CN1945197B - Three elastic band rail gun barrel type launching mechanism - Google Patents
Three elastic band rail gun barrel type launching mechanism Download PDFInfo
- Publication number
- CN1945197B CN1945197B CN2006101509508A CN200610150950A CN1945197B CN 1945197 B CN1945197 B CN 1945197B CN 2006101509508 A CN2006101509508 A CN 2006101509508A CN 200610150950 A CN200610150950 A CN 200610150950A CN 1945197 B CN1945197 B CN 1945197B
- Authority
- CN
- China
- Prior art keywords
- fixed
- trigger mechanism
- apparatus structure
- bearing
- pulping apparatus
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Toys (AREA)
Abstract
The three elastic band rail gun barrel type launching mechanism includes one frame, one ejecting orbit, one string winding and unwinding mechanism, one trigger mechanism and one ball loading mechanism, as well as one coupling connecting the motor of the string winding and unwinding mechanism to the string winding wheel, one pedestal for the string winding wheel to be fixed on, ball throwing rod in the trigger mechanism connected to the ball loading mechanism, ball throwing rod connecting steel wire connected to the string winding and unwinding mechanism, three elastic bands connected between the ball throwing rod and the frame, and the motor in the trigger mechanism connected to cam and fixed on the support. The present invention may be used in robot sports, ball training, recreation facility, life saving apparatus, etc to complete object throwing task.
Description
(1) technical field
The present invention relates to robot and mechanical manufacturing field, specifically a kind of trigger-type, storage power abrupt release, three elastic band rail gun barrel type launching mechanism that belongs to a kind of mechanical type object emitting device.
(2) background technology
Along with the fast development of science and technology, mechanical devices such as robot progressively have been applied to various fields, and in the research and design of robot, traditional design philosophy of mechanical type object emitting device is the design impelling scheme identical with the catapult principle.The shortcoming of this kind scheme is to throw to establish not accurate enoughly, is difficult to aiming.Even projection accurately, the object of launching is also unable, is usually waited other device to keep off by block, can't reach final purpose.Therefore, the purpose that does not also have a kind of mechanical emitter can well finish emission and network at present more need not be carried and having used.
(3) summary of the invention
The object of the present invention is to provide a kind of three elastic band rail gun barrel type launching mechanism frame for movement design that utilizes the triggering of lever lozenges, storage power abrupt release, feels relieved accurate, that emitting times is launched, can be reused fast, can remember to straight line.
The object of the present invention is achieved like this: it comprises frame 1 and ejection orbit 2, spiral payingoff mechanism 5, trigger mechanism 4 and pulping apparatus structure 3, the motor 7 of spiral payingoff mechanism 5 connects reel 9 by shaft coupling 8, reel 9 two ends are fixed on the pedestal 6, pulping apparatus structure 3 one ends connect the bag club 17 of trigger mechanism 4, bag club 17 connects steel wire 18 and is connected with spiral payingoff mechanism 5, the other end is connected with frame 1 front end by three rubber bands 21,22,23, and the motor 11 of trigger mechanism 4 connects cam 20 and is fixed on the bearing 12.
The present invention also has some architectural features like this:
1, described frame 1 and ejection orbit 2 are triangle.
2, a side of described reel 9 is provided with little pull-up structure 10, and little pull-up structure 10 is provided with copper sheathing or bearing links to each other with shaft coupling 8, and little pull-up structure 10 1 ends pass pedestal 6.
3, be fixed with two screw rods on the described reel 9.
4, described trigger mechanism comprises the bayonet lock 13 that passes the fixed head on ratchet 15 and the bearing 12, bayonet lock 13 passes ratchet 15 places and is provided with screw rod, between the fixed head on the bearing 12, be coated with spring 14 at bayonet lock 13, be fixed with on the bearing 12 and detect trigger switch 19 and be provided with the hole of passing steel wire 18.
5, described bag club 17 front ends are provided with lozenges 16, and bayonet lock 13 front ends are provided with the inclined-plane that coincide with lozenges 16.
6, described pulping apparatus structure 3 is the double-layer stainless steel bowl, pulping apparatus structure 3 with the bag club 17 by being threaded.
7, described whole trigger mechanism is provided with the angle-adjusting mechanism 24 of Toothed Belts Gearing, and angle-adjusting mechanism 24 comprises worm-and-wheel gear 29 and the cog belt 28 that is installed on the base 32.
8, described trigger mechanism 4 back are provided with buffer gear 25, promptly are fixed with steel disc 34 on stage clip 33, and steel disc 34 centers are provided with the hole of passing steel wire 18, are provided with stopping means in stage clip 33 outsides, comprise with the fixing cylinder guide pad 40 of screw.
9, be fixed with sighting device 26 on the described frame 1, sighting device 26 comprises adjustment screw 37 that is fixed in around the sighting device support and the aiming laser pen 36 that is fixed on carriage center.
Among the present invention, the motor of spiral payingoff mechanism 57 drives reels 9 by shaft coupling 8 and since spiral institute must power bigger, so reel 9 suffered moments of torsion are also bigger, think and to protect motor 7 that reel 9 two ends should be fixed.Reel 9 two ends are fixed on the aluminum alloy bed 6, and there are little pull-up structure 10 adjustments on the right side, has copper sheathing to make shaft coupling 8 can freely rotate (also available bearing) on the little pull-up structure 10.By measured motor 7 no-load currents, adjust little machine drawing structure 10, when no-load current hour, prove and adjusted to optimum state.On reel 9, be fixed with two screw rods 38, cooperate, the length and the loop line position of control backguy with trigger switch 39 on the frame 1.
The bag club 17 of pulping apparatus structure 3 and pulping apparatus structure 3 connect together by screw thread, and steel wire 18 connects together with bag club 17.When drawing steel wire 18, backguy motor 11 make bag club 17 enter bearing 12, because bag club 17 front ends have lozenges 16, bayonet lock 13 front ends also have the inclined-plane, when bag club 17 overcomes spring 14 elastic force and backs down bayonet lock 13 like this, and bayonet lock 13 has downward motion under spring 14 effects, after moving the position to, bayonet lock 13 snaps in bag club 17 grooves, pins bag club 17.When need triggered, motor 11 drove cam 20 and rotates, and cam 20 is stirred the ratchet 15 on the bayonet lock 13, and bayonet lock 13 is moved upward, and bag club 17 is released.Fix simultaneously a self-control trigger switch 19 on bearing 12, cam 20 whenever turns around, and triggers No. one time switch, makes motor 11 stalls, realizes whenever pressing once, and motor 11 turns around, and triggers once, thereby can write down emitting times.
Three elastic band rail gun barrel type launching mechanism is such as principle: be coupled to triangle frame 1 with metal side tube earlier, with parallel connection one ejection orbit 2 of two aluminum alloy square tubes, so just constituted an ejection orbit that directionality is fabulous in the midpoint on 1 three limits of triangle frame.Locate each on three summits of triangle frame 1 and fix a rubber band (rubber band 21, rubber band 22, rubber band 23), each rubber band other end and pulping apparatus structure 3 are fixing, and simultaneously, pulping apparatus structure 3 is fixed on the trigger mechanism 4 by a steel wire rope 18.When motor 7 is just changeing, reel 9 draws steel wire to make rubber band 21, rubber band 22 and rubber band 23 elongations, and when three rubber bands were pulled to the precalculated position, trigger mechanism 4 was touched, and pinned pulping apparatus structure 3 simultaneously, the process of energy storage that Here it is.When motor 7 counter-rotatings, discharge steel wire 18, the motor 11 of trigger mechanism 4 pulls out bayonet lock 13 and triggers, and makes 3 abrupt releases of pulping apparatus structure, realizes the process of emission fast.
Three elastic band rail gun barrel type launching mechanism of the present invention not only can be applied in robot sports field, and it also can be used as the quick emission tool of ball game training machine (as tennis, table tennis etc.) etc.; The quick catapult-launching gear that can also serve as recreational facilities, toy exploitation, lifesaving appliance etc., finish need under the particular case extremely fast, the task of straight line emission object.
(4) description of drawings
Fig. 1 is a three elastic band rail gun barrel type launching mechanism assembling schematic diagram of the present invention;
Fig. 2 is a spiral payingoff mechanism structural representation of the present invention;
Fig. 3 is a trigger mechanism structure chart of the present invention;
Fig. 4 is pulping apparatus structure of the present invention, trigger mechanism and spiral payingoff mechanism LAO assembling schematic diagram;
Fig. 5 is the right front oblique assembling schematic diagram of pulping apparatus structure of the present invention, trigger mechanism and spiral payingoff mechanism;
Fig. 6 is a sighting device schematic diagram of the present invention;
Fig. 7 is a three elastic band rail gun barrel type launching mechanism embodiment embodiment schematic diagram of the present invention.
(5) specific embodiment
Below in conjunction with accompanying drawing structure of the present invention and operation principle are further described:
The present invention includes frame 1 and ejection orbit 2, spiral payingoff mechanism 5, trigger mechanism 4 and pulping apparatus structure 3, the motor 7 of spiral payingoff mechanism 5 connects reel 9 by shaft coupling 8, reel 9 two ends are fixed on the pedestal 6, pulping apparatus structure 3 one ends connect the bag club 17 of trigger mechanism 4, bag club 17 connects steel wire 18 and is connected with spiral payingoff mechanism 5, the other end is connected with frame 1 front end by three rubber bands 21,22,23, and the motor 11 of trigger mechanism 4 connects cam 20 and is fixed on the bearing 12.Wherein, frame 1 and ejection orbit 2 are triangle, one side of reel 9 is provided with little pull-up structure 10, little pull-up structure 10 is provided with copper sheathing or bearing links to each other with shaft coupling 8, little pull-up structure 10 1 ends pass pedestal 6, be fixed with two screw rods on the reel 9, trigger mechanism comprises the bayonet lock 13 that passes the fixed head on ratchet 15 and the bearing 12, bayonet lock 13 passes ratchet 15 places and is provided with screw rod, between the fixed head on the bearing 12, be coated with spring 14 at bayonet lock 13, be fixed with on the bearing 12 and detect trigger switch 19 and be provided with the hole of passing steel wire 18, bag club 17 front ends are provided with lozenges 16, bayonet lock 13 front ends are provided with the inclined-plane that coincide with lozenges 16, and pulping apparatus structure 3 be the double-layer stainless steel bowl, pulping apparatus structure 3 with wrap club 17 by being threaded.
Detailed design to basic system:
The unwrapping wire problem of spiral payingoff mechanism 5 is the biggest problem that we run into, because the abrupt release of the potential energy that is stored up energy, its energy loss minimum, efficient also are the highest.So steel wire 18 also should be by abrupt release during unwrapping wire, from this point of view, 7 counter-rotatings solve the loop line problem or adopt chain transmission etc. by motor, are not desirable ways.So last the use pulled out the abrupt release that bayonet lock 13 mechanisms realize spiral.
Final what adopt is the rubber tube rubber band of stethoscope through test of many times to launch rubber band 21,22,23, and its advantage is that elastic force is big, tension uniform, elastic force good directionality, be easy to install.
The bearing 12 of trigger mechanism 4 is processed by duralumin, and weight is lighter.Bayonet lock 13 belongs to consumable accessory with bag club 17, makes with steel alloy, and the wearability of its material is better, and surface roughness is very little, and No. 45 steel of cam 20 usefulness are made.
We have successively made three kinds the design of pulping apparatus structure 3:
1. made the pulping apparatus structure of a three-jaw with the angle aluminum, weight is lighter.Owing to be to make by hand, inconvenience is fixing with bag club 17.
2. process a round platform with duralumin, connect three-jaw on round platform, the round platform center has screwed hole to be connected with bag club 17, and large end face has three screwed holes to be connected with rod iron, and convenient fixing is durable durable, but weight is heavier, brings very big trouble to buffering.
3. use the double-layer stainless steel bowl, owing to can directly buy on market, shape and rigidity are all better, and in light weight, also are easy to install, so become final selection.
On the basis of above basic structure design, we have designed angle-adjusting mechanism 24, buffer gear 25 and sighting device 26 again for the needs of competing, as shown in Figure 7.
(1) angle-adjusting mechanism 24:
Because in actual use, the vertical angle of emission often will change, and therefore needs angle-adjusting mechanism of design, and we adopt 28 transmissions of worm-and-wheel gear 29 tooth-adding profile bands to realize.Because worm-and-wheel gear 29 has very strong auto-lock function, guarantee that emitter behind the precalculated position, is locked in this position.Again because whole trigger mechanism is a bit done the strong point except that the rear end, all the other each points all rotate around axle 27, trigger mechanism is in axle 27 rotation processes, all the other each points are vertically all changing, and cog belt 28 is after vertical direction is fixing, motor 30 drives worm-and-wheel gear 29 and rotates, the rotation of worm-and-wheel gear 29 drives cog belt 28 and moves in vertical direction, cog belt 28 is connected by slide block 31 with emitter, slide block 31 can slide on triangle frame 1, cog belt 28 just can rotate around axle 27 in vertical direction by slide block 31 drive emitters like this, thereby regulates the angle of departure.If when also needing the angular adjustment on the horizontal direction, can also on base 32, add a rotating shaft, rotating shaft also can adopt the worm-and-wheel gear transmission, thereby finishes needed angular adjustment on the horizontal direction.Because worm and gear frictional force is bigger,, guarantee lubricated so should often oil.
(2) buffer gear 25
After trigger mechanism 4 is triggered, three rubber bands are elongated the energy that is stored up, major part is converted into the kinetic energy of ball, also some is converted into the kinetic energy of pulping apparatus structure 3 and bag club 17, if this part energy is all born by steel wire 18, will have a strong impact on the service life of steel wire 18, therefore must have a buffer gear to play cushioning effect therein, bear the impact that this part energy brings.
We have successively tested three kinds of ways to play for time:
First kind: utilize the rubber band buffering, it is simple in structure, and is easy for installation.But rubber band does not overlap with trigger mechanism 4 center lines, causes pulping apparatus structure 3 and ejection orbit 2 collisions easily, influences sphere path curve; Also destroy pulping apparatus structure 3 and ejection orbit 2 easily, buffering effect is bad.And the rubber band performance increases and constantly descends with drawing numbers, also can influence sphere path curve.
Second kind: utilize the spring steel plate buffering, this method is made simple, but because the spring compression distance is limited, buffering effect is also not obvious.
The third: utilize the stage clip buffering, compare with spring steel plate, the stage clip compression performance is fine, and less deflection just can absorb bigger energy, and become laddering absorption.Simultaneously the stage clip active force does not act directly on the pulping apparatus structure 3, and on the bearing 12 of trigger mechanism 4, and stage clip action direction and trigger mechanism center line influence very little to going out sphere path curve substantially on same straight line through steel wire 18 indirectly-actings.Make buffer gear so finally adopt stage clip.
As shown in Figure 4, utilize the stage clip buffering on stage clip 33, to fix a steel disc 34 exactly, there is only big than steel wire 18 hole at steel disc 34 centers, (balling 35 is on reel 9 making a call to a balling 35 on the steel wire 18, the position of balling 35 allows the decision of emission length by triangle frame 1), chou 35 can not be got final product by steel disc 34.After the triggering, pulping apparatus structure 3 is being with steel wire 18 to travel forward, and the steel wire that does not have knot is run into steel disc 34 when knotting place chou 35 and made stage clip 33 compressions smoothly by steel disc 34, and cushioning effect is played in the compression of stage clip 33.
But in actual design is made, also be faced with several difficult:
The selection of stage clip 33 coefficient of elasticity.Stage clip 33 is too soft, and promptly coefficient of elasticity is low, and then stage clip 33 easily is forced into the limit, and identical deflection absorbs little energy, and buffering effect is not obvious, and 18 protections have little significance to steel wire.Stage clip 33 is too hard, i.e. coefficient of elasticity height, and then stage clip 33 deflections are few, absorb little energy, and buffering effect is also not obvious.By each experiment, finally selected proper stage clip.
Because action time is short, active force can not act on stage clip 33 centers fully, and stage clip 33 can not guarantee the linearity compressed in compression process.So not only cause the plastic deformation of stage clip 33 easily, and because stage clip 33 decrement differences influence sphere path curve.So increased a stopping means in stage clip 33 outsides, but owing to gap between the pilot hole inwall of stage clip 33 and bearing 12 is bigger, after stage clip 33 compressions, may be stuck in the inside and recover reset condition, influence is buffering next time.And the pilot hole size is less, and pilot hole is easily scraped in steel wire 18 knottings place, influences the life-span of buffer gear 25 and steel wire 18.A cylinder guide pad 40 (its internal diameter is identical with the aperture of steel disc 34, and external diameter is more smaller than bearing 12 pilot hole diameters) has been processed in design, play the guiding role in bearing 12 pilot holes, and fixes with screw and steel disc 34.
(3) sighting device 26
Because the track of the ball of whole trigger mechanism emission is straight line substantially, so need the sighting device basketry that aims at the mark.Adopt laser pen 36 aimings, as shown in Figure 6.Laser is a branch of light, and linearity is good, and in the environment of stronger houselights, its hot spot still can be seen clearly, is a kind of selection of fine making sighting device therefore.Sighting device 26 is fixed on the triangle frame 1, and sighting device 36 can be regulated by adjustment screw 37, according to actual conditions, by adjusting laser pen 36 angles, can aim at different targets.
Claims (1)
1. three elastic band rail gun barrel type launching mechanism, it is characterized in that it comprises frame (1) and ejection orbit (2), spiral payingoff mechanism (5), trigger mechanism (4) and pulping apparatus structure (3), the motor (7) of spiral payingoff mechanism (5) connects reel (9) by shaft coupling (8), reel (9) two ends are fixed on the pedestal (6), pulping apparatus structure (3) one ends connect the bag club (17) of trigger mechanism (4), bag club (17) is connected with spiral payingoff mechanism (5) by steel wire (18), pulping apparatus structure (3) other end is by three rubber bands (21,22,23) be connected with frame (1) front end, the motor (11) of trigger mechanism (4) connects cam (20), and motor (11) is fixed on the bearing (12); Described frame (1) and ejection orbit (2) are triangle; One side of described reel (9) is provided with little pull-up structure (10), and little pull-up structure (10) is provided with copper sheathing or bearing links to each other with shaft coupling (8), and little pull-up structure (10) one ends pass pedestal (6); Described reel is fixed with two screw rods on (9); Described trigger mechanism also comprises the bayonet lock (13) that passes the fixed head on ratchet (15) and the bearing (12), bayonet lock (13) passes ratchet (15) and locates to be provided with screw rod, bayonet lock (13) upper sleeve through between the fixed head on the bearing (12) has spring (14), is fixed with on the bearing (12) to detect trigger switch (19) and be provided with the hole of passing steel wire (18); Described bag club (17) front end is provided with lozenges (16), and bayonet lock (13) front end is provided with the inclined-plane that coincide with lozenges (16); Described pulping apparatus structure (3) is the double-layer stainless steel bowl, pulping apparatus structure (3) with the bag club (17) by being threaded; Described whole trigger mechanism is provided with the angle-adjusting mechanism (24) of Toothed Belts Gearing, and angle-adjusting mechanism (24) comprises worm-and-wheel gear (29) and the cog belt (28) that is installed on the base (32); Described trigger mechanism (4) back is provided with buffer gear (25), buffer gear (25) is for being fixed with steel disc (34) on stage clip (33), steel disc (34) center is provided with the hole of passing steel wire (18), be provided with stopping means in stage clip (33) outside, stopping means comprises cylinder guide pad (40), and cylinder guide pad (40) fixes with screw and steel disc (34); Be fixed with sighting device (26) on the described frame (1), sighting device (26) comprises the aiming laser pen (36) that is fixed in the adjustment screw (37) around the sighting device support and is fixed on carriage center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006101509508A CN1945197B (en) | 2006-10-27 | 2006-10-27 | Three elastic band rail gun barrel type launching mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006101509508A CN1945197B (en) | 2006-10-27 | 2006-10-27 | Three elastic band rail gun barrel type launching mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1945197A CN1945197A (en) | 2007-04-11 |
| CN1945197B true CN1945197B (en) | 2011-08-03 |
Family
ID=38044705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006101509508A Expired - Fee Related CN1945197B (en) | 2006-10-27 | 2006-10-27 | Three elastic band rail gun barrel type launching mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1945197B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111111131A (en) * | 2019-12-23 | 2020-05-08 | 南昌大学 | Linear high-throw flying disc device |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101329151B (en) * | 2008-07-18 | 2012-09-26 | 航宇救生装备有限公司 | Mechanical catapult |
| CN101726215B (en) * | 2009-11-17 | 2013-09-11 | 哈尔滨工程大学 | Adjustable pitching rubber band ejection robot |
| CN103316486B (en) * | 2013-07-11 | 2015-01-21 | 四川大学 | Bullet shooting toy |
| CN104842359B (en) * | 2015-05-28 | 2016-10-05 | 江南大学 | A kind of ejection type quickly captures robot |
| CN104880130B (en) * | 2015-06-12 | 2017-05-03 | 张琪 | Elastic rainbow machine |
| CN112642128B (en) * | 2020-12-18 | 2022-08-30 | 华南理工大学广州学院 | Ball serving method of ball serving device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2054363U (en) * | 1989-09-09 | 1990-03-14 | 蒋晓 | Ejection type toy pistol |
| CN2115510U (en) * | 1992-03-04 | 1992-09-09 | 孙国生 | Animal toy catapult gun |
| EP1300183A1 (en) * | 2001-10-02 | 2003-04-09 | Joachim Steffen Udo Schweizer | Jet-propelled catapult device |
| CN2702765Y (en) * | 2004-06-30 | 2005-06-01 | 喻天健 | Ejection type ball shape drop recreational parachute |
| CN200965448Y (en) * | 2006-10-27 | 2007-10-24 | 哈尔滨工程大学 | Three rubber bands rail gun drum shooting mechanism |
-
2006
- 2006-10-27 CN CN2006101509508A patent/CN1945197B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2054363U (en) * | 1989-09-09 | 1990-03-14 | 蒋晓 | Ejection type toy pistol |
| CN2115510U (en) * | 1992-03-04 | 1992-09-09 | 孙国生 | Animal toy catapult gun |
| EP1300183A1 (en) * | 2001-10-02 | 2003-04-09 | Joachim Steffen Udo Schweizer | Jet-propelled catapult device |
| CN2702765Y (en) * | 2004-06-30 | 2005-06-01 | 喻天健 | Ejection type ball shape drop recreational parachute |
| CN200965448Y (en) * | 2006-10-27 | 2007-10-24 | 哈尔滨工程大学 | Three rubber bands rail gun drum shooting mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111111131A (en) * | 2019-12-23 | 2020-05-08 | 南昌大学 | Linear high-throw flying disc device |
| CN111111131B (en) * | 2019-12-23 | 2021-05-07 | 南昌大学 | Linear high-throw flying disc device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1945197A (en) | 2007-04-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1945197B (en) | Three elastic band rail gun barrel type launching mechanism | |
| US4995371A (en) | Ball throwing machine | |
| CN106474713B (en) | A kind of ballistic path direction track controlled emitters using wheat wheel as chassis with rotary head | |
| US5415150A (en) | Apparatus for projecting a ball | |
| CN110193181B (en) | Ball serving equipment for sports table tennis training | |
| CN214913226U (en) | Football with-ball obstacle training service robot | |
| CN111111131B (en) | Linear high-throw flying disc device | |
| US10881940B1 (en) | Belt driving ball sports training machine | |
| US11512924B1 (en) | Bow assembly with movable winding assembly | |
| CN101234703B (en) | Double rubberbands four sliding rails arrow type ejection mechanism | |
| US4015578A (en) | Ball throwing apparatus | |
| CN110711371A (en) | Tennis training device for training tennis player reaction | |
| CN200965448Y (en) | Three rubber bands rail gun drum shooting mechanism | |
| CN111803895B (en) | Volleyball training device | |
| KR920004351B1 (en) | Batting exerciser | |
| CN211025057U (en) | Location ball training ware | |
| CN215232013U (en) | Ball throwing mechanism | |
| CN106474714B (en) | A kind of transmitter that ballistic trajectory is controllable | |
| CN115040857A (en) | Service apparatus for basketball | |
| CN210251143U (en) | Adjustable ball discharging device | |
| CN106799043B (en) | Intelligent desktop football machine | |
| CN113856182B (en) | Ball serving device for college sports shooting training | |
| CN212757157U (en) | Special training device for basketball pass | |
| US20230338810A1 (en) | Portable fielding system | |
| CN111973965B (en) | Volleyball training service robot capable of periodically and circularly serving and receiving |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110803 Termination date: 20151027 |
|
| EXPY | Termination of patent right or utility model |