Dynamic balance structure driven by two-stage cylinder

Abstract

The invention relates to a dynamic balance structure driven by two-stage air cylinders. A left air cylinder, a right air cylinder, a front air cylinder and a rear air cylinder all comprise the two-stage air cylinders. The air channel module comprises an air conveying pipeline, an air exhaust, an air bag pipeline, a first-stage driving pipeline and a second-stage driving pipeline, the air bag pipeline is connected with the middle air bag, the two-stage air cylinder comprises a first air port, a second air port, a third air port and a fourth air port, and the first air port and the second air port are connected with the first-stage driving pipeline. The third gas port and the fourth gas port are respectively connected with a second-stage driving pipeline; the gas circuit module is electrically connected with a control module. The air channel module is arranged to control the front, rear, left and right two-stage air cylinders, the control module is combined to control the on-off of the air channel module, the first-stage driving pipeline and the second-stage driving pipeline control the strokes of the four two-stage air cylinders respectively, the first-stage driving pipeline achieves balance, and the second-stage driving pipeline achieves amplitude modulation of the movement function. Various training modes are provided to meet various requirements of users with different muscle strengths, and meanwhile, the safety during equipment training is improved.

Description

Technical Field

[0001] The invention relates to the technical field of rehabilitation medicine, and in particular to a dynamic balancing structure driven by a two-stage cylinder. Background Art

[0002] Some patients with leg injuries or those whose legs are affected by injuries need to use auxiliary equipment for standing and balance rehabilitation training during the leg recovery process. Balance training is a rehabilitation training aimed at restoring or improving the body's balance ability. Existing balance training rehabilitation medical devices are mainly divided into static training equipment and dynamic training equipment.

[0003] The applicant disclosed CN113082613A a balance assessment device suitable for three-dimensional dynamic standing training. The device can combine static training and dynamic training. Static training is to evaluate whether the user can maintain balance when the equipment stops, and three-dimensional dynamic training is human-driven equipment training.

[0004] In order to further improve the training effect and cover primary muscle strength trainers at the same time, it is necessary to add passive training functions to realize three-dimensional dynamic training, three-dimensional dynamic active training and evaluation, and static evaluation and training.

[0005] Therefore, there is an urgent need for a device with a driving structure that can realize multi-mode and smoothly switch and corresponding control. Summary of the invention

[0006] In order to solve the problem that the existing balance training and rehabilitation medical equipment cannot realize three-dimensional dynamic multi-modal operation, the present invention proposes a two-stage cylinder-driven dynamic balancing structure, an air circuit module is set to control four front, rear, left and right two-stage cylinders, and the control module is combined to control the on-off of the air circuit module. The primary drive pipeline and the secondary drive pipeline respectively control the stroke of the four two-stage cylinders. The primary stage realizes balance, and the secondary stage realizes dynamic function amplitude modulation. A variety of training modes are provided to meet the various needs of users with different muscle strengths, while increasing the safety of equipment training.

[0007] To this end, the present invention proposes a two-stage cylinder driven dynamic balancing structure, comprising an air circuit module, a weight-reducing suspension host and a training platform, wherein the training platform is connected to the air circuit module, and the training platform comprises a left cylinder, a right cylinder, a front cylinder, a rear cylinder and a middle airbag, wherein the left cylinder, the right cylinder, the front cylinder and the rear cylinder all comprise two-stage cylinders; The gas circuit module includes an air delivery pipeline, an air exhaust, an air bag pipeline, a primary drive pipeline and a secondary drive pipeline. One end of the air delivery pipeline is connected to an air compressor, and the other end is connected to the air exhaust. The other end of the air exhaust is respectively connected to the air bag pipeline, the primary drive pipeline and the secondary drive pipeline. The air bag pipeline is connected to the middle air bag. The two-stage cylinder includes a first air port, a second air port, a third air port and a fourth air port. The first air port and the second air port are respectively connected to the primary drive pipeline, and the third air port and the fourth air port are respectively connected to the secondary drive pipeline. The gas circuit module is electrically connected to the control module.

[0008] Further, the primary drive pipeline includes solenoid valve A, solenoid valve B, solenoid valve C, solenoid valve D, solenoid valve E, solenoid valve F, solenoid valve G and solenoid valve H, and the solenoid valves A to H each include a pilot-operated two-position three-way solenoid valve, the solenoid valve A is connected to the first air port of the left cylinder, and the solenoid valve B is connected to the second air port of the left cylinder; The solenoid valve C is connected to the first air port of the right cylinder, and the solenoid valve D is connected to the second air port of the right cylinder; The solenoid valve E is connected to the first air port of the front cylinder, and the solenoid valve F is connected to the second air port of the front cylinder; The solenoid valve G is connected to the first air port of the rear cylinder, and the solenoid valve H is connected to the second air port of the rear cylinder.

[0009] The first-stage driving pipeline controls four second-stage cylinders to achieve the balance of the training platform. Eight solenoid valves control the air intake and exhaust of the four second-stage cylinders respectively, with high degree of freedom and delicate movements.

[0010] Further, the secondary drive pipeline includes solenoid valve a, solenoid valve b, solenoid valve c, solenoid valve d, solenoid valve e, solenoid valve f, solenoid valve g and solenoid valve h, and the solenoid valves a to h each include a pilot-operated two-position three-way solenoid valve, the solenoid valve a is connected to the third air port of the left cylinder, and the solenoid valve b is connected to the fourth air port of the left cylinder; The solenoid valve c is connected to the third air port of the right cylinder, and the solenoid valve d is connected to the fourth air port of the right cylinder; The solenoid valve e is connected to the third air port of the front cylinder, and the solenoid valve f is connected to the fourth air port of the front cylinder; The solenoid valve g is connected to the third air port of the rear cylinder, and the solenoid valve h is connected to the fourth air port of the rear cylinder.

[0011] The secondary drive pipeline controls four secondary cylinders to realize amplitude modulation of the training platform. Eight solenoid valves control the air intake and outlet of the four secondary cylinders respectively, with high degree of freedom and delicate movements.

[0012] Furthermore, the gas circuit module further includes a first branch pipeline, a second branch pipeline, a third branch pipeline and a fourth branch pipeline. The air inlet ends of the solenoid valve a, solenoid valve A, solenoid valve C and solenoid valve c are connected to the first branch pipeline; The air inlet ends of the solenoid valves e, E, G and g are connected to the second branch pipeline; The air inlet ends of the solenoid valve f, the solenoid valve F, the solenoid valve H and the solenoid valve h are connected to the third branch pipeline; The air inlet ends of the solenoid valves b, b, d and d are connected to the fourth branch pipeline; The first branch pipeline, the second branch pipeline, the third branch pipeline and the fourth branch pipeline are all connected to the gas exhaust.

[0013] The air supply to every four solenoid valves is provided by a branch pipeline. These four solenoid valves can work synchronously or asynchronously to achieve left-right adjustment, front-back adjustment, and separate adjustment of the training platform.

[0014] Further, the first branch pipeline includes a solenoid valve I, the second branch pipeline includes a solenoid valve J, the third branch pipeline includes a solenoid valve K, and the fourth branch pipeline includes a solenoid valve L; The input ends of the solenoid valve I and the solenoid valve J are both connected to a one-way valve, and the output ends of the solenoid valve I and the solenoid valve J are connected to a speed regulating valve; Solenoid valves I~L all include pilot-operated two-position three-way solenoid valves.

[0015] The on-off of the first branch pipeline to the fourth branch pipeline is controlled by electromagnetic valves I~L, which is easy to control.

[0016] Furthermore, the gas pipeline includes a safety valve, a filter, a pressure switch and a gas tank, the safety valve is connected to the air compressor, the other end of the safety valve is connected to the gas tank via the filter and the pressure switch, and the other side of the gas tank is connected to the gas exhaust; A manual valve is provided at the lower end of the filter.

[0017] Set up a filter to filter the incoming air, open the manual valve to remove the filtered dust and water, and ensure the safe use of the gas path module.

[0018] Furthermore, the airbag pipeline includes a solenoid valve M, the inlet of the solenoid valve M is connected to the air exhaust, and the outlet is connected to the middle airbag, and the solenoid valve M includes a pilot-operated two-position three-way solenoid valve.

[0019] An electromagnetic proportional valve is arranged at the front end of the electromagnetic valve M, and the electromagnetic proportional valve is used to control the flow rate. The electromagnetic valve M is used to control the inflation, maintenance and exhaust of the middle airbag.

[0020] Furthermore, the coils of the solenoid valves A~H, the solenoid valves a~h, the solenoid valves I~L and the solenoid valve M are all electrically connected to the control module.

[0021] The control module includes an MCU chip, the output end of the MCU chip is connected to an optocoupler drive circuit, the output end of the optocoupler drive circuit is connected to the coils of solenoid valves A~H, solenoid valves a~h, solenoid valves I~L and solenoid valve M, and the MCU chip controls the power on and off of the coils of solenoid valves A~H, solenoid valves a~h, solenoid valves I~L and solenoid valve M according to a program.

[0022] Furthermore, the training platform also includes a base, an upper platform, a ball joint connector and a cross slide; The base is a cylindrical frame structure, and support plates are provided at the upper and lower ends of the base. The support plates are disc-shaped structures, and are fixedly connected to the base. A left cylinder, a right cylinder, a front cylinder and a rear cylinder are evenly arranged on the base. The piston rods of the left cylinder, the right cylinder, the front cylinder and the rear cylinder are connected to the ball connector, and the ball connector is fixedly connected to a cross slide rail, and the cross slide rail is fixed to the upper platform. A middle airbag is arranged between the lower end of the upper platform and the support plate arranged at the upper end of the base.

[0023] Furthermore, the weight-reducing suspension host includes a host body, a weight-reducing sling and a weight-reducing bracket, the weight-reducing bracket includes a weight-reducing platform, the weight-reducing platform is a rectangular structure, the training platform is arranged in the middle of the weight-reducing platform, the heavy suspension host is detachably connected to the weight-reducing sling, and the weight-reducing sling is arranged above the training platform Through the above technical solution, the beneficial effects of the present invention are: The left cylinder, the right cylinder, the front cylinder and the rear cylinder of the present invention are all two-stage cylinders, the two-stage cylinders include a first gas port, a second gas port, a third gas port and a fourth gas port, the gas circuit module includes a gas transmission pipeline, an air exhaust, an air bag pipeline, a primary drive pipeline and a secondary drive pipeline, the primary drive pipeline connects the first gas port and the second gas port, the primary drive pipeline controls the reciprocating motion of the first section piston of the two-stage cylinder, the secondary drive pipeline connects the third gas port and the fourth gas port, and the secondary drive pipeline controls the reciprocating motion of the second section piston of the two-stage cylinder; Therefore, the four cylinders, namely the left cylinder, the right cylinder, the front cylinder and the rear cylinder, can be adjusted synchronously and asynchronously, and the balance of the training platform can be achieved through the first-level drive pipeline control, and the dynamic function amplitude modulation can be achieved through the second-level drive pipeline, thereby realizing three-dimensional dynamic dynamic training, three-dimensional dynamic active training and evaluation, and static evaluation and training.

[0024] 2 The present invention has good safety and comfort. The upper platform of the training platform of the present invention is directly connected to the piston rods of the left cylinder, the right cylinder, the front cylinder and the rear cylinder through a ball joint connector and a cross slide rail. The lifting and lowering of the cylinder is directly reflected in the changes of the upper platform. The structure is simple and the safety is high. In addition, a weight-reducing suspension host is provided to protect the user, so that the user can support the body through the upper limbs to ensure the safety of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The present invention is a schematic structural diagram of a dynamic balancing structure driven by a two-stage cylinder.

[0026] Figure 2 The present invention is a schematic diagram of the structure of a primary drive pipeline and a secondary drive pipeline of a dynamic balancing structure driven by a two-stage cylinder.

[0027] Figure 3 The present invention is a schematic diagram of a cylinder and airbag structure of a dynamic balancing structure driven by a two-stage cylinder.

[0028] Figure 4 The present invention is a schematic structural diagram of a training platform with a dynamic balancing structure driven by a two-stage cylinder.

[0029] Figure 5 The present invention is a structural schematic diagram of a weight-reducing suspension mainframe with a dynamic balancing structure driven by a two-stage cylinder.

[0030] Figure numbers: 1 is the left cylinder, 2 is the right cylinder, 3 is the front cylinder, 4 is the rear cylinder, 5 is the middle air bag, 6 is the gas pipeline, 7 is the air exhaust, 8 is the air bag pipeline, 9 is the first branch pipeline, 10 is the second branch pipeline, 11 is the third branch pipeline, 12 is the fourth branch pipeline, 13 is the base, 14 is the upper platform, 15 is the ball head connector, 16 is the cross slide rail, 17 is the support plate, 18 is the main body, 19 is the weight-reducing sling, and 20 is the weight-reducing bracket. DETAILED DESCRIPTION

[0031] Example 1 like Figures 1 to 5 As shown, a two-stage cylinder driven dynamic balancing structure includes an air circuit module, a weight-reducing suspension host and a training platform, wherein the training platform is connected to the air circuit module, and the training platform includes a left cylinder 1, a right cylinder 2, a front cylinder 3, a rear cylinder 4 and a middle airbag 5, wherein the left cylinder 1, the right cylinder 2, the front cylinder 3 and the rear cylinder 4 all include two-stage cylinders; The gas circuit module includes an air delivery pipeline 6, an air exhaust 7, an airbag pipeline 8, a primary drive pipeline and a secondary drive pipeline. One end of the air delivery pipeline 6 is connected to an air compressor, and the other end is connected to the air exhaust 7. The other end of the air exhaust 7 is respectively connected to the airbag pipeline 8, the primary drive pipeline and the secondary drive pipeline. The airbag pipeline 8 is connected to the middle airbag 5. The two-stage cylinder includes a first air port, a second air port, a third air port and a fourth air port. The first air port and the second air port are respectively connected to the primary drive pipeline, and the third air port and the fourth air port are respectively connected to the secondary drive pipeline; The gas circuit module is electrically connected to the control module.

[0032] The primary drive pipeline includes solenoid valve A, solenoid valve B, solenoid valve C, solenoid valve D, solenoid valve E, solenoid valve F, solenoid valve G and solenoid valve H, and the solenoid valves A to H each include a pilot-operated two-position three-way solenoid valve, the solenoid valve A is connected to the first air port of the left cylinder 1, and the solenoid valve B is connected to the second air port of the left cylinder 1; The solenoid valve C is connected to the first air port of the right cylinder 2, and the solenoid valve D is connected to the second air port of the right cylinder 2; The solenoid valve E is connected to the first air port of the front cylinder 3, and the solenoid valve F is connected to the second air port of the front cylinder 3; The solenoid valve G is connected to the first air port of the rear cylinder 4 , and the solenoid valve H is connected to the second air port of the rear cylinder 4 .

[0033] The secondary drive pipeline includes solenoid valve a, solenoid valve b, solenoid valve c, solenoid valve d, solenoid valve e, solenoid valve f, solenoid valve g and solenoid valve h, and the solenoid valves a to h each include a pilot-operated two-position three-way solenoid valve, the solenoid valve a is connected to the third air port of the left cylinder 1, and the solenoid valve b is connected to the fourth air port of the left cylinder 1; The solenoid valve c is connected to the third air port of the right cylinder 2, and the solenoid valve d is connected to the fourth air port of the right cylinder 2; The solenoid valve e is connected to the third air port of the front cylinder 3, and the solenoid valve f is connected to the fourth air port of the front cylinder 3; The solenoid valve g is connected to the third air port of the rear cylinder 4 , and the solenoid valve h is connected to the fourth air port of the rear cylinder 4 .

[0034] The gas circuit module further includes a first branch pipeline 9, a second branch pipeline 10, a third branch pipeline 11 and a fourth branch pipeline 12. The air inlet ends of the solenoid valve a, solenoid valve A, solenoid valve C and solenoid valve c are connected to the first branch pipeline 9; The air inlet ends of the solenoid valves e, E, G and g are connected to the second branch pipeline 10; The air inlet ends of the solenoid valves f, F, H and h are connected to the third branch pipeline 11; The air inlet ends of the solenoid valve b, the solenoid valve B, the solenoid valve D and the solenoid valve d are connected to the fourth branch pipeline 12; The first branch pipeline 9 , the second branch pipeline 10 , the third branch pipeline 11 and the fourth branch pipeline 12 are all connected to the gas exhaust 7 .

[0035] The first branch pipeline 9 includes a solenoid valve I, the second branch pipeline 10 includes a solenoid valve J, the third branch pipeline 11 includes a solenoid valve K, and the fourth branch pipeline 12 includes a solenoid valve L; The input ends of the solenoid valve I and the solenoid valve J are both connected to a one-way valve, and the output ends of the solenoid valve I and the solenoid valve J are connected to a speed regulating valve; Solenoid valves I~L all include pilot-operated two-position three-way solenoid valves.

[0036] The gas pipeline 6 includes a safety valve, a filter, a pressure switch and a gas tank. The safety valve is connected to the air compressor, and the other end of the safety valve is connected to the gas tank through the filter and the pressure switch. The other side of the gas tank is connected to the gas exhaust 7; A manual valve is provided at the lower end of the filter.

[0037] The airbag pipeline 8 includes a solenoid valve M, an inlet of the solenoid valve M is connected to the air exhaust 7, and an outlet is connected to the middle airbag 5. The solenoid valve M includes a pilot-operated two-position three-way solenoid valve.

[0038] The coils of the solenoid valves A~H, the solenoid valves a~h, the solenoid valves I~L and the solenoid valve M are all electrically connected to the control module.

[0039] The training platform also includes a base 13, an upper platform 14, a ball joint connector 15 and a cross slide 16; The base 13 is a cylindrical frame structure, and support plates 17 are provided at the upper and lower ends of the base 13. The support plates 17 are disc-shaped structures and are fixedly connected to the base 13. The left cylinder 1, the right cylinder 2, the front cylinder 3 and the rear cylinder 4 are evenly arranged on the base 13. The piston rods of the left cylinder 1, the right cylinder 2, the front cylinder 3 and the rear cylinder 4 are connected to the ball connector 15, and the ball connector 15 is fixedly connected to the cross slide 16. The cross slide 16 is fixed to the upper platform 14, and a middle airbag 5 is arranged between the lower end of the upper platform 14 and the support plate 17 arranged at the upper end of the base 13.

[0040] The weight-reducing suspension host includes a host body 18, a weight-reducing sling 19 and a weight-reducing bracket 20. The weight-reducing bracket 20 includes a weight-reducing platform. The weight-reducing platform has a rectangular structure. The training platform is arranged in the middle of the weight-reducing platform. The heavy suspension host is detachably connected to the weight-reducing sling 19. The weight-reducing sling 19 is arranged above the training platform.

[0041] When using, Figure 4 and 5 As shown, the weight-reducing sling 19 is fixed to the main body 18, and the main body 18 is fixed to the weight-reducing bracket 20. The user puts on the weight-reducing sling 19, holds the weight-reducing bracket 20, and stands on the training platform with his feet in contact with the training platform.

[0042] like Figure 1 and 2 As shown in 3, during operation, taking the left cylinder 1 as an example, the control principle of the right cylinder 2, the front cylinder 3 and the rear cylinder 4 is the same as that of the left cylinder 1 and will not be repeated here.

[0043] The first air port of the left cylinder 1 is connected to the solenoid valve A, and the second air port of the left cylinder 1 is connected to the solenoid valve B. The third air port of the left cylinder 1 is connected to the solenoid valve a, and the fourth air port of the left cylinder 1 is connected to the solenoid valve b; Solenoid valve A and solenoid valve a are connected to the first branch pipeline 9, and solenoid valve B and solenoid valve b are connected to the fourth branch pipeline 12; When the left cylinder 1 is at the first level, the fourth air port is inlet, the third air port is exhausted, the first air port is inlet, and the second air port is exhausted. First, the control module controls the solenoid valve I and the solenoid valve L to be energized, and the 1-2 channels of the solenoid valve I and the solenoid valve L are opened, and the first branch pipeline 9 and the fourth branch pipeline 12 are inlet, and then the coil of the solenoid valve b is energized, and the 1-2 channel of the solenoid valve b is opened, the piston of the left cylinder 1 is upward, and the 1-3 channel connected to the solenoid valve a is opened, and the third air port is exhausted. At the same time, the solenoid valve A is energized, and the 1-2 channel is opened to allow gas to enter and squeeze the upper piston, and the 1-3 channel of the solenoid valve B is opened, and the second air port is exhausted. The left cylinder 1 is at the first level.

[0044] The user feels the changes of the training platform and keeps the body balanced when the training platform changes, thereby completing the balance training.

[0045] Example 2 Based on a two-stage cylinder driven dynamic balancing structure in Example 1, Figures 1 to 5 As shown, the three-dimensional dynamic training mode, the three-dimensional dynamic active training mode, and the static evaluation mode are described: (1) Static evaluation mode: The fourth air port of the left cylinder 1, the right cylinder 2, the front cylinder 3 and the rear cylinder 4 takes in air, the third air port exhausts air, the first air port takes in air, the second air port exhausts air, the middle air bag 5 maintains, and the training platform is level.

[0046] (2) Three-dimensional dynamic active training mode: State 1: the fourth air port of the left cylinder 1, the right cylinder 2, the front cylinder 3 and the rear cylinder 4 takes in air, the third air port exhausts air, the first air port takes in air, the second air port exhausts air, the middle air bag 5 is maintained, and the training platform is level.

[0047] State 2: The front cylinder 3 is at the first level, the first air port is inflated and maintained, and the second air port is exhausted. The rear cylinder 4 is at the first level, the first air port is inflated and maintained, and the second air port is exhausted. The left cylinder 1 is emptied, the first air port is exhausted, and the second air port is exhausted. The right cylinder 3 is emptied, the first air port is exhausted, and the second air port is exhausted. Detect the pressure of the middle airbag 5. If it is higher than the set value, exhaust it. If it is lower than the set value, inflate it. At this time, the training platform is high in front and back, and low in left and right.

[0048] State 3: The front cylinder 3 and the rear cylinder 4 are emptied, the left cylinder 1 and the right cylinder 2 are at the first level, and the pressure of the middle airbag 5 is detected. If it is higher than the set value, it is exhausted, and if it is lower than the set value, it is inflated. At this time, the training platform is higher on the left and right sides and lower on the front and back.

[0049] State 4: The front cylinder 3 and the rear cylinder 4 are emptied, the left cylinder 1 and the right cylinder 2 are emptied, and the pressure of the middle airbag 5 is detected. If it is higher than the set value, it is exhausted, and if it is lower than the set value, it is inflated. At this time, the training platform is supported by the middle airbag 5.

[0050] (3) Three-dimensional dynamic training mode: State 1: the fourth air port of the left cylinder 1, the right cylinder 2, the front cylinder 3 and the rear cylinder 4 takes in air, the third air port exhausts air, the first air port takes in air, the second air port exhausts air, the middle air bag 5 is maintained, and the training platform is level.

[0051] State 2: The front cylinder 3 and the rear cylinder 4 are at the first level, the left cylinder 1 rises, the first air port takes in air and maintains pressure, the second air port exhausts for 10 seconds, the third air port takes in air and maintains pressure, the fourth air port exhausts, the right cylinder 2 is emptied, and the middle air bag 5 is exhausted until the pressure is zero. The training platform is higher on the left and lower on the right.

[0052] State 3: The front cylinder 3 and the rear cylinder 4 are in the first stage, the left cylinder 1 is exhausted, the right cylinder 2 rises, and the middle airbag 5 is exhausted until the pressure is zero. The training platform is higher on the right and lower on the left.

[0053] State 4: The front cylinder 3 rises, the rear cylinder 4 is exhausted, the left cylinder 1 and the right cylinder 2 are inflated, and the middle airbag 5 is exhausted until the pressure is zero. The training platform is high in front and low in the back.

[0054] State 5: The front cylinder 3 is exhausted, the rear cylinder 4 is raised, the left cylinder 1 and the right cylinder 2 are inflated to the first level, and the middle airbag 5 is exhausted until the pressure is zero. The training platform is low in front and high in the back.

[0055] Users can select three-dimensional dynamic training mode, three-dimensional dynamic active training mode, and static assessment mode according to their physical level and purpose for balance training and training assessment.

[0056] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made according to the structures, features and principles described in the patent scope of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. A two-stage cylinder driven dynamic balancing structure, comprising an air circuit module, a weight-reducing suspension host and a training platform, wherein the training platform is connected to the air circuit module, characterized in that: The training platform comprises a left cylinder (1), a right cylinder (2), a front cylinder (3), a rear cylinder (4) and a middle air bag (5); the left cylinder (1), the right cylinder (2), the front cylinder (3) and the rear cylinder (4) all comprise double-stage cylinders; The gas circuit module comprises an air supply pipeline (6), an air exhaust (7), an air bag pipeline (8), a primary drive pipeline and a secondary drive pipeline; one end of the air supply pipeline (6) is connected to an air compressor, and the other end is connected to the air exhaust (7); the other end of the air exhaust (7) is respectively connected to the air bag pipeline (8), the primary drive pipeline and the secondary drive pipeline; the air bag pipeline (8) is connected to the middle air bag (5); the two-stage cylinder comprises a first air port, a second air port, a third air port and a fourth air port; the first air port and the second air port are respectively connected to the primary drive pipeline, and the third air port and the fourth air port are respectively connected to the secondary drive pipeline; The gas circuit module is electrically connected to the control module.

2. A two-stage cylinder driven dynamic balancing structure according to claim 1, characterized in that: The primary drive pipeline comprises a solenoid valve A, a solenoid valve B, a solenoid valve C, a solenoid valve D, a solenoid valve E, a solenoid valve F, a solenoid valve G and a solenoid valve H, wherein the solenoid valves A to H each comprise a pilot-operated two-position three-way solenoid valve, the solenoid valve A is connected to the first air port of the left cylinder (1), and the solenoid valve B is connected to the second air port of the left cylinder (1); The solenoid valve C is connected to the first air port of the right cylinder (2), and the solenoid valve D is connected to the second air port of the right cylinder (2); The solenoid valve E is connected to the first air port of the front cylinder (3), and the solenoid valve F is connected to the second air port of the front cylinder (3); The solenoid valve G is connected to the first air port of the rear cylinder (4), and the solenoid valve H is connected to the second air port of the rear cylinder (4).

3. A two-stage cylinder driven dynamic balancing structure according to claim 2, characterized in that: The secondary drive pipeline comprises a solenoid valve a, a solenoid valve b, a solenoid valve c, a solenoid valve d, a solenoid valve e, a solenoid valve f, a solenoid valve g and a solenoid valve h, wherein the solenoid valves a to h each comprise a pilot-operated two-position three-way solenoid valve, the solenoid valve a is connected to the third air port of the left cylinder (1), and the solenoid valve b is connected to the fourth air port of the left cylinder (1); The solenoid valve c is connected to the third air port of the right cylinder (2), and the solenoid valve d is connected to the fourth air port of the right cylinder (2); The solenoid valve e is connected to the third air port of the front cylinder (3), and the solenoid valve f is connected to the fourth air port of the front cylinder (3); The solenoid valve g is connected to the third air port of the rear cylinder (4), and the solenoid valve h is connected to the fourth air port of the rear cylinder (4).

4. A two-stage cylinder driven dynamic balancing structure according to claim 3, characterized in that: The gas circuit module further comprises a first branch pipeline (9), a second branch pipeline (10), a third branch pipeline (11) and a fourth branch pipeline (12). The air inlet ends of the solenoid valve a, the solenoid valve A, the solenoid valve C and the solenoid valve c are connected to the first branch pipeline (9); The air inlet ends of the solenoid valves e, E, G and g are connected to a second branch pipeline (10); The air inlet ends of the solenoid valves f, F, H and h are connected to a third branch pipeline (11); The air inlet ends of the solenoid valves b, b, d and d are connected to a fourth branch pipeline (12); The first branch pipeline (9), the second branch pipeline (10), the third branch pipeline (11) and the fourth branch pipeline (12) are all connected to the gas exhaust (7).

5. A two-stage cylinder driven dynamic balancing structure according to claim 4, characterized in that: The first branch pipeline (9) includes a solenoid valve I, the second branch pipeline (10) includes a solenoid valve J, the third branch pipeline (11) includes a solenoid valve K, and the fourth branch pipeline (12) includes a solenoid valve L; The input ends of the solenoid valve I and the solenoid valve J are both connected to a one-way valve, and the output ends of the solenoid valve I and the solenoid valve J are connected to a speed regulating valve; Solenoid valves I~L all include pilot-operated two-position three-way solenoid valves.

6. A two-stage cylinder driven dynamic balancing structure according to claim 1, characterized in that: The gas transmission pipeline (6) comprises a safety valve, a filter, a pressure switch and a gas tank, the safety valve is connected to the air compressor, the other end of the safety valve is connected to the gas tank via the filter and the pressure switch, and the other side of the gas tank is connected to the gas exhaust (7); A manual valve is provided at the lower end of the filter.

7. A two-stage cylinder driven dynamic balancing structure according to claim 1, characterized in that: The airbag pipeline (8) comprises a solenoid valve M, the inlet of the solenoid valve M is connected to the air exhaust (7), and the outlet is connected to the middle airbag (5), and the solenoid valve M comprises a pilot-operated two-position three-way solenoid valve.

8. A two-stage cylinder driven dynamic balancing structure according to claim 5 or 7, characterized in that: The coils of the solenoid valves A~H, the solenoid valves a~h, the solenoid valves I~L and the solenoid valve M are all electrically connected to the control module.

9. A two-stage cylinder driven dynamic balancing structure according to claim 1, characterized in that: The training platform also includes a base (13), an upper platform (14), a ball head connector (15) and a cross slide rail (16); The base (13) is a cylindrical frame structure. Support plates (17) are provided at both upper and lower ends of the base (13). The support plates (17) are disc-shaped structures. The support plates (17) are fixedly connected to the base (13). A left cylinder (1), a right cylinder (2), a front cylinder (3) and a rear cylinder (4) are evenly arranged on the base (13). The piston rods of the left cylinder (1), the right cylinder (2), the front cylinder (3) and the rear cylinder (4) are connected to the ball connector (15). The ball connector (15) is fixedly connected to a cross slide rail (16). The cross slide rail (16) is fixed to the upper platform (14). A middle air bag (5) is provided between the lower end of the upper platform (14) and the support plate (17) provided at the upper end of the base (13).

10. A two-stage cylinder driven dynamic balancing structure according to claim 9, characterized in that: The weight-reducing suspension host comprises a host body (18), a weight-reducing sling (19) and a weight-reducing bracket (20); the weight-reducing bracket (20) comprises a weight-reducing platform; the weight-reducing platform is in a rectangular structure; the training platform is arranged in the middle of the weight-reducing platform; the heavy suspension host is detachably connected to the weight-reducing sling (19); and the weight-reducing sling (19) is arranged above the training platform.

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