A full-automatic lifting control system and control method for a gymnastics horse

Abstract

This invention relates to the field of sports equipment control technology, and discloses a fully automatic lifting and lowering control system and method for a gymnastics vault. The system includes a mechanical lifting and locking mechanism and a fully automatic closed-loop control system. The mechanical lifting and locking mechanism has a fixed drive unit. The fully automatic closed-loop control system includes a control unit, a detection and feedback unit, and a drive execution unit. The detection and feedback unit collects the vault's operating data and feeds it back to the control unit. The control unit uses a cascade closed-loop control strategy of position loop, speed loop, and current loop to generate drive commands. The drive execution unit adjusts the operating parameters of the drive unit, and the drive unit provides power to the lifting and lowering execution unit to drive the vault to perform linear motion. This invention shortens the time to reach the target height position through the cascade control strategy, improves the accuracy of height difference calculation, and, combined with a time window filtering anti-shake mechanism, avoids mis-locking actions and prevents the vault from slipping due to gravity.

Description

Technical Field

[0001] This invention relates to the field of sports equipment control technology, specifically to a fully automatic lifting and lowering control system and control method for a gymnastics vault. Background Technology

[0002] Traditional gymnastics vault lifting mechanisms mostly employ manual mechanical adjustment or open-loop motor drive. These mechanisms lack a cascade control strategy that integrates position, speed, and current closed-loop control loops when adjusting the vault's height. Traditional devices control the drive mechanism with a single drive command, failing to dynamically adjust based on the vault's actual height, real-time rotational speed, and operating current. This results in longer times for the vault to reach the target height and lower accuracy in calculating the height difference.

[0003] During gymnastics training and competition, the impact of a gymnast striking the vault generates significant mechanical impact energy. Traditional vault lifting mechanisms often misinterpret the transient elastic deformation caused by the athlete's impact as a substantial height displacement of the vault. Furthermore, traditional vault lifting mechanisms lack a time-window filtering and anti-shake mechanism, making it prone to misinterpretations of transient elastic deformation signals by the control system. This can lead to mis-locking actions by the locking mechanism, compromising the structural stability of the vault under stress.

[0004] Traditional gymnastics vault lifting devices accumulate conversion errors within their control systems after repeated lifting operations. They also lack a reset mechanism that combines the lower limit sensor to calibrate the initial physical zero point and simultaneously reset the rotation angle data. Furthermore, in the event of a power outage or equipment malfunction, traditional devices lack a mechanical locking protection mechanism to perform a clamping action during power failure, making the vault itself susceptible to gravity-induced slippage and displacement. In short, traditional gymnastics vault lifting devices lack system safety protection functions. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a fully automatic vaulting and lowering control system and method, which solves the problems of long time and low accuracy of height calculation in traditional vaulting and lowering devices; solves the problem of erroneous locking action caused by transient elastic deformation; solves the problem of cumulative conversion error caused by multiple lifting and lowering operations; and solves the problem of gravity slippage displacement of the vault body under power failure or abnormal conditions.

[0006] To achieve the above objectives, the first aspect of the present invention provides a fully automatic lifting and lowering control system for gymnastics vaulting, including a mechanical lifting and locking mechanism and a fully automatic closed-loop control system, wherein the mechanical lifting and locking mechanism and the fully automatic closed-loop control system are electrically connected.

[0007] The mechanical lifting and locking mechanism includes a base, inside which a drive unit is fixed. The drive unit is connected to a lifting actuator, which is fixedly connected to the vaulting horse body. The fully automatic closed-loop control system includes a control unit, a detection feedback unit, and a drive actuator.

[0008] The control unit is electrically connected to the detection feedback unit and the drive execution unit respectively. The detection feedback unit detects the actual lifting height of the vaulting horse, the lifting speed of the vaulting horse, and the operating status of the drive part, and feeds back the detection signal to the control unit. The control unit receives the detection signal and outputs control commands to the drive execution unit. The drive execution unit receives the control commands and adjusts the operating parameters of the drive part. The drive part provides power to the lifting execution part, and the lifting execution part converts the power into linear motion of the vaulting horse.

[0009] The mechanical lifting and locking mechanism includes a guide part and a locking part. The guide part is located between the base and the vaulting horse body, and the locking part is fixed between the base and the vaulting horse body. The fully automatic closed-loop control system includes a locking linkage unit, which is electrically connected to the locking part. The control unit sends locking and unlocking commands to the locking linkage unit, and controls the locking part to perform the corresponding locking and unlocking actions.

[0010] The lifting mechanism includes a lead screw structure, which consists of a lead screw and a lead screw nut. The lead screw is vertically mounted in the mounting cavity inside the base. Both ends of the lead screw are rotatably connected to the base via bearings. The lead screw nut is threaded into the lead screw, and the top of the lead screw nut is fixedly connected to the bottom of the vaulting horse body. The drive mechanism includes a servo motor, and the output shaft of the servo motor is connected to the lower end of the lead screw for transmission.

[0011] The fully automatic closed-loop control system includes a human-machine interface unit. The human-machine interface unit receives the target height input signal and sends it to the control unit. The human-machine interface unit includes a touch screen interface and displays the actual height value and target height value of the vaulting horse.

[0012] The fully automatic closed-loop control system includes a safety protection unit and a power supply unit. The safety protection unit monitors the operating status in real time and sends an emergency stop signal to the control unit. The safety protection unit includes an upper limit sensor and a lower limit sensor. The power supply unit provides power to all electrical components in the fully automatic closed-loop control system and the mechanical lifting and locking mechanism.

[0013] The fully automatic closed-loop control system, comprising position, speed, and current closed-loop control loops, reduces lifting time and improves the accuracy of reaching the target height. The mechanical lifting and locking mechanism includes a locking component to prevent the vaulting horse from slipping due to gravity, maintaining its structural stability under stress.

[0014] This invention provides a fully automatic lifting and lowering control method for a gymnastic vault, applied to a fully automatic lifting and lowering control system for a gymnastic vault, comprising the following steps: The fully automatic closed-loop control system includes a human-machine interface unit that receives the target height input signal and transmits the target height value contained in the target height input signal to the control unit. The detection feedback unit collects the current actual height value of the vaulting horse body, the real-time speed value of the servo motor included in the drive part, and the working current value of the servo motor in real time and transmits them to the control unit. The control unit compares the target height value with the current actual height value and calculates the height difference. The control unit combines the height difference, the calculated actual lifting speed, and the servo motor operating current, and uses a cascade control strategy of position loop closed-loop control loop, speed loop closed-loop control loop, and current loop closed-loop control loop to generate drive commands, and sends the drive commands to the drive execution unit. The drive execution unit controls the drive section to start according to the drive command, so that the lifting execution section drives the vaulting horse body to perform an upward or downward movement.

[0015] The control unit calculates the absolute value of the height difference between the target height value and the current actual height value in real time. When the absolute value of the height difference is less than or equal to the preset stopping deviation threshold, it is determined that the vaulting horse has reached the target height position. The control unit sends a stop command to the drive execution unit to stop the drive section from operating. The control unit sends a locking command to the locking linkage unit included in the fully automatic closed-loop control system, controls the locking part included in the mechanical lifting locking mechanism to perform the locking action, and the output shaft of the servo motor included in the physical fixed drive part.

[0016] The detection feedback unit collects the real-time speed value of the servo motor and transmits it to the background speed control system included in the fully automatic closed-loop control system, which is then converted into the actual lifting speed value. The background speed control system compares the actual lifting speed value with the preset maximum lifting speed value. When the actual lifting speed value is greater than the maximum lifting speed value, it sends an overspeed adjustment command to the drive execution unit to control the drive part to reduce the real-time speed value of the servo motor.

[0017] When the vaulting horse is in normal use, the detection feedback unit continuously collects the current actual height value, and the control unit continuously calculates the absolute value of the height difference formed by the height difference. When the absolute value of the height difference is greater than the preset correction trigger threshold, and the duration of the out-of-tolerance state exceeds the preset anti-interference time threshold corresponding to the preset correction trigger threshold, it is determined that the vaulting horse body has produced a substantial height displacement. The control unit generates an unlocking command again, controlling the vaulting horse to move back to a position where the absolute value of the height difference is less than or equal to the preset stopping deviation threshold, and re-triggering the stopping action and automatic locking action.

[0018] After receiving the one-key reset command, the control unit controls the vaulting horse to descend through the drive execution unit until it triggers the lower limit sensor included in the safety protection unit of the fully automatic closed-loop control system. The position of the lower limit sensor is taken as the preset initial physical zero point position, and the current rotation angle data collected by the detection feedback unit is cleared to zero at the same time. When an abnormal situation occurs, the safety protection unit sends an emergency stop signal to the control unit, the control unit sends an emergency locking command to the locking linkage unit, the locking linkage unit cuts off the power supply circuit of the electromagnetic locking structure included in the locking part, and the brake mechanism included in the electromagnetic locking structure performs the clamping action to physically fix the output shaft of the servo motor included in the drive part.

[0019] The control unit adopts a cascade control strategy: the deviation between the target height and the actual height is used as the input of the position loop, and the output command of the position loop is used as the target input of the speed loop; similarly, the output command of the speed loop is used as the target input of the current loop, and finally the current loop outputs a specific pulse width modulation drive signal to the servo motor to ensure high response and stability during the lifting process.

[0020] When a gymnast strikes the vaulting horse, the impact is intense, causing a violent mechanical shock. To prevent sensors from detecting transient elastic deformation and misinterpreting the movement, a time-window filtering anti-shake mechanism is implemented within the control unit. The control unit determines that the out-of-tolerance condition persists beyond a preset anti-interference time threshold, classifying it as non-impact interference, and restarts the closed-loop lift adjustment control program. This time-window filtering anti-shake mechanism eliminates misinterpretations caused by transient elastic deformation.

[0021] The one-key reset program uses the position of the lower limit sensor as the preset initial physical zero point position, and simultaneously clears the current rotation angle data of the detection feedback unit to zero, eliminating the conversion error accumulated during system operation. In case of abnormality, the brake mechanism performs a clamping action to physically fix the output shaft of the servo motor, or the control unit detects a power failure signal from the fully automatic closed-loop control system, and the locking part maintains a mechanically locked state, preventing the vaulting horse body from sliding and displacing due to gravity.

[0022] This invention provides a fully automatic lifting and lowering control system and method for gymnastic vaulting. It has the following beneficial effects: 1. This invention utilizes a fully automatic closed-loop control system. Through a detection and feedback unit, it collects the current actual height of the vaulting horse, the real-time rotational speed of the drive unit, and the operating current. The control unit combines this data with the calculated actual lifting and lowering speed and operating current, employing a cascade control strategy involving position loop, speed loop, and current loop control loops to generate drive commands and send them to the drive execution unit. The fully automatic closed-loop control system adjusts the operating parameters of the drive unit in real time during the vaulting horse's ascent and descent, shortening the time it takes for the vaulting horse to reach the target height and improving the accuracy of the height difference calculation. 2. Under normal use conditions of the vaulting horse, the control unit calculates the absolute value of the height difference between the target height value and the current actual height value. Combined with the condition that the duration of the state where the absolute value of the height difference is greater than the preset correction trigger threshold exceeds the preset anti-interference time threshold, it is determined that the vaulting horse has produced a substantial height displacement. The time window filtering anti-shake mechanism eliminates the situation where the detection feedback unit collects the transient elastic deformation of the vaulting horse caused by the gymnast hitting the board and makes an incorrect judgment. This avoids the locking part from performing a mis-locking action and maintains the structural stability of the vaulting horse under stress. 3. This invention controls the vaulting horse to descend after receiving a one-key reset command from the control unit. This triggers the lower limit sensor and sets its location as the preset initial physical zero point. Simultaneously, the current rotation angle data collected by the detection feedback unit is reset to zero, eliminating the conversion error accumulated from multiple lifting and lowering operations. In case of abnormal conditions, the safety protection unit sends an emergency stop signal to the control unit, which in turn sends an emergency locking command to the locking linkage unit. The locking linkage unit cuts off the power supply to the locking part, and the brake mechanism performs a locking action in the power-off state, physically fixing the output shaft of the drive part. The mechanical locking state prevents the vaulting horse from sliding or displacing due to gravity, providing system safety protection. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the module connection of the fully automatic closed-loop control system of the present invention; Figure 3 This is a schematic diagram of the control method of the present invention; Figure 4 This is a comparison chart showing the actual height changes of the fully automatic vault lifting and lowering control system of the present invention and the traditional open-loop control electric vault.

[0024] The components include: 1. Base; 2. Vaulting horse body; 3. Lifting and lowering actuator; 4. Drive unit; 5. Guide unit; 6. Locking unit; 7. Fully automatic closed-loop control system; 71. Control unit; 72. Detection and feedback unit; 73. Human-machine interaction unit; 74. Drive and execution unit; 75. Locking linkage unit; 76. Safety protection unit; 77. Power supply unit; and 78. Backstage speed control system. Detailed Implementation

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] See attached document Figure 1 -Appendix Figure 2 The present invention provides a fully automatic lifting and lowering control system for gymnastics vault, including a mechanical lifting and locking mechanism and a fully automatic closed-loop control system 7. In this embodiment, the mechanical lifting and locking mechanism constitutes the basic physical structure, which includes a base 1, vault body 2, lifting and lowering execution part 3, driving part 4, guiding part 5 and locking part 6.

[0027] The fully automatic closed-loop control system 7 includes a control unit 71, a detection feedback unit 72, a human-machine interaction unit 73, a drive execution unit 74, a locking linkage unit 75, a safety protection unit 76, a power supply unit 77, and a background speed control system 78. In terms of overall electrical layout, the mechanical lifting and locking mechanism is electrically connected to the fully automatic closed-loop control system 7.

[0028] Regarding the mechanical power transmission path, the input end of the lifting actuator 3 is connected to the drive part 4, while its output end is fixedly connected to the vaulting horse body 2. Thus, the lifting actuator 3 converts the rotational power output by the drive part 4 into the linear lifting motion of the vaulting horse body 2. The drive part 4 is fixed inside the base 1 and is dedicated to providing power to the lifting actuator 3. The guide part 5 is set between the base 1 and the vaulting horse body 2 and limits the movement trajectory of the vaulting horse body 2 through physical limiting. The locking part 6 is also fixed between the base 1 and the vaulting horse body 2 and is used to achieve stable locking and positioning after the vaulting horse body 2 is raised or lowered to the target height.

[0029] The detection feedback unit 72, human-machine interaction unit 73, drive execution unit 74, locking linkage unit 75, and safety protection unit 76 are all electrically connected to the control unit 71. The control unit 71 receives input signals from each unit of the fully automatic closed-loop control system 7, processes them, and outputs control commands in a unified manner. The detection feedback unit 72 is responsible for real-time detection of the actual lifting height of the vaulting horse body 2, the lifting speed of the vaulting horse body 2, and the operating status of the drive part 4. The detection feedback unit 72 feeds back the detection signals to the control unit 71 in real time.

[0030] The drive execution unit 74 is electrically connected to the drive section 4. After receiving the drive command issued by the control unit 71, it adjusts the operating parameters of the drive section 4 accordingly. The locking linkage unit 75 is electrically connected to the locking section 6. According to the locking and unlocking commands received from the control unit 71, it controls the locking section 6 to perform the corresponding locking and unlocking actions. The background speed control system 78 is communicatively connected to the control unit 71 and the drive execution unit 74 respectively, and is used to coordinate the setting of the maximum lifting speed and acceleration / deceleration time of the vaulting horse body 2. The power supply unit 77 provides power to all electrical components in the fully automatic closed-loop control system 7 and the mechanical lifting and locking mechanism.

[0031] In terms of specific mechanical structure, the lifting actuator 3 includes a lead screw structure, which includes a lead screw and a lead screw nut. The lead screw is vertically installed in the mounting cavity inside the base 1. Both ends of the lead screw are rotatably connected to the base 1 through bearings. The lead screw nut is threadedly engaged with the lead screw, and the top of the lead screw nut is fixedly connected to the bottom of the vaulting horse body 2.

[0032] The drive unit 4 includes a servo motor, which is fixed in the mounting cavity of the base 1 by a motor bracket. The output shaft of the servo motor is connected to the lower end of the lead screw via a coupling. In addition, the drive unit 4 includes a planetary reducer connected to the servo motor, and the output shaft of the servo motor is coaxially connected to an encoder.

[0033] The guide section 5 includes a guide shaft structure, which includes four guide shafts and a guide sleeve. The four guide shafts are vertically fixed at the top four corners of the base 1, and the guide sleeves are fixed at the corresponding positions at the bottom of the vaulting horse body 2. The guide sleeves and guide shafts are in sliding fit.

[0034] The locking part 6 includes an electromagnetic locking structure, which includes an electromagnetic lock body and a brake mechanism. The electromagnetic lock body and the brake mechanism are fixed on the output shaft of the drive part 4.

[0035] In this embodiment, the fully automatic closed-loop control system 7 includes a control unit 71. The control unit 71 adopts a motion control type PLC. The control unit 71 has a built-in position closed-loop adjustment algorithm program and a one-key reset program. The control unit 71 receives input signals from each unit in the fully automatic closed-loop control system 7, processes the input signals from each unit, and outputs control commands.

[0036] The detection feedback unit 72 includes a height detection module, a speed detection module, and a status detection module. The height detection module and the speed detection module use encoders. The encoders are coaxially and fixedly connected to the output shaft of the servo motor included in the drive part 4. The encoders detect the rotation angle of the servo motor and feed back the servo motor rotation angle signal to the control unit 71. At the same time, the encoders detect the real-time speed value of the servo motor and feed it back to the background speed control system 78. The status detection module includes a current sensor, which is used to detect the operating current value of the servo motor and feed it back to the control unit 71.

[0037] The human-machine interface unit 73 includes a 4-inch touchscreen interface and physical function buttons. The human-machine interface unit 73 receives the target height input signal, and the commonly used height preset signal includes 15 sets of commonly used height values. The human-machine interface unit 73 receives the lifting speed adjustment command. The human-machine interface unit 73 displays the actual height value, target height value, lifting status information, locking status information, and fault alarm information of the vaulting horse body 2. The human-machine interface unit 73 includes a one-key reset button and a virtual emergency stop button.

[0038] The drive execution unit 74 adopts a servo driver. The drive execution unit 74 is electrically connected to the control unit 71 and the servo motor. The drive execution unit 74 receives drive commands from the control unit 71 and controls the servo motor speed, servo motor direction parameters and servo motor start / stop status. The drive execution unit 74 works with the control unit 71 to realize position loop closed-loop control loop, speed loop closed-loop control loop and current loop closed-loop control loop.

[0039] The locking linkage unit 75 is electrically connected to the control unit 71 and the locking part 6. The locking linkage unit 75 receives locking and unlocking commands from the control unit 71. The locking linkage unit 75 controls the energized and de-energized states of the electromagnetic lock body in the electromagnetic locking structure. The locking linkage unit 75 controls the brake mechanism to perform clamping and releasing actions. The locking linkage unit 75 sends locking and unlocking signals back to the control unit 71.

[0040] The safety protection unit 76 includes a limit protection module, an overload protection module, a fault alarm module, and an emergency stop module. The limit protection module includes an upper limit sensor and a lower limit sensor, which are respectively set at the upper and lower limit positions of the lifting stroke of the vaulting horse body 2. The overload protection module includes a motor overload protector. The fault alarm module includes an audible and visual alarm. The emergency stop module includes a physical emergency stop button, which is located on the side of the base 1.

[0041] The output voltage of the power supply unit 77 is set to a safe voltage range below 36V. In this embodiment, the power supply unit 77 uses a 24V lithium iron phosphate battery. In other embodiments, the battery can also be a lithium battery, lead-acid battery, nickel-metal hydride battery, or nickel-cadmium battery. The 24V lithium iron phosphate battery powers the control unit 71, the drive execution unit 74, and the detection feedback unit 72. The control unit 71 includes an internal backup battery and a data storage module. After the fully automatic closed-loop control system 7 is powered off, the internal backup battery powers the data storage module to store operating information.

[0042] The background speed control system 78 is connected to the control unit 71 and the drive execution unit 74. The background speed control system 78 presets the maximum lifting speed value and acceleration / deceleration time value of the vaulting horse body 2. The maximum lifting speed value of the vaulting horse body 2 is set in the range of 0 mm / s to 50 mm / s.

[0043] See attached document Figure 1 -Appendix Figure 2 The fully automatic closed-loop control system 7 includes a control unit 71 that employs a microcontroller chip, a digital signal processing chip, an embedded controller, or an industrial computer. The microcontroller chip, digital signal processing chip, embedded controller, or industrial computer can replace a motion control type programmable logic controller.

[0044] The control unit 71 has a built-in position closed-loop adjustment algorithm program and a one-key reset program. The control unit 71 receives input signals from each unit within the fully automatic closed-loop control system 7, and outputs control commands after processing the input signals. The human-machine interface unit 73 includes a wireless remote control or a mobile communication terminal.

[0045] The fully automatic closed-loop control system 7 includes a wireless communication module. The wireless communication module uses either Bluetooth or a wireless local area network (WLAN) communication protocol. The human-machine interface unit 73 establishes a wireless data connection with the control unit 71 through the wireless communication module. The human-machine interface unit 73 can receive target height input signals and preset common height signals, and send lifting speed adjustment commands, one-button reset commands, and virtual emergency stop commands to the control unit 71. Simultaneously, the display panel of the human-machine interface unit 73 displays the actual height of the vaulting horse 2, the target height, lifting status information, locking status information, and fault alarm information.

[0046] The background speed control system 78 includes a computer or cloud data server. The background speed control system 78 establishes a communication connection with the control unit 71 via a local area network. The background speed control system 78 receives the current actual height of the vaulting horse 2, the actual lifting speed of the vaulting horse 2, and the servo motor operating current value uploaded by the control unit 71. The internal storage unit of the background speed control system 78 records the operating data of the fully automatic closed-loop control system 7 and sends the maximum lifting speed value and acceleration / deceleration time value of the vaulting horse 2 to the control unit 71.

[0047] At the physical drive level, the mechanical lifting and locking mechanism includes a drive part 4 containing a brushless motor or a brushed motor, which replaces the servo motor. The drive part 4 also includes a gear reducer. The output shaft of the brushless motor or the output shaft of the brushed motor is connected to the input end of the gear reducer. The output end of the gear reducer is connected to the lifting execution part 3. The brushless motor or the brushed motor provides power to the lifting execution part 3.

[0048] The mechanical lifting and locking mechanism includes a lifting execution part 3 containing a gear and rack structure, which replaces the lead screw structure. The gear and rack structure includes a drive gear and a lifting rack. The drive gear is coaxially and fixedly connected to the output end of the gear reducer included in the drive part 4. The lifting rack is vertically set inside the base 1. The upper end of the lifting rack is fixedly connected to the bottom of the vaulting horse body 2. The drive gear and the lifting rack mesh with each other. The rotational motion of the drive gear drives the lifting rack to perform linear motion. The lifting rack drives the vaulting horse body 2 to perform an upward or downward motion.

[0049] The lifting actuator 3 includes a flexible chain structure, which replaces the gear rack structure or the lead screw structure. The flexible chain structure includes a drive sprocket, a driven sprocket, and a transmission chain. The drive sprocket is connected to the output end of the gear reducer included in the drive unit 4. The driven sprocket is rotatably mounted inside the upper part of the base 1. The transmission chain is wrapped around the outside of the drive sprocket and the outside of the driven sprocket. The transmission chain is partially fixedly connected to the bottom of the vaulting horse body 2. The rotation of the drive sprocket drives the transmission chain to run, and the transmission chain pulls the vaulting horse body 2 to perform an upward or downward movement.

[0050] The mechanical lifting and locking mechanism includes a guide part 5 containing a linear slide rail structure, which replaces the guide shaft structure. The linear slide rail structure includes a linear guide rail and a slider. The linear guide rail is vertically fixed to the inner wall of the support inside the base 1. The slider is fixed to the bottom side of the vaulting horse body 2. The slider is sleeved on the outside of the linear guide rail. The slider and the linear guide rail slide together. The slider performs a linear sliding action along the linear guide rail. The slider and the linear guide rail cooperate to limit the movement trajectory of the vaulting horse body 2.

[0051] The mechanical lifting and locking mechanism includes a locking part 6, which includes a mechanical slider locking structure. The mechanical slider locking structure replaces the electromagnetic locking structure. The mechanical slider locking structure includes a slider, a drive cylinder, and a slot. The locking linkage unit 75 is electrically connected to the drive cylinder and controls the slider to perform an embedding or retraction action. The slider is embedded in the slot on the side of the vaulting horse body 2, realizing the mechanical locking state of the vaulting horse body 2.

[0052] The fully automatic closed-loop control system 7 includes a detection feedback unit 72 containing a laser rangefinder sensor. The laser rangefinder sensor replaces the encoder in the height detection module. The laser rangefinder sensor is fixed to the top of the base 1, with its transmitter facing the bottom of the vaulting horse body 2. The laser rangefinder sensor emits a measuring laser beam towards the bottom of the vaulting horse body 2 and receives the reflected laser beam. The laser rangefinder sensor measures the straight-line distance between the top of the base 1 and the bottom of the vaulting horse body 2. The laser rangefinder sensor transmits the straight-line distance value to the control unit 71, and the control unit 71 calculates the actual height of the vaulting horse body 2 based on the straight-line distance value.

[0053] The fully automatic closed-loop control system 7 includes a detection feedback unit 72 containing a pull-wire sensor. The pull-wire sensor replaces the encoder or laser rangefinder sensor in the height detection module. The pull-wire sensor body is fixed to the bottom surface inside the base 1. The upper end of the measuring pull wire included in the pull-wire sensor is fixedly connected to the bottom of the vaulting horse body 2. When the vaulting horse body 2 performs an upward or downward movement, it causes the measuring pull wire to extend or retract. The pull-wire sensor collects the value of the extension and retraction length of the measuring pull wire. The pull-wire sensor transmits the value of the extension and retraction length of the measuring pull wire to the control unit 71. The control unit 71 converts the value of the extension and retraction length of the measuring pull wire into the actual height value of the vaulting horse body 2.

[0054] In terms of overall structural strength design, the base plate 1 is made of high-strength carbon steel plate welded together. The thickness of the base plate 1 is limited to 10 mm to 15 mm. The bottom frame of the vaulting horse body 2 is made of aviation aluminum alloy profile assembly structure. The aviation aluminum alloy profile assembly structure reduces the overall mass of the vaulting horse body 2. Polyurethane shock-absorbing pads are installed at the four corners of the bottom of the base 1. The polyurethane shock-absorbing pads absorb the kinetic energy of external impacts on the vaulting horse body 2.

[0055] The fully automatic closed-loop control system 7 and the mechanical lifting and locking mechanism are preset with physical limit parameters. The lifting stroke of the vaulting horse body 2 is set between 1000 mm and 1350 mm. The maximum static load capacity of the mechanical lifting and locking mechanism is set to 20,000 Newtons. The operating environment temperature of the fully automatic closed-loop control system 7 is set between -10 degrees Celsius and +50 degrees Celsius. The upper limit of the relative humidity of the operating environment of the fully automatic closed-loop control system 7 is set to 90%.

[0056] The fully automatic closed-loop control system 7 has an internal anti-interference physical structure. The control unit 71 is covered with a metal shield, which is physically grounded and isolates electromagnetic wave signals from the outside space. An AC input reactor is connected in series between the power supply unit 77 and the drive execution unit 74. The AC input reactor suppresses the harmonics of the output current of the power supply unit 77 and maintains a stable working voltage at the input terminal of the drive execution unit 74.

[0057] The mechanical lifting and locking mechanism is equipped with mechanical clearance limiting parameters. The maximum clearance tolerance between the guide shaft and the guide sleeve in the guide part 5 is 0.05 mm. The screw structure in the lifting execution part 3 adopts a ball screw pair. The maximum axial back clearance between the screw nut and the screw in the ball screw pair is 0.02 mm. The maximum axial back clearance limits the physical sway amplitude of the vaulting horse body 2 in the mechanically locked state.

[0058] The internal communication network of the fully automatic closed-loop control system 7 adopts a controller local area network bus physical layer architecture. The control unit 71, drive execution unit 74 and locking linkage unit 75 are electrically connected to each other through controller local area network bus nodes. The controller local area network bus data transmission rate is set to 500 kilobits per second. The differential signal transmission mode of the controller local area network bus reduces the data error rate during the transmission of control commands.

[0059] See attached document Figure 3 A fully automatic lifting and lowering control method for gymnastic vaulting includes the following steps: The fully automatic closed-loop control system 7 is connected to the mechanical lifting and locking mechanism. The power supply unit 77 supplies power to each unit included in the fully automatic closed-loop control system 7 and to the electrical components included in the mechanical lifting and locking mechanism. The fully automatic closed-loop control system 7 executes the power-on wake-up program, and the control unit 71 starts the internally stored self-test program.

[0060] Control unit 71 sends status query commands to detection feedback unit 72 via electrical connection lines, control unit 71 sends status query commands to drive execution unit 74, control unit 71 sends status query commands to locking linkage unit 75, and control unit 71 sends status query commands to safety protection unit 76.

[0061] During the initialization phase of the fully automatic closed-loop control system 7, the locking linkage unit 75 controls the locking part 6 to maintain the initial locking state. The electromagnetic locking structure included in the locking part 6 is in a de-energized state. The brake mechanism included in the electromagnetic locking structure performs a clamping action. The output shaft of the servo motor included in the physical fixed drive part 4 of the brake mechanism is in a mechanically locked state.

[0062] The control unit 71 receives current status data from the detection feedback unit 72, the drive execution unit 74, and the locking linkage unit 75. The control unit 71 compares the received current status data with the internally preset normal parameter range.

[0063] If the current status data exceeds the preset normal parameter range, the control unit 71 determines that there is an abnormality in the fully automatic closed-loop control system 7 or the mechanical lifting and locking mechanism. The control unit 71 outputs an alarm command to the fault alarm module included in the safety protection unit 76. The fault alarm module generates an audible and visual alarm signal. At the same time, the control unit 71 outputs an abnormal fault code to the human-machine interaction unit 73. The human-machine interaction unit 73 displays the abnormal fault code on its interface. The control unit 71 cuts off the drive signal of the drive execution unit 74 and terminates the execution of the subsequent lifting control program.

[0064] If the current status data is within the preset normal parameter range, the control unit 71 determines that the fully automatic closed-loop control system 7 has passed the self-test, and the control unit 71 outputs a self-test pass signal to the human-machine interaction unit 73. The human-machine interaction unit 73 displays the fully automatic closed-loop control system 7 as ready, and the control unit 71 enters the standby state. The control unit 71 is ready to receive the target height input signal.

[0065] After the fully automatic closed-loop control system 7 passes the self-test, the human-machine interaction unit 73 receives the target height input signal, or the human-machine interaction unit 73 receives the commonly used height preset signal call command, and transmits the target height value or the height value contained in the commonly used height preset signal to the control unit 71.

[0066] After receiving the target height value or the height value contained in the commonly used height preset signal transmitted by the human-machine interaction unit 73, the control unit 71 stores it in the internal storage module of the control unit 71. The control unit 71 extracts the preset maximum lifting speed value and acceleration / deceleration time value of the vaulting horse body 2 from the background speed control system 78 as the constraint conditions for subsequent servo drive.

[0067] The detection feedback unit 72 includes a height detection module that collects the current actual height value of the vaulting horse body 2 in real time. The detection feedback unit 72 transmits the current actual height value of the vaulting horse body 2 to the control unit 71. The control unit 71 compares the target height value with the current actual height value of the vaulting horse body 2. If the target height value is not equal to the current actual height value of the vaulting horse body 2, the control unit 71 generates an unlocking command.

[0068] The control unit 71 sends an unlocking command to the locking linkage unit 75. The locking linkage unit 75 receives the unlocking command and outputs an energizing signal to the locking part 6. The electromagnetic locking structure included in the locking part 6 receives the energizing signal and the electromagnetic lock body included in the electromagnetic locking structure is powered on.

[0069] When the electromagnetic lock body is powered on, it generates electromagnetic force, which drives the brake mechanism included in the electromagnetic locking structure. The brake mechanism performs a release action, releasing the mechanical fixation restriction on the output shaft of the servo motor included in the drive part 4, allowing it to return to a free rotation state. When the locking linkage unit 75 detects that the electromagnetic lock body is in a fully released state, it sends an unlocking signal to the control unit 71. After the control unit 71 confirms that the drive part 4 is in an operable state, it outputs a status update command to the human-machine interaction unit 73, and the interface then displays the unlocking completion status information.

[0070] The control unit 71 calculates the height difference between the target height value and the current actual height value of the vaulting horse body 2, generates a drive command based on the height difference, and outputs the drive command to the drive execution unit 74.

[0071] The drive execution unit 74 receives the drive command and controls the servo motor included in the drive part 4 to start. The servo motor outputs power to the planetary reducer included in the drive part 4. The planetary reducer transmits the power to the lead screw structure included in the lifting execution part 3. The lead screw structure converts the rotational motion of the servo motor into the linear motion of the vaulting horse body 2. The lead screw structure drives the vaulting horse body 2 to perform an upward or downward motion. The guide part 5 restricts the movement trajectory of the vaulting horse body 2.

[0072] During the linear lifting and lowering operation of the vaulting horse body 2, the encoder included in the detection feedback unit 72 collects the rotation angle data of the servo motor in real time. The encoder transmits the servo motor rotation angle data to the control unit 71. The control unit 71 calculates the current actual height of the vaulting horse body 2 based on the servo motor rotation angle data. The calculation formula is as follows: ; The symbols in the calculation formula are defined as follows: This indicates the current actual height of vaulting horse body 2; This indicates the initial height value of vaulting horse body 2; This indicates the difference in rotation angle of the servo motor; This indicates the lead screw of the lead screw structure included in the lifting actuator 3; This indicates the reduction ratio of the planetary reducer included in drive section 4. This reduction ratio is set here to prevent overflow exceptions during division operations. These are known hardware constants that are always greater than 0; This represents the constant angle value corresponding to one revolution of the servo motor.

[0073] Meanwhile, the encoder included in the detection feedback unit 72 collects the real-time speed value of the servo motor in real time. The detection feedback unit 72 transmits the real-time speed value of the servo motor to the background speed control system 78. The background speed control system 78 converts the real-time speed value of the servo motor into the actual lifting speed value of the vaulting horse body 2.

[0074] The background speed control system 78 compares the actual lifting speed of the vaulting horse body 2 with the preset maximum lifting speed of the vaulting horse body 2. If the actual lifting speed of the vaulting horse body 2 is greater than the preset maximum lifting speed of the vaulting horse body 2, the background speed control system 78 sends an overspeed adjustment command to the drive execution unit 74.

[0075] The drive execution unit 74 receives an overspeed adjustment command, reduces the real-time speed of the servo motor, and limits the actual lifting speed of the vaulting horse body 2 to be less than or equal to the preset maximum lifting speed of the vaulting horse body 2.

[0076] During the linear lifting and lowering operation of the vaulting horse body 2, the current sensor included in the detection feedback unit 72 collects the operating current value of the servo motor in real time. The current sensor transmits the operating current value of the servo motor to the control unit 71. The control unit 71 combines the current actual height value of the vaulting horse body 2, the actual lifting and lowering speed value of the vaulting horse body 2, and the operating current value of the servo motor to form a position loop closed-loop control loop, a speed loop closed-loop control loop, and a current loop closed-loop control loop. In the above three-loop closed-loop control architecture, the control unit 71 adopts a cascade control strategy: the deviation between the target height and the actual height is used as the input of the position loop, and the output command of the position loop is used as the target input of the speed loop; similarly, the output command of the speed loop is used as the target input of the current loop. Finally, the current loop outputs a specific pulse width modulation drive signal to the servo motor, thereby ensuring high response and stability during the lifting and lowering process.

[0077] Using closed-loop feedback, the control unit 71 calculates the absolute value of the height difference between the target height and the current actual height of the vaulting horse 2 in real time, and compares this absolute value with a preset stopping deviation threshold. The preset stopping deviation threshold is 0.2 mm. When the absolute value of the height difference is less than or equal to 0.2 mm, the control unit 71 determines that the vaulting horse 2 has reached the target height position and sends a stopping command to the drive execution unit 74. After receiving the stopping command, the drive execution unit 74 controls the servo motors included in the drive section 4 to stop operating.

[0078] After the servo motor stops running, the control unit 71 starts its internal timing program to record the duration of the stop. When the stop duration reaches the preset locking delay threshold (0.5 seconds), the control unit 71 sends a locking command to the locking linkage unit 75. The locking linkage unit 75 receives the command and cuts off the power supply circuit of the electromagnetic locking structure included in the locking part 6. After the electromagnetic lock body is de-energized, it loses its electromagnetic force, causing the brake mechanism included in the electromagnetic locking structure to perform a clamping action. The brake mechanism physically fixes the output shaft of the servo motor, causing the mechanical lifting locking mechanism to return to the mechanical locking state.

[0079] After the locking linkage unit 75 detects that the brake mechanism is in a fully clamped state, the locking linkage unit 75 sends a locking position signal to the control unit 71. The control unit 71 receives the locking position signal and outputs a status update command to the human-machine interaction unit 73. The human-machine interaction unit 73 displays the locking completion status information and the current actual height value on its interface, and the vaulting horse body 2 enters the normal use state.

[0080] When the vaulting horse body 2 is in normal use, the height detection module included in the detection feedback unit 72 continuously collects the current actual height value of the vaulting horse body 2. The detection feedback unit 72 transmits the current actual height value of the vaulting horse body 2 to the control unit 71. The control unit 71 continuously calculates the absolute value of the height difference between the target height value and the current actual height value of the vaulting horse body 2. The control unit 71 compares the absolute value of the height difference with a preset correction trigger threshold, which is 0.5 mm.

[0081] Because the impact of a gymnast striking the vaulting horse 2 on the vaulting platform causes a violent mechanical shock, a time window filtering anti-shake mechanism is incorporated into the control unit 71 to prevent the sensor from misinterpreting the locking action due to transient elastic deformation. Specifically, if the absolute value of the height difference is greater than 0.5 mm, and the duration of this deviation exceeds a preset anti-interference time threshold (e.g., 2 seconds), the control unit 71 can determine that the vaulting horse 2 has undergone substantial height displacement. After confirming that there is no impact interference, the control unit 71 generates an unlocking command again and sends the unlocking command to the locking linkage unit 75. The locking linkage unit 75 controls the electromagnetic locking structure to release the physical fixation of the servo motor output shaft. The control unit 71 restarts the closed-loop lifting and lowering adjustment control program, and controls the drive execution unit 74 to adjust the operation of the servo motor. The drive execution unit 74 drives the vaulting horse 2 to a position where the absolute value of the height difference is less than or equal to 0.2 mm. The control unit 71 then re-triggers the stop action and the automatic locking action.

[0082] The human-machine interface unit 73 receives a one-key reset command and transmits it to the control unit 71. The control unit 71 receives the command, calls its internal one-key reset program, and sends an unlock command to the locking linkage unit 75. The locking linkage unit 75 controls the electromagnetic locking structure included in the locking part 6 to release the mechanical fixation restriction on the output shaft of the servo motor included in the drive part 4. The control unit 71 sends a reset drive command to the drive execution unit 74, which controls the drive part 4 to drive the vaulting horse body 2 to descend until it triggers the lower limit sensor included in the safety protection unit 76, which is used as the preset initial physical zero point position. After the vaulting horse body 2 reaches this preset initial physical zero point position, the control unit 71 sends a stop command to the drive execution unit 74 and simultaneously clears the current rotation angle data of the detection feedback unit 72 to zero, thus eliminating accumulated conversion errors during system operation. The control unit 71 sends a locking command to the locking linkage unit 75, and the locking part 6 returns to its mechanically locked state.

[0083] During the operation of the vaulting horse body 2 controlled by the fully automatic closed-loop control system 7, the safety protection unit 76 monitors the operating status of the fully automatic closed-loop control system 7 in real time. When an abnormal situation occurs, the safety protection unit 76 triggers a fault handling protection action. The abnormal situation includes the upper limit sensor or lower limit sensor included in the limit protection module detecting that the vaulting horse body 2 exceeds the physical limit stroke, or the motor overload protector included in the overload protection module detecting that the servo motor operating current value exceeds the preset overload current threshold, or the physical emergency stop button included in the emergency stop module being pressed and triggered, or the virtual emergency stop button included in the human-machine interaction unit 73 being pressed and triggered.

[0084] When any abnormal situation is triggered, the safety protection unit 76 sends an emergency stop signal to the control unit 71. Upon receiving the emergency stop signal, the control unit 71 immediately cuts off the drive signal output of the drive execution unit 74, and the drive execution unit 74 controls the servo motor to stop running. At the same time, the control unit 71 sends an emergency locking command to the locking linkage unit 75, immediately cutting off the power supply circuit of the electromagnetic locking structure. The brake mechanism performs a locking action to physically fix the output shaft of the servo motor. Subsequently, the control unit 71 triggers the fault alarm module to generate an audible and visual alarm signal and displays the corresponding fault code on the human-machine interface 73. The fully automatic closed-loop control system 7 then enters the safety lock mode and refuses to execute newly input running commands until a reset signal is received.

[0085] After the vaulting horse body 2 completes its work, the fully automatic closed-loop control system 7 performs a shutdown operation. The control unit 71 detects the power-off signal of the fully automatic closed-loop control system 7 or receives a shutdown command. The control unit 71 sends a power-off locking confirmation command to the locking linkage unit 75. The locking part 6 maintains a mechanically locked state, which prevents the vaulting horse body 2 from sliding or displacing due to gravity. The internal self-contained battery in the control unit 71 connects to the internal data storage circuit, which powers the data storage module in the control unit 71. The control unit 71 stores the current actual height value of the vaulting horse body 2 and the operating status parameters of the fully automatic closed-loop control system 7 in the data storage module. After the data saving operation is completed, the power supply unit 77 cuts off the main power supply circuit to the electrical components of the fully automatic closed-loop control system 7 and the mechanical lifting and locking mechanism. The fully automatic closed-loop control system 7 and the mechanical lifting and locking mechanism are completely shut down.

[0086] To verify the actual working effect of the present invention, a specific application embodiment is set up. The gymnastics vault fully automatic lifting and lowering control system is applied to a professional gymnastics training venue. In the training venue, there are multiple athletes with different height values ​​taking turns to train on the vault. The gymnastics vault fully automatic lifting and lowering control system is initially in standby mode. After the first athlete completes the training task, the actual height of the vault body 2 is 1150 mm. The second athlete needs to raise the height of the vault body 2. The operator operates the human-machine interaction unit 73 included in the fully automatic closed-loop control system 7. The human-machine interaction unit 73 receives the target height value of 1250 mm as an input signal and transmits the target height value of 1250 mm to the control unit 71.

[0087] The control unit 71 receives the target height value of 1250 mm. The control unit 71 compares the target height value of 1250 mm with the current actual height value of 1150 mm of the vaulting horse body 2. The control unit 71 determines that the target height value and the current actual height value of the vaulting horse body 2 are not equal. The control unit 71 generates an unlocking command. The locking linkage unit 75 receives the unlocking command and controls the electromagnetic locking structure included in the locking part 6 to be energized. The brake mechanism included in the electromagnetic locking structure performs a release action, releasing the physical fixation restriction of the servo motor output shaft included in the drive part 4.

[0088] The servo motor resumes free rotation, and the control unit 71 outputs a drive command to the drive execution unit 74. The drive execution unit 74 controls the servo motor to rotate forward. The power output by the servo motor is transmitted to the lead screw structure included in the lifting execution part 3 through the planetary reducer. The rotation of the lead screw structure drives the vaulting horse body 2 to perform the lifting action. During the lifting operation of the vaulting horse body 2, the height detection module included in the detection feedback unit 72 collects the current actual height value of the vaulting horse body 2 in real time. The detection feedback unit 72 transmits the current actual height value of the vaulting horse body 2 to the control unit 71. The control unit 71 combines the current actual height value of the vaulting horse body 2, the actual lifting speed value of the vaulting horse body 2 calculated by the background speed control system 78, and the servo motor operating current value collected by the current sensor to form a position loop closed-loop control loop, a speed loop closed-loop control loop, and a current loop closed-loop control loop.

[0089] When the vaulting horse body 2 reaches the 1249.9 mm position, the control unit 71 calculates that there is an absolute height difference of 0.1 mm between the target height value of 1250 mm and the current actual height value of 1249.9 mm. The absolute height difference of 0.1 mm is less than the preset stopping deviation threshold of 0.2 mm. The control unit 71 determines that the vaulting horse body 2 has reached the target height position and sends a stopping command to the drive execution unit 74. The drive execution unit 74 controls the servo motor to stop running. After the stopping time reaches the preset locking delay threshold of 0.5 seconds, the control unit 71 sends a locking command to the locking linkage unit 75. The locking linkage unit 75 cuts off the power supply circuit of the electromagnetic locking structure. The brake mechanism performs a clamping action to re-physically fix the output shaft of the servo motor. The mechanical lifting locking mechanism returns to the mechanical locking state, and the vaulting horse body 2 enters the normal use state.

[0090] Experimental tests were conducted and comparative data were extracted. The experimental test subjects were a fully automatic vaulting control system and a traditional open-loop control electric vault. The traditional open-loop control electric vault lacks the closed-loop configuration of a fully automatic closed-loop control system, and also lacks the locking part included in the mechanical lifting and locking mechanism.

[0091] See attached document Figure 4The solid curve in the graph represents the actual height variation of the fully automatic vault lifting and lowering control system; the dashed curve represents the actual height variation of the traditional open-loop control electric vault. The horizontal axis represents the lifting and lowering time; the vertical axis represents the actual height value. The test task was set to raise the vault apparatus height from 1100 mm to 1300 mm. The graph shows that the traditional open-loop control electric vault takes 15 seconds to complete a 200 mm lifting and lowering stroke. The traditional open-loop control electric vault has a 3 mm inertial overshoot error after reaching the target position. The fully automatic lifting and lowering control system of the gymnastics vault takes 8 seconds to complete a 200 mm lifting and lowering stroke. The stopping deviation of the fully automatic lifting and lowering control system of the gymnastics vault after reaching the target position is strictly within the range of 0.2 mm.

[0092] In the dynamic impact displacement test, the testing equipment applied an instantaneous horizontal impact load to the vault horse body 2. This instantaneous horizontal impact load simulated the kinetic energy generated by a person's impact. A traditional open-loop controlled electric vault horse would experience a downward transient slip displacement of 2.5 mm under this instantaneous horizontal impact load. The gymnastics vault horse's fully automatic lifting and lowering control system was in a mechanically locked state. The brake mechanism physically fixed the servo motor output shaft. Under this instantaneous horizontal impact load, the gymnastics vault horse's fully automatic lifting and lowering control system only experienced a tiny downward transient displacement of 0.08 mm.

[0093] Effect Comparison Statistics Table

[0094] The comparison statistics show that the fully automatic closed-loop control system 7, which includes a position loop, a speed loop, and a current loop, reduces the lifting time and improves the accuracy of reaching the target height. The mechanical lifting and locking mechanism, including the locking part 6, prevents the vaulting horse body 2 from sliding due to gravity and maintains the structural stability of the vaulting horse body 2 under stress. The gymnastics vaulting fully automatic lifting and controlling system shows significant advantages in response time, stopping accuracy, and structural stability.

Claims

1. A fully automatic lifting and lowering control system for gymnastics vaulting, comprising a mechanical lifting and locking mechanism and a fully automatic closed-loop control system (7), characterized in that, The mechanical lifting and locking mechanism is electrically connected to the fully automatic closed-loop control system (7); The mechanical lifting and locking mechanism includes a base (1), a drive part (4) is fixed inside the base (1), the drive part (4) is connected to a lifting execution part (3), and the lifting execution part (3) is fixedly connected to a vaulting horse body (2). The fully automatic closed-loop control system (7) includes a control unit (71), a detection feedback unit (72), and a drive execution unit (74). The control unit (71) is electrically connected to the detection feedback unit (72) and the drive execution unit (74) respectively; the detection feedback unit (72) detects the actual lifting height of the vaulting horse body (2), the lifting speed of the vaulting horse body (2) and the operating status of the drive part (4), and feeds back the detection signal to the control unit (71); the control unit (71) receives the detection signal and outputs control commands to the drive execution unit (74). The drive execution unit (74) receives the control command and adjusts the operating parameters of the drive part (4). The drive part (4) provides power to the lifting execution part (3). The lifting execution part (3) converts the power into linear motion of the vaulting horse body (2).

2. The fully automatic lifting and lowering control system for a gymnastic vault as described in claim 1, characterized in that, The mechanical lifting and locking mechanism also includes a guide part (5) and a locking part (6). The guide part (5) is disposed between the base (1) and the vaulting horse body (2), and the locking part (6) is fixed between the base (1) and the vaulting horse body (2). The fully automatic closed-loop control system (7) includes a locking linkage unit (75), which is electrically connected to the locking part (6). The control unit (71) sends locking and unlocking commands to the locking linkage unit (75) and controls the locking part (6) to perform corresponding locking and unlocking actions.

3. The fully automatic lifting and lowering control system for the gymnastics vault as described in claim 1, characterized in that, The lifting execution part (3) includes a lead screw structure, which includes a lead screw and a lead screw nut. The lead screw is vertically installed in the mounting cavity inside the base (1). The two ends of the lead screw are rotatably connected to the base (1) through bearings. The lead screw nut is threadedly engaged with the lead screw. The top of the lead screw nut is fixedly connected to the bottom of the vaulting horse body (2). The drive section (4) includes a servo motor, and the output shaft of the servo motor is connected to the lower end of the lead screw.

4. The fully automatic lifting and lowering control system for a gymnastic vault as described in claim 1, characterized in that, The fully automatic closed-loop control system (7) includes a human-machine interaction unit (73), which receives the target height input signal and sends it to the control unit (71). The human-machine interaction unit (73) includes a touch screen interface that displays the actual height value and the target height value of the vaulting horse body (2).

5. The fully automatic lifting and lowering control system for a gymnastic vault as described in claim 1, characterized in that, The fully automatic closed-loop control system (7) includes a safety protection unit (76) and a power supply unit (77). The safety protection unit (76) monitors the operating status in real time and sends an emergency stop signal to the control unit (71). The safety protection unit (76) includes an upper limit sensor and a lower limit sensor. The power supply unit (77) supplies power to all electrical components in the fully automatic closed-loop control system (7) and the mechanical lifting and locking mechanism.

6. A fully automatic lifting and lowering control method for gymnastic vault, characterized in that, The fully automatic lifting and lowering control system for the vault as described in any one of claims 1-5 includes the following steps: The human-computer interaction unit (73) receives the target height input signal and transmits the target height value contained in the target height input signal to the control unit (71). The detection feedback unit (72) collects the current actual height value of the vaulting horse body (2), the real-time speed value of the servo motor included in the drive part (4), and the working current value of the servo motor in real time and transmits them to the control unit (71). The control unit (71) compares the target height value with the current actual height value and calculates the height difference. The control unit (71) combines the height difference, the calculated actual lifting speed value and the working current value of the servo motor, and uses a cascade control strategy of position loop closed-loop control loop, speed loop closed-loop control loop and current loop closed-loop control loop to generate drive commands, and sends the drive commands to the drive execution unit (74). The drive execution unit (74) controls the drive part (4) to start according to the drive command, so that the lifting execution part (3) drives the vaulting horse body (2) to perform an upward or downward action.

7. The fully automatic lifting and lowering control method for the gymnastics vault as described in claim 6, characterized in that, The control unit (71) calculates the absolute value of the height difference between the target height value and the current actual height value in real time. When the absolute value of the height difference is less than or equal to the preset stopping deviation threshold, it determines that the vaulting horse body (2) has reached the target height position. The control unit (71) sends a stop command to the drive execution unit (74) to control the drive part (4) to stop operating; The control unit (71) sends a locking command to the locking linkage unit (75) to control the locking part (6) to perform a locking action and physically fix the servo motor output shaft contained in the drive part (4).

8. The fully automatic lifting and lowering control method for the gymnastics vault as described in claim 6, characterized in that, The detection feedback unit (72) collects the real-time rotation speed value and transmits it to the background speed control system (78) to calculate the actual lifting speed value; The background speed control system (78) compares the actual lifting speed value with the preset maximum lifting speed value. When the actual lifting speed value is greater than the maximum lifting speed value, it sends an overspeed adjustment command to the drive execution unit (74) to control the drive part (4) to reduce the real-time rotation speed value.

9. A fully automatic lifting and lowering control method for a gymnastic vault according to claim 6, characterized in that, When the vaulting horse body (2) is in normal use, the detection feedback unit (72) continuously collects the current actual height value, and the control unit (71) continuously calculates the absolute value of the height difference. When the absolute value of the height difference is greater than the preset correction trigger threshold, and the duration of the out-of-tolerance state exceeds the preset anti-interference time threshold corresponding to the preset correction trigger threshold, it is determined that the vaulting horse body (2) has produced a substantial height displacement. The control unit (71) generates an unlocking command again, controls the vaulting horse body (2) to move back to a position where the absolute value of the height difference is less than or equal to the preset stopping deviation threshold, and triggers the stopping action and automatic locking action again.

10. The fully automatic lifting and lowering control method for the gymnastics vault according to claim 7, characterized in that, It also includes the following steps: After receiving a one-key reset command, the control unit (71) controls the vaulting horse body (2) to descend through the drive execution unit (74) until the lower limit sensor included in the safety protection unit (76) is triggered. The position of the lower limit sensor is taken as the preset initial physical zero point position, and the current rotation angle data collected by the detection feedback unit (72) is cleared to zero at the same time. When an abnormal situation occurs, the safety protection unit (76) sends an emergency stop signal to the control unit (71), the control unit (71) sends an emergency locking command to the locking linkage unit (75), the locking linkage unit (75) cuts off the power supply circuit of the electromagnetic locking structure included in the locking part (6), and the brake mechanism performs a clamping action to physically fix the servo motor output shaft included in the drive part (4).

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