A rope-driven underactuated dragon boat paddle simulation device

Abstract

The application relates to the technical field of oar training, and discloses a rope-driven underdrive type dragon-boat oar simulation device, which comprises a main frame, a resistance mechanism, a boat oar, a first pull wire and a second pull wire. The resistance mechanism comprises first and second servo motors, and the first and second servo motors are arranged on the main frame at intervals. The motor shafts of the first and second servo motors are respectively provided with take-up reels. The first and second servo motors are used for generating reverse resistance loading when the take-up reels are rotated by external force. The boat oar is arranged on the outer side of the main frame, and is provided with first and second fixed points which are arranged at intervals. The first pull wire is connected to the first fixed point and wound around the take-up reel of the first servo motor. The second pull wire is connected to the second fixed point and wound around the take-up reel of the second servo motor. The device can generate multi-directional and dynamically changing resistance effects, and improves the authenticity of force received by the oar.

Description

Technical Field

[0001] This invention relates to the field of paddling training technology, and in particular to a rope-driven, under-driven dragon boat paddling simulation device. Background Technology

[0002] Dragon boat racing is a competitive activity in which many paddlers propel a boat by paddling a single paddle. Currently, dragon boat training is divided into land training and water training. The former mainly focuses on physical strength training, while the latter focuses on improving paddling techniques. It is difficult to achieve the real training and experience of dragon boat racing in an indoor environment.

[0003] For example, Chinese invention patent application CN116688469A discloses a paddleboard land training device, which includes a base frame, a winding device mounted on the base frame, a pull rope connected to the winding device, a paddle rod fixedly connected to the pull rope, and a rocking device mounted on the base frame for a person to step on. The winding device includes a protective shell fixed to the base frame, a rewinding mechanism rotatably mounted inside the protective shell, and a pulling mechanism drivenly connected to the rewinding mechanism, wherein the pulling mechanism is fixedly connected to the pull rope. By stepping on the rocking device to simulate a water environment, holding the paddle rod handle with one hand and the paddle rod shaft with the other hand, the person applies force with their body and arms to pull the pull rope, and the winding device generates resistance when pulled by the pull rope.

[0004] Existing paddleboard land training devices use a rewind mechanism, a pull rope, and a paddle stick design. However, the rewind mechanism only generates fixed damping or a single resistance in one direction, making it difficult to experience the resistance changes during the paddle's entry into, holding, and exiting the water. It cannot provide feedback to trainees on the relationship between paddling motion and water resistance changes, resulting in poor realism of paddling force. Summary of the Invention

[0005] The technical problem that this invention aims to solve is that existing training devices generate fixed damping or single resistance in one direction, making it difficult to experience the resistance changes during the process of the paddle entering, holding, and exiting the water. They cannot provide feedback to trainees on the relationship between the paddling action and the change in water resistance, resulting in poor realism of the force experienced during paddling.

[0006] To solve the above-mentioned technical problems, the present invention provides a technical solution for a rope-driven, under-driven dragon boat paddling simulation device: The rope-driven, under-drive dragon boat paddling simulation device includes: Mainframe rack; The resistance mechanism includes a first servo motor and a second servo motor, which are spaced apart on the main frame. The motor shafts of the first servo motor and the second servo motor are each equipped with a take-up reel. The first servo motor and the second servo motor are used to generate reverse resistance loading when the take-up reel is rotated by an external force. The oar is located on the outside of the main frame. The oar has a first fixed point and a second fixed point, which are arranged at intervals. The first pull line is connected to the first fixed point and wound around the take-up reel of the first servo motor; The second cable connects to the second fixed point and is wound around the take-up reel of the second servo motor.

[0007] Furthermore, the oar includes a fixedly connected shaft and blade, with the first fixing point located on the side of the blade closer to the shaft and the second fixing point located on the side of the blade away from the shaft.

[0008] Furthermore, along the width direction of the blade, two second fixing points are spaced apart; along the width direction of the main frame, two second servo motors are spaced apart, and two second pull cables are spaced apart; each second pull cable is connected to the second fixing point and the take-up reel of the second servo motor on the same side.

[0009] Furthermore, along the length of the main frame, the first servo motor and the second servo motor are spaced apart; the take-up reels of the two second servo motors are located on opposite sides.

[0010] Furthermore, the main frame is provided with a first guide wheel and a second guide wheel, the first guide wheel is located on the upper side of the second guide wheel, the first pull wire is movably located on the first guide wheel, and the second pull wire is movably located on the second guide wheel.

[0011] Furthermore, along the width direction of the main frame, two second guide wheels are spaced apart, and each second pull wire is disposed on the second guide wheel on the same side; the first guide wheel is spaced apart and disposed above the center of the line connecting the two second guide wheels.

[0012] Furthermore, the oar is also provided with a third fixed point, which is arranged at intervals from the first fixed point and the second fixed point; a measuring encoder is provided at the bottom of the main frame, and a third pull wire is connected between the measuring point and the measuring encoder, and the measuring encoder is used to obtain the length change information of the third pull wire.

[0013] Furthermore, the bottom of the main frame is provided with a base rod and a third guide wheel. The base rod extends along the length direction parallel to the main frame. The measuring encoder and the third guide wheel are spaced apart on the base rod. The third pull cable is movably provided on the third guide wheel. A support rod is also hinged to the side of the base rod away from the main frame. The oar can be detached from the support rod.

[0014] Furthermore, the rope-driven under-drive dragon boat paddling simulation device also includes an auxiliary frame, which is spaced apart from the main frame, and the paddles are spaced apart on the outside of the auxiliary frame; the auxiliary frame is provided with a sitting support and a foot support, and the foot support is located on the side of the sitting support closer to the main frame.

[0015] Furthermore, the auxiliary frame is provided with a guide rail that extends along the length direction parallel to the main frame. Two foot supports are provided, which are slidably mounted on the guide rail and are height-adjustable. A sitting support is slidably mounted on the guide rail and is height-adjustable. The sitting support and the bottom of the auxiliary frame are also provided with a telescopic diagonal bar.

[0016] Compared with the prior art, the rope-driven under-drive dragon boat paddling simulation device of the present invention has the following advantages: the rope-driven under-drive dragon boat paddling simulation device adopts a design of a main frame, a resistance mechanism, a paddle, a first pull line, and a second pull line. The first servo motor and the second servo motor of the resistance mechanism are spaced apart on the main frame, and the motor shafts of the first servo motor and the second servo motor are equipped with take-up reels. The paddle is located on the outside of the main frame, and the paddle has a first fixed point and a second fixed point spaced apart. The first pull line connects the first fixed point and the take-up reel of the first servo motor, and the second pull line connects the second fixed point and the take-up reel of the second servo motor.

[0017] The first cable connects to the first fixed point of the paddle and is wound around the take-up reel of the first servo motor. The second cable connects to the second fixed point of the paddle and is wound around the take-up reel of the second servo motor. When the trainee paddles, the paddle motion causes changes in the length of the first and second cables. These cables then rotate the take-up reels, causing the motor shafts of the first and second servo motors to rotate synchronously. The first and second servo motors of the resistance mechanism act as resistance sources, not actively driving the paddle motion. Instead, they generate reverse resistance when the take-up reels are rotated by external forces, simulating the water resistance generated by paddles paddling in real water.

[0018] Furthermore, the resistance mechanism generates a distributed traction force on the paddle through the first and second pull lines. As the paddle position and paddle surface attitude change, the reverse resistance from the first and second servo motors changes accordingly. Compared to existing unidirectional fixed damping or single resistance, this dragon boat paddling simulation device can generate multi-directional, dynamically changing resistance effects. This facilitates the experience of resistance changes during the paddle's entry, holding, and exit from the water, providing feedback to trainees on the relationship between paddling motion and water resistance changes, and improving the realism of the paddling force. Attached Figure Description

[0019] Figure 1This is a three-dimensional schematic diagram of a rope-driven, under-driven dragon boat paddling simulation device according to an embodiment of the present invention; Figure 2 yes Figure 1 Front view schematic diagram of a mid-rope driven dragon boat paddle simulator; Figure 3 yes Figure 1 A top view of a dragon boat rowing simulator with a mid-rope drive mechanism; Figure 4 This is a three-dimensional schematic diagram of the rope-driven under-drive dragon boat paddling simulation device (without auxiliary frame) according to an embodiment of the present invention from another perspective. Figure 5 This is a front view schematic diagram of the rope-driven under-drive dragon boat paddling simulation device (paddling preparation stage) according to an embodiment of the present invention. Figure 6 This is a front view schematic diagram of the rope-driven under-drive dragon boat paddling simulation device (paddling loading stage) according to an embodiment of the present invention; Figure 7 This is a front view schematic diagram of the rope-driven under-drive dragon boat paddling simulation device (paddling end stage) according to an embodiment of the present invention. In the diagram: 1. Main frame; 11. First guide roller; 12. Second guide roller; 13. Third guide roller; 14. Measuring encoder; 15. Base rod; 16. Support rod; 2. Resistance mechanism; 20. Take-up reel; 21. First servo motor; 22. Second servo motor; 3. Oar; 31. First fixed point; 32. Second fixed point; 33. Third fixed point; 34. Oar shaft; 35. Oar blade; 41. First pull cable; 42. Second pull cable; 43. Third pull cable; 5. Auxiliary frame; 51. Seating support; 52. Foot support; 53. Guide rail; 54. Telescopic diagonal bar. Detailed Implementation

[0020] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0021] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" used to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0023] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] like Figures 1 to 4 As shown, an embodiment of the present invention provides a rope-driven, under-driven dragon boat paddling simulation device, comprising: a main frame 1, a resistance mechanism 2, a paddle 3, a first pull line 41, and a second pull line 42; the resistance mechanism 2 includes a first servo motor 21 and a second servo motor 22, which are spaced apart on the main frame 1; the motor shafts of the first servo motor 21 and the second servo motor 22 are both equipped with take-up reels 20.

[0025] The first servo motor 21 and the second servo motor 22 are used to generate reverse resistance loading when the take-up reel 20 is rotated by an external force; the paddle 3 is located on the outside of the main frame 1, and the paddle 3 has a first fixed point 31 and a second fixed point 32, which are arranged at intervals; the first pull line 41 is connected to the first fixed point 31 and wound around the take-up reel 20 of the first servo motor 21; the second pull line 42 is connected to the second fixed point 32 and wound around the take-up reel 20 of the second servo motor 22.

[0026] The rope-driven, under-driven dragon boat paddling simulation device adopts a design of main frame 1, resistance mechanism 2, paddle 3, first pull line 41 and second pull line 42. The first pull line 41 is connected to the first fixed point 31 of the paddle 3 and wound around the take-up reel 20 of the first servo motor 21. The second pull line 42 is connected to the second fixed point 32 of the paddle 3 and wound around the take-up reel 20 of the second servo motor 22.

[0027] When the trainee paddles the oar 3, the movement of the oar 3 causes a change in the length of the first pull line 41 and the second pull line 42. The first pull line 41 and the second pull line 42 drive the take-up reel 20 to rotate, which in turn causes the motor shafts of the first servo motor 21 and the second servo motor 22 to rotate synchronously. The first servo motor 21 and the second servo motor 22 of the resistance mechanism 2 work as resistance sources. They do not actively drive the oar 3 to move, but generate reverse resistance when the take-up reel 20 is rotated by an external force, which is used to simulate the water resistance generated by the oar 3 paddling in real water.

[0028] In addition, the resistance mechanism 2 generates a distributed traction force on the paddle 3 through the first pull line 41 and the second pull line 42. When the position and attitude of the paddle 3 change, the reverse resistance of the first servo motor 21 and the second servo motor 22 on the paddle 3 changes accordingly. Compared with the existing fixed damping or single resistance in one direction, this dragon boat paddling simulation device can generate multi-directional and dynamically changing resistance effects, which is beneficial to experiencing the resistance changes of the paddle 3 when entering, holding, and exiting the water. It provides feedback to trainees on the relationship between paddling action and water resistance changes, and improves the realism of paddling force.

[0029] In this embodiment, the paddle 3 includes a fixedly connected shaft 34 and blade 35. A first fixing point 31 is located on the side of the blade 35 closer to the shaft 34, and a second fixing point 32 is located on the side of the blade 35 away from the shaft 34. The first fixing point 31 and the second fixing point 32 are respectively located at the upper and lower ends of the blade 35. During paddling, the angle and attitude of the blade 35 continuously change, and the first pull line 41 and the second pull line 42 produce different length changes, thereby simulating the dynamic resistance experienced by the blade 35 in real water.

[0030] like Figure 5 As shown, during the paddling preparation stage, the paddle 3 is close to the main frame 1 and in a vertical position. At this time, the resistance mechanism 2 does not generate reverse resistance on the paddle 3 through the first pull line 41 and the second pull line 42. Figure 6 As shown, during the paddling loading stage, the paddle 3 is tilted downwards and swings away from the main frame 1 to simulate the paddle 3 cutting into the water and paddling. At this time, it is stretched through the first pull line 41 and the second pull line 42, and the resistance mechanism 2 generates a dynamically changing reverse resistance on the paddle 3.

[0031] like Figure 7 As shown, at the end of the rowing phase, the paddle 3 swings to the furthest position from the main frame 1. The first pull line 41 and the second pull line 42 are no longer stretched. However, the reverse resistance generated by the resistance mechanism 2 on the paddle 3 will not completely disappear. Instead, a small tension is generated by the first servo motor 21 and the second servo motor 22 to keep the first pull line 41 and the second pull line 42 taut.

[0032] like Figure 4As shown, along the width direction of the blade 35, two second fixed points 32 are spaced apart; along the width direction of the main frame 1, two second servo motors 22 are spaced apart, and two second pull lines 42 are spaced apart; each second pull line 42 is connected to the take-up reel 20 of the second fixed point 32 and the second servo motor 22 on the same side. The first servo motor 21 and the first pull line 41, the two second servo motors 22 and the two second pull lines 42 form a three-point traction resistance on the blade 35. According to the geometric principle (three points determine a plane), no matter what angle the blade 35 changes in attitude, the resistance effect on the paddle 3 changes dynamically, providing feedback to the trainee on the relationship between the paddling action and the change in water resistance.

[0033] As a further preferred embodiment, the first servo motor 21 and the second servo motor 22 are spaced apart along the length of the main frame 1. That is, the first servo motor 21 and the second servo motor 22 are arranged with a back-to-back interval to avoid interference between the first pull wire 41 and the second pull wire 42. Moreover, the take-up reels 20 of the two second servo motors 22 are located on opposite sides, maximizing the spatial distance between the two second pull wires 42 and facilitating the generation of a more realistic resistance simulation effect.

[0034] In this embodiment, the main frame 1 is provided with a first guide wheel 11 and a second guide wheel 12. The first guide wheel 11 is located on the upper side of the second guide wheel 12. A first pull cable 41 is movably located on the first guide wheel 11, and a second pull cable 42 is movably located on the second guide wheel 12. Specifically, along the width direction of the main frame 1, two second guide wheels 12 are spaced apart, and each second pull cable 42 is located on the second guide wheel 12 on the same side. The first guide wheel 11 is spaced apart on the upper side of the center of the line connecting the two second guide wheels 12. The first guide wheel 11 and the two second guide wheels 12 can organize the routing of the first pull cable 41 and the two second pull cables 42, preventing the first pull cable 41 and the second pull cable 42 from interfering with and rubbing against the frame 1, and ensuring that the resistance loading direction is close to the water resistance direction of the blade 35.

[0035] like Figure 4 As shown, the paddle 3 is also equipped with a third fixed point 33, which is arranged at intervals with the first fixed point 31 and the second fixed point 32. A measuring encoder 14 is provided at the bottom of the main frame 1, and a third pull wire 43 is connected between the third fixed point 33 and the measuring encoder 14. The measuring encoder 14 is used to obtain the length change information of the third pull wire 43. The third pull wire 43 and the measuring encoder 14 facilitate the detection of the real-time position of the paddle 3 during the paddling process.

[0036] It should be noted that the bottom of the main frame 1 is provided with a base rod 15 and a third guide wheel 13. The base rod 15 extends parallel to the length of the main frame 1. The measuring encoder 14 and the third guide wheel 13 are spaced apart on the base rod 15. The third pull cable 43 is movably mounted on the third guide wheel 13. A support rod 16 is also hinged to the side of the base rod 15 away from the main frame 1. The paddle 3 can be detached and mounted on the support rod 16. In use, the support rod 16 is in a horizontal position, and the trainee can freely paddle the paddle 3. After use, the support rod 16 is adjusted to a vertical position, and the paddle 3 can be placed on the support rod 16 for temporary fixation.

[0037] In some embodiments of this application, the rope-driven, under-driven dragon boat paddling simulation device further includes an auxiliary frame 5, which is spaced apart from the main frame 1, and the paddles 3 are spaced apart on the outer side of the auxiliary frame 5. The auxiliary frame 5 is provided with a sitting support 51 and a foot support 52, with the foot support 52 located on the side of the sitting support 51 closer to the main frame 1. The trainee can sit on the sitting support 51, place their feet on the foot support 52, and hold the paddles 3 to simulate the real dragon boat paddling motion.

[0038] Specifically, the auxiliary frame 5 is equipped with a guide rail 53, which extends parallel to the length of the main frame 1. Two foot supports 52 are provided, slidably mounted on the guide rail 53, and their height is adjustable. A seated support 51 is slidably mounted on the guide rail 53, and its height is also adjustable. The seated support 51 and the bottom of the auxiliary frame 5 are also equipped with a telescopic diagonal bar 54. This allows for both sliding adjustment of the front-to-back position of the seated support 51 and the foot supports 52, and also for height adjustment of the seated support 51 and the foot supports 52, to meet the needs of different trainees.

[0039] In addition, the propeller 3 is also equipped with an attitude sensor, which is located in the middle of the blade 35. The attitude sensor is used to obtain the attitude angle information of the propeller 3. By combining the length changes of the three pull wires with the attitude angle information detected by the attitude sensor, the spatial attitude parameters of the propeller 3 can be obtained, so as to calculate the required simulated water resistance based on the spatial attitude of the propeller.

[0040] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A rope-driven, under-driven dragon boat paddling simulation device, characterized in that, include: Mainframe (1); The resistance mechanism (2) includes a first servo motor (21) and a second servo motor (22), which are spaced apart on the main frame (1); the motor shaft of the first servo motor (21) and the motor shaft of the second servo motor (22) are both provided with a take-up reel (20); the first servo motor (21) and the second servo motor (22) are used to generate reverse resistance loading when the take-up reel (20) is rotated by an external force; The oar (3) is located on the outside of the main frame (1). The oar (3) has a first fixed point (31) and a second fixed point (32). The first fixed point (31) and the second fixed point (32) are arranged at intervals. The first pull line (41) is connected to the first fixed point (31) and wound around the take-up reel (20) of the first servo motor (21). The second pull line (42) is connected to the second fixed point (32) and wound around the take-up reel (20) of the second servo motor (22).

2. The rope-driven, under-driven dragon boat paddling simulation device according to claim 1, characterized in that, The oar (3) includes a fixedly connected rod (34) and blade (35). The first fixing point (31) is located on the side of the blade (35) close to the rod (34), and the second fixing point (32) is located on the side of the blade (35) away from the rod (34).

3. The rope-driven, under-driven dragon boat paddling simulation device according to claim 2, characterized in that, Along the width direction of the blade (35), two second fixing points (32) are provided at intervals; along the width direction of the main frame (1), two second servo motors (22) are provided at intervals, and two second pull lines (42) are provided at intervals; each second pull line (42) is connected to the take-up reel (20) of the second fixing point (32) and the second servo motor (22) on the same side.

4. The rope-driven, under-driven dragon boat paddling simulation device according to claim 3, characterized in that, Along the length of the main frame (1), the first servo motor (21) and the second servo motor (22) are spaced apart; the take-up reels (20) of the two second servo motors (22) are located on opposite sides.

5. The rope-driven, under-driven dragon boat paddling simulation device according to any one of claims 1 to 4, characterized in that, The main frame (1) is provided with a first guide wheel (11) and a second guide wheel (12). The first guide wheel (11) is located on the upper side of the second guide wheel (12). The first pull wire (41) is movably located on the first guide wheel (11), and the second pull wire (42) is movably located on the second guide wheel (12).

6. The rope-driven, under-driven dragon boat paddling simulation device according to claim 5, characterized in that, Along the width direction of the main frame (1), two second guide wheels (12) are provided at intervals, and each second pull wire (42) is provided on the second guide wheel (12) on the same side; the first guide wheel (11) is provided at intervals above the center of the line connecting the two second guide wheels (12).

7. The rope-driven, under-driven dragon boat paddling simulation device according to any one of claims 1 to 4, characterized in that, The paddle (3) is also provided with a third fixed point (33), which is arranged at intervals with the first fixed point (31) and the second fixed point (32); the bottom of the main frame (1) is provided with a measuring encoder (14), and a third pull wire (43) is connected between the third fixed point (33) and the measuring encoder (14). The measuring encoder (14) is used to obtain the length change information of the third pull wire (43).

8. The rope-driven, under-driven dragon boat paddling simulation device according to claim 7, characterized in that, The bottom of the main frame (1) is provided with a base rod (15) and a third guide wheel (13). The base rod (15) extends along the length direction parallel to the main frame (1). The measuring encoder (14) and the third guide wheel (13) are spaced apart on the base rod (15). The third pull wire (43) is movably provided on the third guide wheel (13). The bottom rod (15) is also hinged to a support rod (16) on the side away from the main frame (1), and the oar (3) can be detached from the support rod (16).

9. The rope-driven, under-driven dragon boat paddling simulation device according to any one of claims 1 to 4, characterized in that, The rope-driven under-drive dragon boat paddling simulation device also includes an auxiliary frame (5), which is spaced apart from the main frame (1), and the paddles (3) are spaced apart on the outside of the auxiliary frame (5); the auxiliary frame (5) is provided with a sitting support (51) and a foot support (52), and the foot support (52) is located on the side of the sitting support (51) close to the main frame (1).

10. The rope-driven, under-driven dragon boat paddling simulation device according to claim 9, characterized in that, The auxiliary frame (5) is provided with a guide rail (53), which extends along the length direction parallel to the main frame (1). There are two foot supports (52), which are slidably mounted on the guide rail (53) and the height of the foot supports (52) is adjustable. The sitting support (51) is slidably mounted on the guide rail (53), and the height of the sitting support (51) is adjustable. The bottom of the sitting support (51) and the auxiliary frame (5) are also provided with a telescopic diagonal bar (54).

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