A wearable exoskeleton table tennis technical movement training auxiliary device

Abstract

The present invention discloses a wearable exoskeleton table tennis technical movement training auxiliary device, including a back support plate, the surface of the back support plate is provided with a plurality of back pushing components for driving the wearer's back to move, a waist driving component for driving the wearer's waist and hips to rotate is provided below the back pushing component, a lower limb driving component for driving the wearer's legs to move is symmetrically provided below the waist driving component, and a collaborative robot is connected to the rear side of the device. In the present invention, the collaborative robot cooperates with the electric telescopic rod 1, joint motor 1, joint motor 2 and telescopic cylinder in the device to move, and can repeat the coach's movement process. When the trainee wears it, the trainee's movements are reproduced, thereby improving the trainee's technical movement proficiency and accelerating the trainee's learning speed.

Description

Technical Field

[0001] The invention belongs to the technical field of wearable table tennis teaching and training equipment, and in particular relates to a wearable exoskeleton table tennis technical movement training auxiliary device. Background Art

[0002] Table tennis is a ball sport that exercises the whole body. Playing table tennis helps to strengthen the brain, eyes, limbs, and other benefits, and it can also improve people's reaction ability and coordination. However, due to the different physical foundations of students and their different understanding of the teaching materials, they often make mistakes in holding the table tennis racket. They need to go to table tennis technical schools for professional teaching and training, often relying on the guidance of coaches, and implement the common teaching and training methods of table tennis: (i) intuitive teaching method; (ii) language prompt method; (iii) completion index method; (iv) practice method; common teaching and training methods of table tennis; (v) prevention and correction of action errors; (vi) multi-ball training method. Through intuitive teaching means and methods, such as correcting the grip posture on the spot, or watching the game commentary teaching played on the TV through a video recorder, the method of demonstration and explanation is adopted to mobilize students' thinking and promote the formation of action skills.

[0003] In the prior art, for example, Chinese patent publication number CN115068917A discloses a table tennis auxiliary training device for teaching, which includes a table body, one end of which is equipped with a ball blocking assembly for intercepting and collecting balls. When the table body is rotated to a certain position, the ball is allowed to fall into the ball outlet of the installation box and introduced into the second ball guide tube, and then falls into the ball barrel through the second ball guide tube for placement. After falling into the ball barrel, the piston rod is activated to pull the ball barrel to shift and squeeze the spring one. After being pulled into a certain position, the piston rod is closed by suction and opened by air intake, so that the spring one drives the ball barrel to reset, thereby ejecting the table tennis ball. In this way, the user can perform table tennis training, thereby avoiding the long-term manual serving method in the past. The arm of the coach or trainer who throws the ball is prone to soreness, which requires time for adjustment. In order to improve the training efficiency, the coach or trainer will also serve with both hands alternately, which will increase the labor intensity of the hands, thereby possibly causing hand muscle strain.

[0004] In the process of table tennis teaching and training, the trainees' body force movements during training rely on the coach beside them to observe and correct them, and then cooperate with long-term repeated training to improve the proficiency of the trainees' own table tennis technical movements. In this way, the students' experience and reproduction are not ideal, resulting in a slow teaching process and inability to keep up with the learning progress. It takes a lot of time and energy to train a beginner. Summary of the invention

[0005] In order to overcome the problems in the prior art of slow learning progress for table tennis beginners and difficulty for trainees to understand and reproduce the technical movements of high-level coaches, the present invention provides a wearable exoskeleton table tennis technical movement training auxiliary device.

[0006] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a wearable exoskeleton table tennis technical action training auxiliary device, comprising a back support plate, a surface of the back support plate is provided with a plurality of back pushing components for driving the wearer's back to move, a waist driving component for driving the wearer's waist and hips to rotate is provided below the back pushing component, and a lower limb driving component for driving the wearer's legs to move is symmetrically provided below the waist driving component.

[0007] The lower limb driving assembly includes a thigh support plate 1 and a calf support plate 1, and the outer surfaces of the thigh support plate 1 and the calf support plate 1 are provided with fixing assemblies for fixing the wearer's legs.

[0008] The waist driving assembly includes an arc-shaped fixing block 1 and an arc-shaped fixing block 2, and the arc-shaped fixing block 1 and the arc-shaped fixing block 2 can be snap-fitted, and the inner surfaces of the arc-shaped fixing block 1 and the arc-shaped fixing block 2 are symmetrically provided with a groove 1, and an inflatable airbag is fixedly installed in the groove 1, and an air pump matching the inflatable airbag is symmetrically fixedly installed on the outer side surfaces of the arc-shaped fixing block 1 and the arc-shaped fixing block 2.

[0009] The back pushing assembly includes an electric telescopic rod fixedly mounted on the surface of the back support plate and a mounting plate arranged on the outside of the electric telescopic rod. A position sensor capable of detecting the movement process of the electric telescopic rod in real time is installed inside the electric telescopic rod. Two groups of symmetrical telescopic kits are arranged between the outer end plate surface of the electric telescopic rod and the mounting plate. A switch component is fixedly arranged in the middle of the outer surface of the mounting plate corresponding to the piston rod of the electric telescopic rod.

[0010] Optionally, the telescopic kit includes a cylinder and a sliding shaft, the cylinder is fixed on the outer end plate of the electric telescopic rod, the sliding shaft is fixed on the outer surface of the mounting plate, the sliding shaft slides in the cylinder, and a spring is fixedly connected between the cylinder and the mounting plate and is sleeved on the surface of the sliding shaft. The outer end plate of the electric telescopic rod is provided with through holes with the same number as that of the cylinder, and the positions of the through holes correspond to those of the cylinder.

[0011] Optionally, an electric telescopic rod 1 fixed to the outer surface of the back support plate is symmetrically arranged on both sides of the arc-shaped fixed block 1, and a connecting seat 3 is fixedly arranged on the outer surface of both sides of the arc-shaped fixed block 1 at a position corresponding to the electric telescopic rod 1, and the connecting seat 3 is hingedly matched with the piston rod of the electric telescopic rod 1.

[0012] Optionally, a sliding groove is provided on the outer side surface of the arc-shaped fixed block 1, and a support rod 1 fixed to the outer surface of the back support plate is symmetrically arranged on the outer side of the sliding groove, a support rod 2 is slidably arranged inside the support rod 1, a baffle is fixedly arranged on the surface of the support rod 2, and a spring 2 is fixedly connected between the baffle and the support rod 1 and is sleeved on the surface of the support rod 2, a sliding shaft 2 is fixedly arranged on the outer end surface of the support rod 2, and the sliding shaft 2 is slidably arranged in the sliding groove.

[0013] Optionally, two T-shaped slots are symmetrically provided on the outer side surfaces at both ends of the arc-shaped fixing block one, and two T-shaped blocks are fixedly provided at positions corresponding to the slots at both ends of the arc-shaped fixing block one, and the block one is engaged with the slots two.

[0014] Optionally, a slide groove is symmetrically provided in the second slot, a trapezoidal block 2 is slidably arranged in the slide groove, a cylindrical groove is provided on the surface of the arc-shaped fixed block 1, a rotating shaft 1 is rotatably arranged in the cylindrical groove, the diameter of the rotating shaft 1 is smaller than the diameter of the cylindrical groove, a knob is fixedly provided on the upper end of the rotating shaft 1, a spring 3 is fixedly connected between the block 2 and the inner side surface of the slide groove, and a connecting rope that passes through the slide groove and is fixed to the rotating shaft 1 is fixedly provided on the outer side surface of the block 2, and a slot 1 that matches the block 2 is symmetrically provided on the outer side surface of the block 1.

[0015] Optionally, a support 1 is hingedly provided on the upper end surface of the thigh support plate 1, a joint motor 1 is fixedly provided on the outer end of the support 1, the output shaft of the joint motor 1 is fixed to the upper end of the thigh support plate 1, a thigh support plate 2 is provided below the thigh support plate 1, a sliding plate 1 is fixedly provided on the upper end surface of the thigh support plate 2, the sliding plate 1 is slidably matched with the thigh support plate 1, and an electric telescopic rod 2 is fixedly provided on the outer side surface of the thigh support plate 1, the piston rod of the electric telescopic rod 2 is fixed to the thigh support plate 2.

[0016] Optionally, a support 2 is fixedly provided on the lower end surface of the thigh support plate 2, and the support 2 is hingedly matched with the calf support plate 1, and a joint motor 2 is fixedly provided on the outer end of the support 2, and the output shaft of the joint motor 2 is fixed to the upper end of the calf support plate 1, and a calf support plate 2 is arranged below the calf support plate 1, and a sliding plate 2 is fixedly provided on the upper end surface of the calf support plate 2, and the sliding plate 2 is slidingly matched with the calf support plate 1, and an electric telescopic rod 2 is also fixedly provided on the outer side surface of the calf support plate 1, and the piston rod of the electric telescopic rod 2 is fixed to the calf support plate 2.

[0017] Optionally, a foot placement plate is provided below the calf support plate 2, and a plurality of connecting buckles 3 are symmetrically fixedly provided on the surface of the foot placement plate. A support seat is hingedly provided on the left side of the surface of the foot placement plate to facilitate the left and right swinging of the foot placement plate. The support seat is hingedly cooperated with the lower end of the calf support plate 2 to facilitate the forward and backward swinging of the foot placement plate. Connecting seats 6 are symmetrically fixedly provided on both sides of the support seat, and connecting seats 5 are symmetrically fixedly provided on the outer side surface of the lower end of the calf support plate 2. A telescopic cylinder is provided between the connecting seats 5 and 6, and the piston rod of the telescopic cylinder is hingedly cooperated with the connecting seat 5, and the lower end of the telescopic cylinder is hingedly cooperated with the connecting seat 6.

[0018] Optionally, the fixing assembly includes a fixing seat, a rotating shaft 2 is symmetrically arranged on the outer side surface of the fixing seat, an arc plate is fixedly arranged on the surface of the rotating shaft 2, the upper end of the rotating shaft 2 exceeds the surface of the fixing seat and a gear is fixedly arranged, and the two gears on the rotating shaft 2 are meshed with each other, a fixing column is fixedly arranged on the upper surface of the fixing seat, a positioning plate is slidably arranged on the surface of the fixing column, a spring 4 is fixedly connected between the positioning plate and the fixing seat and is sleeved on the surface of the fixing column, a threaded groove is opened on the upper end surface of the rotating shaft 2, a bolt member is arranged above the threaded groove, the bolt member is threadedly matched with the threaded groove, and the bolt member passes through the positioning plate, and the diameter of the bolt member is smaller than the hole diameter on the surface of the positioning plate.

[0019] In summary, compared with the prior art, the wearable exoskeleton table tennis technical movement training auxiliary device provided by the present invention has the following beneficial effects:

[0020] 1. In the present invention, when using the device, the table tennis coach is first asked to wear it, and after wearing it, the action demonstration is performed. During the action demonstration, the collaborative robot records the left and right and front and back motion trajectories of the coach, and the electric telescopic rod 1 cooperates with the internally installed sensor to record the motion data, and the joint motor 1 and the joint motor 2 also record the motion data. Finally, the data is integrated through an external device, so that the collaborative robot cooperates with the electric telescopic rod 1, the joint motor 1, the joint motor 2 and the telescopic cylinder in the device to repeat the movement process of the coach. When the trainee wears it, the coach's action is reproduced, thereby improving the trainee's technical action proficiency and accelerating the trainee's learning speed;

[0021] 2. In the present invention, the device can be worn on the human body to cover the back, arms, waist and lower limbs of the human body, so as to drive the wearer to perform table tennis training and enable the wearer to deeply experience the coach's exercise process;

[0022] 3. In the present invention, the airbag is inflated by an air pump to clamp the waist of the wearer, so that the arc-shaped fixing block 1 and the arc-shaped fixing block 2 can drive the waist of the wearer to move. At the same time, the airbag can effectively protect the waist of the wearer from being injured during training. The wearing method is simple and convenient, and can be worn by people with different waist circumferences.

[0023] 4. In the present invention, the arc plates on both sides are clamped by rotating the two rotating shafts, and then the two arc plates are connected by an elastic connecting belt with Velcro on the outside. At this time, the wearer's legs are mainly clamped by the two arc plates. Since the arc plates are rigid components, the lower limb drive assembly can better transmit the driving force to the wearer's legs, so that students can better experience the movements of high-level coaches when wearing the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ;

[0025] Figure 2 It is a structural schematic diagram of the pushing component in the present invention;

[0026] Figure 3 The structure of the present invention is schematically shown Figure 2 ;

[0027] Figure 4 For the present invention Figure 3 A detailed enlarged picture of point A;

[0028] Figure 5 The structure of the present invention is schematically shown Figure 3 ;

[0029] Figure 6 The structure of the present invention is schematically shown Figure 4 ;

[0030] Figure 7 For the present invention Figure 6 A magnified view of the detail at B;

[0031] Figure 8 The structure of the present invention is schematically shown Figure 5 ;

[0032] Fig. 9 For the present invention Figure 8 A magnified view of the detail at C;

[0033] Fig.10 The structure of the waist driving assembly of the present invention is shown in FIG. Figure 1 ;

[0034] Fig.11The structure of the waist driving assembly of the present invention is shown in FIG. Figure 2 ;

[0035] Fig.12 For the present invention Fig.11 A magnified detail of point D;

[0036] In the figure: 1. collaborative robot; 2. pushing assembly; 3. arm placement assembly; 4. waist drive assembly; 5. lower limb drive assembly; 6. fixing assembly; 11. support frame; 12. connecting frame; 121. fixing shaft; 13. back support plate; 21. electric telescopic rod 1; 211. through hole; 22. cylinder 1; 221. sliding shaft 1; 222. spring 1; 23. mounting plate; 24. cushion 1; 25. switch; 26. connecting buckle 1; 31. upper arm support Plate; 311, telescopic plate 1; 32, forearm support plate; 321, telescopic plate 2; 33, connecting buckle 2; 34, fixed plate; 35, rotating member; 351, connecting seat 1; 41, arc-shaped fixed block 1; 411, connecting seat 2; 412, connecting seat 3; 413, sliding groove; 42, arc-shaped fixed block 2; 421, card block 1; 422, card groove 1; 43, support rod 1; 431, support rod 2; 432, spring 2; 433, baffle; 434, sliding shaft 2; 44, groove 1; 441, inflatable airbag; 442, air pump; 45, slot 2; 451, cylindrical slot; 452, slide; 46, rotating shaft 1; 461, knob; 47, block 2; 471, spring 3; 472, connecting rope; 51, support 1; 511, connecting seat 4; 52, joint motor 1; 53, thigh support plate 1; 531, electric telescopic rod 2; 54, thigh support plate 2; 541, support 2; 542, joint motor 2; 5 43. Sliding plate one; 55. Calf support plate one; 56. Calf support plate two; 561. Sliding plate two; 562. Connecting seat five; 57. Support seat; 571. Connecting seat six; 58. Telescopic cylinder; 59. Foot placement plate; 591. Connecting buckle three; 61. Fixed seat; 62. Rotating shaft two; 621. Threaded groove; 63. Arc plate; 631. Cushion two; 64. Gear; 65. Fixed column; 66. Positioning plate; 661. Spring four; 67. Bolt. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0038] refer to Figure 1 A collaborative robot 1 is installed at the rear of the device. The collaborative robot 1 can move the training auxiliary device left and right, front and back, and up and down, and cooperate with the students wearing the training auxiliary device to perform table tennis simulation training to improve the students' technical movements.

[0039] The above-mentioned collaborative robot 1 is an existing technology, equipped with advanced sensors and algorithms, capable of collecting and analyzing data in real time, and the collaborative robot 1 can perceive the surrounding environment, including identifying and tracking human movements and positions, and can also perceive external forces through current loops, joint torque, six-dimensional force / torque sensors or electronic skins, etc., to achieve precise control and interaction, thereby driving the wearer to perform better movements.

[0040] refer to Figure 1 A wearable exoskeleton table tennis technical movement training auxiliary device includes a plurality of back pushing components 2, symmetrically arranged arm placement components 3, a waist driving component 4, symmetrically arranged lower limb driving components 5 and a plurality of fixing components 6. A support frame 11 is fixedly installed on the output arm at the outermost end of the collaborative robot 1 by bolts, a connecting frame 12 is sleeved on the outer side of the support frame 11, a back supporting plate 13 is arranged on the outer side of the connecting frame 12, and a plurality of fixed shafts 121 are welded and fixed between the back supporting plate 13 and the connecting frame 12.

[0041] refer to Figure 1 A controller can be installed in the support frame 11 to regulate the movement of the training auxiliary device, and the gap between the back support plate 13 and the connecting frame 12 is used to place connecting wires such as data conductors and electrical wires to cooperate with the collaborative robot 1 to regulate the movement of the human body.

[0042] refer to Figure 5 A plurality of groups of connecting buckles 26 are symmetrically fixedly installed on the outer surface of the back support plate 13. The two connecting buckles 26 in each group can be connected by an elastic connecting belt with Velcro, and the elastic connecting belt can be used to connect the human body and the back support plate 13 together to achieve a wearable effect.

[0043] The elastic connecting belt with Velcro is a prior art and can be purchased on the market according to the required size, so a detailed drawing and description will not be made here.

[0044] refer to Figure 2 The back pushing assembly 2 includes an electric telescopic rod 21 and a mounting plate 23. Two sets of symmetrical telescopic kits are arranged between the outer end plate surface of the electric telescopic rod 21 and the mounting plate 23. The telescopic kit includes a cylinder 22 and a sliding shaft 221. The cylinder 22 is fixed on the outer end plate surface of the electric telescopic rod 21. The sliding shaft 221 is fixed on the outer surface of the mounting plate 23. The sliding shaft 221 is limitedly slid in the cylinder 22, and a spring 222 is fixedly connected between the cylinder 22 and the mounting plate 23 and is sleeved on the surface of the sliding shaft 221.

[0045] refer to Figure 2The outer end plate of the electric telescopic rod 21 is provided with through holes 211 of the same number as the cylinder 22. The positions of the through holes 211 correspond to the cylinder 22, so as to ensure the normal air pressure in the cylinder 22 and enable the sliding shaft 221 to slide normally in the cylinder 22.

[0046] refer to Figure 2 A switch component 25 is fixedly arranged in the middle of the outer surface of the mounting plate 23 corresponding to the piston rod of the electric telescopic rod 21. After pressing the mounting plate 23, the switch component 25 will contact the outer end surface of the piston rod of the electric telescopic rod 21, and then start the corresponding electric telescopic rod 21 to work.

[0047] refer to Figure 1-2 A plurality of electric telescopic rods 21 are fixedly mounted on the outer surface of a mounting plate 23, and a soft pad 24 is fixedly mounted on the outer surface of the mounting plate 23 corresponding to these electric telescopic rods 21, so as to increase the comfort of human wearing and reduce the injury of the back during exercise. Moreover, these electric telescopic rods 21 are neatly arranged on the outer surface of the mounting plate 23, so as to better detect the exercise process of the trainer wearer, so as to repeat the exercise process of the trainee wearer more accurately.

[0048] refer to Figure 2 The above-mentioned several electric telescopic rods 21 serve as pushing elements for the back of the human body, and position sensors or acceleration sensors are installed on these electric telescopic rods 21. These sensors can detect the movement state of the electric telescopic rod 21 in real time, and these sensors can also be started by the switch 25, and then the movement data are recorded. Then, these data can be processed by programming or data analysis software to generate a model or instruction of the movement trajectory. Finally, these instructions can be re-input into the controller of the electric telescopic rod 21 to achieve the reproduction of the movement trajectory.

[0049] Furthermore, when the back of a human body is connected to the back support plate 13 through an elastic connecting belt with Velcro, the back of the human body will compress the mounting plate 23, so that the switch member 25 on the back of the mounting plate 23 contacts the piston rod of the electric telescopic rod 21, and then the electric telescopic rod 21 and the sensor thereon are activated through the switch member 25. When the person wearing it for the first time is a table tennis coach, the coach will exercise and the left and right backs will swing in turn. When the left back rotates and swings forward, the right back will squeeze the piston rod of the electric telescopic rod 21, and at the same time, the piston rod of the electric telescopic rod 21 behind the left back will drive The mounting plate is close to the back of the human body. When the right back rotates and swings forward, the left back will squeeze the piston rod of the electric telescopic rod 21. At the same time, the piston rod of the electric telescopic rod 21 behind the right back will drive the mounting plate 23 to be close to the back of the human body. In this process, since the elastic connection belt with Velcro is elastic, it will not restrict the swing of the back of the human body too much. In addition, during this entire movement process, the sensor in the electric telescopic rod 21 will monitor and record the movement data in real time, and then convert it into a model of the movement trajectory through external analysis software, and then record it in the controller of the electric telescopic rod 21.

[0050] When students put on the electric telescopic rod 21, it will replicate the movement trajectory of the coach, so that students can deeply feel the movement trajectory of the coach's back. After a long period of simulation training, the students' technical movements are improved, and their table tennis hitting effects are improved.

[0051] refer to Figure 5-10 The waist driving assembly 4 includes an arc-shaped fixing block 1 41 and an arc-shaped fixing block 2 42. The two sides of the arc-shaped fixing block 1 41 are also symmetrically provided with an electric telescopic rod 1 21 fixed to the outer surface of the back support plate 13. The outer surfaces of the two sides of the arc-shaped fixing block 1 41 are fixedly provided with a connecting seat 3 412 at positions corresponding to the electric telescopic rod 1 21. The connecting seat 3 412 is hingedly matched with the piston rod of the electric telescopic rod 1 21.

[0052] The electric telescopic rod 21 at this location drives the arc-shaped fixed block 41 to swing back and forth on both sides, thereby driving the rotation of the wearer's waist and hips.

[0053] refer to Figure 5-10 A sliding groove 413 is provided on the outer side of the arc-shaped fixed block 41, and a support rod 43 fixed to the outer surface of the back support plate 13 is symmetrically arranged on the outer side of the sliding groove 413. A support rod 431 is slidably arranged in the support rod 43, and a sliding shaft 434 is fixedly arranged on the outer end surface of the support rod 431. The sliding shaft 434 is slidably arranged in the sliding groove 413 to support the arc-shaped fixed block 41 and ensure its stability during movement.

[0054] refer to Figure 5-10 A baffle 433 is fixedly arranged on the surface of the second support rod 431, and a spring 432 is fixedly connected between the baffle 433 and the first support rod 43 and is sleeved on the surface of the second support rod 431. The spring 432 is used to help the second support rod 431 to reset.

[0055] refer to Figure 5-10 The inner surfaces of the arc-shaped fixing block 1 41 and the arc-shaped fixing block 2 42 are symmetrically provided with grooves 1 44, in which an inflatable airbag 441 is fixedly installed, and air pumps 442 matching with the inflatable airbag 441 are symmetrically fixedly installed on the outer sides of the arc-shaped fixing block 1 41 and the arc-shaped fixing block 2 42, and the inflatable airbag 441 is evacuated and inflated by the air pump 442.

[0056] refer to Figure 10-12 The outer sides of both ends of the arc-shaped fixing block 41 are symmetrically provided with T-shaped slots 45, and the positions of the two ends of the arc-shaped fixing block 41 corresponding to the slots 45 are fixedly provided with T-shaped blocks 421, and the blocks 421 are engaged with the slots 45 to connect the arc-shaped fixing block 41 and the arc-shaped fixing block 42 together. After the connection is completed, the inflatable airbag 441 is inflated by the air pump 442 to clamp the wearer's waist with the inflatable airbag 441, so that the arc-shaped fixing block 41 and the arc-shaped fixing block 42 can drive the wearer's waist and crotch to move, and at the same time, the inflatable airbag 441 can effectively protect the wearer's waist from being injured during training, and the wearing method is simple and convenient, and can be worn by people with different waist circumferences.

[0057] refer to Figure 10-12 A slide groove 452 is symmetrically provided in the second card slot 45, a trapezoidal card block 47 is slidably provided in the slide groove 452, a cylindrical groove 451 is provided on the surface of the arc-shaped fixed block 41, a rotating shaft 46 is rotatably provided in the cylindrical groove 451, the diameter of the rotating shaft 46 is smaller than the diameter of the cylindrical groove 451, and a knob 461 is fixedly provided on the upper end of the rotating shaft 46, and the rotating shaft 46 is rotated by turning the knob 461.

[0058] refer to Figure 10-12 A spring three 471 is fixedly connected between the block two 47 and the inner side surface of the slide groove 452, and a connecting rope 472 that penetrates the slide groove 452 and is fixed to the rotating shaft 1 46 is fixedly provided on the outer side surface of the block two 47. When the knob 461 is turned to rotate the rotating shaft 1 46, the connecting rope 472 is wound around the surface of the rotating shaft 1 46, so that the block two 47 retracts into the slide groove 452. When the knob 461 is released, the rotating shaft 1 46 and the block two 47 are reset through the rebound of the spring three 471.

[0059] refer to Figure 10-12The outer side surface of the card block 421 is symmetrically provided with a card slot 422 that matches the card block 47. When the arc-shaped fixed block 42 is connected to the arc-shaped fixed block 41, the card block 421 enters the card slot 45. At this time, the card block 421 will squeeze the card block 47 and retract into the slide groove 452 during the falling process. When the card block 421 completely falls into the card slot 45, the card block 47 enters the inside of the card slot 422. At this time, the arc-shaped fixed block 41 is connected and tightened with the arc-shaped fixed block 42 to avoid separation of the two during movement.

[0060] refer to Figure 5-9 The lower limb driving assembly 5 includes a thigh support plate 53 and a calf support plate 55. The upper end surface of the thigh support plate 53 is hingedly provided with a support 51. The outer end of the support 51 is fixedly provided with a joint motor 52. The output shaft of the joint motor 52 is fixed to the upper end of the thigh support plate 53.

[0061] The joint motor 1 52 can drive the thigh support plate 1 53 to rotate, thereby driving the wearer's thigh to swing back and forth. A connecting seat 4 511 is fixedly provided on the upper end of the support 1 51, and a connecting seat 2 411 is fixedly provided at the lower end of the arc-shaped fixed block 1 41 at a position corresponding to the connecting seat 4 511. The connecting seat 2 411 is hingedly matched with the connecting seat 4 511, so that the wearer's crotch can be twisted freely outward.

[0062] refer to Figure 5-9 A thigh support plate 2 54 is arranged below the thigh support plate 1 53, a sliding plate 1 543 is fixedly arranged on the upper end surface of the thigh support plate 2 54, the sliding plate 1 543 is slidably matched with the thigh support plate 1 53, and an electric telescopic rod 2 531 is fixedly arranged on the outer side surface of the thigh support plate 1 53, the piston rod of the electric telescopic rod 2 531 is fixed to the thigh support plate 2 54, and the length of the combination of the thigh support plate 1 53 and the thigh support plate 2 54 is adjusted by the electric telescopic rod 2 531 to adapt to the wearer's thigh length.

[0063] refer to Figure 5-9 A support 2 541 is fixedly provided on the lower end surface of the thigh support plate 54, and the support 2 541 is hingedly matched with the calf support plate 1 55. A joint motor 2 542 is fixedly provided on the outer end of the support 2 541, and the output shaft of the joint motor 2 542 is fixed to the upper end of the calf support plate 1 55. The calf support plate 1 55 can be driven to rotate through the joint motor 2 542, thereby driving the wearer's calf to swing back and forth.

[0064] refer to Figure 5-9A calf supporting plate 2 56 is arranged below the calf supporting plate 1 55, and a sliding plate 2 561 is fixedly arranged on the upper end surface of the calf supporting plate 2 56, and the sliding plate 2 561 is slidably matched with the calf supporting plate 1 55, and an electric telescopic rod 2 531 is also fixedly arranged on the outer side surface of the calf supporting plate 1 55, and the piston rod of the electric telescopic rod 2 531 is fixed to the calf supporting plate 2 56, and the length of the calf supporting plate 1 55 and the calf supporting plate 2 56 after combination is adjusted by the electric telescopic rod 2 531 to adapt to the calf length of the wearer.

[0065] refer to Figure 5-9 A foot placement plate 59 is provided below the calf support plate 56, and a plurality of connecting buckles 3 591 are symmetrically fixedly provided on the surface of the foot placement plate 59. The wearer's foot can be connected to the foot placement plate 59 by using an elastic connecting belt with Velcro in conjunction with the connecting buckles 3 591.

[0066] refer to Figure 5-9 A support seat 57 is hingedly provided on the left side of the surface of the foot placement plate 59, which is convenient for the left and right swinging of the foot placement plate 59. The support seat 57 is hingedly cooperated with the lower end of the calf support plate 56 to facilitate the forward and backward swinging of the foot placement plate 59. Connecting seats 6 571 are symmetrically fixedly provided on both sides of the support seat 57, and connecting seats 5 562 are symmetrically fixedly provided on the outer side of the lower end of the calf support plate 56. A telescopic cylinder 58 is provided between the connecting seat 5 562 and the connecting seat 6 571. The piston rod of the telescopic cylinder 58 is hingedly cooperated with the connecting seat 5 562, and the lower end of the telescopic cylinder 58 is hingedly cooperated with the connecting seat 6 571, so as to drive the foot placement plate 59 to swing forward and backward through the telescopic cylinder 58.

[0067] refer to Figure 6-7 A fixing component 6 is fixedly installed on the outer surfaces of the thigh support plate 1 53, the thigh support plate 2 54, the calf support plate 1 55 and the calf support plate 2 56. The fixing component 6 is used to better connect the wearer's lower limbs with the lower limb driving component 5, and then better drive the wearer's lower limbs to move through the lower limb driving component 5.

[0068] refer to Figure 6-7The fixing assembly 6 includes a fixing seat 61, and a rotating shaft 62 is symmetrically rotated on the outer side surface of the fixing seat 61. An arc plate 63 is fixedly arranged on the surface of the rotating shaft 62. The arc plates 63 on both sides are clamped by the rotation of the two rotating shafts 62, and then the two arc plates 63 are connected by an elastic connecting belt with Velcro on the outside. At this time, the wearer's legs are mainly clamped by the two arc plates 63. Since the arc plate 63 is a rigid component, the lower limb driving assembly 5 can better transmit the driving force to the wearer's legs. A soft pad 631 is fixedly arranged on the inner surface of the arc plate 63. The soft pad 631 is used to protect the wearer's skin from being damaged during training exercises.

[0069] refer to Figure 6-7 The upper end of the second rotating shaft 62 exceeds the surface of the fixed seat 61 and is fixed with a gear 64, and the gears 64 on the two second rotating shafts 62 are meshed with each other.

[0070] refer to Figure 6-7 A fixing column 65 is fixedly arranged on the upper surface of the fixing seat 61, and a positioning plate 66 is slidably arranged on the surface of the fixing column 65. A spring 661 which is sleeved on the surface of the fixing column 65 and is fixedly connected between the positioning plate 66 and the fixing seat 61 is used to assist the positioning plate 66 in resetting.

[0071] refer to Figure 6-7 A thread groove 621 is provided on the upper end surface of the second rotating shaft 62, and a bolt member 67 is provided above the thread groove 621. The bolt member 67 is threadedly matched with the thread groove 621, and the bolt member 67 passes through the positioning plate 66. The diameter of the bolt member 67 is smaller than the aperture on the surface of the positioning plate 66. When the two arc plates 63 are connected by an elastic connecting belt with Velcro from the outside, the bolt member 67 is screwed to make the bolt member 67 enter the thread groove 621, and then the positioning plate 66 is fixed. At this time, the positioning plate 66 will fix the gear 64 and the rotating shaft 2 62 on this side, and then due to the meshing relationship of the gears 64 on both sides, the other gear 64 and the rotating shaft 2 62 can also be fixed, thereby strengthening the close contact effect between the two arc plates 63 and the leg, and improving the driving efficiency of the lower limb drive assembly 5 on the leg.

[0072] refer to Figure 3-5 The arm placement component 3 includes an upper arm support plate 31 and a lower arm support plate 32. The upper arm support plate 31 is symmetrically provided with a back pushing component 2 installed on the surface of the back supporting plate 13 near the back supporting plate 13. However, the surface of the mounting plate 23 in the back pushing component 2 at this position is not provided with a cushion 24, and an L-shaped fixing plate 34 is fixedly provided at the position of the original cushion 24.

[0073] refer to Figure 3-5A rotating member 35 is fixedly provided on the outer side surface of the fixed plate 34, and a connecting seat 351 is fixedly provided on the outer end of the rotating member 35. The connecting seat 351 is hingedly matched with one end of the upper arm support plate 31, and the rotating member 35 can make the connecting seat 351 rotate circumferentially. Combined with the connection relationship between the connecting seat 351 and the upper arm support plate 31, the arm can be in a swinging posture.

[0074] refer to Figure 3-5 The outer end of the upper arm support plate 31 is slidably provided with a telescopic plate 1 311, and the telescopic plate 1 311 is hingedly matched with one end of the forearm support plate 32, and the outer end of the forearm support plate 32 is slidably provided with a telescopic plate 2 321, and the extension length of the telescopic plate 1 311 and the telescopic rod 2 can be adjusted by installing an electric telescopic rod in the upper arm support plate 31 and the forearm support plate 32, so that their lengths are suitable for the wearer, and the outer surfaces of the upper arm support plate 31, the telescopic plate 1 311, the forearm support plate 32 and the telescopic plate 2 321 are symmetrically fixed with connecting buckles 2 33, and the arm is connected to the arm placement component 3 through an elastic connecting belt with Velcro on the outside.

[0075] Furthermore, when in use, after the coach puts on the wearer, he / she assumes the correct arm swinging posture, and then fixes the joint parts of the upper arm support plate 31 and the lower arm support plate 32 with bolts, and at this time, the rotating seat 35 and the connecting seat 351 will be fixed, so that subsequent student wearers can train with the correct swinging posture.

[0076] Furthermore, when using the device, the table tennis coach is first asked to put it on. After putting it on, he / she demonstrates the movements. During the movement demonstration, the collaborative robot 1 records the left and right and front and back movement trajectories of the coach, and the electric telescopic rod 21 cooperates with the internally installed sensor to record the movement data. At the same time, the joint motor 52 and the joint motor 542 will also record the movement data. Finally, the data is integrated through external devices, so that the collaborative robot 1 cooperates with the electric telescopic rod 21, the joint motor 52, the joint motor 542 and the telescopic cylinder 58 in the device to repeat the movement process of the coach. When the trainees put it on, the movements of the coach are replicated, and the movement process of the coach's body is reproduced step by step, thereby improving the trainees' technical movement proficiency. At present, the device can drive the wearing trainees to complete the continuous movement of fixed-point swinging.

[0077] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of components as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

[0078] It should be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such product or system. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the product or system including the elements.

[0079] The above description shows and describes several preferred embodiments of the present application, but as mentioned above, it should be understood that the present application is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the application concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not deviate from the spirit and scope of the present application, and should be within the scope of protection of the claims attached to the present application.

Claims

1. A wearable exoskeleton table tennis technical action training auxiliary device, characterized in that: The invention comprises a back support plate (13), wherein a plurality of back pushing components (2) for driving the back of the wearer to move are arranged on the surface of the back support plate (13), a waist driving component (4) for driving the waist and hips of the wearer to rotate is arranged below the back pushing component (2), and a lower limb driving component (5) for driving the legs of the wearer to move is symmetrically arranged below the waist driving component (4). The lower limb driving assembly (5) comprises a thigh support plate (53) and a calf support plate (55), and the outer surfaces of the thigh support plate (53) and the calf support plate (55) are provided with fixing assemblies (6) for fixing the legs of the wearer. The waist driving assembly (4) comprises an arc-shaped fixing block 1 (41) and an arc-shaped fixing block 2 (42), wherein the arc-shaped fixing block 1 (41) and the arc-shaped fixing block 2 (42) can be snap-fitted, and the inner surfaces of the arc-shaped fixing block 1 (41) and the arc-shaped fixing block 2 (42) are symmetrically provided with a groove 1 (44), and an inflatable airbag (441) is fixedly installed in the groove 1 (44), and an air pump (442) matching the inflatable airbag (441) is symmetrically fixedly installed on the outer side surfaces of the arc-shaped fixing block 1 (41) and the arc-shaped fixing block 2 (42), The back pushing assembly (2) comprises an electric telescopic rod (21) fixedly mounted on the surface of the back supporting plate (13) and a mounting plate (23) arranged outside the electric telescopic rod (21); a position sensor capable of detecting the movement process of the electric telescopic rod (21) in real time is installed inside the electric telescopic rod (21); two groups of symmetrical telescopic kits are arranged between the outer end plate surface of the electric telescopic rod (21) and the mounting plate (23); a switch component (25) is fixedly arranged in the middle of the outer surface of the mounting plate (23) corresponding to the piston rod of the electric telescopic rod (21).

2. A wearable exoskeleton table tennis technical movement training auxiliary device according to claim 1, characterized in that: The telescopic kit comprises a cylinder (22) and a sliding shaft (221), wherein the cylinder (22) is fixed on the outer end plate surface of the electric telescopic rod (21), and the sliding shaft (221) is fixed on the outer surface of the mounting plate (23), wherein the sliding shaft (221) slides in the cylinder (22), and a spring (222) which is sleeved on the surface of the sliding shaft (221) is fixedly connected between the cylinder (22) and the mounting plate (23), and the outer end plate surface of the electric telescopic rod (21) is provided with through holes (211) which are the same in number as the cylinder (22), and the positions of the through holes (211) correspond to those of the cylinder (22).

3. A wearable exoskeleton table tennis technical movement training auxiliary device according to claim 1, characterized in that: The two sides of the arc-shaped fixed block (41) are also symmetrically provided with an electric telescopic rod (21) fixed to the outer surface of the back support plate (13); the outer surfaces of the two sides of the arc-shaped fixed block (41) are fixedly provided with a connecting seat (412) at a position corresponding to the electric telescopic rod (21); the connecting seat (412) is hingedly matched with the piston rod of the electric telescopic rod (21).

4. A wearable exoskeleton table tennis technical movement training auxiliary device according to claim 3, characterized in that: The outer side surface of the arc-shaped fixed block 1 (41) is provided with a sliding groove (413), and the outer side of the sliding groove (413) is symmetrically provided with a support rod 1 (43) fixed to the outer surface of the back support plate (13), and a support rod 2 (431) is slidably arranged in the support rod 1 (43), and a baffle plate (433) is fixedly arranged on the surface of the support rod 2 (431), and a spring 2 (432) is fixedly connected between the baffle plate (433) and the support rod 1 (43) and is sleeved on the surface of the support rod 2 (431), and a sliding shaft 2 (434) is fixedly arranged on the outer end surface of the support rod 2 (431), and the sliding shaft 2 (434) is slidably arranged in the sliding groove (413).

5. A wearable exoskeleton table tennis technical movement training auxiliary device according to claim 1, characterized in that: The outer side surfaces of both ends of the arc-shaped fixing block 1 (41) are symmetrically provided with T-shaped clamping grooves 2 (45), and the positions of both ends of the arc-shaped fixing block 1 (41) corresponding to the clamping grooves 2 (45) are fixedly provided with T-shaped clamping blocks 1 (421), and the clamping blocks 1 (421) are clamped and matched with the clamping grooves 2 (45).

6. A wearable exoskeleton table tennis technical movement training auxiliary device according to claim 5, characterized in that: A sliding groove (452) is symmetrically provided in the second clamping groove (45), a trapezoidal clamping block (47) is slidably provided in the sliding groove (452), a cylindrical groove (451) is provided on the surface of the arc-shaped fixed block (41), a rotating shaft (46) is rotatably provided in the cylindrical groove (451), the diameter of the rotating shaft (46) is smaller than the diameter of the cylindrical groove (451), a knob (461) is fixedly provided on the upper end of the rotating shaft (46), a spring (471) is fixedly connected between the second clamping block (47) and the inner side surface of the sliding groove (452), and a connecting rope (472) penetrating the sliding groove (452) and fixed to the rotating shaft (46) is fixedly provided on the outer side surface of the second clamping block (47), and a clamping groove (422) matching with the second clamping block (47) is symmetrically provided on the outer side surface of the first clamping block (421).

7. A wearable exoskeleton table tennis technical movement training auxiliary device according to claim 1, characterized in that: The upper end surface of the thigh support plate 1 (53) is hingedly provided with a support 1 (51), the outer end of the support 1 (51) is fixedly provided with a joint motor 1 (52), the output shaft of the joint motor 1 (52) is fixed to the upper end of the thigh support plate 1 (53), a thigh support plate 2 (54) is provided below the thigh support plate 1 (53), a sliding plate 1 (543) is fixedly provided on the upper end surface of the thigh support plate 2 (54), the sliding plate 1 (543) is slidably matched with the thigh support plate 1 (53), and an electric telescopic rod 2 (531) is fixedly provided on the outer side surface of the thigh support plate 1 (53), and the piston rod of the electric telescopic rod 2 (531) is fixed to the thigh support plate 2 (54).

8. A wearable exoskeleton table tennis technical movement training auxiliary device according to claim 7, characterized in that: The lower end surface of the thigh support plate 2 (54) is fixedly provided with a support 2 (541), and the support 2 (541) is hingedly matched with the calf support plate 1 (55). The outer end of the support 2 (541) is fixedly provided with a joint motor 2 (542), and the output shaft of the joint motor 2 (542) is fixed to the upper end of the calf support plate 1 (55). A calf support plate 2 (56) is arranged below the calf support plate 1 (55), and a sliding plate 2 (561) is fixedly provided on the upper end surface of the calf support plate 2 (56), and the sliding plate 2 (561) is slidingly matched with the calf support plate 1 (55), and an electric telescopic rod 2 (531) is also fixedly provided on the outer side surface of the calf support plate 1 (55), and the piston rod of the electric telescopic rod 2 (531) is fixed to the calf support plate 2 (56).

9. A wearable exoskeleton table tennis technical movement training auxiliary device according to claim 8, characterized in that: A foot placement plate (59) is arranged below the calf support plate 2 (56), and a plurality of connection buckles 3 (591) are symmetrically fixedly arranged on the surface of the foot placement plate (59), and a support seat (57) is hingedly arranged on the left side of the surface of the foot placement plate (59), and the support seat (57) is hingedly matched with the lower end of the calf support plate 2 (56), and a connection seat 6 (571) is symmetrically fixedly arranged on both sides of the support seat (57), and a connection seat 5 (562) is symmetrically fixedly arranged on the outer side surface of the lower end of the calf support plate 2 (56), and a telescopic cylinder (58) is arranged between the connection seat 5 (562) and the connection seat 6 (571), and the piston rod of the telescopic cylinder (58) is hingedly matched with the connection seat 5 (562), and the lower end of the telescopic cylinder (58) is hingedly matched with the connection seat 6 (571).

10. A wearable exoskeleton table tennis technical movement training auxiliary device according to claim 1, characterized in that: The fixing assembly (6) comprises a fixing seat (61), a second rotating shaft (62) is symmetrically arranged on the outer side surface of the fixing seat (61), an arc plate (63) is fixedly arranged on the surface of the second rotating shaft (62), a gear (64) is fixedly arranged on the upper end of the second rotating shaft (62) beyond the surface of the fixing seat (61), and the gears (64) on the two second rotating shafts (62) are meshed, a fixing column (65) is fixedly arranged on the upper surface of the fixing seat (61), and the surface of the fixing column (65) is slidable. A positioning plate (66) is provided, and a spring (661) which is sleeved on the surface of the fixing column (65) is fixedly connected between the positioning plate (66) and the fixing seat (61). A threaded groove (621) is provided on the upper end surface of the rotating shaft (62). A bolt member (67) is provided above the threaded groove (621). The bolt member (67) is threadably matched with the threaded groove (621), and the bolt member (67) passes through the positioning plate (66). The diameter of the bolt member (67) is smaller than the hole diameter on the surface of the positioning plate (66).

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