A sparring training simulation robot with counterattack function

Abstract

The application discloses a combat training simulation robot with a counterattack function, which comprises a support and a dummy body assembled on the support, wherein the upper portion of the support is provided with a counterattack assembly, and the counterattack assembly is located above a training personnel; the counterattack assembly comprises a support base and a plurality of stick targets, each stick target is hingedly arranged at each side end of the support base, the support base is internally provided with a driving assembly corresponding to the stick targets, the driving assembly is connected with the stick targets and drives the stick targets to rotate in a vertical plane, so that an active counterattack action is simulated; the active and random trigger type counterattack is realized through the cooperation of multiple modules, the combat training scene is close to the actual combat scene, the attack and defense ability of the training personnel is improved, and the training efficiency and safety are guaranteed by means of precise feedback, safe buffering and flexible adaptive design.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of training equipment, and particularly relates to a combat training simulation robot with counterattack function. BACKGROUND

[0002] The core demand of combat training has been upgraded from single hitting force and accuracy to the prediction, avoidance and attack-defense conversion ability training of the opponent's counterattack, but the current mainstream combat target generally has the defect of "no effective counterattack function". Static targets such as static sandbags and humanoid fixed targets are only passive hitting carriers and remain stationary regardless of the hitting situation, which easily leads the trainee to form the inertial thinking of "only attack but not defense". Although the mechanical dynamic targets such as swing targets and lifting targets can realize simple displacement through springs and counterweights, the motion trajectory is fixed and triggered only by hitting force, and cannot simulate active counterattack. Although the simple electric target has basic active action, it is limited to the fixed sequence of single target sheet pop-up, lacks the random counterattack logic and composite action simulation required in actual combat, and these problems lead to the disconnection between the training effect of traditional target and the real confrontation scene, and it is difficult to meet the needs of professional players, police personnel and other groups for "hitting-feedback-counterattack-response" complete training closed loop, which becomes the bottleneck restricting the upgrading of combat training quality. SUMMARY

[0003] The present application relates to the technical field of training equipment, and particularly relates to a combat training simulation robot with counterattack function.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a combat training simulation robot with counterattack function, comprising a support and a dummy body assembled thereon, wherein the upper part of the support is provided with a counterattack assembly, and the counterattack assembly is located above the training personnel.

[0005] The counterattack assembly comprises a support and a plurality of stick targets, each stick target is hingedly distributed at each side end of the support, the inside of the support is provided with a driving assembly corresponding to the stick target, the driving assembly is connected with the stick target and drives the stick target to rotate in the vertical plane, so as to simulate the active counterattack action.

[0006] The front key parts of the dummy body are embedded with a pressure sensing array and a light guiding unit, the abdomen of the dummy body is provided with a flexible hitting block, the inside of the flexible hitting block is embedded with a driving part on both sides, the two side legs of the dummy body are provided with a recess, the upper end of the recess is hingedly provided with a counterattack plate, and the counterattack plate and the recess are connected with a torsional spring, and the lower end of the recess is provided with a clamping assembly, the counterattack plate is locked by the clamping assembly in the initial state, when the intensity of the training personnel hitting the driving part reaches the preset threshold, the clamping assembly is unlocked, the counterattack plate is bounced up at high speed under the action of the torsional spring, and the sudden counterattack is formed.

[0007] Further, the clamping assembly comprises two clamping blocks respectively slidingly arranged at two ends of the groove, the front end face of the clamping block is designed as an inclined surface, one end of the clamping block away from the groove is connected with a connecting frame, and a spring is connected between the connecting frame and the inner wall of the dummy main body to drive the clamping block to displace towards the middle part of the groove; the driving part comprises a hitting air chamber, the side of the connecting frame close to the groove is provided with an air cushion, and the hitting air chamber and the air cushion are communicated through a pipeline; when the training personnel hits the hitting air chamber, the gas is transmitted to the air cushion beside the connecting frame through the pipeline, the air cushion expands to push the connecting frame, the clamping block is driven to move inwards to overcome the resistance of the spring, and the locking on the counterattack plate is released.

[0008] Further, the driving assembly comprises a first air cylinder, the bottom end of the first air cylinder is hinged in the support, one end of the stick target is detachably connected with a fixing cylinder, the fixing cylinder is hinged with the support, the upper end of the fixing cylinder is rotatably connected with an eccentric block, and the piston end of the first air cylinder is hinged with the eccentric block, so that the fixing cylinder and the stick target thereon are driven to rotate.

[0009] Further, the stick target is made of foaming material, a containing cavity is formed in the middle part of the stick target, an air bag strip is arranged in the containing cavity, and the air pipe of an external air pump extends through the fixing cylinder to communicate with the air bag strip; the root of the stick target is provided with a spring damping piece, and the tail end of the spring damping piece is connected with a silica gel anti-collision head.

[0010] Further, the chest area of the dummy main body is provided with a transversely penetrating opening, the opening penetrates the whole structure along the coronal plane of the dummy, a rotating block is rotatably arranged in the middle part of the opening, a first motor is arranged in the dummy main body and is in transmission connection with the rotating block to drive the rotating block to rotate, a fixing piece is connected to the side end of the rotating block, the fixing piece extends out of the dummy main body and the tail end of the fixing piece is rotatably provided with a counterattack rod, and a second motor is arranged on the fixing piece to drive the counterattack rod to rotate along the vertical direction.

[0011] Further, a plurality of fixing openings are formed in the front end face of the dummy main body, a counterattack cylinder is arranged in each fixing opening, a plurality of second air cylinders corresponding to the fixing openings are arranged at the rear end of the dummy main body, a counterattack rod is slidingly connected in the counterattack cylinder, the counterattack rod is connected with the piston rod of the second air cylinder, and a flexible block is arranged at the front end of the counterattack rod.

[0012] Further, a gear rack is connected to the counterattack rod, a cover is hingedly arranged at the front end of the counterattack cylinder, a gear is rotatably arranged in the counterattack cylinder, the gear rack is in meshing transmission with the gear, and the rotation shaft of the gear and the cover is in synchronous belt transmission.

[0013] Further, the upper end of the support is provided with a hanging frame, a telescopic cylinder is arranged on the support and connected with the hanging frame to drive the hanging frame to move up and down, and the dummy body and the counterattack assembly are both assembled on the hanging frame, and a chain is connected between the leg part of the dummy body and the support.

[0014] Further, the support is rotatably assembled on the hanging frame, and a motor is arranged on the hanging frame to drive the support to swing along a horizontal plane.

[0015] Compared with the prior art, the present application has the following beneficial effects:

[0016] The present application simulates the uncertainty in real confrontation through a multi-dimensional counterattack mechanism (such as random speed attack of the stick target, passive triggering of the counterattack plate, and compound motion of the counterattack rod), and combines the silica gel material dummy and ergonomic design to highly restore the real combat scene in terms of touch, vision and dynamic feedback. The dual guidance system of light and voice further enhances the immersion of training, enabling the training personnel to quickly establish conditioned reflex and effectively improve the attack and defense conversion capability.

[0017] The upper stick target completes a 120° range swing and reset action in the vertical plane under the drive of the first cylinder, and the stick rod performs upward lifting and downward splitting counterattack actions. The horizontal circular motion is realized by the first motor driving the rotating block, and the vertical swing is driven by the second motor, which not only changes the counterattack angle, but also adjusts the horizontal action length through the swing amplitude, simulates the compound action of the human upper limb swinging and punching, and the counterattack rod simulates the straight punch counterattack action; the leg counterattack plate is driven by the torsion spring to pop up, which can restore the counterattack of the opponent's lower limbs, and the three counterattack modules work cooperatively to cover more than 70% of the typical counterattack scenes in real combat, solving the core defect of the traditional equipment that only practices hitting and does not practice dodging.

[0018] The flexible materials (foamed stick target and silica gel anti-collision head) and the dynamic early warning mechanism (such as pre-opening of the cover and sound and light prompt) of the present application reduce the risk of training injury; the adjustable parameters (stick target hardness and counterattack speed gear) and the high adaptability design (suspension frame lifting and multi-mode selection) make it can cover the training needs of all stages from beginners to professional athletes, and have universality and professionalism. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a structural schematic view of the present application;

[0020] Figure 2 It is Figure 1 a local enlarged view of B in the middle;

[0021] Figure 3 It is a side view of the present application;

[0022] Figure 4is a front view of the dummy body;

[0023] Figure 5 is a front view of the dummy body; Figure 4 is an enlarged view of the middle A;

[0024] Figure 6 is a partial rear view of the dummy body of the present application;

[0025] Figure 7 is a sectional view of the fixed cylinder of the present application;

[0026] Figure 8 is a sectional view of the stick target of the present application.

[0027] In the figure, support-1, dummy body-2, support-3, stick target-4, flexible hitting block-5, groove-6, counterattack plate-7, clamping block-8, connecting frame-9, spring-10, hitting air chamber-11, inflatable pad-12, first air cylinder-13, fixed cylinder-14, eccentric block-15, air bag strip-16, spring damping piece-17, silica gel anti-collision head-18, rotating block-19, fixing piece-21, counterattack rod-22, second motor-23, counterattack cylinder-24, second air cylinder-25, counterattack lever-26, flexible block-27, rack-28, cover-29, gear-30, synchronous belt-31, suspension frame-32, telescopic cylinder-33, chain-34, motor-35. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0029] As Figures 1 to 8 shown, a fighting training simulation robot with a counterattack function comprises a support 1 and a dummy body 2 assembled thereon, and a counterattack assembly is arranged on the upper part of the support 1 and located above the training personnel;

[0030] The counterattack assembly comprises a support 3 and a plurality of stick targets 4, each of which is hingedly distributed at each side end of the support 3, and the support 3 is internally provided with a driving assembly corresponding to the stick targets 4, the driving assembly is connected with the stick targets 4 and drives the stick targets 4 to rotate in the vertical plane, thereby simulating an active counterattack action;

[0031] The dummy body 2 is provided with a pressure sensing array and a light guiding unit in the key parts of the front face, the outer surface of the dummy body 2 is covered with a 3-5mm-thick medical-grade silicone material to simulate the human muscle touch feeling; the pressure sensing array is composed of 14 groups of pressure sensing chips distributed in the head, face, neck, left chest, right chest, left rib, right rib, abdomen, thigh, crotch, knee, calf, arm and shoulder, the effective hitting force threshold of each group of chips can be independently set through the evaluation system, and the setting range is 30-200N; the light guiding unit corresponds to the pressure sensing part one by one, the response time of the LED lamp bead is less than or equal to 0.1 second, and the system voice broadcast (such as "left chest, hit") is matched to form "visual + auditory" double guidance, so as to avoid the reaction deviation of the training personnel caused by single guidance delay; a hitting window period of 1-3 seconds is specified, which not only meets the physiological limit of human reaction, but also can effectively evaluate the reaction speed.

[0032] A flexible hitting block 5 is arranged on the abdomen of the dummy body 2, drive parts are embedded in the inside of the two sides of the flexible hitting block 5, recesses 6 are arranged on the two sides of the leg of the dummy body 2, a counterattack plate 7 is hingedly arranged at the upper end of the recess 6, a torsional spring is connected between the counterattack plate 7 and the recess 6, and a clamping assembly is arranged at the lower end of the recess 6. The counterattack plate 7 is locked by the clamping assembly in the initial state, when the intensity of the drive part hit by the training personnel reaches the preset threshold, the clamping assembly is unlocked, the counterattack plate 7 is bounced up at high speed under the action of the torsional spring, and a sudden counterattack is formed.

[0033] The training personnel can wear a bracelet during training, which is provided with a heart rate sensor, a blood pressure sensor and a blood oxygen sensor, the data acquisition frequency is 1 time per second, the heart rate measurement range is 30-220 times per minute, the blood pressure measurement range is 60-200mmHg (systolic pressure, accuracy ±3mmHg), and the blood oxygen saturation measurement range is 70%-100% (accuracy ±2%); when any data reaches the preset critical point (heart rate ≥180 times per minute, systolic pressure ≥160mmHg or blood oxygen ≤90%), the bracelet triggers a vibration reminder, and sends an alarm signal to the evaluation system, and the system immediately controls the display terminal to issue an 80 decibel sound and light alarm and pops up a training termination prompt;

[0034] The evaluation system includes a data receiving module, a scoring module and an AI analysis module; the scoring module calculates the training score according to the preset standard (effective hitting times account for ≥60% is qualified, ≥80% is excellent); the AI analysis module constructs a multi-dimensional analysis model based on the training data, generates a training short board analysis report from three dimensions of effective hitting rate, intensity fluctuation range (threshold ±30N) and counterattack reaction time standard deviation (threshold ±0.5 seconds), and outputs targeted improvement suggestions (such as "left rib effective hitting rate 40%, suggest to increase left rib fixed target hitting practice, 10 groups x 20 times per day");

[0035] The support 1 is also provided with a human face recognition verification module for verifying the identity of the training personnel, and after the training personnel complete the identity verification, the system automatically calls up the historical training data thereof; during training, the evaluation system generates a guide instruction according to the selected training mode (basic striking, defense training, defense counterattack), and guides the training personnel to use fists and legs to strike the specified parts through "lighting + voice" dual guidance, while controlling the corresponding counterattack mode of the counterattack target 4 component to start; wherein, in the defense training mode, when the training personnel takes non-contact defense actions such as back flashing and diving, the system does not record the counterattack time; in the defense counterattack mode, after the training personnel complete the defense and trigger an effective strike, the system automatically records the counterattack time (accurate to 0.01 seconds) and counts the fastest counterattack time.

[0036] In the embodiment, the clamping assembly includes two clamping blocks 8 respectively slidingly arranged at both ends of the groove 6, the front end face of the clamping block 8 is designed as an inclined surface, the end of the clamping block 8 away from the groove 6 is connected with a connecting frame 9, and a spring 10 is connected between the connecting frame 9 and the inner wall of the dummy main body 2 to drive the clamping block 8 to displace towards the middle of the groove 6; the driving part includes a striking gas chamber 11, and the side of the connecting frame 9 close to the groove 6 is provided with an inflatable pad 12, the striking gas chamber 11 and the inflatable pad 12 are communicated through a pipeline, when the training personnel strikes the striking gas chamber 11, the gas is transmitted to the inflatable pad 12 beside the connecting frame 9 through the pipeline, the inflatable pad 12 expands to push the connecting frame 9, overcomes the resistance of the spring 10 to make the clamping block 8 inwardly move, so as to release the locking of the counterattack plate 7.

[0037] The two clamping blocks 8 are respectively slidingly installed at both ends of the groove 6, and the front end inclined surface design facilitates the smooth clamping of the counterattack plate 7 when it is reset; the spring 10 is connected between the connecting frame 9 and the inner wall of the dummy, and under normal circumstances, it pushes the clamping block 8 to displace towards the middle of the groove 6, so as to realize the locking of the counterattack plate 7; when the connecting frame 9 is pushed by external force, the spring 10 is compressed, the clamping block 8 inwardly moves to both ends of the groove 6, and the locking is released; the inclined surface structure of the clamping block 8 reduces the difficulty of resetting the counterattack plate 7, and when the counterattack plate 7 is reset, the clamping block 8 is extruded and moves to the side by automatically compressing the spring 10; after the counterattack plate 7 is completely reset, it is popped out under the action of the spring 10; the spring 10 provides a continuous locking force for the clamping block 8, and ensures that the counterattack plate 7 is stably fixed in the non-trigger state.

[0038] The striking gas chamber 11 is a flexible pressure cavity, and is communicated with the inflatable pad 12 through a pipeline; when the training personnel strikes the striking gas chamber 11, the gas in the cavity is extruded and delivered to the inflatable pad 12 through the pipeline, and only when the striking force reaches the preset standard, the inflatable pad 12 can expand to a sufficient volume, and the generated pushing force can overcome the resistance of the spring 10 to drive the clamping block 8 to inwardly move, so as to realize the unlocking; if the striking force is insufficient, the inflatable pad 12 cannot push the connecting frame 9 due to limited expansion, and cannot complete the unlocking. After the counterattack plate 7 is unlocked and pops up, the training personnel needs to push the counterattack plate 7 back by kicking, so that it is locked by the clamping block 8 again and returns to the initial state.

[0039] The transmission of the force signal is achieved by gas transmission, which is simple in structure and sensitive in response; the hitting gas chamber 11 cooperates with the flexible hitting block 5 to ensure the effectiveness of the transmission of the hitting force, while avoiding damage caused by rigid contact; more importantly, it has the random triggering feature, and the design of not being 100% unlocked can break the fixed thinking of the training personnel, and forcibly improve the attention and hitting accuracy during training; and the requirement of foot kicking reset increases the continuity and interactivity of the training, simulating the action connection of attack and defense conversion in actual combat.

[0040] When the training personnel hits the flexible hitting block 5 on the abdomen, and the force reaches the preset threshold, the gas in the hitting gas chamber 11 is quickly extruded, transmitted to the inflatable pad 12 through the pipeline to make it expand, and the connecting frame 9 overcomes the resistance of the spring 10 to drive the clamping block 8 to move inward, the locking state of the leg counterattack plate 7 is released, the pre-tightened torsional spring instantaneously releases the elastic potential energy, and drives the counterattack plate 7 to quickly pop up, completing the “passive triggered counterattack” against the lower limbs, and training the emergency avoidance reaction of the training personnel.

[0041] In the embodiment, the driving assembly includes a first cylinder 13, the bottom end of the first cylinder 13 is hinged in the support 3, one end of the stick target 4 is detachably connected with a fixed cylinder 14, the fixed cylinder 14 is hinged with the support 3, and the upper end of the fixed cylinder 14 is rotatably connected with an eccentric block 15, the piston end of the first cylinder 13 is hinged with the eccentric block 15, so that the fixed cylinder 14 and the stick target 4 thereon make a rotating action; the stick target 4 is made of foaming material, a receiving cavity is formed in the middle part, a gas bag strip 16 is arranged in the receiving cavity, and the gas pipe of an external air pump extends to communicate with the gas bag strip 16 after penetrating through the fixed cylinder 14; the root of the stick target 4 is provided with a spring damping piece 17, and the tail end of the spring damping piece 17 is connected with a silica gel anti-collision head 18.

[0042] A single stick target 4 is independently controlled by a single first cylinder 13, and can realize “random counterattack” (such as 1# stick target 40.8 m / s, 3# stick target 41.6 m / s), simulating the multi-angle attack scene in real confrontation; 5 speed gears cover the training needs from entry to professional, and the training personnel can gradually improve the gear to realize “step by step” ability improvement; the sound guiding triggering function (such as “counterattack preparation, 3, 2, 1”) can synchronize the attention of the training personnel, and avoid the startle response caused by the suddenness of the counterattack; so as to rotate in the vertical plane around the hinge point under the driving of the driving assembly, simulate the swing action to exert a reverse training resistance on the user, and need to train to improve the reaction speed.

[0043] The stick target 4 is made of light foamed material, and the air bag strip 16 in the internal accommodating cavity is communicated with an external air pump through an air pipe; the air pump can be used to adjust the inflation amount of the air bag strip 16 according to the training requirements, so as to change the hardness of the stick target 4; the foamed material reduces the impact force of the stick target 4, so as to avoid training injury; the inflation adjustment function of the air bag strip 16 makes the stick target 4 adapt to different training intensities, and improves the universality of the equipment; the air pump is convenient for adjusting the hardness, and meets different requirements from basic training to high-intensity confrontation.

[0044] The spring damping part 17 is assembled at the root of the stick target 4, and absorbs the vibration generated when the stick target 4 rotates; the silica gel anti-collision head 18 is connected to the end of the damping part, and directly contacts with the training personnel. The spring damping part 17 reduces the influence of vibration on the support 3 and the driving assembly, and prolongs the service life of the equipment; the silica gel anti-collision head 18 further buffers the impact, improves the training safety, and avoids injury caused by accidental collision.

[0045] In the embodiment, the chest region of the dummy body 2 is provided with a transverse through opening which penetrates the whole structure along the dummy coronal plane; a rotating block 19 is rotatably assembled in the middle of the opening, and a first motor is arranged in the dummy body 2 and transmissionally connected with the rotating block 19, so as to drive the rotating block 19 to rotate, the side end of the rotating block 19 is connected with a fixing part 21, the fixing part 21 extends out of the dummy body 2 and the end thereof is rotatably provided with a counterattack rod 22, a second motor 23 is assembled on the fixing part 21 and used to drive the counterattack plate 7 to rotate along the vertical direction.

[0046] The chest of the dummy is provided with a transverse through opening, which provides installation space for the rotating block 19 and the fixing part 21, and ensures that the structure is compact and does not affect the overall shape of the dummy; the rotating block 19 is rotatably assembled in the middle of the opening and transmissionally connected with the first motor, the first motor drives the rotating block 19 to rotate around the axis thereof, and then drives the counterattack rod 22 to realize horizontal circular motion through the fixing part 21; the counterattack rod 22 is rotatably installed at the end of the fixing part 21, and the second motor 23 assembled on the fixing part 21 drives it to swing along the vertical direction, which not only can enrich the counterattack angle, but also can adjust the horizontal action length by changing the relative position between the counterattack rod 22 and the training personnel, for example, the horizontal coverage range is shortened when swinging upward, and the horizontal coverage range is lengthened when swinging downward, the cooperation of the two motions makes the counterattack rod 22 produce a composite counterattack action with multiple directions, multiple angles and variable action range, accurately simulates the human upper limb swing, and significantly improves the comprehensiveness of the training and the uncertainty of the actual combat.

[0047] In the embodiment, the dummy body 2 is provided with a plurality of fixed openings on the front end face, and a counterattack cylinder 24 is arranged in each fixed opening. The rear end of the dummy body 2 is provided with a plurality of second air cylinders 25 corresponding to the fixed openings. A counterattack rod 26 is slidably connected in the counterattack cylinder 24, and the counterattack rod 26 is connected with the piston rod of the second air cylinder 25. A flexible block 27 is arranged at the front end of the counterattack rod 26. A rack 28 is connected to the counterattack rod 26. A cover 29 is hingedly arranged at the front end of the counterattack cylinder 24. A gear 30 is rotatably arranged in the counterattack cylinder 24. The rack 28 is in meshing transmission with the gear 30. The rotation shaft of the cover 29 is in transmission with the gear 30 through a synchronous belt 31.

[0048] The counterattack cylinder 24 is mounted on the front end of the dummy through the fixed openings. The counterattack rod 26 is in sliding cooperation with the counterattack cylinder 24, which not only ensures the stability of the extension and retraction action, but also improves the accuracy of the lifting action through the counterattack cylinder 24. The counterattack rod 26 is connected with the piston rod of the second air cylinder 25. The second air cylinder 25 provides stable linear power as a power source to drive the counterattack rod 26 to extend and retract along the axis of the counterattack cylinder 24. The flexible block 27 at the front end of the counterattack rod 26 directly contacts with the training personnel, which avoids rigid impact and ensures training safety. The combination design of multiple fixed openings and counterattack cylinders 24 can realize synchronous counterattack of multiple parts, making the counterattack scene more close to the real fighting and improving the simulation effect of actual combat.

[0049] The rack 28 is connected to the counterattack rod 26 and is in meshing transmission with the gear 30 rotatably arranged in the counterattack cylinder 24. The cover 29 is hingedly arranged at the front end of the counterattack cylinder 24, and the rotation shaft of the cover 29 is in transmission with the gear 30 through the synchronous belt 31, thereby forming a complete linkage mechanism. When the counterattack rod 26 is ready to extend, the rack 28 first drives the gear 30 to rotate, and the cover 29 is opened 1-2 seconds in advance through the synchronous belt 31. This design of “early warning and then action” can transmit the signal of “about to counterattack” to the training personnel, help to establish the awareness of attack and defense prediction, and avoid injury caused by the suddenness of counterattack. Then, the counterattack rod 26 extends along the axis to complete the counterattack. When the counterattack rod 26 is retracted, the rack 28 drives the gear 30 in the opposite direction, and the cover 29 is closed, which can prevent foreign matters from entering the inside of the counterattack cylinder 24, protect the transmission structure such as the gear 30 and the rack 28, and maintain the integrity of the appearance of the dummy.

[0050] In the embodiment, the upper end of the support 1 is provided with a hanging frame 32. A telescopic cylinder 33 is arranged on the support 1 and connected with the hanging frame 32 to drive the hanging frame 32 to move up and down. The dummy body 2 and the counterattack assembly are both assembled on the hanging frame 32. A chain 34 is connected between the leg of the dummy body 2 and the support 1. The support base 3 is rotatably assembled on the hanging frame 32. An electric motor 35 is arranged on the hanging frame 32 to drive the support base 3 to swing along the horizontal plane.

[0051] The suspension frame 32 is mounted on the upper end of the support 1, and the dummy body 2 and the counterattack assembly are assembled thereon. The telescopic cylinder 33 is connected with the suspension frame 32, and drives the suspension frame 32 to ascend and descend through telescopic action, so that the height of the device can be flexibly adjusted, and different training personnel with different heights and different training scenes such as standing and squatting can be adapted. The chain 34 connected between the dummy leg and the support 1 can effectively limit the excessive shaking of the dummy during the training process, which not only enhances the stability of the dummy body 2 and avoids the device from falling due to the counterattack action, but also reduces the structural vibration and prolongs the service life of the device.

[0052] The support 3 is rotatably assembled on the suspension frame 32 and is in transmission connection with the motor 35 on the suspension frame 32. When the motor 35 operates, the support 3 is driven to swing in the horizontal plane around the vertical axis, so that the upper stick target 4 is adjusted to change the counterattack direction, break the limitation of fixed direction counterattack, make the counterattack action more random and diverse, and greatly improve the combativeness of the training.

[0053] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can modify the technical solutions recorded in the foregoing embodiments or make equivalent replacement for part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A sparring training simulation robot with a counterattack function, characterized in that: It includes a support frame and a dummy body mounted thereon, wherein a counterattack assembly is provided on the upper part of the support frame and the counterattack assembly is located above the trainee; The counterattack assembly includes a support and several targets. Each target is hinged to one side of the support. The support is equipped with a drive assembly corresponding to the target. The drive assembly is connected to the target and drives the target to rotate in the vertical plane, thereby simulating an active counterattack action. The dummy body has a built-in pressure sensing array and light guiding unit on the key front part. The abdomen of the dummy body is provided with a flexible striking block. Both sides of the flexible striking block are embedded with driving parts. The front of the two legs of the dummy body are provided with grooves. The upper end of the groove is hinged with a counterattack plate, and a torsion spring is connected between the counterattack plate and the groove. The lower end of the groove is provided with a locking component. The counterattack plate is initially locked by the locking component. When the trainee strikes the driving part with a force that reaches a preset threshold, the locking component is unlocked, and the counterattack plate bounces up at high speed under the action of the torsion spring, forming a sudden counterattack. The drive assembly includes a first cylinder, the bottom end of which is hinged to the support. One end of the target is detachably connected to a fixed cylinder, which is hinged to the support. An eccentric block is rotatably connected to the upper end of the fixed cylinder. The piston end of the first cylinder is hinged to the eccentric block, thereby driving the fixed cylinder and the target on it to rotate. The dummy body has a transverse through-hole in the chest area, which runs through the entire structure along the coronal plane of the dummy. A rotating block is rotatably mounted in the middle of the opening. A first motor is installed inside the dummy body and is connected to the rotating block to drive the rotating block to rotate. A fixing member is connected to the side end of the rotating block. The fixing member extends out of the dummy body and has a counter-attack rod rotatably mounted at its end. A second motor is mounted on the fixing member to drive the counter-attack rod to rotate in the vertical direction.

2. The sparring training simulation robot with a counterattack function according to claim 1, characterized in that: The locking assembly includes two locking blocks that are slidably disposed on the left and right sides of the lower end of the groove. The front end of the locking block is designed with a bevel. The end of the locking block away from the groove is connected to a connecting frame. A spring is connected between the connecting frame and the inner wall of the dummy body to drive the locking block to move towards the center of the groove. The driving part includes a striking air chamber. An inflatable cushion is disposed on the side of the connecting frame near the groove. The striking air chamber and the inflatable cushion are connected by a pipe. When the trainee strikes the striking air chamber, gas is transmitted through the pipe to the inflatable cushion next to the connecting frame. The inflatable cushion expands and pushes the connecting frame, overcoming the spring resistance and causing the locking block to move inward, thereby releasing the lock on the counterattack plate.

3. The sparring training simulation robot with a counterattack function according to claim 1, characterized in that: The target is made of foam material, with a cavity in the middle. An airbag strip is installed in the cavity. The air pipe of the external air pump passes through the fixed cylinder and extends to communicate with the airbag strip. A spring shock absorber is installed at the base of the target, and a silicone anti-collision head is connected to the end of the spring shock absorber.

4. The sparring training simulation robot with a counterattack function according to claim 1, characterized in that: The front end of the dummy body has several fixing ports, and a counterattack cylinder is installed in each fixing port. The rear end of the dummy body has several second cylinders corresponding to the fixing ports. A counterattack rod is slidably connected in the counterattack cylinder. The counterattack rod is connected to the piston rod of the second cylinder. A flexible block is installed at the front end of the counterattack rod.

5. The sparring training simulation robot with a counterattack function according to claim 4, characterized in that: The counterattack rod is connected with a rack, the front end of the counterattack cylinder is hingedly provided with a cover, a gear is rotatably arranged in the counterattack cylinder, the rack and the gear are in meshing transmission, and the gear and the rotating shaft of the cover are in transmission through a synchronous belt.

6. The sparring training simulation robot with a counterattack function according to claim 1, characterized in that: The upper end of the support is provided with a hanging frame, a telescopic cylinder is arranged on the support and connected with the hanging frame to drive the hanging frame to move up and down, and the dummy body and the counterattack assembly are both assembled on the hanging frame, and a chain is connected between the leg of the dummy body and the support.

7. The sparring training simulation robot with a counterattack function according to claim 6, characterized in that: The support is rotatably assembled on the hanging frame, and a motor is arranged on the hanging frame to drive the support to swing along a horizontal plane.

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