position.Therefore urgent need, which designs one kind, can automatically adjust shooting
Angle and initial velocity, the Basket-Shooting Robot that can accurately shoot at an arbitrary position keep Basket-Shooting Robot more intelligent.
Summary of the invention
It is an object of the invention to overcome Basket-Shooting Robot in the prior art can not adjust automatically angle and in any position
The deficiency for setting shooting, provides a kind of Basket-Shooting Robot, and technical solution includes:
Basket-Shooting Robot, including mechanism for picking, shooting mechanism, fore-stock, after-poppet, robot body and it is fixed on robot
The walking mechanism of body bottom portion；
The one end for the mechanism that shoots is hinged with after-poppet, and the other end is hinged with fore-stock, and shooting mechanism includes catapult-launching gear, is located at bullet
Injection device bottom and the pneumatic cylinder for pushing catapult-launching gear adjust the initial velocity of the thrust size control basketball projection of pneumatic cylinder, after
Bracket is moved up and down to adjust the crevice projection angle of shooting mechanism；
Mechanism for picking is hinged by shaft and fore-stock, and mechanism for picking includes two pickup bars being fixedly connected with shaft, driving
First motor of shaft rotation, two pickup bars are integrated and are rotated synchronously by synchronizing bar；
It is fixedly installed the sensor for acquiring the location information of basketball and basketry, data transmission device on robot body and divides
Analysis location information and the data processing centre for judging crevice projection angle and projection initial velocity；
After position information process of the data processing centre by the basketball received to data transmission device, walking mechanism tune is controlled
Perfect square to certain speed be moved to basketball position, mechanism for picking pick up basketball and be placed in shooting mechanism in, data
Processing center controls shooting mechanism according to the location information of basketry and adjusts crevice projection angle and projection initial velocity.
Further, robot body includes the first plate body, the second plate body and third plate body from bottom to top set gradually,
Walking mechanism and sensor are mounted on the side of the first plate body；Data transmission device is fixed on the second plate body；Data processing
The heart is placed on third plate body.
Preferably, pulley blocks, the second motor on the first plate body are equipped with inside after-poppet, the second motor passes through rope
It is sequentially connected with pulley blocks, after-poppet includes fixing end and extension end, and extension end is under the drive of pulley blocks above and below fixing end
It is mobile.
Further, shooting mechanism further includes support rod, and support rod is divided into support rod upper body and support rod lower body, in rear branch
While moving up and down of frame, support rod lower body and support rod upper body relatively move.
Further, walking mechanism includes the third motor of universal wheel and driving universal wheel rotation.
Further, data transmission device is control circuit board.
Further, sensor is laser range sensor.
Compared with prior art, advantageous effects of the invention: Basket-Shooting Robot may be implemented to the automatic of basketball
It picks up, and can accurately be shot any position on basketball court, intelligence degree is more existing, and Basket-Shooting Robot is higher, function
It can be more powerful.By the improvement of the mechanical structure to Basket-Shooting Robot so that Basket-Shooting Robot it is with better function.
Detailed description of the invention
Fig. 1 is the schematic perspective view of Basket-Shooting Robot of the invention；
Fig. 2 is the walking mechanism schematic diagram in the present invention；
Fig. 3 is the mechanism for picking schematic diagram in the present invention；
Fig. 4 is the shooting structural scheme of mechanism in the present invention；
Fig. 5 is the Universal wheel structure schematic diagram in the present invention；
Fig. 6 is the structural schematic diagram of the support rod and after-poppet in the present invention；
Fig. 7 is the explosive view of the support rod and after-poppet in the present invention；
Fig. 8 is the structural schematic diagram of the pulley blocks and after-poppet in the present invention；
In figure: 1- mechanism for picking, 101- shaft, 102- pickup bars, the first motor of 103-, 104- synchronizing bar, 105- shaft coupling；
2- shoot mechanism, 21- catapult-launching gear, 211- ejection plate, 22- pneumatic cylinder, 221- cylinder rod, 23- support rod, on 231- support rod
Body；232- support rod lower body；24- fender rod；3- fore-stock, 301- first through hole, the second through-hole of 302-；4- after-poppet, 41- are solid
Fixed end, the extension end 42-, 421- guide rail, 422- sliding block, 401- pulley blocks, 401A- fixed pulley, 401B- movable pulley, 402- second
Motor, 403- rope；5- robot body, the first plate body of 501-, 501A- opening, 501B- rectangular opening, the second plate body of 502-,
503- third plate body；6- walking mechanism, 61- universal wheel, 611- steamboat, 612- bull wheel outline border, 62- third motor；7- sensing
Device；8- data transmission device；9- data processing centre.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Fig. 1 to Fig. 8 Basket-Shooting Robot of the invention, including mechanism for picking 1, shooting mechanism 2, fore-stock 3, rear branch
Frame 4, robot body 5 and the walking mechanism 6 for being fixed on 5 bottom of robot body；
Shown in Fig. 1 and Fig. 4, the one end for the mechanism 2 that shoots and after-poppet 4 are hinged, and the other end and fore-stock 3 are hinged, and shoot mechanism 2
Including catapult-launching gear 21, positioned at 21 bottom of catapult-launching gear and the pneumatic cylinder 22 of catapult-launching gear 21 is pushed, adjusts pushing away for pneumatic cylinder 22
Power size controls the initial velocity of basketball projection, by pushing the ejection plate 211 for being mounted on 22 top of pneumatic cylinder to send out basketball
It penetrates.After-poppet 4 is moved up and down to adjust the crevice projection angle of shooting mechanism 2.Shoot mechanism 2, primarily serve adjust crevice projection angle with
The function of initial velocity, it is ensured that basketball accurately enters basketry.
As shown in figure 3, mechanism for picking 1 is hinged by shaft 101 and fore-stock 3, mechanism for picking 1 includes solid with shaft 101
Surely the first motor 103 that two pickup bars 102, the drive shaft 101 connected rotates, two pickup bars 102 pass through synchronizing bar
104 are integrated and rotate synchronously；Specifically, being sequentially connected between the first motor 103 and shaft 101 by shaft coupling 105.
The first through hole 301 and the second through-hole 302 for being respectively used to connection mechanism for picking 1 and the mechanism 2 that shoots are opened up at the top of fore-stock 3, are picked up
Take what the shaft 101 of mechanism 1 rotated to be set in first through hole 301.First motor 103 drive shaft 101 rotation so that
The pickup bars 102 being fixed in shaft 101 rotate.It is adjusted to the contacted ground of basketball first, basketball is stably placed at two
Among pickup bars 102, after drive again the first motor 103 rotation pickup bars 102 by basketball steadily be put into shooting mechanism 2.Wherein
Shaft coupling 105 is mainly used for overload protection, rotates it with appropriate speed, and basketball is avoided to fall in the case where crawl.
Sensor 7, the data transmission device of the location information of acquisition basketball and basketry are fixedly installed on robot body 5
8 and analysis location information and judge crevice projection angle and projection initial velocity data processing centre 9；
After position information process of the data processing centre 9 by the basketball received to data transmission device 8, walking mechanism is controlled
6 adjustment directions are moved to basketball position with certain speed, mechanism for picking 1 picks up basketball and are placed in shooting mechanism 2,
Data processing centre controls shooting mechanism 2 according to the location information of basketry and adjusts crevice projection angle and projection initial velocity.
Specifically as preferred embodiment, robot body 5 includes the first plate body 501, second from bottom to top set gradually
Plate body 502, third plate body 503, walking mechanism 6 and sensor 7 are mounted on the side of the first plate body 501；Data transmission device 8 is solid
Due on the second plate body 502, carry out data transmission, primarily serves the effect for receiving information and transmitting information；Data processing centre 9
It is placed on third plate body 503.Robot body 5 in the present invention is three ply board body and flat shape is the design of triangle, can
So that Basket-Shooting Robot walking get up it is more stable, be not prone to tip over and the intensity of Basket-Shooting Robot be higher.
As shown in figures 1 to 6, opened up on the first plate body 501, the second plate body 502 and third plate body 503 fore-stock 3 and after
4 perforative opening 501A and rectangular opening 501B of bracket, fore-stock 3 and after-poppet 4 are to the first plate body 501, the second plate body 502 and
Three plate bodys 503 are supported fixation.
As shown in Fig. 6, Fig. 7, Fig. 8, pulley blocks 401, the second motor on the first plate body 501 are equipped with inside after-poppet 4
402, the second motor 402 is sequentially connected by rope 403 and pulley blocks 401, and after-poppet 4 includes fixing end 41 and extension end
42, extension end 41 moves up and down under the drive of pulley blocks 401 along fixing end 42.
Shown in Fig. 8, as one of the present embodiment preferred embodiment, pulley blocks 401 include being individually fixed in extension end
42 top and the fixed pulley 401A of bottom and movable pulley 401B.
Shown in Fig. 7, as one of the present embodiment preferred embodiment, set in fixing end 41 and the contact surface of extension end 42
The sliding block 422 setting guide rail 421 and being moved along guide rail 421.Second motor 402 rotates so that rope 403 bypasses fixed pulley 401A
Behind the direction for changing power, power is made to be transferred to movable pulley 401B, it is final drive extension end 42 under the action of guide rail 421 on move down
It is dynamic, the moving direction of the positive and negative rotation control extension end 42 of the second motor 402, to change crevice projection angle.
As shown in fig. 7, being hollow cavity, extension end inside fixing end 41 as one of the present embodiment preferred embodiment
42 insertion inside cavities.
As shown in Fig. 1, Fig. 4, Fig. 6, support rod 23 includes support rod upper body 231 and support rod lower body 232, support rod upper body
231 rotations are set in the second through-hole 302, and 232 one end of support rod lower body is set in support rod upper body 231, and the other end is with after
The extension end 42 at 4 top of bracket is rotatablely connected.In after-poppet 4 during moving up and down, on support rod lower body 232 and support rod
231 relative displacement of body, 23 entire length of support rod change, to drive entire catapult-launching gear 21 that angle change occurs, keep away
Exempt from stuck.Catapult-launching gear 21 is fixedly mounted on support rod lower body 232, is fixedly installed on the support rod 23 for the mechanism 2 that shoots anti-
Guard bar 24, effect are to prevent it from skidding off, specific fixed form is connected by screw bolts when basketball is rolled into catapult-launching gear 21
23 top of support rod.Only in the present embodiment, ejection plate 211 is hollow structure, and the cylinder rod 221 of pneumatic cylinder 22 is placed in ejection plate
Inside 211 hollow structure, after basketball rolls into 211 inside of ejection plate, 9 control pressure cylinder 22 of data processing centre is to correspond to bullet
Power starting, ball is popped up.
As shown in Figure 2 and Figure 5, walking mechanism 6 includes universal wheel 61 and the third motor for driving the rotation of universal wheel 61
62.Universal wheel 61 has 3, is respectively arranged on three angles of the first plate body 501.Universal wheel 61 includes outside steamboat 611 and bull wheel
Frame 612, may be implemented it is multi-direction move freely, so that Basket-Shooting Robot be driven to move integrally.Specific direction and speed when mobile
Degree is collected the calculating and control of location information by data processing centre 9 according to sensor 7.
In the present embodiment, data transmission device 8 is control circuit board.
Specifically, as shown in Fig. 2, sensor 7 is laser range sensor.Laser range sensor is preferably installed on
The midline on 3 sides of one plate body 501 can also measure Basket-Shooting Robot in the corresponding position of basketball court.
The working principle of Basket-Shooting Robot in the present embodiment is as follows:
S1: more specific location information where acquiring basketball by the sensor 7 being mounted on robot body 5, data processing centre 9
After position information process by the basketball received to data transmission device 8,6 adjustment direction of walking mechanism is controlled with certain
Speed is moved to basketball position；
S2: mechanism for picking 1 is adjusted to the contacted ground of basketball, and basketball is stably placed among two pickup bars 102, after drive again
Basketball is steadily put into shooting mechanism 2 by dynamic first motor 103 rotation pickup bars 102；
S3: in non-pitching, ejection plate 211 it is face-up, basketball freely tumble to shooting mechanism 2 ejection plate 211, ejection
Device 21 tilts 30 °, guarantees that basketball is freely rolled in the ejection plate 211 of catapult-launching gear 21；
S4: the relative position information on basketball court is presently in Basket-Shooting Robot according to data processing centre 9, optimization calculates
21 the best angle of shooting degree of catapult-launching gear；
S5: according to resulting crevice projection angle is calculated, the second motor 402 being mounted on the first plate body 501 is driven, second is electronic
Machine 402 rotates so that behind direction of the rope 403 around fixed pulley 401A change power, and power is made to be transferred to movable pulley 401B, final band
Dynamic extension end 42 moves up and down under the action of guide rail 421, the mobile side of the positive and negative rotation control extension end 42 of the second motor 402
To change the relative angle of fore-stock, bracket and after-poppet three, that is, crevice projection angle；
S6: after the completion of crevice projection angle is adjusted, according to the location information for the basketball that data processing centre 9 is measured by sensor 7
I.e. transmitting position calculates initial velocity when basketball emits to the distance of basketry, and controls the pneumatic cylinder 22 in catapult-launching gear 21
Power is provided, pusher cylinder bar 221 makes its extension to launch away basketball；
S7: shooting is completed, and continues to repeat abovementioned steps S1 to S6.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. Basket-Shooting Robot, which is characterized in that including mechanism for picking, shooting mechanism, fore-stock, after-poppet, robot body with
And it is fixed on the walking mechanism of the robot body bottom；
One end of the shooting mechanism and the after-poppet are hinged, and the other end and the fore-stock are hinged, shooting mechanism packet
It includes catapult-launching gear, positioned at the catapult-launching gear bottom and push the pneumatic cylinder of the catapult-launching gear, adjust pushing away for the pneumatic cylinder
Power size controls the initial velocity of basketball projection, and the after-poppet is moved up and down to adjust the crevice projection angle of the shooting mechanism；
The mechanism for picking is hinged by shaft and the fore-stock, and the mechanism for picking includes being fixedly connected with the shaft
The first motor that two pickup bars, the driving shaft rotate, two pickup bars are integrated simultaneously same by synchronizing bar
Step rotation；
Be fixedly installed on the robot body sensor of location information, the data transmission device of acquisition basketball and basketry with
And it analyzes the location information and judges crevice projection angle and project the data processing centre of initial velocity；
After the position information process of the data processing centre by the basketball received to the data transmission device, control
Walking mechanism adjustment direction processed is moved to basketball position with certain speed, mechanism for picking picks up basketball and is placed in shooting
In mechanism, the data processing centre controls the shooting mechanism according to the location information of basketry and adjusts crevice projection angle and throwing
Penetrate initial velocity.
2. Basket-Shooting Robot according to claim 1, which is characterized in that the robot body includes from bottom to top successively
The first plate body, the second plate body and the third plate body being arranged, the walking mechanism and the sensor are mounted on first plate body
Side；The data transmission device is fixed on the second plate body；The data processing centre is placed on the third plate body.
3. Basket-Shooting Robot according to claim 2, which is characterized in that pulley blocks are equipped with inside the after-poppet, it is described
The second motor on first plate body, second motor are sequentially connected by rope and the pulley blocks, the after-poppet
Including fixing end and extension end, extension end fixing end described in the drive lower edge of pulley blocks is moved up and down.
4. Basket-Shooting Robot according to claim 3, which is characterized in that the pulley blocks include being individually fixed in described stretch
The top of outlet and the fixed pulley of bottom and movable pulley.
5. Basket-Shooting Robot according to claim 3, which is characterized in that the contact surface of the fixing end and the extension end
Interior setting guide rail and the sliding block moved along the guide rail.
6. Basket-Shooting Robot according to claim 3, which is characterized in that it is hollow cavity inside the fixing end, it is described
Extension end is embedded in the inside cavity.
7. Basket-Shooting Robot according to claim 1, which is characterized in that the shooting mechanism further includes support rod, described
Support rod is divided into support rod upper body 231 and support rod lower body 232, in after-poppet while moving up and down, under the support rod
Body 232 and the support rod upper body 231 relatively move.
8. Basket-Shooting Robot according to claim 1, which is characterized in that the walking mechanism includes universal wheel and driving
The third motor of the universal wheel rotation.
9. Basket-Shooting Robot according to claim 1, which is characterized in that the data transmission device is control circuit board.
10. Basket-Shooting Robot according to claim 1, which is characterized in that the sensor is laser range sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910583503.9A CN110216695A (en) | 2019-07-01 | 2019-07-01 | Basket-Shooting Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910583503.9A CN110216695A (en) | 2019-07-01 | 2019-07-01 | Basket-Shooting Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110216695A true CN110216695A (en) | 2019-09-10 |
Family
ID=67815490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910583503.9A Pending CN110216695A (en) | 2019-07-01 | 2019-07-01 | Basket-Shooting Robot |
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| Country | Link |
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| CN (1) | CN110216695A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111744158A (en) * | 2020-06-28 | 2020-10-09 | 福建工程学院 | Automatic ball serving robot for sports auxiliary training and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20050112982A (en) * | 2004-05-28 | 2005-12-01 | 유동진 | Ball shooting machine |
| CN107930073A (en) * | 2017-11-29 | 2018-04-20 | 牡丹江师范学院 | A kind of shootaround auxiliary device |
| CN108127672A (en) * | 2018-03-09 | 2018-06-08 | 石非 | A kind of Basketball Intellectual Robot |
| CN109821213A (en) * | 2019-04-08 | 2019-05-31 | 黄河科技学院 | Adjustable soldier's pang the ball serve trainer of one bulb speed |
| CN109847307A (en) * | 2019-01-29 | 2019-06-07 | 常州机电职业技术学院 | A kind of Basket-Shooting Robot |
-
2019
- 2019-07-01 CN CN201910583503.9A patent/CN110216695A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20050112982A (en) * | 2004-05-28 | 2005-12-01 | 유동진 | Ball shooting machine |
| CN107930073A (en) * | 2017-11-29 | 2018-04-20 | 牡丹江师范学院 | A kind of shootaround auxiliary device |
| CN108127672A (en) * | 2018-03-09 | 2018-06-08 | 石非 | A kind of Basketball Intellectual Robot |
| CN109847307A (en) * | 2019-01-29 | 2019-06-07 | 常州机电职业技术学院 | A kind of Basket-Shooting Robot |
| CN109821213A (en) * | 2019-04-08 | 2019-05-31 | 黄河科技学院 | Adjustable soldier's pang the ball serve trainer of one bulb speed |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111744158A (en) * | 2020-06-28 | 2020-10-09 | 福建工程学院 | Automatic ball serving robot for sports auxiliary training and working method thereof |
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Application publication date: 20190910 |
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