A rope-connected parallel drive control skier auxiliary training system

Abstract

A parallel-drive rope-based auxiliary training system for skiers belongs to the field of sports auxiliary training technology. This system utilizes the adjustable tension, variable stiffness, and high control precision of parallel-drive ropes for ski simulation training. It simulates various external forces experienced by the human body during ski turns, achieving force environment simulation and, to a certain extent, scenario simulation. This allows users to simulate technical skills indoors, improving their mastery of the movements. Four motors each drive a rope to apply external force to the skid and the user's hip joint, forming a parallel-drive rope system. The skid and the user's hip joint are connected by rope tensioning. Each rope is equipped with a tension sensor to measure the tension in real time. A displacement sensor is connected to the skid to monitor its position.

Description

Technical Field

[0001] This invention belongs to the field of sports auxiliary training technology, specifically relating to a rope parallel drive control skier auxiliary training system. Background Technology

[0002] With the development of society and the economy, people's interest in and investment in sports are increasing. Skiing, an outdoor sport, is also receiving more and more attention. Competition in skiing events is becoming increasingly fierce, which requires athletes to conduct more refined and targeted analysis and training of their technical movements, as well as to complete targeted training of the corresponding muscle groups.

[0003] Training in a real-world environment cannot provide precise and targeted analysis, necessitating a comprehensive simulation training system. Traditional training equipment, mostly consisting of an arched base and handrails, is suitable for fitness but limited for athletic training. The handrails restrict freedom of movement, limiting training exercises. This restriction also impacts balance during training. Another type of equipment uses a ski mat to simulate skiing downhill. These simulators are designed as slopes to resemble a ski resort environment, with users training on a ramp. While they allow users to feel the acceleration of a descent, they don't effectively simulate turns, particularly lateral acceleration, and cannot simulate large turns. Furthermore, the equipment is bulky and cumbersome, failing to achieve optimal training results. While both types of equipment offer some environmental simulation capabilities, they don't comprehensively simulate the force environment during movement. This is particularly problematic for athletes requiring more advanced training equipment. Summary of the Invention

[0004] The purpose of this invention is to solve the problem of real-time simulation of external forces in ski training equipment. It provides a skier auxiliary training system with parallel rope drive control. This system utilizes the adjustable tension, variable stiffness, and high control precision of parallel rope drive control for ski simulation training. By simulating various external forces experienced by the human body during ski turns, the system achieves force environment simulation and, to a certain extent, scenario simulation. This allows users to simulate corresponding technical skills indoors, thereby improving their mastery of the relevant movements.

[0005] The technical solution adopted in this invention is:

[0006] A rope-driven parallel control skier training system includes a support frame, a trolley supported by the support frame, four ropes, and four motors. Each of the four motors drives a rope to apply external force to the trolley and the user's hip joint, forming a rope-driven parallel control system. The trolley and the user's hip joint are connected by ropes in a tension-resistance manner. Each rope is equipped with a tension sensor to measure the tension on each rope in real time. The trolley is connected to a displacement sensor to monitor the position of the trolley.

[0007] Compared with the prior art, the present invention has the following advantages:

[0008] To address the issue of incomplete force environment simulation in current training devices mentioned in the background technology, this invention employs a parallel rope drive control method to achieve the desired effect. Leveraging the advantages of parallel ropes, it creates rope resistance through rope tension, enabling real-time control of the rope tension in conjunction with a motor, tension sensor, and control system. This allows for controllable changes in the overall mechanism's rigidity. Furthermore, the admittance impedance control of the parallel rope mechanism allows for precise control of the force and position on the ropes, thus enabling a more realistic simulation of complex external environmental forces and further facilitating the adjustment of simulated environmental forces.

[0009] This invention can simulate mechanical environments under different conditions, and through the control of ropes, it can simulate continuous changes and abrupt changes in external forces in real-world environments. It also simulates centrifugal force at different speeds, thus simulating the feeling of force during training. This increases the realism of the training to a certain extent and improves the training effect for users.

[0010] Meanwhile, thanks to the addition of sensing elements, this training equipment enables more precise control and more realistic force environment simulation. Furthermore, the presence of these sensing elements not only provides a foundation for the control system but also facilitates training. During the user's target movement training, partial body posture information is collected by sensors and transmitted back to the control system. This data helps the user analyze their training performance and provides helpful suggestions for future training. Overall, this training equipment overcomes the limitation of existing training equipment that can only simulate a single force environment without changing parts. It can determine corresponding control data for different external environments, achieving more realistic, accurate, and complex force environment simulation. This provides better support for athletes' training. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall appearance of the invention;

[0012] Figure 2 This is a schematic diagram of the support plate mechanism without a support frame of the present invention;

[0013] Figure 3 This is a front view of the supportless mechanism of the present invention;

[0014] Figure 4 This is a top view of the supportless mechanism of the present invention;

[0015] Figure 5 This is a schematic diagram of the trolley structure of the present invention;

[0016] Figure 6 This is a schematic diagram illustrating the use of the present invention while the user is standing.

[0017] Figure 7 This is a schematic diagram illustrating the use of this invention for bending.

[0018] The components include: 1. Support frame; 2. Right hip rope upper pulley; 3. Right rope upper pulley of the trolley; 4. Trolley rope pulley seat; 5. Upper shelf; 6. Lower shelf; 7. Upper pulley fixing angle iron; 8. Pull rope displacement sensor pulley; 9. Pull rope displacement sensor pulley seat; 10. Arc-shaped guide rail; 11. Trolley; 1101. Rotating pedal; 1102. Pedal shaft; 12. Attitude sensor; 13. Hip connecting belt; 14. Wheel; 15. Right hip active rope; 16. Right side active rope of the trolley; 7. Right rope pulley of the trolley; 18. Tension sensor; 19. Right hip rope pulley of the trolley; 20. Right hip rope motor; 21. Right rope motor of the trolley; 22. Pull rope displacement sensor; 23. Left hip rope pulley of the trolley; 24. Left active rope of the trolley; 25. Left rope pulley of the trolley; 26. Left rope pulley of the trolley; 27. Left active rope; 28. Hip rope pulley seat; 29. ​​Left hip rope pulley; 30. Left rope motor of the trolley; 31. Left hip rope motor; 32. Reel; 33. Motor seat. Detailed Implementation

[0019] To better understand the purpose, structure, and function of this invention, the invention will be described in further detail below with reference to the accompanying drawings.

[0020] like Figures 1-7 As shown, in this invention, two sets of four ropes work together to simulate the force environment and, in conjunction with the user's movements, simulate the training of corresponding technical actions.

[0021] The present invention provides a rope parallel drive control skier auxiliary training system, including a support frame 1, a trolley 11 supported by the support frame 1, four ropes and four motors;

[0022] Each of the four motors drives a rope (elastic rope) to apply external force to the trolley 11 and the user's hip joint, forming a parallel drive control method with ropes connected vertically. The trolley 11 and the user's hip joint are connected by ropes in a tension-resistance manner. Each rope is equipped with a tension sensor to measure the tension on each rope in real time. The trolley 11 is connected to a displacement sensor to monitor the position of the trolley 11.

[0023] The user wears a hip connection strap 13 at the hip joint and a posture sensor 12 is installed on the hip connection strap 13. The posture sensor 12 is an IMU series.

[0024] By monitoring and controlling a series of data, including the tension on the four ropes, the position of the pulley 11, and the user's hip posture, the four motors can be controlled accordingly based on the technical data converted from the required training movements. This achieves simulation of a realistic mechanical environment and monitoring of the user's technical movements, while ensuring real-time and precise control during system use.

[0025] like Figures 1-4 As shown, the output shafts of the four motors are each fixedly connected to a reel 32, and then each is connected to a corresponding rope. The four motors are the right hip rope motor 20, the right pulley rope motor 21, the left hip rope motor 31, and the left pulley rope motor 30; the four ropes are the right hip active rope 15, the right pulley active rope 16, the left hip active rope 27, and the left pulley active rope 24.

[0026] The ropes connected to both sides of the user's hip joint, through counter-pull, simulate the centrifugal inertial force experienced by the user's body when tilting in a real environment by coordinating the movement and force control of the ropes. Meanwhile, the two ropes connected to the lower trolley 11, when pulled in opposite directions, simulate the reaction force of the snow on the athlete's legs, such as friction and support force, using the same principle. During use, the two sets of ropes, pulled in opposite directions, create rope resistance, ensuring that the tension on the ropes is always greater than zero.

[0027] All four ropes are constructed using elastic bands and ropes to form elastic ropes. Their elasticity ensures that the tension on the ropes will not suddenly drop to zero during rapid changes of direction, thus preventing the ropes from slackening during the movement.

[0028] like Figure 1 , Figure 2As shown, the trolley 11 is slidably mounted on the arc-shaped guide rail 10, which is fixed to the upper plate 5 of the support frame 1. Four motors are respectively fixed to the lower plate 6 of the support frame 1 via motor mounts 33. The arc-shaped guide rail 10 has track grooves for guiding and limiting the wheels 14, as well as a slot in the middle. In this invention, all ropes and the wire ropes of the pull rope displacement sensor 22 are on the same vertical plane. The slot in the middle of the arc-shaped guide rail 10 prevents obstruction of the ropes during movement.

[0029] like Figure 5 As shown, the trolley 11 includes a trolley frame, four wheels 14, two rotating pedals 1101, and four pedal shafts 1102. Two through slots are formed on the upper surface of the trolley frame. Both ends of the two rotating pedals 1101 are rotatably mounted in their respective through slots via the pedal shafts 1102. The four wheels 14 are evenly distributed on the trolley frame. During use, the user places both feet on the rotating pedals 1101 of the trolley 11. The trolley 11, in conjunction with the lower curved guide rail 10, simulates the tilting motion of an athlete's body during actual movement.

[0030] like Figures 1-4 As shown, each of the four ropes is guided by two pulleys, and a tension sensor 18 passes between the two pulleys. All four tension sensors 18 and eight pulleys are mounted on the support frame 1.

[0031] The pulleys on both sides of the tension sensor 18 maintain a constant wrap angle of each rope on the tension sensor 18, ensuring the accuracy of the data measured by the tension sensor 18. The tension sensor 18 is designed to measure the tension on each rope in real time during use, and then control the motor corresponding to each rope based on the tension, thereby achieving a realistic simulation of the mechanical environment and creating a near-realistic mechanical environment. The rapid rebound mechanism of the elastic band, combined with rope control, simulates the centrifugal force and ground reaction force experienced by the athlete. The rope control uses a combination of force control and displacement control to achieve force-position tracking and the required impedance simulation. Through the above control scheme, the forces experienced by the athlete when going straight and turning on the ski slope can be realistically simulated.

[0032] One example of the installation of ropes and pulleys is as follows:

[0033] The upper end of the right hip active rope 15 is connected to the hip connecting belt 13, and the lower end is connected to the reel 32 on the right hip rope motor 20. The right hip active rope 15 passes from top to bottom through the right hip rope upper pulley 2, tension sensor 18, and right hip rope lower pulley 19. The right hip rope upper pulley 2 is installed on the upper end of the support frame 1 through the upper pulley fixing angle iron 7, and the right hip rope lower pulley 19 is installed on the bottom surface of the upper plate 5 through the hip rope lower pulley seat 28.

[0034] The upper end of the left hip active rope 27 is connected to the hip connecting belt 13, and the lower end is connected to the reel 32 on the left hip rope motor 31. The left hip active rope 27 passes from top to bottom through the left hip rope upper pulley 23, tension sensor 18, and left hip rope lower pulley 29. The left hip rope upper pulley 23 is installed on the upper end of the support frame 1 through the upper pulley fixing angle iron 7, and the left hip rope lower pulley 29 is installed on the bottom surface of the upper plate 5 through the hip rope lower pulley seat 28.

[0035] The upper end of the right-side active rope 16 of the trolley is connected to the trolley 11, and the lower end is connected to the reel 32 on the right rope motor 21 of the trolley. The right-side active rope 16 of the trolley falls from top to bottom and passes through the right rope upper pulley 3, tension sensor 18, and right rope upper pulley 17 in sequence. The right rope upper pulley 3 and the right rope upper pulley 17 of the trolley are respectively installed on the upper surface and bottom surface of the upper plate 5 through the trolley rope pulley seat 4.

[0036] The upper end of the left-side active rope 24 of the trolley is connected to the trolley 11, and the lower end is connected to the reel 32 on the left rope motor 30 of the trolley. The left-side active rope 24 of the trolley falls from top to bottom and passes through the upper pulley 25, tension sensor 18, and lower pulley 26 of the left rope of the trolley. The upper pulley 25 and the lower pulley 26 of the left rope of the trolley are respectively installed on the upper surface and bottom surface of the upper plate 5 through the trolley rope pulley seat 4.

[0037] The displacement sensor is a pull-cord displacement sensor 22. The steel wire rope of the pull-cord displacement sensor 22 is redirected by a pull-cord displacement sensor pulley 8 fixed on the upper plate 5 and then connected to one side of the trolley 11. Each distance point measured by the pull-cord displacement sensor 22 corresponds to the position of the trolley 11 on the arc-shaped guide rail 10. By performing inverse calculation on the returned distance value, the position of the trolley 11 on the arc-shaped guide rail 10 can be calculated in real time, thereby supporting the position control of the trolley 11. An attitude sensor 12 is fixed on the upper hip connection belt, which can convert a series of postures such as the tilt angle of the user's hip into corresponding values ​​and return them to the control system in real time.

[0038] The pull rope displacement sensor pulley 8 is mounted on the upper surface of the upper plate 5 via the pull rope displacement sensor pulley seat 9.

[0039] like Figure 6 , Figure 7As shown, before use, connect the four ropes and the wire rope of the cable displacement sensor 22 to their respective positions. Place the pulley 11 on the arc-shaped guide rail 10. During use, the user wears the hip connection strap 13 and stands on the rotating pedal 1101 of the pulley 11. After the control system is activated, the motor first tensions each rope to the set initial tension. Then, the user performs training movements, rotating the pedal 1101 with both feet, causing the pulley 11 to slide left and right within the arc-shaped guide rail 10. Simultaneously, the tension sensor 18, cable displacement sensor 22, and posture sensor 12 begin collecting data and feeding it back to the control system. The control system, based on the set technical movements and corresponding external environmental indicators, controls each motor according to the real-time user posture information, thereby controlling the tension of each rope. This allows the lower two ropes to simulate external environmental forces, and the upper two ropes to simulate centrifugal inertial forces during movement, creating a near-realistic mechanical environment. The target technical movement training is completed through the cooperation of the ropes and the user.

[0040] It is worth noting that the arrangement of the motor, reel, pulley, etc. in this invention can be reasonably configured according to the needs of the site, and is not limited to the two-layer method given in this invention. Regarding the force-position control of the rope, it should be able to simulate the corresponding mechanical environment according to experimental needs, the skiing surface environment, and human movements; the specific control method is not discussed in this invention.

[0041] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A rope-connected parallel drive control system for assisting skiers in training, characterized in that: The device includes a support frame (1), a trolley (11) supported by the support frame (1), four ropes, and four motors. Each of the four motors drives a rope to apply external force to the trolley (11) and the user's hip joint, forming a parallel drive control method with ropes connected vertically. The trolley (11) and the user's hip joint are connected by ropes in a tension-resistance manner. Each rope is equipped with a tension sensor (18) to measure the tension on each rope in real time. The trolley (11) is connected to a displacement sensor to monitor the position of the trolley (11). The upper end of the right hip active rope (15) is connected to the hip connecting belt (13), and the lower end is connected to the reel (32) on the right hip rope motor (20). The right hip active rope (15) flows from top to bottom, passing through the right hip rope upper pulley (2), tension sensor (18), and right hip rope lower pulley (19). The right hip rope upper pulley (2) is installed on the upper end of the support frame (1) through the upper pulley fixing angle iron (7), and the right hip rope lower pulley (19) is installed on the bottom surface of the upper plate (5) through the hip rope lower pulley seat (28). The upper end of the left hip active rope (27) is connected to the hip connecting belt (13), and the lower end is connected to the reel (32) on the left hip rope motor (31). The left hip active rope (27) passes through the left hip rope upper pulley (23), tension sensor (18), and left hip rope lower pulley (29) from top to bottom. The left hip rope upper pulley (23) is installed on the upper end of the support frame (1) through the upper pulley fixing angle iron (7), and the left hip rope lower pulley (29) is installed on the bottom surface of the upper plate (5) through the hip rope lower pulley seat (28).

2. The rope-connected parallel drive control skier auxiliary training system according to claim 1, characterized in that: The user wears a hip connection strap (13) at the hip joint and a posture sensor (12) is installed on the hip connection strap (13).

3. The skier auxiliary training system with parallel rope drive control according to claim 2, characterized in that: The output shafts of the four motors are each fixed to a reel (32), and then each is connected to a corresponding rope.

4. The rope-connected parallel drive control skier auxiliary training system according to claim 3, characterized in that: All four ropes are constructed using a combination of rubber bands and ropes to form elastic ropes.

5. The rope-connected parallel drive and control skier auxiliary training system according to claim 4, characterized in that: Each of the four ropes is guided by two pulleys and passes between the two pulleys by a tension sensor (18). The four tension sensors (18) and the eight pulleys are all mounted on the support frame (1).

6. The skier auxiliary training system with parallel rope drive control according to claim 1, characterized in that: The displacement sensor is a pull rope displacement sensor (22). The wire rope of the pull rope displacement sensor (22) is deflected by a pull rope displacement sensor pulley (8) fixed on the support frame (1) and then connected to one side of the trolley (11).

7. A rope-connected parallel drive control skier auxiliary training system according to claim 6, characterized in that: The wire ropes of the four rope and pull rope displacement sensors (22) are all on the same vertical plane.

8. A rope-connected parallel drive control skier auxiliary training system according to claim 7, characterized in that: The trolley (11) is slidably mounted on the arc-shaped guide rail (10), which is fixed on the upper plate (5) of the support frame (1). The arc-shaped guide rail (10) has a track groove for guiding and limiting the wheels (14) of the trolley (11) and a slot in the middle of the arc-shaped guide rail (10).

9. A rope-connected parallel drive control skier auxiliary training system according to claim 8, characterized in that: The trolley (11) includes a trolley frame, four wheels (14), two rotating pedals (1101) and four pedal shafts (1102); two through slots are opened on the upper surface of the trolley frame, and both ends of the two rotating pedals (1101) are rotatably installed in the corresponding through slots through the pedal shafts (1102), and the four wheels (14) are evenly distributed on the trolley frame.

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