CN103736265A - Direction coding positioning method and control device of ball serving machine - Google Patents
Direction coding positioning method and control device of ball serving machine Download PDFInfo
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Abstract
The invention relates to the technical field of automatic ball serving machines in small ball type sports of table tennis or tennis and the like, and provides a direction coding positioning control device of a ball serving machine. According to the device, the ball serving point can be set at will, the change of the ball serving angle can be controlled at will, when a machine head assembly is affected by external force, the device can not normally work, and after the external force disappears, the device can be automatically reset and return to work. The device structurally comprises a driving mechanism and a positioning mechanism, wherein the positioning mechanism is in control connection with the driving mechanism, and the positioning mechanism comprises a control circuit and a coder which confirms the position information of the machine head assembly and feeds back the position information of the machine head assembly to a control circuit board. The control circuit board is in control connection with the driving mechanism. A code is set for each ball serving point of the machine head assembly through the coder, the code of each ball serving point has uniqueness and is different from other codes of the other ball serving points, therefore, the position information of the machine head assembly can be confirmed for the driving mechanism according to the codes so that the driving mechanism can accurately edit the falling points of a ball.
Description
Technical field
The present invention relates to the bead type games automatic pitching machine technical fields such as table tennis or tennis, say more specifically a kind of direction encoding localization method and control device of service robot.
Background technology
Automatic pitching machine is the conventional a kind of exercise equipment of the little ball game such as table tennis or tennis, for the mode such as regular or random, simulate opponent's service, in certain service angular regions, ball is launched, and the drop point that can edit ball is to reach the object of training.This equipment, generally by the reciprocally swinging of driven by motor nose assembly, is realized out ball laterally or the variation of regulation of longitudinal angle.The time interval and the angle that go out ball are set by the software program of controlling organization, so just can be in described vertical or horizontal sector region, and regular or launch at random ball, to adapt to the use of different training demands.
Existing service robot is divided into a plurality of penalty marks by the mode of programming by service angular regions, and by software control service robot, in that some service, that is put and does not serve a ball, different training programs all to have one independently control program control.All training are the program presetting, and this program can not be interrupted in the process of training, otherwise the position of service is all different from expection with time point, upset the step of training.
But in training at ordinary times, service robot can be subject to the positive action of external force unavoidably, such as being impacted, the ball of returning is hit or the personnel that walked from the side encounter.When nose assembly is encountered, the action of its reciprocally swinging will be prevented from, and machinery is advanced and is prevented from, this random state of software program None-identified of controlling organization, be where None-identified nose assembly stops or deflecting to that position, how reset and restart.Therefore tend to cause programme-control not mate with motion, cause shutdown to adjust again.When there is this situation, often cause termination or the confusion of training, this is that trainer does not wish the situation occurring.
Certainly can adopt special-purpose rotary positioning mechanism to realize the control of drop point, but the rotary positioning mechanism of this special use belong to precision equipment price general charged costliness.
Summary of the invention
Technical problem to be solved by this invention is the defect that overcomes prior art, provide a kind of and can edit arbitrarily falling sphere point, STOCHASTIC CONTROL service angles shifts, and be subject to external force positive action cisco unity malfunction when nose assembly, direction encoding localization method and the control device of the service robot that can automatically reset and resume work after external force disappears.
The present invention is achieved through the following technical solutions above-mentioned purpose:
First the present invention provides a kind of direction encoding localization method of service robot, and rotation error correction in time for host computer control nose assembly, comprise following process:
Cataloged procedure: go out the setting of ball point for N is individual and be no less than 2N+1 coding, each coding has uniqueness, is different from other codings, and each goes out ball point a coding is set, and each goes out ball point both sides a coding is at least respectively set.This process is the setting to service robot in production process, each service robot is preset with a plurality of penalty marks in certain service angle, in order accurately to identify and distinguish the position of these penalty marks, encode in control system these penalty marks, coding and sequential storage thereof are in system.Each coding should have uniqueness, so just can accurately identify and distinguish.The both sides of each coding at least arrange a coding, and this is in order to improve the accuracy of identification, prevents that nose assembly swings in automatically reset process, improve the nose assembly ability of location fast.Certainly, in order further to improve the nose assembly ability of location fast, also a plurality of codings can be set between adjacent penalty mark.
Control procedure: main frame is controlled nose assembly according to pre-set programs and rotated, and read nose assembly physical location coding simultaneously, comparing with target location coding, coupling continues to be undertaken by pre-set programs, does not mate and enters reseting procedure.In the service robot course of work, service robot is all by main frame pre-set programs, to control the divertical motion of nose assembly, after being provided with above-mentioned coding, just can encode to judge whether nose assembly accurately moves according to setting program by reading nose assembly physical location.When effect that nose assembly is subject to strong external force in the course of the work cause stopping or situation about being shifted under, the physical location coding of described nose assembly does not just match with pre-set programs, now just can start reseting procedure nose assembly is resetted.
Reseting procedure: when the current physical location coding of nose assembly does not mate with target location coding, control nose assembly towards the direction motion with target location codes match, until physical location coding and target location codes match are got back to control procedure.Meeting accident cause nose assembly to stop or being shifted in the situation that, main frame only need be controlled nose assembly by original encoding order direction and rotate towards target location, until the physical location of nose assembly coding mates with target code, just can continue the program before interrupting, guarantee the continuity of service robot work.Main frame can be because occurring above-mentionedly surprisingly cannot judge how to continue to shut down yet, or continue wrong program, causes the disorder of training.
The control circuit board of service robot generally adopts Single-chip Controlling, in order to improve the computing capability of single-chip microcomputer, so that applicable service robot rapid movement, and can be occur in unexpected situation can Rapid reset, the process of above-mentioned coupling is more simply better.Therefore, coding described in the inventive method is pressed increasing or decreasing and is distributed, in described reseting procedure, when target location coding is greater than physical location coding, control nose assembly and increase progressively direction motion towards coding, when target location coding is less than physical location coding, control nose assembly towards the coding direction motion of successively decreasing.The comparator of employing that relatively only needs of numerical value just can be realized, and has greatly simplified the process of judgement, shortens computing time, has improved the respond of service robot, reduces the impact on training.
Because the requirement of encoding only need to have uniqueness and not repeat just passable, if the words that different codings is carried out to numerical ordering obviously affect the free degree of coding, in order to overcome this shortcoming, it is the numerical value by one group of increasing or decreasing of coding mapping that coding increasing or decreasing of the present invention distributes, in described reseting procedure, by comparing the size of each corresponding numerical value of encoding, realize the control of the nose assembly direction of motion.Mode by mapping is by the corresponding numerical value of each coding, numerical value can have certain order, and the editor of coding is just very flexible like this, and designer can adopt various ways to encode, such as level switch, grating, optocoupler or mechanical switch etc., there is very high expansion capability.
Described coding adopts and synchronizes the blanking disc of rotation with nose assembly and stop or do not stop that n the formed low and high level of optocoupler signal weave into n position binary coding specifically, the quantity 2N+1 of above-mentioned coding≤
.The advantages such as blanking disc coordinates the encoder mode forming to have flexibility with optocoupler high, and volume is little, good stability.And the figure place of coding is easy to expand, so that the requirement of different service robots has very high adaptability.
The present invention has also designed a kind of direction encoding position control device of service robot, be arranged on the nose assembly of service robot for control serving side to, comprise and drive the nose assembly driving mechanism turning to and the detent mechanism of identifying nose assembly rotational angle, detent mechanism control connection driving mechanism, described detent mechanism comprises control circuit board and confirms nose assembly positional information and feed back nose assembly positional information to the encoder of control circuit board, described control circuit board control connection driving mechanism.Invention goes out ball point by encoder to each of nose assembly and sets a coding, and each coding that goes out ball point has uniqueness, is different from the coding that other go out ball point.So just, the positional information of nose assembly can be confirmed according to coding to driving mechanism, so that driving mechanism can accurately be edited the drop point of ball.In addition, when nose assembly head under strong External Force Acting can not rotate or be subjected to displacement and causes drop point site mistake, encoder can, immediately to driving mechanism feedback position after strong external force is eliminated, make it recover normal work, thereby make head group send correct drop point.
Specifically, described encoder comprises some blanking discs that optocoupler on control circuit board and ring limit are provided with slotted eye that are arranged on, and the motion between the transmitting terminal of optocoupler and receiving terminal of the ring limit of described blanking disc stops or do not stop the signal formation coding of optocoupler.Described blanking disc comprises one or more layers ring limit, and described optocoupler corresponding described ring limit on control circuit board distributes.Move in described ring limit between the transmitting terminal of optocoupler and receiving terminal, when slotted eye moves to optocoupler, signal can pass from slotted eye, and described receiving terminal can be received the signal of transmitting terminal, and this optocoupler is identified as low level (encoder is 0).In like manner, when ring other positions, limit move between transmitting terminal and receiving terminal, signal is encircled avris wall to be stopped, described receiving terminal cannot be received the signal of transmitting terminal, and this optocoupler is identified as high level (being encoded to 1).Utilize the difference of relative position between different slots hole width and optocoupler can realize 2
nindividual binary coding, wherein n is optocoupler quantity.According to the concrete quantity N that goes out ball point, needing the quantity of coding is 2N+1, and the quantity n of corresponding optocoupler is set, 2N+1≤
.Supposing ball point is 7, arranges and is no less than 4 optocouplers, and coding can be selected 15 in 16 binary codings, and supposing ball point is 9, arranges and is no less than 5 optocouplers, and coding can be selected 19 in 32 binary codings, the like.By the slotted eye on blanking disc, coordinate to realize coding with optocoupler, simple in structure, coding is convenient, and discrimination is high, and antijamming capability is strong.
Described driving mechanism comprises for editing main frame and the stepper motor for driving nose assembly to rotate of drop point and receiver head module position information, described main frame comprises that controller is connected with operating case with stepper motor respectively with drive circuit board, and stepper motor drives described blanking disc.In main frame, have an electronics mainboard, electronics mainboard is integrated controller, by operating case editor placement information, and is sent to drive circuit board by information, and drive circuit board can Driving Stepping Motor rotates the angle of nose assembly.By the positional information to encoder, confirm, can drive nose assembly to rotate by Driving Stepping Motor, realize precise positioning.Simultaneously, when nose assembly head under strong External Force Acting can not rotate or be subjected to displacement and causes drop point site mistake, main frame can received code device positional information, Driving Stepping Motor drives nose assembly to recover normal work, thereby makes head group send correct drop point.
Described stepper motor drives described nose assembly to rotate by driven wheel and the cooperation that is arranged on the sector gear on nose assembly, and described blanking disc is synchronizeed and rotated with driven wheel.Concrete structure is that nose assembly is connected with base by rotating disk, and rotating disk top is connected with nose assembly, and sector gear is arranged on rear turret portion, and rotating disk bottom installs on the rotary disk basement of base after putting a bearing.Rotating disk rotates relative to rotary disk basement, realizes nose assembly and rotates and send various placements.
The preferred blanking disc of said structure is connected with driven wheel (can be also Split type structure), is arranged on stepper motor output shaft and synchronously rotates, and greatly reduces encoder and judges disconnected probability by accident.In addition, owing to going out the region of ball, be to be confined in a sector region, rotary disk basement or rotating disk side side have a stopper slot, and rotating disk or rotary disk basement are equipped with a limited post and coordinate with stopper slot.Nose assembly swings total angle and controls on stopper slot by limited post, avoids driven wheel and sector gear to depart from engagement, and limited post can prevent rotating disk and bearing block generation axial displacement simultaneously.
On described rotary disk basement, be also provided with one for the motor fixing plate of stepper motor is installed, motor fixing plate bottom is provided with stepper motor, and stepper motor rotates the driven wheel driving on output shaft and rotates, thereby transmission sector gear is realized nose assembly and rotated.Motor fixing plate and rotary disk basement form one, can guarantee the accuracy of two gear centre distances, reduce noise and improve traveling comfort, simplify mounting process.
The present invention, by coordinating between encoder and optocoupler, goes out ball point to difference different codings is set, and control circuit board goes out ball position accordingly by different code identification.When nose assembly is because collision or other reasons are when causing stopping or falling back or advance, position when described control circuit board can drive nose assembly to go back to unexpected generation by driving mechanism, realizes and resetting, and guarantees the continuity of service robot work.By the optimization to encoder, improve, the present invention can dwindle the volume of whole control device greatly, and improves the precision of identification.This device can not affect other control structures of former service robot for existing service robot is improved, and has very high adaptability.In sum, with respect to prior art, the present invention has outstanding substantive distinguishing features and significant progressive, creative.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention.
Fig. 2 is the STRUCTURE DECOMPOSITION figure of Fig. 1.
Fig. 3 is the structural representation of the blanking disc of embodiment.
The specific embodiment
Below in conjunction with above-mentioned accompanying drawing, for example this patent is described further.The above-mentioned accompanying drawing that the present embodiment adopts for example explanation, only for exemplary illustration, can not be interpreted as the restriction to this patent; For better explanation the present embodiment, some parts of accompanying drawing have omission, zoom in or out, and do not represent the size of actual product; To those skilled in the art, in accompanying drawing some known configurations and explanation thereof may to omit be understandable.
The direction encoding position control device of a kind of service robot as shown in Figure 1, be arranged on the nose assembly 130 of service robot for control serving side to, nose assembly 130 is arranged on base plate connector 140, can rotate relative to base plate connector 140.Described direction encoding position control device comprises the driving mechanism and the detent mechanism of identifying nose assembly 130 rotational angles, detent mechanism control connection driving mechanism that drives nose assembly 130 to turn to.Described detent mechanism comprises control circuit board 111 and encoder specifically, encoder comprises optocoupler 112 and the blanking disc 113 being synchronized with the movement with driving mechanism, described blanking disc 113 ring limits are arranged between the transmitting terminal of optocoupler 112 and receiving terminal and move, and optocoupler 112 feeds back to control circuit board 111 by the positional information of blanking disc 113.Described driving mechanism comprises stepper motor 121 and main frame (not shown), described main frame respectively with stepper motor and control circuit board control connection.Driven wheel 122 and blanking disc 113 are one-body molded, are contained on the output shaft of stepper motor 121 simultaneously.Blanking disc 113 You Lianghuan limits, top (also can encircle limit), ring has slotted eye on limit more.Control circuit board 111 is arranged on blanking disc 113 tops, and corresponding blanking disc 113 is equipped with two rings (also can a ring to many rings) optocoupler 112 on control circuit board 111.This combining structure becomes digital encoder, can play the work that the confidence of main frame input is fed back and confirmed, the positional information of in time nose assembly 130 being rotated offers the integrated manipulator on control circuit board 111.
Concrete structure can be further combined with shown in Fig. 2, nose assembly 130 is connected with base plate connector 140 by rotating disk 131, rotating disk 131 tops are connected with nose assembly 130, there is a sector gear 123 at rotating disk 131 rear portions, rotating disk 131 bottoms install on the rotary disk basement 144 of base plate connector 140 after putting a bearing 143, and described driven wheel 122 drives nose assembly 130 to rotate by sector gear 123.Rotary disk basement 144 sides have a stopper slot 141, and rotating disk 131 is equipped with a limited post 132 and coordinates with stopper slot 141.On described rotary disk basement 144, be also provided with one for the motor fixing plate 142 of detent mechanism and driving mechanism is installed, stepper motor 121 is suspended on the below of motor fixing plate 142, output shaft is through motor fixing plate 142, described blanking disc 113 and driven wheel 122 structure that is formed in one, is arranged on described output shaft.Stepper motor 121 coordinates with sector gear 123 by driven wheel 122, drives nose assembly 130 to rotate with respect to base plate connector 140.Control circuit board 111 is supported on described motor fixing plate 142, and the ring limit that optocoupler 112 is the corresponding blanking disc 113 of inside loop and outside loop is distributed in the below of control circuit board 111, tips upside down on described blanking disc 113 tops.
The detailed structure of blanking disc 113 as shown in Figure 3, described blanking disc 113 is blanking disc structure, blanking disc comprises inner layer ring limit 115 and outer layer ring limit 114, and in above-mentioned optocoupler 112, two optocouplers 112 coordinate with inner layer ring limit 115, and four optocouplers 112 coordinate with outer layer ring limit 114.Move in described ring limit between the transmitting terminal of optocoupler 112 and receiving terminal, when slotted eye moves to optocoupler 112, signal can pass from slotted eye, and described receiving terminal can be received the signal of transmitting terminal, and this optocoupler 112 is identified as low level (encoder is 0).In like manner, when ring other positions, limit move between transmitting terminal and receiving terminal, signal is encircled avris wall to be stopped, described receiving terminal cannot be received the signal of transmitting terminal, and this optocoupler 112 is identified as high level (being encoded to 1).Utilize the difference of relative position between different slots hole width and optocoupler can realize 2
nindividual binary coding, wherein n is optocoupler quantity.The coding of different penalty marks is all different from other positions, so control circuit board 111 can accurately be identified the position that nose assembly 130 rotates.
The course of work that said mechanism is concrete is as follows, and described stepper motor 121 drives nose assembly 130 to swing back and forth with respect to base plate connector 140, passes through successively each penalty mark, and the coded sequence of pressing of penalty mark is arranged.The in the situation that of normal work, control circuit board 111 can be identified this order, and carries out work by the program of setting, such as being set in penalty mark A service, penalty mark B service, penalty mark C does not serve a ball, penalty mark D service, penalty mark E service, penalty mark F does not serve a ball, and penalty mark G does not serve a ball, etc.Like this, the action of each penalty mark is fixed, and has guaranteed the order of training, and the position of penalty mark is fixed, and can not cause the deviation in training because of the program time difference and mechanical movement error.
When nose assembly 130 is collided, such as being subject on D position under the positive action of strong external force and while stopping.Now control circuit board 111 compares the size of coding and the pre-set programs coding of nose assembly 130 current locations, just can know the direction of motion of nose assembly 130, therefore can drive nose assembly 130 motions to get back to D position by stepper motor 121, and continuing training program by original rotation direction, the collision that has realized nose assembly 130 resets.
For the ease of the design of blanking disc, dwindle the volume of detent mechanism, and prevent the interference between each optocoupler, in the present embodiment, preferably include 5 optocouplers, described blanking disc comprises inside and outside two-layer ring limit, and 2 optocouplers coordinate with inner layer ring limit, and 3 optocouplers coordinate with outer layer ring limit.By the structure of layering, can dwindle the area of blanking disc, the more optocoupler that can distribute in same area, for more go out ball point.
In said structure, for preventing phase mutual interference between 5 optocouplers, and ensure on blanking disc and have enough spaces for slotted eye is set, the line of the corresponding optocoupler in described interior side ring limit is mutually vertical with the line of the corresponding optocoupler in outer ring limit.Soly on interior ring limit, only arrange 2 optocouplers, arrange 3 optocouplers in outer annular edge, stagger 90 ° between optocoupler, the alignment of ectonexine optocoupler, is the best distribution mode of 5 optocouplers.
5 optocouplers can provide at most 15 to go out ball point, and binary coding is chosen Gray code and prevented encoding error, as puts as shown in table:
| Penalty mark | Left hand edge | Penalty mark 1 | Interval | Penalty mark 2 | Interval | Penalty mark 3 | …… | Penalty mark 15 | Right hand edge |
| Coding | 00001 | 01001 | 00101 | 11010 | 10001 | 00111 | …… | 01011 | 10100 |
| Numerical value | 5 | 10 | 15 | 20 | 25 | 30 | …… | 150 | 155 |
The nose assembly of supposing service robot is subject to the effect of strong external force and is shifted, now, according to next penalty mark of pre-set programs, it is penalty mark 3, it is target location zebra 00111, when corresponding numerical value is 30, the physical location coding 00101 of the nose assembly now reading, i.e. interval location between penalty mark 1 and 2, corresponding numerical value is 15.Control circuit board is the numerical value of physical location coding mapping and the numerical value of target location coding mapping relatively, 15 < 30, control circuit board sends order to main frame, makes host computer control nose assembly increase progressively direction motion to numerical value, reset, i.e. 15-20-25-30.In the process of motion, encoder is to control circuit board feedback position information coding, control circuit board constantly by obtained physical location coding and target location encoding ratio, until nose assembly moves to penalty mark 3, be physical location coding 00111, vertical 30 of corresponding vertical 30=target location coding mapping.So far, reset complete, service robot can continue to move by pre-set programs.
Can certainly save the quantity of optocoupler, such as only comprising 4 optocouplers, described blanking disc comprises one deck ring limit, staggers 90 ° between optocoupler.This distribution mode, can provide at most 7 to go out ball point, as put as shown in table:
| Penalty mark | Left hand edge | Penalty mark 1 | Interval | Penalty mark 2 | Interval | Penalty mark 3 | …… | Penalty mark 7 | Right hand edge |
| Coding | 1001 | 1100 | 0101 | 1010 | 1111 | 0110 | …… | 0000 | 0111 |
| Numerical value | 2 | 4 | 6 | 8 | 10 | 12 | …… | 28 | 30 |
In above-mentioned accompanying drawing, describe position relationship for only for exemplary illustration, can not be interpreted as the restriction to this patent; Obviously, the above embodiment of the present invention is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without also giving all embodiments.All any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in the protection domain of the claims in the present invention.
Claims (10)
1. a direction encoding localization method for service robot, rotation error correction in time for host computer control nose assembly, is characterized in that comprising following process:
Cataloged procedure: go out the setting of ball point for N is individual and be no less than 2N+1 coding, each coding has uniqueness, is different from other codings, and each goes out ball point a coding is set, and each goes out ball point both sides a coding is at least respectively set;
Control procedure: main frame is controlled nose assembly according to pre-set programs and rotated, and read nose assembly physical location coding simultaneously, comparing with target location coding, coupling continues to be undertaken by pre-set programs, does not mate and enters reseting procedure;
Reseting procedure: when the current physical location coding of nose assembly does not mate with target location coding, control nose assembly towards the direction motion with target location codes match, until physical location coding and target location codes match are got back to control procedure.
2. the direction encoding localization method of service robot according to claim 1, it is characterized in that described coding distributes by increasing or decreasing, in described reseting procedure, when target location coding is greater than physical location coding, control nose assembly and increase progressively direction motion towards coding, when target location coding is less than physical location coding, control nose assembly towards the coding direction motion of successively decreasing.
3. the direction encoding localization method of service robot according to claim 2, it is characterized in that it is the numerical value by one group of increasing or decreasing of coding mapping that described coding increasing or decreasing distributes, in described reseting procedure, by comparing the size of each corresponding numerical value of encoding, realize the control of the nose assembly direction of motion.
4. according to the direction encoding localization method of the service robot described in claim 1 ~ 3 any one, it is characterized in that described coding adopts synchronizes the blanking disc of rotation and stops or do not stop that n the formed low and high level of optocoupler signal weave into n position binary coding with nose assembly, the quantity 2N+1 of above-mentioned coding≤
.
5. the direction encoding position control device of a service robot, be arranged on the nose assembly of service robot for control serving side to, comprise and drive the nose assembly driving mechanism turning to and the detent mechanism of identifying nose assembly rotational angle, detent mechanism control connection driving mechanism, it is characterized in that described detent mechanism comprises control circuit board and confirms nose assembly positional information and feed back nose assembly positional information to the encoder of control circuit board, described control circuit board control connection driving mechanism.
6. the direction encoding position control device of service robot according to claim 5, it is characterized in that described encoder comprises some blanking discs that optocoupler on control circuit board and ring limit are provided with slotted eye that are arranged on, the motion between the transmitting terminal of optocoupler and receiving terminal of the ring limit of described blanking disc stops or does not stop the signal formation coding of optocoupler.
7. the direction encoding position control device of service robot according to claim 6, it is characterized in that described driving mechanism comprises main frame and the stepper motor for driving nose assembly to rotate, described main frame respectively with stepper motor and control circuit board control connection, stepper motor drives described blanking disc.
8. the direction encoding position control device of service robot according to claim 7, it is characterized in that described stepper motor drives described nose assembly to rotate by driven wheel and the cooperation that is arranged on the sector gear on nose assembly, described blanking disc is synchronizeed and is rotated with driven wheel.
9. according to the direction encoding position control device of the service robot described in claim 5 to 8 any one, it is characterized in that described blanking disc comprises one or more layers ring limit, described optocoupler corresponding described ring limit on control circuit board distributes.
10. the direction encoding position control device of service robot according to claim 9, is characterized in that described blanking disc comprises inside and outside two-layer ring limit, and the inside and outside two-layer ring of optocoupler correspondence limit is uniformly distributed.
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| CN108371804A (en) * | 2018-03-31 | 2018-08-07 | 平湖市酷风文体用品有限公司 | It serves a ball in a kind of tennis serve machine the upper-lower position on device in channel |
| CN108525268A (en) * | 2018-06-04 | 2018-09-14 | 四川大学 | A kind of service robot that can freely control table tennis rotary state |
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| CN101147040A (en) * | 2005-03-21 | 2008-03-19 | 张和 | Digitally controlled, user programmable and field relocatable table tennis robot |
| CN201727930U (en) * | 2010-08-03 | 2011-02-02 | 东南大学 | Tennis racket swinging action teaching and learning platform |
| WO2013151236A1 (en) * | 2012-04-04 | 2013-10-10 | 주식회사 에치케이텍 | Pitching machine |
| CN203648014U (en) * | 2013-12-20 | 2014-06-18 | 黄澳祺 | Direction coding and positioning control device of pitching machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108371804A (en) * | 2018-03-31 | 2018-08-07 | 平湖市酷风文体用品有限公司 | It serves a ball in a kind of tennis serve machine the upper-lower position on device in channel |
| CN108525268A (en) * | 2018-06-04 | 2018-09-14 | 四川大学 | A kind of service robot that can freely control table tennis rotary state |
| CN108525268B (en) * | 2018-06-04 | 2023-10-31 | 四川大学 | A ball server capable of freely controlling the rotation state of table tennis balls |
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