Inclined supporting type low-gravity motion simulation training platform and method

Abstract

The invention relates to the field of low-gravity exercise training, in particular to an inclined supporting type low-gravity exercise simulation training platform and method.The inclined supporting type low-gravity exercise simulation training platform comprises a base, a supporting frame, a rotation driving mechanism, an exercise mechanism and a limb suspension mechanism, and the supporting frame is in a U shape and comprises a first plate frame, a second plate frame and a third plate frame which are vertically connected in sequence; wherein the first plate frame is used for supporting the back of a sporter; the movement mechanism is fixedly mounted on the plate frame II; the two sides of the supporting frame are rotationally connected with the base through rotating shafts, a rotation driving mechanism is hinged between the back side of the first plate frame and the base and used for driving the supporting frame to rotate, and the limb hanging mechanism is positioned through a third plate frame, connected with limbs of a sporter and used for hanging human body parts and giving constant pulling force. A certain angle is formed between a human body and a vertical gravity field by utilizing the inclined plane, gravity component force in the vertical direction of the inclined plane is counteracted, the human body obtains low gravity in the inclined plane direction, and different movement modes such as walking, running and strength exercise under the low gravity are simulated.

Description

Technical Field

[0001] The present invention relates to the field of low-gravity sports training, and in particular to an inclined support type low-gravity sports simulation training platform and method. Background Art

[0002] Most sports equipment is designed based on the Earth's standard gravity environment and cannot effectively reduce the gravity effect caused by the trainee's own weight. This is a significant drawback for athletes who need to simulate a low-gravity environment for training.

[0003] Existing sports equipment lacks the ability to accurately read and record sports parameters in a low-gravity environment. This makes it impossible for trainers to obtain accurate sports data in a low-gravity state, thus affecting training effects and scientific research.

[0004] Many sports equipment (such as treadmills) limit the running angle of trainees in design and function, and cannot simulate the running state of large angles (such as uphill and downhill), which limits the training diversity and adaptability of trainees. Summary of the invention

[0005] In view of the above-mentioned problems, the present invention proposes an inclined support type low-gravity motion simulation training platform and method, which drives the support frame to rotate through a rotating drive mechanism until the motion mechanism tilts the support surface of the human body, and utilizes the inclined surface to make the human body form a certain angle with the vertical gravity field, offsetting the gravity component in the vertical direction of the inclined surface, so that the human body obtains low gravity in the direction of the inclined surface, and realizes simulation of different motion modes such as walking, running and strength training under low gravity, and can apply longitudinal force loading with different loads to simulate the training state in a low-gravity environment, and can realize synchronous collection, real-time display and storage of parameters such as restraint loading force, movement distance, movement speed, strength training load and number, human displacement, joint angle change, plantar force, heart rate, etc. during human movement.

[0006] To achieve the above object, the present invention is implemented according to the following technical solutions:

[0007] On the one hand, the present invention provides an inclined support type low-gravity motion simulation training platform, which includes a base, a support frame, a rotation driving mechanism, a motion mechanism and a limb suspension mechanism. The base is fixedly arranged. The support frame is in a C shape and includes a frame one, a frame two and a frame three that are vertically connected in sequence. Among them, the frame one is used to support the back of the exerciser; the motion mechanism is fixedly installed on the frame two; both sides of the support frame are rotatably connected to the base through a rotating shaft, and a rotation driving mechanism is hinged between the back side of the frame one and the base. The rotation driving mechanism is used to drive the support frame to rotate. The limb suspension mechanism is positioned through the frame three and connected to the limbs of the exerciser, and is used to hang the human body parts and apply a constant pulling force. When the motion simulation platform works, the rotation driving mechanism drives the support frame to rotate until the included angle between the support surface of the motion mechanism for the human body and the vertical direction is α. The constant pulling force T applied by the limb suspension mechanism to the human body parts during the motion process is calculated by the following formula:

[0008] T = G·cosα

[0009] In the formula: G is the gravity received by the test personnel in the earth environment.

[0010] In the above technical solution, slide rails are arranged on both sides of the frame one, and multiple groups of support belts are slidably connected to the slide rails through sliders.

[0011] In the above technical solution, the rotation driving mechanism is a hydraulic cylinder, a pneumatic cylinder or a servo electric cylinder.

[0012] In the above technical solution, the limb suspension mechanism includes several groups of sling assemblies. The sling assembly includes a servo motor, a pulling rope and several groups of guiding pulleys. The servo motor is fixedly installed on the side of the frame two deviating from the motion mechanism. A wheel disc is connected to the outside of the output shaft of the servo motor, and a pulling rope is wound on the wheel disc. Several groups of guiding pulleys are arranged on the frame two or the frame three. The pulling rope is guided through several groups of guiding pulleys in sequence and can be connected to the human body parts.

[0013] In the above technical solution, several groups of guiding pulleys include one group arranged on the side of the frame two deviating from the motion mechanism, two groups arranged at the top of the frame three and one group arranged at the bottom of the frame three. Through holes are formed on the frame three, and the pulling rope passes through the guiding pulley at the top of the frame three and then passes through the through hole and is guided and connected to the guiding pulley at the bottom of the frame three.

[0014] In the above technical solution, a force sensor is connected to the part of the pulling rope close to the human body.

[0015] In the above technical solution, a data acquisition mechanism is further included, which is used to synchronously collect the sole force, motion distance, joint angle change, device tilt angle, strength exercise load and heart rate when the human body is moving.

[0016] The above technical solution also includes a display control unit for collecting, displaying, analyzing and storing corresponding signal data.

[0017] In the above technical solution, the angle α between the support surface of the motion mechanism for the human body and the vertical direction is 0 to 35°.

[0018] Another aspect of the present invention further provides an inclined support type low gravity motion simulation training method, which is implemented according to any of the above-mentioned inclined support type low gravity motion simulation training platforms, and includes the following process:

[0019] S1. The athlete's feet are supported on the support surface of the exercise mechanism, and the back is supported on the frame 1; the limb suspension mechanism is connected; and the exercise mode is selected;

[0020] S2. The rotation drive mechanism drives the support frame to rotate until the angle between the support surface of the movement mechanism on the human body and the vertical direction is α. During the movement, the constant tension T given by the limb suspension mechanism to the human body is calculated by the following formula:

[0021] T=G·cosα

[0022] Where: G is the gravity that the tester is subjected to in the earth environment;

[0023] S3. The athlete performs exercise training. During the training, the data collection mechanism synchronously collects the force on the sole of the foot, the movement distance, the change of the joint angle, the tilt angle of the device, the strength training load, and the heart rate parameter data during the human body movement; the display control unit collects, displays, analyzes and stores the data.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The present invention is designed to simulate the training of sports skills such as walking and running in a low-gravity environment. The low-gravity environment is simulated by rotating the support surface of the human body with the motion mechanism to an inclined state. Different loads of longitudinal force can be applied through the limb suspension mechanism to simulate the training state in a low-gravity environment. It can also simulate the running state at a large angle (such as uphill and downhill), thereby enhancing the training diversity and adaptability of the trainees. It can also realize the synchronous collection, real-time display and storage of parameters such as the restraint load force, movement distance, movement speed, strength training load and number, joint angle change, plantar force, heart rate, etc. during human movement, thereby providing a solution for the sports simulation training platform in a low-gravity environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a structural schematic diagram of the inclined support type low-gravity motion simulation training platform of the present invention;

[0028] Figure 2 It is a structural schematic diagram of another perspective of the inclined support type low-gravity motion simulation training platform of the present invention;

[0029] Figure 3 It is a structural schematic diagram of plate frame 1;

[0030] Figure 4 It is a structural schematic diagram of the limb suspension mechanism;

[0031] Figure 5 A structural diagram of the limb suspension mechanism from another perspective;

[0032] Figure 6 This is a schematic diagram of the principle of simulating a low-gravity environment;

[0033] Figure 7 It is a schematic diagram of the principle of simulating a low-gravity environment by the inclined support type low-gravity motion simulation training platform of the present invention.

[0034] Figure markings: 1-base; 2-support frame; 21-plate frame one; 211-slide rail; 212-support belt; 213-slider; 22-plate frame two; 23-plate frame three; 24-rotating shaft; 3-rotation drive mechanism; 4-motion mechanism; 5-sling assembly; 51-servo motor; 52-pull rope; 53-guide pulley; 54-force sensor; 6-display control unit. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0036] The embodiment of the present invention provides a tilt-supported low-gravity motion simulation training platform, such as Figure 1 and Figure 2As shown, it includes a base 1, a support frame 2, a rotation drive mechanism 3, a motion mechanism 4, and a limb suspension mechanism. The base 1 is fixedly arranged. The support frame 2 is in a U shape, including a frame plate one 21, a frame plate two 22, and a frame plate three 23 that are vertically connected in sequence. Among them, the frame plate one 21 is used to support the back of the exerciser; the motion mechanism 4 is fixedly installed on the frame plate two 22; both sides of the support frame 2 are rotatably connected to the base 1 through a rotating shaft 24. A rotation drive mechanism 3 is hinged between the back side of the frame plate one 21 and the base 1. The rotation drive mechanism is used to drive the support frame 2 to rotate. The limb suspension mechanism is positioned through the frame plate three 23 and connected to the limbs of the exerciser, and is used to suspend the human body part and apply a constant pulling force. When the motion simulation platform works, the rotation drive mechanism 3 drives the support frame 2 to rotate until the included angle between the support surface of the motion mechanism 4 for the human body and the vertical direction is α. The constant pulling force T applied by the limb suspension mechanism to the human body part during the motion is calculated by the following formula:

[0037] T = G·cosα

[0038] In the formula: G is the gravity received by the tester in the earth environment.

[0039] The low-gravity motion simulation training platform provides a constant pulling force in the vertical direction of the body through the suspension sling all the time, and simulates different gravity environments according to the magnitude of the pulling force of the sling. As Figure 6 shown, the gravity received by the tester in the earth environment is G, and the gravity received by the tester in the ideal low-gravity environment is G'. If simulating the zero-gravity situation, control the pulling force of the sling to be T = G, G' = 0; if wanting to simulate the gravity environment of 1 / 6g, the compensation force T provided by the sling = 5 / 6G, G' = 1 / 6G.

[0040] In order to enable the tester to perform running, walking, strength exercises, etc., as Figure 7 shown, the low-gravity motion simulation training platform of the present invention adopts the rotation drive mechanism 3 to drive the support frame 2 to rotate until the included angle between the support surface of the motion mechanism 4 for the human body and the vertical direction is α. The exerciser is suspended by the limb suspension mechanism and stands on the inclined plane. At this time, the component force G' of the gravity perpendicular to the inclined plane is Gsinɑ of its own gravity. Then the constant pulling force T applied by the limb suspension mechanism to the human body part during the motion is calculated by the following formula:

[0041] T = G·cosα

[0042] In the formula: G is the gravity received by the tester in the earth environment; thus achieving the effect of simulating a low-gravity environment. The tester can perform various motion forms such as running, walking, and strength on this low-gravity platform.

[0043] The present invention is designed to simulate the training of sports skills such as walking and running in a low-gravity environment. The low-gravity environment is simulated by rotating the supporting surface of the motion mechanism 4 for the human body to be inclined, and different loads of longitudinal force can be applied through the limb suspension mechanism to simulate the training state in the low-gravity environment. It can also simulate the running state at a large angle (such as uphill and downhill), thereby enhancing the training diversity and adaptability of the trainees. It can also realize the synchronous collection, real-time display and storage of parameters such as the restraint load force, movement distance, movement speed, strength training load and number, joint angle change, plantar force, heart rate, etc. during human movement, thereby providing a solution for the sports simulation training platform in a low-gravity environment.

[0044] Base 1 is the base of the overall platform, providing support for the overall platform and the movement during training; a steel structure frame can be used in actual implementation to ensure dynamic stiffness and strength requirements during training.

[0045] like Figure 3 As shown, slide rails 211 are provided on both sides of the plate frame 21, and multiple groups of support belts 212 are slidably connected to the slide rails 211 through sliders 213; the support belts 212 can be adjusted to appropriate positions along the slide rails 211 to adapt to the heights and body shapes of different athletes.

[0046] The support belt 212 is arranged on the head, back and thigh areas of the trainee. Preferably, the support belt 212 is composed of a combination of rigid material and flexible material, and adopts a design concept of combining rigidity and flexibility - the rigid support material ensures stability, while the flexible material buffer gives the trainee a certain degree of freedom of movement, greatly improving the comfort and safety of training. For example, the middle part of the support belt 212 adopts nylon material to play a major supporting role, and the flexible materials on both sides of the nylon material are a combination of elastic rope and TPU material. The characteristic that elastic resistance changes with elongation is utilized. When the body is supported at different times, the elastic rope produces elastic deformation, so that the support belt as a whole fits the human body better and provides better comfort; the TPU material is soft and durable, has good resilience, good toughness, and is not easy to break.

[0047] Preferably, according to the needs of sports training, the structure of the plate frame 21 is designed to be detachable and extendable. The plate frame 21 is equipped with a magnetic scale on one side of the slide rail 211, and a reading head is installed on the slider 213, which can provide real-time feedback on the moving position of the support belt 212.

[0048] The rotary drive mechanism 3 is a hydraulic cylinder, a cylinder or a servo electric cylinder. The motion simulation training platform of the present invention requires high-precision adjustment and control of the tilt angle, and the human body support part is a long strip mechanism. In the absence of a tester, the center of gravity of the rotating part is outside the rotating shaft. In the presence of a tester, the accuracy requirements for the tilt mechanism will be very high for different individual differences, and it is difficult to adjust and maintain the angle. In this embodiment, a servo electric cylinder is used to support the plate frame 1 21, and the thrust point of the servo electric cylinder is on the other side of the center of gravity of the frame, forming a balance-like effect to maintain balance, and the servo system can ensure precision adjustment. Specifically, the angle a between the support surface of the motion mechanism 4 and the vertical direction is 0 to 35°. The servo electric cylinder is composed of a servo motor and a support arm mechanism; when the servo electric cylinder is working, the servo motor drives the gear mechanism to make the support arm extend out of the cylinder barrel and drive the plate frame 1 21 to tilt; the servo motor is equipped with a coaxial encoder, and the length of the support arm extended is calculated by the encoder, and then the angle of inclination of the plate frame 1 21 is calculated according to the geometric dimensions of the plate frame 1 21. The angle adjustment fineness of the servo motor is 1°, and the accuracy is ±0.2°.

[0049] The exercise mechanism 4 mainly adopts a treadmill, and a mounting hole is left on the plate frame 22. After the treadmill is disassembled, other training equipment can be replaced and installed.

[0050] like Figure 4 and Figure 5 As shown, the limb suspension mechanism includes several groups of sling assemblies 5. In this embodiment, the sling assemblies 5 are arranged in six groups and are installed in the central position area of ​​the overall plate frame 1 21, which can ensure that the force is even when the limb is lifted, and is used to provide a constant pulling force for the athlete; the sling assembly 5 includes a servo motor 51, a pull rope 52 and several groups of guide pulleys 53. The servo motor 51 is fixedly installed on the side of the plate frame 22 deviating from the motion mechanism 4. The outer side of the output shaft of the servo motor 51 is connected to a wheel disk, and the pull rope 52 is wound around the wheel disk. The plate frame 22 or the plate frame 3 23 is provided with several groups of guide pulleys 53. The pull rope 52 is guided by the several groups of guide pulleys 53 in turn and can be connected to the human body parts. The six pull ropes 52 are respectively used for the athlete's calf, thigh and lower leg. , upper shoulder and other three parts, with one load traction on each side; the pull rope 52 is made of rigid rope, such as steel wire rope or nylon rope, at the part close to the servo motor 51 and the part close to the human body, which ensures the efficient and stable torque transmission; elastic rope is used between the rigid ropes at both ends, which not only ensures the necessary amplitude of the test personnel's movement, but also ensures the continuous constancy of the pulling force, thereby improving the accuracy and safety of the test; by changing the length of the elastic rope and stress model elastic rope of different specifications, the stiffness of the system can be conveniently changed to meet the low-gravity simulation experiments of different masses; preferably, the elastic rope adopts TPR elastic rope, which can be used more than 10,000 times, has a Shore hardness of 30 degrees, a temperature range of -10 degrees to 60 degrees, and excellent corrosion resistance.

[0051] Several groups of guide pulleys 53 include a group arranged on the side of the plate frame 22 deviating from the moving mechanism 4, two groups arranged at the top of the plate frame 3 23, and a group of guide pulleys 53 arranged at the bottom of the plate frame 3 23. A through hole is opened on the plate frame 3 23. The pull rope 52 is guided by the guide pulley 53 at the top of the plate frame 3 23 and then passes through the through hole and is connected to the guide pulley 53 at the bottom of the plate frame 3 23.

[0052] The portion of the pull rope 52 close to the human body is connected to a force sensor 54 .

[0053] For different individuals, the limb suspension mechanism applies constant tension to the human body parts with a certain degree of accuracy and requires comfort while the person being subjected to the force is exercising, which is difficult to achieve. The limb suspension mechanism of the present invention adopts a combination design of servo motor + elastic rope + force sensor to generate an upward pulling force perpendicular to the direction of the human body. The initial tension (Fb) is calibrated when the system is initialized: the servo motor drives the rope to pull up, and when the force sensor detects a change in value, it records the current tension. Through the automatic control principle and PID algorithm, accurate control of the load force is achieved, so that the load force is stably maintained within 20% when the state of the tester changes.

[0054] The inclined support type low-gravity motion simulation training platform of the present invention also includes a data acquisition mechanism for synchronously acquiring the force on the sole of the foot, the motion distance, the change in joint angle, the tilt angle of the device, the strength training load, and the heart rate during human motion; for example, a pressure sensor built into the treadmill can be used to acquire the force on the sole of the foot; the motion distance can be obtained through the treadmill data; a wireless inertial sensor is used to acquire the change in joint angle; an angle sensor is used to acquire the tilt angle of the device; a force sensor is used to acquire the strength training load; and a wireless heart rate sensor is used to acquire the heart rate during motion.

[0055] The inclined support low-gravity motion simulation training platform of the present invention also includes a display control unit 6, which is used to collect, display, analyze and store corresponding signal data. The data collected by each sensor can be synchronously transmitted to the display control unit and can be finally displayed on the screen through the display and control system; the generated data has functions such as query, playback, zoom, mark, and export.

[0056] The tilt support type low gravity motion simulation training method of the embodiment of the present invention includes the following process:

[0057] S1. The athlete's feet are supported on the support surface of the sports mechanism 4, and the back is supported on a frame 21; connecting the limb suspension mechanism; select the sports mode;

[0058] S2. The rotation drive mechanism 3 drives the support frame 2 to rotate until the angle between the support surface of the motion mechanism 4 and the vertical direction of the human body is a. During the movement, the constant tension T given by the limb suspension mechanism to the human body is calculated by the following formula:

[0059] T=G·cosα

[0060] Where: G is the gravity that the tester is subjected to in the earth environment;

[0061] S3. The athlete performs exercise training. During the training, the data acquisition mechanism synchronously collects the force on the sole of the foot, the movement distance, the change of the joint angle, the tilt angle of the device, the strength training load, and the heart rate parameter data during the human body movement; the display control unit 6 collects, displays, analyzes and stores the data.

[0062] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. The tilt-support low-gravity motion simulation training platform is characterized by: It includes a base (1), a support frame (2), a rotary drive mechanism (3), a motion mechanism (4) and a limb suspension mechanism. The base (1) is fixedly arranged. The support frame (2) is in a U-shape, including a first frame (21), a second frame (22) and a third frame (23) that are vertically connected in sequence. The first frame (21) is used to support the back of the exerciser. The motion mechanism (4) is fixedly installed on the second frame (22). Both sides of the support frame (2) are rotatably connected to the base (1) through a rotating shaft (24). A rotary drive mechanism (3) is hinged between the back side of the first frame (21) and the base (1). The rotary drive mechanism is used to drive the support frame (2) to rotate. The limb suspension mechanism is positioned through the third frame (23) and connected to the limbs of the exerciser, and is used to suspend the human body parts and apply a constant pulling force.

2. The inclined support type low gravity motion simulation training platform according to claim 1, characterized in that: Sliding rails (211) are arranged on both sides of the first frame (21). Multiple groups of support belts (212) are slidably connected to the sliding rails (211) through sliders (213).

3. The inclined support type low gravity motion simulation training platform according to claim 1, characterized in that: The rotary drive mechanism (3) is a hydraulic cylinder, a pneumatic cylinder or a servo electric cylinder.

4. The inclined support type low gravity motion simulation training platform according to claim 1, characterized in that: The limb suspension mechanism includes several groups of sling assemblies (5). Each sling assembly (5) includes a servo motor (51), a pulling rope (52) and several groups of guide pulleys (53). The servo motor (51) is fixedly installed on the side of the second frame (22) deviating from the motion mechanism (4). A wheel disc is connected to the outer side of the output shaft of the servo motor (51), and the pulling rope (52) is wound around the wheel disc. Several groups of guide pulleys (53) are arranged on the second frame (22) or the third frame (23). The pulling rope (52) is guided through several groups of guide pulleys (53) in sequence and can be connected to the human body parts.

5. The inclined support type low gravity motion simulation training platform according to claim 4, characterized in that: The several groups of guide pulleys (53) include one group arranged on the side of the second frame (22) deviating from the motion mechanism (4), two groups arranged at the top of the third frame (23) and one group of guide pulleys (53) arranged at the bottom of the third frame (23). Through holes are formed in the third frame (23). The pulling rope (52) is guided through the guide pulley (53) at the top of the third frame (23), passes through the through hole and is guided and connected to the guide pulley (53) at the bottom of the third frame (23).

6. The inclined support type low gravity motion simulation training platform according to claim 4, characterized in that: A force sensor (54) is connected to the part of the pulling rope (52) close to the human body.

7. The inclined support type low gravity motion simulation training platform according to claim 1, characterized in that: It also includes a data acquisition mechanism for synchronously acquiring the sole force, movement distance, joint angle change, device tilt angle, strength training load and heart rate when the human body is moving.

8. The inclined support type low gravity motion simulation training platform according to claim 1, characterized in that: It also includes a display control unit (6) for acquiring, displaying, analyzing and storing the corresponding signal data.

9. The inclined support type low gravity motion simulation training platform according to claim 1, characterized in that: The included angle a between the support surface of the motion mechanism (4) for the human body and the vertical direction is 0 to 35°.

10. The tilt support type low gravity exercise simulation training method is characterized in that: It is implemented according to the inclined support type low-gravity motion simulation training platform described in any one of claims 1-9, and includes the following processes: S1. The exerciser's feet are supported on the support surface of the motion mechanism (4), and the back is supported on the first frame (21); connect the limb suspension mechanism; select the motion mode; S2. The rotary drive mechanism (3) drives the support frame (2) to rotate until the support surface of the motion mechanism (4) for the human body is inclined, and a constant pulling force is applied to the human body parts by the limb suspension mechanism during the motion process; S3. The athlete performs exercise training. During the training, the data collection mechanism synchronously collects the force on the sole of the foot, the movement distance, the change of the joint angle, the tilt angle of the device, the strength training load, and the heart rate parameter data during the human body movement; the display control unit (6) collects, displays, analyzes and stores the data.

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