Rope skipping robot capable of adjusting rope swinging force arm, horizontal distance, rotation center line and speed

Abstract

The invention discloses a rope skipping robot capable of adjusting a rope swinging force arm, a horizontal distance, a rotation center line and a speed. The rope skipping robot comprises a right-end movable rope skipping robot device, a left-end movable rope skipping robot device, a flexible rope, a rope skipping robot parameter calculation system, a motion control system and a safety monitoring system. The right-end moving rope skipping robot device comprises a right-side driving mechanism, a right-side vertical lifting platform, a right-side counter weight, a display input console, a right-side driving motor, a speed reducer, a right-side driving disc crank sliding block mechanism, a laser displacement sensor and a binocular vision sensor; the left-end moving rope skipping robot device comprises a left-side driving mechanism, a left-side vertical lifting platform, a left-side counter weight, a pivotal bearing, a bearing seat and a left-side follow-up disc crank sliding block mechanism; according to the height of a rope skipping person, the horizontal distance between the right-end movable rope skipping robot device and the left-end movable rope skipping robot device, the force arm and the rotation center line during rope swinging are adjusted, and the motion state of a flexible rope is judged.

Description

Technical Field

[0001] The invention relates to a rope skipping robot in the field of fitness equipment, and in particular to a rope skipping robot capable of adjusting a rope swinging force arm, a horizontal spacing, a rotation center line and a speed. Background Art

[0002] Research has shown that skipping can effectively train a person's reaction and endurance, enhance the cardiovascular, respiratory and nervous system functions, prevent many diseases and relieve heart health pressure. At the same time, skipping can also relax emotions and relieve mental stress. Long-term skipping can help people maintain mental health. In addition, skipping is not restricted by the age of participants, is relatively easy to do, and has significant fitness effects. It is a convenient and effective aerobic fitness exercise.

[0003] However, traditional rope skipping requires energy provided by people to shake the rope / throw the rope to complete it. It is difficult for users with inconvenient arm functions to safely and independently complete rope skipping by shaking the rope / throwing the rope with their own arms. At the same time, when three or more people are skipping rope, two people must manually shake the rope / throw the rope, and the two people who shake the rope / throw the rope cannot participate in rope skipping together, and people need to be replaced during rope skipping. Moreover, when the number of people skipping rope increases, the required rope also needs to be lengthened, the weight of the rope also increases, and the energy required to provide the rope shaking / throwing process also increases, and the rope shaking / throwing becomes very difficult. Not only that, the two people shaking the rope / throwing the rope need to exert force at the same time, in the same direction, and at the same frequency, and must maintain uniform force and consistent strength to swing the rope up. Otherwise, if any party does not exert force well, it will affect the molding effect of the rope after it is thrown out. Therefore, there are many inconveniences in manually shaking the rope / throwing the rope.

[0004] At present, most of the automatic rope skipping machines on the market are of the type in which the rope rotates around the central axis perpendicular to the ground. The working principle of this type of automatic rope skipping machine is different from that of traditional manual rope swinging. When the rope is swung manually, the rotation centerline of the rope is parallel to the ground, and the rope swinger can adjust the height of the rope swinging centerline as needed. This type of automatic rope skipping machine in which the rope rotates around the central axis perpendicular to the ground uses an output shaft perpendicular to the motor to drive the rope to rotate, similar to a compass drawing a circle on the ground. The rope is mostly a combination of flexible rope, steel rope and flexible rope. The rotation height of the rope in the vertical direction during rotation cannot be adjusted, and the rope contacts and rubs against the ground during rotation, which will cause the rope to wear and damage in the long run. In terms of safety, this type of product mostly uses tension sensors, which cannot detect human errors in advance and can only issue braking instructions after the rope collides with the athlete. In terms of application scenarios, the movement process of this type of robot is similar to a compass drawing a circle on the ground. The required movement space is large, and it is difficult to be competent for long-distance multi-person collective rope skipping.

[0005] There are also some automatic rope skipping machines whose rope-swinging motion is similar to that of traditional manual rope-swinging motion, but lack the accurate calculation of the static spatial configuration of the free-hanging flexible rope of the automatic rope skipping machine and the prediction method of the flexible rope's spatial trajectory during the rope-swinging process. There is a lack of a calculation system that can adaptively calculate the appropriate rope length, rope-swinging arm, horizontal spacing, rope-swinging center height, etc. of the rope skipping robot according to the physical parameters of the athletes (such as height and number of people). There is also a lack of a monitoring and control method that actively prevents the flexible rope from contacting the rope skipper during the rope-swinging process. Therefore, how to provide a rope skipping robot that can adjust the rope-swinging arm, horizontal spacing, rotation center line and rope skipping speed according to the body height of the rope skipper is a technical problem that needs to be solved urgently. Summary of the invention

[0006] Purpose of the invention: In order to overcome the shortcomings of the prior art, the present invention proposes a rope skipping robot capable of adjusting the rope-swinging force arm, horizontal spacing, rotation center line and speed. The horizontal spacing between the right-end mobile rope skipping robot device and the left-end mobile rope skipping robot device, the force arm of the disc crank slider mechanism when swinging the rope, and the rotation center line of the disc crank slider mechanism when swinging the rope are adjusted according to the height of the rope skipper. The motion control system adjusts the rope-swinging speed by controlling the rotation speed of the right-side drive motor and the reducer, and monitors the motion state of the flexible rope through the safety monitoring system and makes timely judgments.

[0007] Technical solution: The rope skipping robot of the present invention can adjust the rope swinging force arm, horizontal spacing, rotation center line and speed, and comprises a right-end mobile rope skipping robot device, a left-end mobile rope skipping robot device, a flexible rope, a rope skipping robot parameter calculation system, a motion control system and a safety monitoring system;

[0008] The right-end mobile rope skipping robot device comprises a right-side crawler drive mechanism, a right-side chassis, a right-side vertical lifting platform, a right-side counterweight, a display input console, a right-side drive motor and reducer, a right-side drive disc crank slider mechanism, a laser displacement sensor and a binocular vision sensor; the right-side drive motor and reducer are connected to the right-side drive disc crank slider mechanism and are located on the right-side vertical lifting platform;

[0009] The right-side driving disc crank slider mechanism comprises a right-side disc sliding track, a right-side disc track bracket, a right-side rotating shaft, a right-side hollow connecting rod sliding track, a right-side flexible rope connecting moving slider, a right-side locking bolt and a right-side supporting moving slider; the right-side disc sliding track is connected to the right-side disc track bracket, and the right-side rotating shaft passes through the center hole of the right-side disc sliding track and is connected to the right-side hollow connecting rod sliding track; the right-side hollow connecting rod sliding track is connected to the right-side disc sliding track through the right-side supporting moving slider;

[0010] The right side flexible rope connected moving slider changes the position of the right side flexible rope connected moving slider in the right side hollow connecting rod sliding track through the right side locking bolt, thereby changing the rope throwing force arm b;

[0011] The left-end mobile rope skipping robot device comprises a left crawler drive mechanism, a left chassis, a left vertical lifting platform, a left counterweight, a slewing bearing and a bearing seat on the left chassis, a left bearing seat bracket and a left follower disc crank slider mechanism;

[0012] The left follower disc crank slider mechanism comprises a left disc sliding track, a left disc track bracket, a left rotating shaft, a left hollow connecting rod sliding track, a left flexible rope connected moving slider, a left locking bolt and a left supporting moving slider;

[0013] The left rotating shaft passes through the center of the left disc sliding track and is connected to the left hollow connecting rod sliding track, and the left hollow connecting rod sliding track is connected to the disc sliding track through the left supporting movable sliding block;

[0014] The flexible rope connects the right-end mobile rope skipping robot device with the left-end mobile rope skipping robot device through the right-side flexible rope connecting moving slider and the left-side flexible rope connecting moving slider;

[0015] The parameter calculation system of the rope skipping robot calculates the control equation of the flexible rope in the rope-swinging motion state and the equilibrium equation in the static state; the control equation of the flexible rope in the rope-swinging motion state is:

[0016]

[0017] Where M(q) is the mass of the flexible rope, C(q) is the damping matrix of the flexible rope, Q(q) is the elastic force of the flexible rope, and F ex is the generalized external force vector of the flexible rope, Φ N The constraint equations representing the first and last nodes of the flexible rope are:

[0018]

[0019] According to the control equation of the flexible rope in the rope-throwing motion state, the equilibrium equation of the flexible rope in the static state is obtained:

[0020]

[0021] Q(q) is the elastic force of the flexible rope, F ex is the generalized external force vector of the flexible rope, Φ N0 The constraint equations representing the first and last nodes of the flexible rope in a static state are:

[0022]

[0023] The parameter calculation system of the rope skipping robot calculates the shape curve of the flexible rope in a static equilibrium state according to the equilibrium equation of the flexible rope in a static state and the parameters of the flexible rope, and obtains the lowest point position of the flexible rope in a static equilibrium state;

[0024] The parameter calculation system of the rope skipping robot calculates the space envelope curve formed by the flexible rope during the rope-swinging motion according to the control equation of the flexible rope during the rope-swinging motion and the parameters of the flexible rope, and obtains and adjusts the height difference between the highest point and the lowest point of the flexible rope during the rope-swinging motion to be greater than the height of the rope jumper;

[0025] The motion control system collects the displacement data of the laser displacement sensor and adjusts the horizontal distance l between the left mobile rope skipping robot device and the right mobile rope skipping robot device according to the height of the rope jumper. D , and adjust the height of the vertical lifting platform to adjust the center line of rotation; the motion control system adjusts the rope-swinging speed by controlling the speed of the right drive motor and reducer.

[0026] The parameter calculation system of the rope skipping robot is based on the equilibrium equation of the flexible rope in a static state and the length l of the flexible rope. B , density, rotation center line, and rope-swinging force arm b are used to calculate the shape curve of the flexible rope in static equilibrium and obtain the lowest point position of the flexible rope in static equilibrium.

[0027] The parameter calculation system of the rope skipping robot is based on the control equation of the flexible rope in the rope-swinging motion state and the rope length l of the flexible rope. B , density, rotation center line, and rope-swinging force arm b are used to calculate the envelope curve formed by the flexible rope when it is swung, and the height difference between the highest point and the lowest point of the flexible rope when it is swung is obtained and adjusted to be greater than the height of the rope jumper.

[0028] The laser displacement sensor monitors the horizontal distance between the left-end moving rope skipping robot device and the right-end moving rope skipping robot device.

[0029] The binocular vision sensor feeds back the motion state of the monitored flexible rope to the display input console.

[0030] It also includes a right motor bracket, and the right drive motor and reducer are fixed on the right vertical lifting platform through the right motor bracket.

[0031] The right chassis is fixed on the right crawler-type driving mechanism, and the left chassis is fixed on the left crawler-type driving mechanism.

[0032] The right vertical lifting platform is fixed in the right chassis.

[0033] The safety monitoring system makes safety judgments based on the real-time data collected by the binocular vision sensor and transmitted to the flexible rope.

[0034] The left vertical lifting platform is located in the left chassis, and the left chassis is located above the left crawler drive mechanism.

[0035] Working principle: the right-side driving motor and reducer in the rope skipping robot of the present invention are connected with the right-side driving disc crank slider mechanism, and are placed above the right-side vertical lifting platform with the display input console, so as to control the rotation of the right-side driving disc crank slider mechanism; the vertical lifting platform changes the height position of the rope-swinging center by lifting and lowering, the right-side vertical lifting platform is placed in the right-side chassis, and the laser displacement sensor and the binocular vision sensor are placed at the front end of the right-side chassis to monitor the motion state of the flexible rope; the left-side slewing bearing and the bearing seat are connected with the left-side follower disc crank slider mechanism, and are placed in the left-side chassis through the left-side vertical lifting platform; the right-end mobile rope skipping robot device is connected to the moving slider through the right-side flexible rope, and the flexible rope and the left-side flexible rope are connected to the moving slider to connect the left-end mobile rope skipping robot device; the display input console calculates the running trajectory of the flexible rope, adjusts the horizontal distance between the right-end mobile rope skipping robot device and the left-end mobile rope skipping robot device, the force arm of the disc crank slider mechanism for throwing the rope, and the rotation center line of the disc crank slider mechanism when throwing the rope according to the height of the rope skipper, monitors the motion state of the flexible rope and makes timely judgments.

[0036] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0037] (1) The rope skipping robot of the present invention adjusts the rope swinging force arm, horizontal spacing, rotation center line and speed according to the height of the rope jumper. The length of the rotation arm when the rope is swinging is adjusted by connecting a flexible rope to the hollow connecting rod track of the left follower disc crank slider mechanism and the right follower disc crank slider mechanism. A vertical lifting platform is installed on the rope skipping machine housing, and a rotary driving device for driving the flexible rope to rotate is installed on the vertical lifting platform to change the vertical height of the rotary driving device, thereby adjusting the rotation center line of the flexible rope according to the height of the rope jumper.

[0038] (2) The rope skipping robot parameter calculation system of the present invention is based on the equilibrium equation of the flexible rope in a static state and the given physical parameters of the flexible rope (such as the rope length l of the flexible rope). B , the density of the flexible rope, the rotation center line of the flexible rope, the rope-swinging force arm of the flexible rope b) calculate the shape curve of the flexible rope in the static equilibrium state, and obtain the spatial position of the lowest point of the flexible rope in the static equilibrium state.

[0039] (3) The present invention adopts a rope skipping robot parameter calculation system to calculate the spatial envelope curve formed by the flexible rope during the rope-swinging motion according to the control equation of the flexible rope during the rope-swinging motion and the given physical parameters of the flexible rope, and obtains the height difference between the highest point and the lowest point of the flexible rope during the rope-swinging motion, so that the minimum height difference is greater than the body height of the rope skipper, thereby meeting the height requirements of rope skippers of different heights.

[0040] (4) The present invention adopts a crawler drive walking mechanism to increase the contact area with the ground, thereby increasing the friction between the rope skipping robot and the ground, making the rope skipping robot more stable during the rope swinging process.

[0041] (5) The present invention uses a visual sensor to monitor the spatial position of the flexible rope and monitor the rope skipping status in real time. If it is detected that the rope stops abnormally or is entangled, the motor is shut down and the operation is stopped.

[0042] (6) The right-end moving rope skipping robot device and the left-end moving rope skipping robot device in the present invention are arranged symmetrically, and the envelope trajectory formed by the flexible rope during the rope-swinging process is also bilaterally symmetrical. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural schematic diagram of a rope skipping robot for adjusting the rope swinging force arm, horizontal spacing, rotation center line and speed of the present invention;

[0044] Figure 2 yes Figure 1 A schematic structural diagram of the right end mobile rope skipping robot device of the present invention;

[0045] Figure 3 yes Figure 1 A schematic structural diagram of the left end mobile rope skipping robot device of the present invention;

[0046] Figure 4 yes Figure 2 and Figure 3 A schematic diagram of the structure of the right vertical lifting platform and the left vertical lifting platform of the mobile rope skipping robot device on the left end and the mobile rope skipping robot device on the right end;

[0047] Figure 5 yes Figure 2 The structural diagram of the drive disc crank slider mechanism on the right side of the middle;

[0048] Figure 6 yes Figure 3 The structural diagram of the follower disc crank slider mechanism on the left side of the middle;

[0049] Figure 7 yes Figure 5 The right side of the middle drive disc crank slider mechanism and Figure 6A schematic diagram of the structure of the right hollow connecting rod track and the left hollow connecting rod track of the left follower disc crank slider mechanism;

[0050] Figure 8 yes Figure 5 The right side of the middle drive disc crank slider mechanism and Figure 6 A schematic diagram of the structure of the right disc sliding track and the left disc sliding track of the left follower disc crank slider machine;

[0051] Fig. 9 yes Figure 5 The right side of the middle drive disc crank slider mechanism and Figure 6 A schematic diagram of the structure of the right hollow connecting rod track of the left follower disc crank slider machine and the flexible rope connected moving slider in the left hollow connecting rod track;

[0052] Fig.10 yes Figure 5 The right side of the middle drive disc crank slider mechanism and Figure 6 A schematic diagram of the structure of the right supporting movable slider and the left supporting movable slider in the disc track of the left follower disc crank slider machine;

[0053] Fig.11 The present invention is a schematic diagram of the motion mechanism of a rope skipping robot for adjusting the rope swinging force arm, horizontal spacing, rotation center line and speed. DETAILED DESCRIPTION

[0054] like Figure 1 As shown, the rope skipping robot for adjusting the rope swinging force arm, horizontal spacing, rotation center line and speed of the present invention comprises a right-end mobile rope skipping robot device 1, a left-end mobile rope skipping robot device 3, a flexible rope 2, a rope skipping robot parameter calculation system, a motion control system and a safety monitoring system. The flexible rope 2 connects the left-end mobile rope skipping robot device 3 and the right-end mobile rope skipping robot device 1 through the left-side flexible rope connecting moving slider 3-4-3 and the right-side flexible rope connecting moving slider 1-3-3.

[0055] like Figure 2 As shown, the right-end mobile rope skipping robot device 1 includes a right-side crawler drive mechanism 1-6, a right-side chassis 1-7, a right-side vertical lifting platform 1-8, a right-side counterweight 1-9, a display input console 1-1, a right-side drive motor and reducer 1-2, a right-side drive disc crank slider mechanism 1-3, a laser displacement sensor 1-4, a binocular vision sensor 1-5 and a right-side motor bracket 1-10.

[0056] like Figure 2 As shown, the right drive motor and reducer 1-2 are placed on the right motor bracket 1-10. Figure 4 The right vertical lifting platform 1-8 shown in the figure, the right driving motor and reducer 1-2 are as shown in the figure. Figure 5The right side driving disc crank slider mechanism 1-3 shown is connected, thereby driving the right side driving disc crank slider mechanism 1-3 to rotate, the right side driving disc crank slider mechanism 1-3 is placed on the right side vertical lifting platform 1-8, the display input console 1-1 is placed on the right side vertical lifting platform 1-8, and controls the operation of the rope skipping robot; the right side vertical lifting platform 1-8 is placed in the right side chassis 1-7, the laser displacement sensor 1-4 and the binocular vision sensor 1-5 are placed in front of the right side chassis 1-7, and the chassis 1-7 is located on the right side crawler drive mechanism 1-6.

[0057] like Figure 5 As shown, the right-side driving disc crank slider mechanism 1-3 includes a right-side disc sliding track 1-3-1, a right-side disc track bracket 1-3-7, a right-side rotating shaft 1-3-6, a right-side hollow connecting rod sliding track 1-3-2, a right-side flexible rope connected moving slider 1-3-3, a right-side locking bolt 1-3-4 and a right-side supporting moving slider 1-3-5.

[0058] like Figure 5 , Figure 8 The right disk sliding track 1-3-1 is connected to the right disk track bracket 1-3-7, and the right rotating shaft 1-3-6 passes through the center hole of the disk sliding track. Figure 7 The right hollow connecting rod sliding track 1-3-2 is connected as shown, and the right hollow connecting rod sliding track 1-3-2 is connected as shown Fig.10 The right side supporting movable slider 1-3-5 shown is connected to the right side disc sliding track 1-3-1, thereby forming a crank slider mechanism that performs circular rotation motion.

[0059] like Fig.11 The schematic diagram of the motion mechanism is shown in Fig. 9 The right side flexible rope shown is connected to move the slider 1-3-3 to be placed as shown in FIG. Figure 7 The right side hollow connecting rod sliding track 1-3-2 is shown, and the right side flexible rope connected moving slider slides in the right side hollow connecting rod sliding track, and is locked by the right side locking bolt 1-3-4 after reaching the preset position. By changing the position of the right side flexible rope connected moving slider 1-3-3 in the right side hollow connecting rod sliding track 1-3-2, the rope-swinging force arm b during the rope-swinging movement is changed.

[0060] like Figure 3 As shown, the left-end mobile rope skipping robot device 3 includes a left crawler drive mechanism 3-6, a left chassis 3-5, a slewing bearing and a bearing seat 3-1, a left follower disc crank slider mechanism 3-4, a left vertical lifting platform 3-3, a left counterweight 3-7 and a left bearing seat bracket 3-2.

[0061] like Figure 3As shown, the left slewing bearing and the bearing seat 3-1 are placed on the left side through the left bearing seat bracket 3-2. Figure 4 The left vertical lifting platform 3-3 shown in the figure has a left slewing bearing and a bearing seat 3-1. Figure 6 The left follower disc crank slider mechanism 3-4 shown is connected to ensure the free rotation of the left follower disc crank slider mechanism 3-4, and the left follower disc crank slider mechanism 3-4 is placed on the left vertical lifting platform 3-3, and the left vertical lifting platform 3-3 is placed in the left chassis 3-5, and the left chassis 3-5 is located above the left crawler drive mechanism 1-6.

[0062] like Figure 6 As shown, the left follower disc crank slider mechanism 3-4 includes a left disc sliding track 3-4-1, a left disc track bracket 3-4-7, a left rotating shaft 3-4-6, a left hollow connecting rod sliding track 3-4-2, a left flexible rope connected moving slider 3-4-3, a left locking bolt 3-4-4 and a left supporting moving slider 3-4-5.

[0063] like Figure 6 , Figure 8 The left disc sliding track 3-4-1 is connected to the left disc track bracket 3-4-7, and the left rotating shaft 3-4-6 passes through the left disc sliding track 3-4-1 from the center hole of the disc sliding track. Figure 7 The left hollow connecting rod sliding track 3-4-2 is connected as shown, and the left hollow connecting rod sliding track 3-4-2 is connected as shown Fig.10 The left side supporting movable slider 3-4-5 shown is connected to the disc sliding track 3-4-1, thereby forming a crank slider mechanism that performs circular rotation motion.

[0064] like Fig. 9 The left side flexible rope connection moving slider 3-4-3 is placed as shown Figure 7 In the left hollow connecting rod sliding track 3-4-2 shown, the left flexible rope connected moving slider slides in the left hollow connecting rod sliding track, and is locked by the left locking bolt 3-4-4 after reaching the preset position. By changing the position of the left flexible rope connected moving slider 3-4-3 in the left hollow connecting rod sliding track 3-4-2, the rope-swinging force arm during the rope-swinging movement is changed.

[0065] The left side bearing seat bracket 3-2, the slewing bearing and the bearing seat 3-1 and the left side follower disc crank slider mechanism 3-4 are on the left side vertical lifting platform 3-3. The lifting action of the left side vertical lifting platform 3-3 changes the rotation center line of the left side follower disc crank slider mechanism 3-4 and the flexible rope 2 during the rope-swinging motion.

[0066] The right crawler drive mechanism 1-6 and the left crawler drive mechanism 3-6 increase the contact area with the ground by adopting a crawler transmission mechanism, and counterweights are placed in the left chassis 3-5 and the right chassis 1-7, thereby increasing the friction between the rope skipping robot and the ground, making the rope skipping robot more stable during the rope swinging process.

[0067] like Fig.11 In the motion mechanism diagram shown, the right vertical lifting platform 1-8 is equipped with the right motor bracket 1-10, the right driving motor and reducer 1-2, and the right driving disc crank slider mechanism 1-3. The lifting action of the right vertical lifting platform 1-8 can change the rotation center line h of the right driving disc crank slider mechanism 1-3 and the flexible rope 2 during the rope swinging motion.

[0068] like Fig.11 In the schematic diagram of the motion mechanism shown, the lifting action of the left vertical lifting platform 3-3 changes the height h of the rotation center line of the left follower disc crank slider mechanism 3-4 and the flexible rope 2 during the rope-swinging motion.

[0069] like Figure 2 As shown, the laser displacement sensor 1-4 and the binocular vision sensor 1-5 are installed in front of the right chassis 1-7. The laser displacement sensor 1-4 monitors the lateral horizontal distance between the left-end mobile rope skipping robot device 3 and the right-end mobile rope skipping robot device 1. The binocular vision sensor 1-5 monitors the movement state of the flexible rope of the moving user during the rope skipping process and feeds back to the display input console 1-1.

[0070] The display input console 1-1 is composed of the console box hardware equipment and the control system. The control system is composed of the rope skipping robot parameter calculation system, motion control system and safety monitoring system.

[0071] The parameter calculation system of the rope skipping robot in the display input console 1-1 includes the control equation of the flexible rope in the rope-swinging motion state and the balance equation in the static state;

[0072] The control equation of the flexible rope in the rope-throwing motion state:

[0073]

[0074] Where M(q) is the mass of the flexible rope, C(q) is the damping matrix of the flexible rope, Q(q) is the elastic force of the flexible rope, and F ex is the generalized external force vector of the flexible rope, Φ N The constraint equations representing the first and last nodes of the flexible rope are:

[0075]

[0076] According to the control equation of the flexible rope in the rope-throwing motion state, the equilibrium equation of the flexible rope in the static state is obtained:

[0077]

[0078] Q(q) is the elastic force of the flexible rope, F ex is the generalized external force vector of the flexible rope, Φ N0 The constraint equations representing the first and last nodes of the flexible rope in a static state are:

[0079]

[0080] The rope skipping robot parameter calculation system is based on the equilibrium equation of the flexible rope in a static state and the given physical parameters of the flexible rope, such as the length of the flexible rope l B , the density of the flexible rope, the rotation center line of the flexible rope, the rope-swinging force arm b of the flexible rope, calculate the shape curve of the flexible rope in the static equilibrium state, and obtain the spatial position of the lowest point of the flexible rope in the static equilibrium state.

[0081] The parameter calculation system of the rope skipping robot calculates the spatial envelope curve formed by the flexible rope during the rope-swinging motion according to the control equation of the flexible rope during the rope-swinging motion and the given physical parameters of the flexible rope, and obtains the height difference between the highest point and the lowest point of the flexible rope during the rope-swinging motion, so that the minimum height difference is greater than the body height of the rope skipper.

[0082] The safety monitoring system in the display input console 1-1 collects the real-time data of the rope transmitted by the binocular vision sensor 1-5 to make safety judgments. The motion control system in the display input console 1-1 controls the speed of the right drive motor and the reducer 1-2 to adjust the rope-swinging speed of the rope skipping robot.

[0083] The safety monitoring system collects the real-time data of the flexible rope transmitted by the binocular vision sensor, makes safety judgments, and shuts down the motor and stops running in time when the rope is found to be operating abnormally. The motion control system collects the displacement data of the laser displacement sensors 1-4, adjusts the horizontal distance l between the left mobile rope skipping robot device 3 and the right mobile rope skipping robot device 1 D .

[0084] The motion control system controls the rotation speed of the right driving motor and reducer to adjust the rope-swinging speed of the rope skipping robot; and adjusts the horizontal distance between the left-end mobile rope skipping robot device 3 and the right-end mobile rope skipping robot device 1 and the height of the vertical lifting platform according to the height of different rope skipping athletes.

Claims

1. A rope skipping robot capable of adjusting the rope swinging arm, horizontal spacing, rotation center line and speed, characterized in that: It comprises a right-end mobile rope skipping robot device (1), a left-end mobile rope skipping robot device (3), a flexible rope (2), a rope skipping robot parameter calculation system, a motion control system and a safety monitoring system; The right-end mobile rope skipping robot device (1) comprises a right-side crawler drive mechanism (1-6), a right-side chassis (1-7), a right-side vertical lifting platform (1-8), a right-side counterweight (1-9), a display input console (1-1), a right-side drive motor and reducer (1-2), a right-side drive disk crank slider mechanism (1-3), a laser displacement sensor (1-4) and a binocular vision sensor (1-5); the right-side drive motor and reducer (1-2) are connected to the right-side drive disk crank slider mechanism (1-3) and are located on the right-side vertical lifting platform (1-8); The right-side driving disc crank slider mechanism (1-3) comprises a right-side disc sliding track (1-3-1), a right-side disc track bracket (1-3-7), a right-side rotating shaft (1-3-6), a right-side hollow connecting rod sliding track (1-3-2), a right-side flexible rope connecting moving slider (1-3-3), a right-side locking bolt (1-3-4) and a right-side supporting moving slider (1-3-5); the right-side disc sliding track (1-3-1) is connected to the right-side disc track bracket (1-3-7), and the right-side rotating shaft (1-3-6) passes through the center hole of the right-side disc sliding track (1-3-1) and is connected to the right-side hollow connecting rod sliding track (1-3-2); the right-side hollow connecting rod sliding track (1-3-2) is connected to the right-side disc sliding track (1-3-1) through the right-side supporting moving slider (1-3-5); The right side flexible rope connected movable slider (1-3-3) changes the position of the right side flexible rope connected movable slider (1-3-3) in the right side hollow connecting rod sliding track (1-3-2) through the right side locking bolt (1-3-4) to change the rope throwing force arm b; The left-end mobile rope skipping robot device (3) comprises a left crawler drive mechanism (3-6), a left chassis (3-5), a left vertical lifting platform (3-3), a left counterweight (3-7), a slewing bearing and a bearing seat (3-1) located on the left chassis (3-5), and a left follower disk crank slider mechanism (3-4); The left follower disc crank slider mechanism (3-4) comprises a left disc sliding track (3-4-1), a left disc track bracket (3-4-7), a left rotating shaft (3-4-6), a left hollow connecting rod sliding track (3-4-2), a left flexible rope connected moving slider (3-4-3), a left locking bolt (3-4-4) and a left supporting moving slider (3-4-5); The left rotating shaft (3-4-6) passes through the center of the left disc sliding track (3-4-1) and is connected to the left hollow connecting rod sliding track (3-4-2); the left hollow connecting rod sliding track (3-4-2) is connected to the disc sliding track (3-4-1) via the left supporting movable slider (3-4-5); The flexible rope (2) connects the right-end mobile rope skipping robot device (1) with the left-end mobile rope skipping robot device (3) via a right-side flexible rope connecting moving slider (1-3-3) and a left-side flexible rope connecting moving slider (3-4-3); The rope skipping robot parameter calculation system contains the control equation of the flexible rope in the rope-swinging motion state and the balance equation in the static state; the control equation of the flexible rope in the rope-swinging motion state is as follows: Where M(q) is the mass of the flexible rope, C(q) is the damping matrix of the flexible rope, Q(q) is the elastic force of the flexible rope, and F ex is the generalized external force vector of the flexible rope, Φ N The constraint equations representing the first and last nodes of the flexible rope are: According to the control equation of the flexible rope in the rope-throwing motion state, the equilibrium equation of the flexible rope in the static state is obtained: Q(q) is the elastic force of the flexible rope, F ex is the generalized external force vector of the flexible rope, Φ N0 The constraint equations representing the first and last nodes of the flexible rope in a static state are: The rope skipping robot parameter calculation system calculates the shape curve of the flexible rope in static equilibrium according to the equilibrium equation of the flexible rope in a static state and the parameters of the flexible rope, and obtains the lowest point position of the flexible rope in static equilibrium; The rope skipping robot parameter calculation system calculates the envelope curve formed by the flexible rope when the rope is swung according to the control equation of the flexible rope in the rope-swinging motion state and the parameters of the flexible rope, and obtains and adjusts the height difference between the highest point and the lowest point of the flexible rope when the rope is swung to be greater than the height of the rope jumper; The motion control system collects displacement data of the laser displacement sensors (1-4) and adjusts the horizontal distance l between the left-end mobile rope skipping robot device (3) and the right-end mobile rope skipping robot device (1) according to the height of the rope jumper. D , and adjust the height of the vertical lifting platform to adjust the rotation center line; the motion control system adjusts the rope throwing speed by controlling the rotation speed of the right drive motor and the reducer (1-2).

2. The rope skipping robot for adjusting the rope swinging force arm, horizontal spacing, rotation center line and speed according to claim 1 is characterized in that: The rope skipping robot parameter calculation system is based on the equilibrium equation of the flexible rope in a static state and the rope length l of the flexible rope. B , density, rotation center line, and rope-swinging force arm b are used to calculate the shape curve of the flexible rope in static equilibrium and obtain the lowest point position of the flexible rope in static equilibrium.

3. The rope skipping robot for adjusting the rope swinging force arm, horizontal spacing, rotation center line and speed according to claim 1, characterized in that: The rope skipping robot parameter calculation system is based on the control equation of the flexible rope in the rope-swinging motion state and the rope length l of the flexible rope. B , density, rotation center line, and rope-swinging force arm b are used to calculate the envelope curve formed by the flexible rope when it is swung, and the height difference between the highest point and the lowest point of the flexible rope when it is swung is obtained and adjusted to be greater than the height of the rope jumper.

4. The rope skipping robot for adjusting the rope swinging force arm, horizontal spacing, rotation center line and speed according to claim 1, characterized in that: The laser displacement sensor (1-4) monitors the horizontal distance between the left-end moving rope skipping robot device (3) and the right-end moving rope skipping robot device (1).

5. The rope skipping robot for adjusting the rope swinging force arm, horizontal spacing, rotation center line and speed according to claim 1, characterized in that: The binocular vision sensor (1-5) feeds back the monitored motion state of the flexible rope to the display input console.

6. The rope skipping robot for adjusting the rope swinging force arm, horizontal spacing, rotation center line and speed according to claim 1, characterized in that: It also includes a right motor bracket (1-10), and the right drive motor and reducer (1-2) are fixed on the right vertical lifting platform (1-8) through the right motor bracket (1-10).

7. The rope skipping robot for adjusting the rope swinging force arm, horizontal spacing, rotation center line and speed according to claim 1, characterized in that: The right machine housing (1-7) is fixed on the right crawler drive mechanism (1-6), and the left machine housing (3-5) is fixed on the left crawler drive mechanism (3-6).

8. The rope skipping robot for adjusting the rope swinging force arm, horizontal spacing, rotation center line and speed according to claim 1, characterized in that: The right vertical lifting platform (1-8) is fixed in the right machine case (1-7).

9. The rope skipping robot for adjusting the rope swinging force arm, horizontal spacing, rotation center line and speed according to claim 1, characterized in that: The safety monitoring system performs safety judgment on the real-time data collected by the binocular vision sensor and transmitted to the flexible rope.

10. The rope skipping robot for adjusting the rope swinging force arm, horizontal spacing, rotation center line and speed according to claim 1, characterized in that: The left vertical lifting platform (3-3) is located in the left machine case (3-5).

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