CN211097425U - Table tennis service robot for training - Google Patents
Table tennis service robot for training Download PDFInfo
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- CN211097425U CN211097425U CN201921373492.3U CN201921373492U CN211097425U CN 211097425 U CN211097425 U CN 211097425U CN 201921373492 U CN201921373492 U CN 201921373492U CN 211097425 U CN211097425 U CN 211097425U
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Abstract
The utility model provides a table tennis service robot is used in training, include: the ball storage mechanism mainly comprises a wheel disc and a platform structure which is arranged below the wheel disc and connected with a ball inlet of the conveying mechanism, the conveying mechanism mainly comprises a conveying pipe and a built-in spiral structure, the ball serving mechanism mainly comprises a ball serving barrel, a pitching mechanism for controlling the serving height of the table tennis and a swinging mechanism for controlling the table tennis to swing left and right, and the moving mechanism is provided with a track with the length being the same as the width of the table tennis table, a bearing wheel, a clamp for fixing a part to be served in the ball serving mechanism and a connecting strip for connecting the clamp and the bearing wheel. The utility model discloses the service type is comprehensive, simple structure, but reduce cost avoids blocking the ball.
Description
Technical Field
The utility model relates to a table tennis service equipment field especially relates to a table tennis service machine is used in training.
Background
The existing table tennis service robot has various classification modes.
The method is divided into two types according to control types: one is a semi-automatic, simple series of operations. The rotating angle of the machine head needs to be manually adjusted to realize various rotating balls, and the machine head needs to be manually lifted or lowered to adjust the range radian of the balls. The pitching machine has single function, can not realize various ball path changes, and has complex operation. The other is a basic automatic, computer programming series of operations. The operation system of the service robot needs to set contents to realize the operation of each function, and the service robot can send balls with various changes, but has larger equipment, inconvenient use and higher price. Moreover, the type of the pitching machine cannot be changed according to the requirements of the field, and only a fixed vertical type or a desktop type is adopted.
The table tennis ball launching device is divided into two types according to the transportation type, one type is an air pump type, the table tennis ball is pushed into the launching device by using air pressure, the efficiency is high, but the noise is large and the loss is high. The other type is ejection type, namely, the table tennis balls are ejected into the ball serving mechanism one by utilizing the elastic potential energy of a spring, the efficiency is low, but the manufacturing cost is low.
The air pump type and the pop-up type, which are two types commonly used at present, have the following defects:
1) because the existing table tennis serving machine is usually provided with only one simple ball inlet in a storage mechanism, two or more table tennis balls can simultaneously flow towards the ball inlet during serving, so that the table tennis is blocked;
2) due to the structural limitation, the service of the table tennis is orderly, and the second table tennis can be sent after the previous table tennis is sent out; however, table tennis balls which are not limited to move can continuously enter the conveying mechanism because the table tennis balls enter the conveying mechanism disorderly, and the launching mechanism can cause the blockage in the cavity of the conveying mechanism because the too many table tennis balls cannot be launched.
3) The existing service mode can only serve at fixed points, is not in line with the actual situation and has low simulation degree.
Therefore, in view of the above, there is a need to provide a new table tennis ball serving machine to solve the deficiencies of the prior art.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned technical problems, a table tennis service robot for training is provided. The utility model discloses mainly utilize and store up ball mechanism and transport mechanism and store and orderly transportation table tennis, through the cooperation of moving mechanism and service mechanism, utilize the motion synthesis to realize that the table tennis is from different position, co-altitude to serve. The utility model discloses a technical means as follows:
a training table tennis service robot comprising:
the table tennis ball storage mechanism mainly comprises a wheel disc and a platform structure which is arranged below the wheel disc and is connected with a ball inlet of the transportation mechanism, the wheel disc is connected with a base of the gearbox through a long shaft, the wheel disc is provided with an inclined surface and used for table tennis balls to roll down to holes in the edge of the wheel disc through the inclined surface and to be caught by the platform structure, and when the wheel disc rotates to the state that the holes are overlapped with the ball inlet, the table tennis balls enter the transportation mechanism;
the conveying mechanism mainly comprises a conveying pipe and a built-in spiral structure, the screw pitch of the spiral structure is the diameter of the table tennis ball, one end of the spiral structure is connected with the first motor, the other end of the spiral structure is connected with the ball serving mechanism, and the table tennis ball is pushed into the ball serving mechanism in the continuous rotating process;
the table tennis ball serving mechanism mainly comprises a table tennis barrel, a pitching mechanism for controlling the table tennis ball serving height and a swinging mechanism for controlling the table tennis ball to swing left and right, wherein the table tennis barrel comprises a launching part and a part to be served, the launching part is connected with the part to be served through a hinged shaft, and the part to be served is communicated with a conveying pipe of the conveying mechanism and used for temporarily storing the table tennis balls conveyed in place; the pitching motor base is provided with three gears which are meshed with each other and driven by a pitching motor, wherein a non-central point of an output gear is connected with one end of a connecting rod, the other end of the connecting rod is connected with the swinging motor base, and the swinging motor base is connected with a ball inlet of the launching part;
the swing mechanism is provided with a long rod connected with a swing motor, and the other end of the long rod is connected with a launching part of the ball launching tube;
when the pitching machine works, the long rod is driven to rotate by the forward and reverse rotation of the swing motor, so that the launching part is driven to swing within a certain included angle through the long rod, and the launching direction of the table tennis is controlled; after the pitching motor is started, the speed is regulated through the gear set, one end of the connecting rod connected with the gear performs circular motion, and the other end drives the swing motor base and the launching part to perform circular reciprocating motion in the vertical direction, so that the serving height of the table tennis is controlled;
the pitching machine is also provided with a moving mechanism, the moving mechanism is provided with a track with the length being the same as the width of the table tennis table, a bearing wheel arranged in the bearing wheel shell, a clamp used for fixing a part to be pitched in the pitching mechanism and a connecting strip used for connecting the clamp and the bearing wheel, travel switches are arranged at two ends of the track, and the movement of the bearing wheel is controlled through the forward and reverse rotation of a second motor, so that a pitching point is controlled.
Furthermore, the swing mechanism is provided with sector teeth meshed with a motor gear in the swing motor base on the swing motor base, and the sector teeth are connected with the launching part of the ball dispensing cylinder through a long rod.
Furthermore, the swinging angle of the launching part is-30 degrees, when the ball serving mechanism moves to the leftmost end or the rightmost end of the track, the left-right rotation of the launching part enables the ball serving machine to rotate to serve balls rightwards or leftwards in the horizontal direction, and when the balls are served to the opposite angle of the leftmost end or the rightmost end, the swinging angle of the launching part reaches the maximum value of 30 degrees; when the ball serving mechanism moves between the leftmost end and the rightmost end of the track to serve, the swinging angle of the launching part in the horizontal direction is between-30 degrees and 30 degrees.
Furthermore, the rotation angle of the circular reciprocating motion of the launching part in the vertical direction is-15-25 degrees, namely the launching part performs the circular reciprocating motion up and down in the vertical direction around a hinge shaft, the maximum rotation angle in the circumferential direction is 25 degrees, and the ball serving landing point is farthest away from a ball net; the angle of rotation in the circumferential direction is 15 deg. at the maximum, when the ball-serving landing point is closest to the net.
Furthermore, a double friction wheel used for launching the table tennis at a certain initial speed is arranged at the ball outlet of the launching part.
Furthermore, the included angle between the inclined plane of the wheel disc and the horizontal plane is 100-120 degrees.
Further, the spiral structure is a spring or a spiral plastic PC hose, the outer part of the spring is sleeved with the hose.
Furthermore, the hole is equipped with 2 at least, and the equal angle setting.
Furthermore, the ball storage mechanism is funnel-shaped, and the side wall of the bottom end of the ball storage mechanism is provided with an intermittent ball poking rod so as to solve the problem of ball clamping at the ball serving port.
Compared with the prior art, the utility model has the advantages of it is following:
1. the utility model provides a table tennis service robot for training, which adopts a movable service mechanism and utilizes the motion synthesis to realize the service of table tennis from different directions, so that athletes can be closer to actual combat during training; the movement between each table tennis is more orderly due to the wheel disc storage and the spiral transportation, so that the table tennis blocking rate is reduced, and the training continuity of athletes can be ensured. The service type is comprehensive, the structure is simple, the cost can be reduced, and the practical application effect is more considerable.
2. The utility model provides a table tennis service robot is used in training adopts and stores up ball mechanism, and the table tennis rolls via the inclined plane and falls to the hole at rim plate edge in the middle of, is caught by the platform structure under the rim plate again, prepares to get into transport mechanism. Because the wheel disc continuously rotates, the ball cannot be jammed.
3. The utility model provides a table tennis service robot is used in training, the spring that adopts among the helical structure has certain elasticity, and the hose of adoption has fine plasticity. When self gravity or external force are too large, the spring can generate deformation, the hose can be well attached to the generated deformation, and the damage degree of the gravity and the external force to the structure is reduced to a great extent by matching the two materials. The adopted molding pc material can not only reduce the manufacturing cost, but also has no negative effects such as rust deformation and the like without metallicity. And the spiral structure is stable and orderly transported, and the problem of accumulation in the table tennis transporting cavity is completely eliminated.
Based on the reason, the utility model discloses can extensively promote in fields such as table tennis service equipment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural view of the connection between the serving mechanism and the moving mechanism of the present invention.
Fig. 2 is a schematic structural view of the connection between the serving mechanism and the transportation mechanism of the present invention.
Fig. 3 is a schematic structural view of the middle service mechanism of the present invention.
Fig. 4 is a schematic side view of the ball serving mechanism of the present invention.
Fig. 5 is a schematic structural diagram of the middle moving mechanism of the present invention.
Fig. 6 is a schematic view of a partial structure of the middle moving mechanism of the present invention.
Fig. 7 is a schematic structural view of the ball storage mechanism of the present invention.
Fig. 8 is a left side view of the ball storage mechanism of the present invention.
Fig. 9 is a schematic structural view of the connection between the ball storage mechanism and the transportation mechanism of the present invention.
Fig. 10 is a schematic structural view of the middle transportation mechanism of the present invention.
Fig. 11 is a cross-sectional view of the middle transport mechanism of the present invention.
In the figure: 1. a track; 2. a minor axis; 3. a load wheel housing; 4. a connecting strip; 5. a clamp; 6. a pitching motor base; 7. a friction wheel; 8. a transmitting section; 9. a swing motor base; 10. a pitch motor; 11. a bearing housing; 12. a hair waiting part; 13. a transport pipe; 14. an output gear; 15. a connecting rod; 16. a load wheel; 17. a wheel disc; 18. a long axis; 19. a gearbox cover; 20. a platform structure; 21. a gearbox base; 22. a helical structure; 23. a long rod; 24. sector-shaped teeth; 25. a hole; 26. a motor gear.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
A training table tennis service robot comprising:
the ball storage mechanism mainly comprises a wheel disc 17 and a platform structure 20 arranged below the wheel disc and connected with a ball inlet of the conveying mechanism, wherein the wheel disc 17 is connected with a gearbox base 21 positioned below through a long shaft 18, the gearbox base is sealed by a gearbox cover 19, the wheel disc 17 is provided with an inclined plane and used for allowing table tennis balls to roll down to a hole 25 in the edge of the wheel disc 17 through the inclined plane and be received by the platform structure 20, and when the wheel disc 17 rotates to enable the hole 25 to coincide with the ball inlet, the table tennis balls enter the conveying mechanism;
the conveying mechanism mainly comprises a conveying pipe 13 and a built-in spiral structure 22, the thread pitch of the spiral structure 22 is the diameter of a table tennis ball, one end of the spiral structure 22 is connected with a first motor, the other end of the spiral structure is connected with the ball serving mechanism, and the table tennis ball is pushed into the ball serving mechanism in the continuous rotating process;
the pitching mechanism mainly comprises a pitching barrel, a pitching mechanism for controlling the height of the table tennis, and a swinging mechanism for controlling the table tennis to swing left and right, wherein the pitching barrel comprises a launching part 8 and a part to be launched 12, the launching part 8 is an L-shaped launching tube, the part to be launched 12 is a straight pipe to be launched, the launching part 8 is connected with the part to be launched 12 through a hinged shaft, the part to be launched 12 is communicated with a conveying pipe 13 of the conveying mechanism and used for temporarily storing and conveying the table tennis in place, the part to be launched 12 is connected with a pitching motor base 6 of the pitching mechanism, three gears are meshed with each other on the pitching motor base 6 and driven by a pitching motor 10, the non-central point of an output gear 14 is connected with one end of a connecting rod 15, the other end of the connecting rod 15 is connected with the swinging motor base 9, and the swinging motor base 9 is connected with a ball inlet of the launching part 8;
the swing mechanism is provided with a long rod 23 connected with a swing motor, and the other end of the long rod 23 is connected with a launching part 8 of the service barrel;
when the pitching machine works, the long rod 23 is driven to rotate by the forward and reverse rotation of the swing motor, so that the long rod 23 drives the launching part 8 to swing within a certain included angle, and the launching direction of table tennis is controlled; after the pitching motor 10 is started, the speed is regulated through a gear set, one end of the connecting rod 15 connected with the gear performs circular motion, and the other end drives the swing motor base 9 and the launching part 8 to perform circular reciprocating motion in the vertical direction, so that the serving height of the table tennis is controlled;
the pitching machine is also provided with a moving mechanism, the moving mechanism is provided with a track 1 with the length being the same as the width of the table tennis table, a bearing wheel 16 arranged inside the bearing wheel shell 3, a clamp 5 for fixing a part to be pitched 12 in the pitching mechanism and a connecting strip 4 for connecting the clamp 5 with the bearing wheel 16, wherein the clamp 5 is a jacket, the connecting strip 4 is connected to a short shaft 2 arranged at the center of the bearing wheel 16 through a bearing sleeve 11, travel switches are arranged at two ends of the track 1, and the movement of the bearing wheel 16 is controlled through the forward and reverse rotation of a second motor, so that a pitching point is controlled.
The swing angle of the launching part 8 in the embodiment is-30 degrees to-30 degrees, when the service mechanism moves to the leftmost end or the rightmost end of the track 1, the service machine is rotated rightwards or leftwards in the horizontal direction to serve the balls by the left-right rotation of the launching part 8, and when the service machine serves the balls at the opposite angle of the leftmost end or the rightmost end, the swing angle of the launching part 8 reaches the maximum value of 30 degrees; when the ball serving mechanism moves between the leftmost end and the rightmost end of the track 1 to serve balls, the swing angle of the launching part 8 in the horizontal direction reaches between-30 ° and 30 °.
The rotation angle of the circumferential reciprocating motion of the launching part 8 in the vertical direction in the embodiment is 25 degrees, which means that the launching part performs the circumferential reciprocating motion up and down in the vertical direction around the hinge shaft, the maximum rotation angle in the circumferential direction is 25 degrees, and the ball serving landing point is farthest away from a ball net; the angle of rotation in the circumferential direction is 15 deg. at the maximum, when the ball-serving landing point is closest to the net.
The ball outlet of the launching part 8 in this embodiment is provided with a double friction wheel 7 for launching the table tennis at a certain initial speed.
The angle between the inclined surface of the wheel disc 17 and the horizontal plane in this embodiment is 120 °.
The helical structure 22 in this embodiment is a spring externally sleeved with a hose.
In this embodiment, there are 2 holes 25, which are arranged at equal angles of 180 °.
Example 2
Unlike embodiment 1, the swing mechanism in this embodiment is provided with a sector gear 24 on its swing motor base 9, which engages with a motor gear 26 in the swing motor base 9, and the sector gear 24 is connected to the launching section 8 of the barrel through a long rod 23. When the pitching machine works, the forward and reverse rotation of the swing motor drives the sector-shaped teeth 24 to rotate, the sector-shaped teeth 24 drive the long rod 23 to rotate, so that the long rod 23 drives the launching part 8 to swing within a certain included angle, and the launching direction of table tennis is controlled; after the pitching motor 10 is started, the speed is regulated through the gear set, one end of the connecting rod 15 connected with the gear performs circular motion, and the other end drives the swing motor base 9 and the launching part 8 to perform circular reciprocating motion in the vertical direction, so that the serving height of the table tennis is controlled.
The angle between the inclined surface of the wheel disc 17 and the horizontal plane in this embodiment is 100 °.
The helical structure 22 in this embodiment is a plastic PC hose in the form of a helix.
In this embodiment, there are 3 holes 25, which are arranged at 120 ° equal angles.
Example 3
Different from the embodiment 1, the ball storage mechanism in the embodiment is in a funnel shape, and the side wall of the bottom end of the ball storage mechanism is provided with the ball poking rod which moves intermittently, so that the problem of ball clamping of the ball serving port is solved.
Example 4
Considering that when the service robot serves balls in movement, the track 1 and the service mechanism may vibrate to greatly affect the service stability and cannot well improve the condition, so that the conventional moving full-coverage service robot replaces the dual-service full-coverage service robot to serve balls, namely, the two service mechanisms are respectively fixed at the middle positions of a left half ball table and a right half ball table through fixing devices, the service angle of a transmitting part 8 in each service mechanism is adjusted, so that a service falling point is covered on the whole table top, although an unfixed point-to-point ball mode is abandoned, the uncertainty of the service point is realized to a certain extent by the dual-head structure, and the service of the table tennis balls from different directions is realized.
In the embodiment, the swinging angle of the launching part 8 of the ball serving mechanism positioned in the middle of the left half-side table is-15 to 25 degrees, the left and right rotation of the launching part 8 enables the ball serving machine to rotate leftwards or rightwards in the horizontal direction for serving balls, when the balls are served at the diagonal position of the rightmost end or the leftmost end, the maximum angle of the left rotation of the launching part 8 is 15 degrees, and the maximum angle of the right rotation is 25 degrees.
In the embodiment, the swinging angle of the launching part 8 of the launching mechanism positioned in the middle of the right half table is-25 to 15 degrees, the left and right rotation of the launching part 8 enables the pitching machine to rotate leftwards or rightwards in the horizontal direction for pitching, when pitching towards the diagonal position of the rightmost end or the leftmost end, the maximum angle of the launching part 8 rotating leftwards is 25 degrees, and the maximum angle of the right rotation is 15 degrees.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (9)
1. The utility model provides a table tennis service robot is used in training which characterized in that includes:
the table tennis ball storage mechanism is composed of a wheel disc (17) and a platform structure (20) which is arranged below the wheel disc and connected with a ball inlet of the transportation mechanism, the wheel disc (17) is connected with a gearbox base (21) through a long shaft (18), the wheel disc (17) is provided with an inclined plane, a table tennis ball rolls down to a hole (25) in the edge of the wheel disc (17) through the inclined plane and is received by the platform structure (20), and when the wheel disc (17) rotates to the state that the hole (25) is overlapped with the ball inlet, the table tennis ball enters the transportation mechanism;
the conveying mechanism consists of a conveying pipe (13) and a built-in spiral structure (22), the thread pitch of the spiral structure (22) is one table tennis ball diameter, one end of the spiral structure (22) is connected with a first motor, the other end of the spiral structure is connected with the ball serving mechanism, and the table tennis ball is pushed into the ball serving mechanism in the continuous rotating process;
the table tennis ball serving mechanism comprises a table tennis ball serving barrel, a pitching mechanism for controlling the table tennis ball serving height and a swinging mechanism for controlling the table tennis ball to swing left and right, wherein the table tennis ball serving barrel comprises a launching part (8) and a part to be launched (12), the launching part (8) is connected with the part to be launched (12) through a hinged shaft, and the part to be launched (12) is communicated with a conveying pipe (13) of the conveying mechanism and used for temporarily storing the table tennis balls conveyed in place; the pitching mechanism is characterized in that the part to be launched (12) is connected with a pitching motor base (6) of the pitching mechanism, three gears are meshed with each other on the pitching motor base (6) and driven by a pitching motor (10), wherein a non-central point of an output gear (14) is connected with one end of a connecting rod (15), the other end of the connecting rod (15) is connected with a swinging motor base (9), and the swinging motor base (9) is connected with a ball inlet of a launching part (8);
the swing mechanism is provided with a long rod (23) connected with a swing motor, and the other end of the long rod (23) is connected with a launching part (8) of the ball launching tube;
when the pitching machine works, the forward and reverse rotation of the swing motor drives the long rod (23) to rotate, so that the long rod (23) drives the launching part (8) to swing, and the launching direction of table tennis is controlled; after the pitching motor (10) is started, the speed is regulated through a gear set, one end of the connecting rod (15) connected with the gear performs circular motion, and the other end drives the swing motor base (9) and the launching part (8) to perform circular reciprocating motion in the vertical direction, so that the serving height of the table tennis is controlled;
the pitching machine is also provided with a moving mechanism, the moving mechanism is provided with a track (1) with the length being the same as the width of the table, a bearing wheel (16) arranged in the bearing wheel shell (3), a clamp (5) used for fixing a part (12) to be pitched in the pitching mechanism and a connecting strip (4) used for connecting the clamp (5) and the bearing wheel (16), travel switches are arranged at two ends of the track (1), and the movement of the bearing wheel (16) is controlled through the forward and reverse rotation of a second motor, so that a pitching point is controlled.
2. A training table tennis service robot as claimed in claim 1, wherein said swing mechanism is provided with sector-shaped teeth (24) on its swing motor mount (9) which engage with a motor gear (26) in the swing motor mount (9), said sector-shaped teeth (24) being connected to the launching section (8) of the service drum by means of a long rod (23).
3. A training table tennis server according to claim 1, wherein the swing angle of the launching section (8) is-30 ° to 30 °.
4. A training table tennis ball serving machine according to claim 1 or 3, wherein the rotation angle of the circular reciprocating motion of the launching section (8) in the vertical direction is-15 ° to 25 °.
5. A training table tennis service robot as claimed in claim 4, wherein the discharge port of the launching section (8) is provided with a double friction wheel (7) for launching a table tennis ball at an initial velocity.
6. A training table tennis service robot as claimed in claim 1, wherein the angle between the inclined surface of the wheel (17) and the horizontal plane is 100 ° to 120 °.
7. Training table tennis pitching machine according to claim 1, wherein said spiral structure (22) is a spring externally sheathed with a hose or a plastic PC hose in a spiral shape.
8. A training table tennis ball serving machine according to claim 1, wherein at least 2 holes (25) are provided and arranged at equal angles.
9. A training table tennis ball serving machine as claimed in claim 1, wherein said ball storage means is formed in a funnel shape, and an intermittent ball-poking bar is provided at a side wall of a bottom end thereof.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921373492.3U CN211097425U (en) | 2019-08-22 | 2019-08-22 | Table tennis service robot for training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921373492.3U CN211097425U (en) | 2019-08-22 | 2019-08-22 | Table tennis service robot for training |
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| Publication Number | Publication Date |
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| CN211097425U true CN211097425U (en) | 2020-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921373492.3U Expired - Fee Related CN211097425U (en) | 2019-08-22 | 2019-08-22 | Table tennis service robot for training |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112999631A (en) * | 2021-04-01 | 2021-06-22 | 淮阴工学院 | Badminton training aiding device and training system thereof |
-
2019
- 2019-08-22 CN CN201921373492.3U patent/CN211097425U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112999631A (en) * | 2021-04-01 | 2021-06-22 | 淮阴工学院 | Badminton training aiding device and training system thereof |
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Granted publication date: 20200728 Termination date: 20210822 |