CN112604256A - Service robot for volleyball training - Google Patents
Service robot for volleyball training Download PDFInfo
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- CN112604256A CN112604256A CN202011356515.7A CN202011356515A CN112604256A CN 112604256 A CN112604256 A CN 112604256A CN 202011356515 A CN202011356515 A CN 202011356515A CN 112604256 A CN112604256 A CN 112604256A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 238000004804 winding Methods 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 claims 1
- 238000005096 rolling process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010073 coating (rubber) Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
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- 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
- A63B69/407—Stationarily-arranged devices for projecting balls or other bodies with spring-loaded propelling means
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- 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
- A63B69/0095—Training appliances or apparatus for special sports for volley-ball
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- Physical Education & Sports Medicine (AREA)
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Abstract
The invention relates to the technical field of volleyball training instruments, in particular to a service robot for volleyball training, which comprises a base, wherein two corresponding vertical plates are fixedly arranged on the upper surface of the base, a rotating shaft is rotatably arranged between the two vertical plates, a vertical rod is fixedly connected to the shaft body of the rotating shaft, an arc-shaped slide way is fixedly connected to the top end of the vertical rod, a service mechanism is arranged on the arc-shaped slide way, and a driving module in transmission connection with the service mechanism is fixedly arranged on the vertical rod. According to the volleyball taking device, the driving module and the volleyball serving mechanism are arranged, the motor in the driving module can be used for driving the volleyball serving mechanism to serve, and only the volleyball filling action is needed by an operator, so that the physical burden of a trainer is greatly reduced.
Description
Technical Field
The invention relates to the technical field of volleyball training instruments, in particular to a service robot for volleyball training.
Background
Volleyball is one of ball sports items, the court is rectangular, a high net is arranged in the middle of the volleyball, two players (six players in each square) respectively occupy one side of the court, and the players play the volleyball from the net in an empty mode by using hands. The ball used in volleyball sports uses sheepskin or artificial leather as a shell, and rubber as a liner, and the size of the ball is similar to that of a football. In volleyball training, although no more new technology exists in volleyball serving currently, each team competitively adopts long-distance floating, high-hanging and some new serving methods and strategies to try to destroy the billiards of the other side and further destroy the composition of the quick attack tactics. The later volleyball training must adapt to various types of serve so as to create conditions for fast attack composition. Present volleyball training mainly leans on training personnel's artifical service to train, and artifical service is though comparatively nimble, but the repeated service action of long-time mechanicalness can cause overweight physical burden for the person of serving, and along with the decay of person of serving physical power, the dynamics of serving also can reduce gradually simultaneously, very influences follow-up training effect.
Disclosure of Invention
The invention aims to solve the problems that in the prior art, though manual service is flexible, repeated service actions for a long time mechanically cause overweight physical burden to a service player, and the service force is gradually reduced along with the reduction of the physical strength of the service player, so that the subsequent training effect is influenced.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a volleyball training is with service robot, the on-line screen storage device comprises a base, fixed surface installs two risers that correspond the setting on the base, two rotatable installation has the rotation axis between the riser, montant of fixedly connected with on the rotation axis body, arc slide of montant top fixedly connected with, install service robot on the arc slide, fixed mounting has the drive module that service robot transmission is connected on the montant.
Preferably, the ball serving mechanism comprises a fixed disc, guide rods, a push plate, springs, a connecting block and a mooring rope, the fixed disc is fixedly mounted on the arc-shaped slideway, the fixed disc is provided with a plurality of guide rods which are parallel to each other in a penetrating manner, the guide rods are arranged in a direction parallel to the length direction of the circular slideway, the tail ends of one sides of the guide rods are fixedly connected to the same push plate, the tail ends of the other sides of the guide rods are fixedly connected to the same connecting block, the springs are sleeved on the guide rods between the push plate and the fixed disc, and one end of the mooring rope is fixedly connected to the;
drive module includes diaphragm, curb plate, first pivot, rolling wheel, second pivot, leading wheel, actuating mechanism, fixedly connected with diaphragm on the montant, fixed surface installs two curb plates that correspond the setting on the diaphragm, two rotatable installation has a first pivot between the curb plate lower part, rotatable installation has the second pivot between two curb plates of first pivot top, just first pivot is on a parallel with the setting of second pivot, fixed mounting has the rolling wheel of coaxial setting with it on the first pivot axis body, fixed mounting has the leading wheel of coaxial setting with it on the axis body on the second pivot, just rolling wheel and leading wheel correspond the setting, the other end of hawser is around the fixed winding behind the leading wheel on the rolling wheel, first pivot transmission is connected with actuating mechanism.
Preferably, actuating mechanism includes first gear, drive shaft, incomplete gear, driving motor, the terminal fixed mounting in first pivot one side has the first gear of coaxial setting with it, first gear one side is provided with the incomplete gear of meshing with it, fixedly connected with is the drive shaft of coaxial setting with it on the incomplete gear, the drive shaft is rotatable to be installed between two curb plates, drive shaft transmission is connected with driving motor.
Preferably, the rotating shaft is in transmission connection with a rotary adjusting mechanism, the rotary adjusting mechanism comprises a second gear, a rack, a support plate, a threaded sleeve, a vertical shaft, a fixed plate, a turntable, a limiting rod and a limiting sleeve, the second gear coaxially arranged with the rotation shaft is fixedly installed at the end of one side of the rotation shaft, a rack meshed with the second gear is arranged at one side of the second gear, the vertical shaft parallel to the rack is arranged at one side of the rack, two ends of the vertical shaft are respectively and rotatably provided with a fixed plate, the fixed plates are both fixedly connected to the support plate, the support plate is fixedly connected to the base, an external thread is arranged on the vertical shaft body between the two fixed plates, the vertical shaft body is provided with the threaded sleeve matched with the vertical shaft body, the threaded sleeve is fixedly connected to the rack, one side of the vertical shaft is also provided with the limiting rod parallel to the vertical shaft, two ends of the limiting, the limiting rod is sleeved with a limiting sleeve, the limiting sleeve is fixedly connected to the threaded sleeve, and a turntable is fixedly mounted at the tail end of one side of the vertical shaft.
Preferably, a plurality of pulleys which are uniformly distributed are fixed on the lower surface of the base.
The pitching machine for volleyball training provided by the invention has the beneficial effects that: by arranging the ball serving mechanism, the driving module and the like, then an operator places volleyballs on the arc-shaped slide way on the front side of the push plate, then the operator starts the motor, the motor drives the driving shaft to rotate, the driving shaft drives the incomplete gear to rotate, the incomplete gear drives the first gear meshed with the incomplete gear to rotate, the first gear drives the first rotating shaft fixedly connected with the first gear to rotate, the first rotating shaft drives the winding wheel arranged on the first rotating shaft to rotate, the winding wheel winds the cable rope, the cable rope pulls the connecting block outwards, the connecting block pulls the guide rod fixedly connected with the connecting block outwards, the guide rod pulls the push plate 8 fixedly connected with the connecting block, the push plate compression spring compresses the spring, when the incomplete gear rotates to be not meshed with the first gear, at the moment, the first gear loses the limit, the spring pushes the push plate to reset, the push plate triggers the volleyballs on the circular slide, the connecting block passes through the hawser and drives the rolling wheel and reset, then operating personnel places next volleyball on circular slide, when incomplete gear is rotatory once more to with first gear engagement, just can repeat above-mentioned service process once more, only need operating personnel to carry out the volleyball at above-mentioned service in-process and load the action, the training personnel's that alleviates greatly physical burden helps training personnel level to improve.
Drawings
FIG. 1 is a first schematic structural view of a pitching machine for volleyball training according to the present invention;
FIG. 2 is a second schematic structural view of a pitching machine for volleyball training according to the present invention;
FIG. 3 is a third schematic structural view of a pitching machine for volleyball training according to the present invention;
fig. 4 is a partial structural view of a portion a of fig. 3.
In the figure: base 1, riser 2, rotation axis 3, montant 4, arc slide 5, fixed disk 6, guide arm 7, push pedal 8, spring 9, connecting block 10, hawser 11, diaphragm 12, curb plate 13, first pivot 14, wind-up wheel 15, second pivot 16, leading wheel 17, first gear 18, drive shaft 19, incomplete gear 20, driving motor 21, second gear 22, rack 23, backup pad 24, universal gyro wheel 25, threaded sleeve 26, vertical axis 27, fixed plate 28, carousel 29, gag lever post 30, stop collar 31.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example 1
Referring to fig. 1-4, a service robot for volleyball training comprises a base 1, wherein a plurality of pulleys 25 which are uniformly distributed are fixed on the lower surface of the base 1. Fixed surface installs two risers 2 that correspond the setting on base 1, and rotatable the installing has rotation axis 3 between two risers 2, montant 4 of fixedly connected with on the 3 axis bodies of rotation axis, arc slide 5 of 4 top fixedly connected with of montant, installs service mechanism on the arc slide 5, and fixed mounting has the drive module that service mechanism transmission is connected on montant 4. The base 1 may be a hydraulic lifting base with lifting function, so that the height of the whole service robot can be adjusted. The pulley 25 on the base 1 can make the movement of the device more convenient.
The ball serving mechanism comprises a fixed disc 6, guide rods 7, push plates 8, springs 9, connecting blocks 10 and mooring ropes 11, the fixed disc 6 is fixedly installed on the arc-shaped slideway 5, the fixed disc 6 is provided with a plurality of guide rods 7 which are parallel to each other in a penetrating manner, the guide rods 7 are all arranged in a direction parallel to the length direction of the circular slideway 5, the tail ends of one sides of the guide rods 7 are all fixedly connected to the same push plate 8, the tail ends of the other sides of the guide rods 7 are all fixedly connected to the same connecting block 10, the guide rods 7 between the push plates 8 and the fixed discs 6 are all sleeved with the springs 9, and one end of; the front side surface of the push plate 8 is provided with a rubber coating so as to prevent abrasion between the push plate 8 and the volleyball.
The driving module comprises a transverse plate 12, side plates 13, a first rotating shaft 14, a winding wheel 15, a second rotating shaft 16, a guide wheel 17 and a driving mechanism, the transverse plate 12 is fixedly connected to the vertical rod 4, two side plates 13 which are correspondingly arranged are fixedly mounted on the upper surface of the transverse plate 12, the first rotating shaft 14 is rotatably mounted between the lower parts of the two side plates 13, the second rotating shaft 16 is rotatably mounted between the two side plates 13 above the first rotating shaft 14, the first rotating shaft 14 is parallel to the second rotating shaft 16, the winding wheel 15 which is coaxially arranged with the first rotating shaft 14 is fixedly mounted on the shaft body of the first rotating shaft, the guide wheel 17 which is coaxially arranged with the second rotating shaft is fixedly mounted on the shaft body of the second rotating shaft 16, the winding wheel 15 corresponds to the guide wheel 17, the other end of the mooring rope 11 is fixedly wound on the winding wheel 15 after bypassing the guide wheel 17, and the first. The guide wheel 17 mainly guides the cable 11, so that the acting force direction of the cable 11 on the connecting block 10 is parallel to the length direction of the arc-shaped slideway 5.
The driving mechanism comprises a first gear 18, a driving shaft 19, an incomplete gear 20 and a driving motor 21, wherein the first gear 18 coaxially arranged with the first rotating shaft 14 is fixedly installed at the tail end of one side of the first rotating shaft, the incomplete gear 20 meshed with the first gear 18 is arranged at one side of the first rotating shaft 18, the driving shaft 19 coaxially arranged with the incomplete gear 20 is fixedly connected onto the incomplete gear 20, the driving shaft 19 is rotatably installed between the two side plates 13, and the driving shaft 19 is in transmission connection with the driving motor 21. The arrangement of the incomplete gear 20 is mainly used for realizing intermittent serve. The drive motor 21 is fixedly mounted on the adjacent side plate 13.
When the robot is used, an operator moves the pitching machine to a training area, the driving motor 21 is powered on, and the pitching direction is aligned to the training personnel; then an operator places volleyballs on the arc-shaped slideway 5 at the front side of the push plate 8, then the operator starts the motor 21, the motor 21 drives the driving shaft 19 to rotate, the driving shaft 19 drives the incomplete gear 20 to rotate, the incomplete gear 20 drives the first gear 18 meshed with the incomplete gear to rotate, the first gear 18 drives the first rotating shaft 14 fixedly connected with the first gear to rotate, the first rotating shaft 14 drives the winding wheel 15 arranged on the first rotating shaft to rotate, the winding wheel 15 winds the cable 11, the cable 11 pulls the connecting block 10 outwards, the connecting block 10 pulls the guide rod 7 fixedly connected with the connecting block 10 outwards, the guide rod 7 pulls the push plate 8 fixedly connected with the guide rod 7, the push plate 8 compresses the spring 9, when the incomplete gear 20 rotates to be not meshed with the first gear 18, the first gear 18 loses the limit, the spring 9 pushes the push plate 8 to reset, and the push plate 8 triggers the volleyballs on the circular slideway 5 in, meanwhile, the push plate 8 drives the connecting block 10 to reset through the guide rod 7, the connecting block 10 drives the rolling wheel 15 to reset through the cable 11, then an operator places the next volleyball on the circular slideway 5, and when the incomplete gear 20 rotates to be meshed with the first gear 18 again, the ball serving process can be repeated again.
Example 2
Referring to fig. 1-4, as another preferred embodiment of the present invention, the difference from embodiment 1 is that a rotation shaft 3 is connected with a rotation adjusting mechanism in a transmission manner, the rotation adjusting mechanism includes a second gear 22, a rack 23, a support plate 24, a threaded sleeve 26, a vertical shaft 27, a fixing plate 28, a turntable 29, a limit rod 30, and a limit sleeve 31, the second gear 22 coaxially arranged with the rotation shaft 3 is fixedly installed at the end of one side of the rotation shaft 3, the rack 23 meshed with the second gear 22 is arranged at one side of the second gear 22, the vertical shaft 27 parallel to the rack 23 is arranged at one side of the rack 23, two ends of the vertical shaft 27 are respectively rotatably installed with one fixing plate 28, the fixing plates 28 are fixedly connected to the support plate 24, the support plate 24 is fixedly connected to the base 1, the vertical shaft 27 between the two fixing plates 28 is provided with an external thread, and the threaded sleeve 26, the threaded sleeve 26 is fixedly connected to the rack 23, a limiting rod 30 parallel to the rack is further arranged on one side of the vertical shaft 27, two ends of the limiting rod 30 are respectively and fixedly connected to corresponding fixing plates 28, a limiting sleeve 31 is sleeved on the limiting rod 30, the limiting sleeve 31 is fixedly connected to the threaded sleeve 26, and a rotary disc 29 is fixedly mounted at the tail end of one side of the vertical shaft 27.
In embodiment 1, since the rotating shaft 3 is not provided with a rotation adjusting mechanism, it is difficult to accurately control the inclination angle of the vertical rod 4, in this embodiment, when an operator needs to adjust the inclination angle of the vertical rod 4 so that the inclination angle of the circular slideway 5 can adapt to the serving angle, the operator rotates the rotary disc 29, the rotary disc 29 drives the vertical shaft 27 fixedly connected with the rotary disc 29 to rotate, the vertical shaft 27 drives the threaded sleeve 26 arranged on the rotary disc to linearly move along the limiting rod 30, the threaded sleeve 26 drives the rack 23 to move, the rack 23 drives the second gear 22 meshed with the rack 23 to rotate, and the second gear 22 drives the rotating shaft 3 meshed with the rack to rotate, so that the rotation adjustment of the rotating shaft 3 is realized.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (5)
1. The utility model provides a service robot for volleyball training, includes base (1), its characterized in that, fixed surface installs two riser (2) that correspond the setting on base (1), two rotatable installation has rotation axis (3) between riser (2), montant (4) of fixedly connected with on rotation axis (3) the axis body, arc slide (5) of montant (4) top fixedly connected with, install service mechanism on arc slide (5), fixed mounting has the drive module that service mechanism transmission is connected on montant (4).
2. The pitching machine for volleyball training according to claim 1, wherein the pitching mechanism comprises a fixed plate (6), a guide rod (7), a push plate (8), a spring (9), a connecting block (10) and a cable (11), a fixed disc (6) is fixedly arranged on the arc-shaped slide way (5), a plurality of guide rods (7) which are parallel to each other are arranged on the fixed disc (6) in a penetrating way, and the guide rods (7) are all arranged in parallel with the length direction of the circular slideway (5), the tail end of one side of the guide rod (7) is fixedly connected with the same push plate (8), the tail ends of the other sides of the guide rods (7) are fixedly connected to the same connecting block (10), a spring (9) is sleeved on each guide rod (7) between the push plate (8) and the fixed disc (6), and one end of the mooring rope (11) is fixedly connected to the connecting block (10);
the driving module comprises a transverse plate (12), side plates (13), a first rotating shaft (14), a winding wheel (15), a second rotating shaft (16), a guide wheel (17) and a driving mechanism, the transverse plate (12) is fixedly connected to the vertical rod (4), two side plates (13) which are correspondingly arranged are fixedly arranged on the upper surface of the transverse plate (12), the first rotating shaft (14) is rotatably arranged between the lower parts of the two side plates (13), the second rotating shaft (16) is rotatably arranged between the two side plates (13) above the first rotating shaft (14), the first rotating shaft (14) is arranged in parallel to the second rotating shaft (16), the winding wheel (15) which is coaxially arranged with the first rotating shaft (14) is fixedly arranged on the shaft body of the first rotating shaft (14), the guide wheel (17) which is coaxially arranged with the second rotating shaft (16) is fixedly arranged on the shaft body of the second rotating shaft, and the winding wheel (15) is correspondingly arranged with the guide wheel (17), the other end of the mooring rope (11) winds around the guide wheel (17) and then is fixedly wound on the winding wheel (15), and the first rotating shaft (14) is in transmission connection with a driving mechanism.
3. The pitching machine for volleyball training of claim 2, wherein the driving mechanism comprises a first gear (18), a driving shaft (19), an incomplete gear (20) and a driving motor (21), the first gear (18) coaxially arranged with the first rotating shaft (14) is fixedly installed at the tail end of one side of the first rotating shaft, the incomplete gear (20) meshed with the first gear is arranged at one side of the first gear (18), the driving shaft (19) coaxially arranged with the incomplete gear (20) is fixedly connected onto the incomplete gear (20), the driving shaft (19) is rotatably installed between the two side plates (13), and the driving shaft (19) is in transmission connection with the driving motor (21).
4. The pitching machine for volleyball training according to claim 1, wherein the rotating shaft (3) is in transmission connection with a rotation adjusting mechanism, the rotation adjusting mechanism comprises a second gear (22), a rack (23), a support plate (24), a threaded sleeve (26), a vertical shaft (27), a fixing plate (28), a turntable (29), a limiting rod (30) and a limiting sleeve (31), the second gear (22) coaxially arranged with the rotating shaft (3) is fixedly arranged at the tail end of one side of the rotating shaft (3), the rack (23) meshed with one side of the second gear (22) is arranged at one side of the second gear, the vertical shaft (27) parallel to one side of the rack (23) is arranged at one side of the vertical shaft (27), the fixing plate (28) is rotatably arranged at each of two ends of the vertical shaft (27), the fixing plates (28) are fixedly connected to the support plate (24), the support plate (24) is fixedly connected to the base (, two the external screw thread has been seted up on vertical axis (27) the axis body between fixed plate (28), just install threaded sleeve (26) with its adaptation on vertical axis (27) the axis body, threaded sleeve (26) fixed connection is on rack (23), vertical axis (27) one side still is provided with gag lever post (30) parallel with it, the both ends difference fixed connection of gag lever post (30) is on fixed plate (28) that correspond, the cover is equipped with one stop collar (31) on gag lever post (30), stop collar (31) fixed connection is on threaded sleeve (26), fixed mounting has carousel (29) on vertical axis (27) one side end.
5. The volleyball training service robot as claimed in claim 1, wherein a plurality of uniformly distributed pulleys (25) are fixed to the lower surface of the base (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011356515.7A CN112604256A (en) | 2020-11-27 | 2020-11-27 | Service robot for volleyball training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011356515.7A CN112604256A (en) | 2020-11-27 | 2020-11-27 | Service robot for volleyball training |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112604256A true CN112604256A (en) | 2021-04-06 |
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ID=75225551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011356515.7A Pending CN112604256A (en) | 2020-11-27 | 2020-11-27 | Service robot for volleyball training |
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| Country | Link |
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| CN (1) | CN112604256A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113198164A (en) * | 2021-05-17 | 2021-08-03 | 山东交通学院 | Multi-angle automatic ball serving machine for balls and using method thereof |
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|---|---|---|---|---|
| CN204352482U (en) * | 2015-01-20 | 2015-05-27 | 展彩娜 | Manual upside down machine |
| US20190105548A1 (en) * | 2017-10-04 | 2019-04-11 | Kenneth C. Miller | Robotic cannon with laser |
| CN210933702U (en) * | 2019-09-25 | 2020-07-07 | 江阴新蜂体育文化经纪有限公司 | Corner ball emitter for football training |
| CN211025066U (en) * | 2019-11-04 | 2020-07-17 | 辽宁工程职业学院 | Volleyball training aid for sports |
| CN211986994U (en) * | 2019-07-02 | 2020-11-24 | 徐州云创物业服务有限公司 | Volleyball training equipment |
-
2020
- 2020-11-27 CN CN202011356515.7A patent/CN112604256A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204352482U (en) * | 2015-01-20 | 2015-05-27 | 展彩娜 | Manual upside down machine |
| US20190105548A1 (en) * | 2017-10-04 | 2019-04-11 | Kenneth C. Miller | Robotic cannon with laser |
| CN211986994U (en) * | 2019-07-02 | 2020-11-24 | 徐州云创物业服务有限公司 | Volleyball training equipment |
| CN210933702U (en) * | 2019-09-25 | 2020-07-07 | 江阴新蜂体育文化经纪有限公司 | Corner ball emitter for football training |
| CN211025066U (en) * | 2019-11-04 | 2020-07-17 | 辽宁工程职业学院 | Volleyball training aid for sports |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113198164A (en) * | 2021-05-17 | 2021-08-03 | 山东交通学院 | Multi-angle automatic ball serving machine for balls and using method thereof |
| CN113198164B (en) * | 2021-05-17 | 2022-06-28 | 山东交通学院 | Ball multi-angle automatic pitching machine and using method thereof |
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Application publication date: 20210406 |