Follow-up device for training apparatus and training machine

Abstract

The utility model relates to the field of training instruments, and provides a follow-up device for training instruments and a training machine, the training machine comprises a contact part and the follow-up device, the follow-up device comprises a side-tipping base, a side-tipping rotating shaft, a blocking part and a limiting part, a trainer drives the contact part to move so as to drive the side-tipping rotating shaft to rotate relative to the side-tipping base, and the side-tipping rotating shaft rotates relative to the side-tipping base. The blocking component is arranged on the side-tipping rotating shaft, the limiting component is used for colliding with the blocking component to stop rotation of the side-tipping rotating shaft, the limited angle of the side-tipping rotating shaft is changed by adjusting the position of the limiting component in the circumferential direction of the side-tipping rotating shaft, adjustment of the rotating angle range of the side-tipping rotating shaft is achieved, and therefore the movement amplitude of a trainee is limited. The training effect is improved; and the applicable crowd of the product is expanded.

Description

Technical Field

[0001] The utility model relates to the field of training equipment, in particular to a follow-up device with an adjustable rotation angle range. Background Art

[0002] At present, most international and domestic lower limb training robots are equipped with a suspension weight reduction and exoskeleton walking system. The force plane of suspension weight reduction is much higher than the center of gravity of the human body, so it will cause chaotic and complex stress effects during walking training. It is difficult to restore the rotation angle of the pelvis and hip joints in the natural state, and it is impossible to form a walking movement rhythm with the lumbar spine and pelvis, so the proprioceptors in the pelvis / hip joints and muscles cannot be properly activated. At present, the equipment that uses the pelvic weight reduction mechanism as a weight reduction method has only an opening and closing adjustment for the lateral tilt mechanism of the pelvic mechanism, and cannot adjust the angle range according to the needs of the trainee.

[0003] Patent document with publication number CN105597278A discloses "A pelvic mechanism capable of rapid adjustment and locking for gait rehabilitation training". The lateral axis tilt rotation of the pelvic mechanism is either locked or completely released and cannot be adjusted. The lateral axis tilt rotation angle range cannot be adjusted according to the training needs of the trainee. Utility Model Content

[0004] The technical problem to be solved by the utility model is to overcome the defect that the angle range of the roll shaft rotation in the training device in the prior art cannot be adjusted, and to provide a follower device and a training machine for the training device.

[0005] The utility model solves the above technical problems through the following technical solutions:

[0006] A follower device for a training apparatus, comprising a tilt base and a tilt shaft, wherein the tilt shaft is rotatably arranged relative to the tilt base, and the follower device further comprises:

[0007] a blocking component, wherein the blocking component is arranged on the tilt shaft;

[0008] The limiting component is used to collide with the blocking component to prevent the roll shaft from rotating relative to the roll base. The limiting component is movably arranged on the roll base to change the position of the limiting component on the circumferential direction of the roll shaft.

[0009] In this solution, the tilt shaft drives the blocking component to move relative to the tilt base until the blocking component collides with the limiting component, and the movement of the blocking component is restricted, thereby restricting the rotation of the tilt shaft. By changing the circumferential position of the limiting component relative to the tilt shaft, the position where the blocking component is blocked by the limiting component is changed, thereby changing the rotation angle of the tilt shaft, so as to adjust the rotation angle range of the tilt shaft according to specific needs, improve the training effect and expand the population suitable for the training.

[0010] Preferably, the different positions of the limiting component in the circumferential direction of the roll axis are:

[0011] Continuously changing or discontinuously changing;

[0012] and / or, monotonically varying.

[0013] Preferably, the follower device further comprises a manual action part, the manual action part is dynamically connected to the limit component, and the manual action part is used to install a tool or be held by a person;

[0014] And / or, the follower device further includes a driving component, and the driving component is dynamically connected to the limiting component.

[0015] In this solution, the driving component is used to realize automatic adjustment of the position of the limiting component, so that the adjustment of the rotation angle range of the roll shaft is simple and convenient.

[0016] When a driving component fails, the position of the limit component can be manually adjusted through the manual action part to improve reliability.

[0017] Preferably, the output end of the driving component is rotatably arranged relative to the tilting base, the follower device further comprises a transmission mechanism, the transmission mechanism comprises a matching screw rod and a nut, the screw rod is dynamically connected to the output end of the driving component, and the limiting component is arranged on the nut;

[0018] The manual action portion is provided at one end of the screw rod away from the output end of the driving component.

[0019] Preferably, the blocking component comprises a blocking body and a blocking protrusion protruding from the blocking body, the blocking component is connected to the roll shaft via the blocking body, and the limiting component is used to collide with the blocking protrusion;

[0020] And / or, the limiting component comprises a limiting body and a limiting protrusion protruding from the limiting body, and the limiting protrusion is used to collide with the blocking component.

[0021] In this solution, by preventing the protrusion from colliding with the limiting component, on the one hand, interference between the blocking body and other structures can be avoided, and on the other hand, the structure can be made compact.

[0022] By colliding the limiting protrusion with the blocking component, on the one hand, interference between the limiting body and other structures can be avoided, and on the other hand, the structure can be made compact.

[0023] Preferably, the follower device includes two limit components, which are respectively arranged on both sides of the circumference of the roll shaft and are respectively used to prevent the roll shaft from rotating in the forward direction or in the reverse direction.

[0024] Preferably, the two limiting components are independent of each other or dynamically connected and move synchronously;

[0025] And / or, at least a portion of the blocking component is arranged in the roll base, and the blocking component is limited between the limiting component and the inner wall of the roll base following the rotation of the roll axis, and the limiting component has a locking position on the movement path of the limit component. When both of the limiting components are located at the locking position, the forward rotation and reverse rotation of the roll axis are locked.

[0026] In this solution, the two limiting components are independent of each other, so that the forward rotation range and the reverse rotation range of the tilt shaft can be adjusted separately.

[0027] The two limiting components are dynamically connected and move synchronously, which can make the structure compact and achieve good synchronization effect on the adjustment of the forward and reverse rotation angle ranges of the tilt shaft.

[0028] Preferably, the blocking component and the limiting component are arranged in the roll base, and the blocking component is limited between the limiting component and the inner wall of the roll base when following the rotation of the roll shaft;

[0029] And / or, the limiting component is movably arranged on the roll base, and the moving direction of the limiting component is perpendicular to the extending direction of the axis of the roll shaft.

[0030] In this solution, the blocking component and the limiting component are arranged in the tilting base, so that the structure is compact and has good sealing performance.

[0031] The moving direction of the blocking component is perpendicular to the extending direction of the axis of the roll shaft, which can make the structure compact.

[0032] Preferably, the follower device further comprises a buffer, and at least one of the two components, the limiting component and the blocking component, is provided with the buffer, and the limiting component and the blocking component collide with each other through the buffer.

[0033] In this solution, the limiting component and the blocking component collide with each other through the buffer component, which can reduce the impact.

[0034] Preferably, the buffer member on at least one of the two components, the limiting component and the blocking component, is rotatably or fixedly arranged.

[0035] In this solution, when the buffer is fixedly arranged, the buffering can be reliable. When the buffer is rotatably arranged, the impact can be further reduced.

[0036] Preferably, the blocking component is provided with the buffer component, and the portion of the blocking component used for colliding with the limiting component is covered by the buffer component;

[0037] And / or, the limiting component is provided with an impact member, and the limiting component collides with the blocking component through the impact member, the impact member has an arc-shaped installation groove, and a side facing the blocking component has an impact plane, and the follower device also includes an installation shaft, which is passed through the installation groove and fixed on the limiting component.

[0038] Preferably, the follower device also includes a sensor and a detection shaft, the detection shaft is dynamically connected to the roll shaft and is located outside the roll shaft in the circumferential direction, and the sensor is used to detect the rotation of the detection shaft.

[0039] In the present solution, such an arrangement can reduce or avoid the occupation of the axial space of the roll shaft by the sensor detection, so that the axial structure of the roll shaft is compact.

[0040] Preferably, the limiting component is self-locked by a locking component or other structure connected to the limiting component so as to be locked relative to the tilting base.

[0041] In this solution, the limiting component is locked on the tilting base, which can prevent the limiting component from shaking when the blocking component collides with the limiting component, thereby improving the reliability of the limiting component.

[0042] A training machine comprises a contact component for contacting a trainee, and the training machine also comprises a follower device for a training device as described in any of the above technical solutions, wherein the contact component is connected to the roll shaft and is used to drive the roll shaft to rotate.

[0043] In this solution, the position of the limiting component is adjusted to adjust the angle range of rotation of the roll axis, thereby limiting the range of motion of the trainee.

[0044] Preferably, the contact component is used to contact at least one of the legs, buttocks and abdomen of the trainee, and the tilt axis is extended in the horizontal direction to follow the trainee to make a tilting movement.

[0045] In this solution, the limiting component is used to limit the range of the trainee's tilt.

[0046] The positive and progressive effects of the utility model are:

[0047] By changing the position of the limiting component relative to the circumferential direction of the roll axis, the position of the blocking component blocked by the limiting component is changed, thereby changing the rotation angle of the roll axis, thereby achieving adjustment of the rotation angle range of the roll axis;

[0048] It is convenient to adjust the rotation angle range of the roll axis according to specific needs, thereby improving the training effect and expanding the population suitable for the training. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A schematic diagram of the three-dimensional structure of a follower device provided in one embodiment of the utility model;

[0050] Figure 2 A schematic diagram of the three-dimensional structure of a follower device provided in one embodiment of the utility model;

[0051] Figure 3 An exploded view of a partial structure of a follower device provided in one embodiment of the utility model;

[0052] Figure 4 A front structural schematic diagram of a follower device provided in one embodiment of the utility model;

[0053] Figure 5 for Figure 4 Middle AA section view;

[0054] Figure 6 A three-dimensional structural diagram of a partial structure of a follower device provided in one embodiment of the utility model;

[0055] Figure 7 A three-dimensional structural diagram of a partial structure of a follower device provided in one embodiment of the utility model;

[0056] Figure 8 A cross-sectional view of a partial structure of a follower device provided in one embodiment of the utility model;

[0057] Fig. 9 A three-dimensional structural diagram of a partial structure of a follower device provided in one embodiment of the utility model;

[0058] Fig.10 A cross-sectional view of a partial structure of a follower device provided in one embodiment of the utility model;

[0059] Fig.11 A schematic diagram of the three-dimensional structure of a screw rod provided in one embodiment of the utility model;

[0060] Fig.12An exploded view of a partial structure of a follower device provided in one embodiment of the utility model;

[0061] Fig.13 A left-side structural schematic diagram of a follower device provided in one embodiment of the utility model;

[0062] Fig.14 In the first state Fig.13 Middle BB section view;

[0063] Fig.15 In the second state Fig.13 Middle BB section view;

[0064] Fig.16 In the third state Fig.13 Middle BB section view;

[0065] Fig.17 In the fourth state Fig.13 Middle BB section view;

[0066] Fig.18 A partial structural schematic diagram of a training machine provided in one embodiment of the utility model.

[0067] Description of reference numerals:

[0068] Follow-up device 1000;

[0069] Tilt base 1, mounting hole 11;

[0070] The tilt shaft 21, the shaft base 22, the rotating flange 23, and the first bearing 24;

[0071] Blocking component 3, blocking body 31, blocking protrusion 32;

[0072] The limiting component 4, the limiting body 41, and the limiting protrusion 42;

[0073] Driving component 51, motor mounting seat 52;

[0074] Screw rod 61, manual action part 611, nut 62, guide rail 63, guide slider 64, shaft retaining ring 65, second bearing 66, third bearing 67, locking nut 68;

[0075] Impact member 71, mounting shaft 72, pressing plate 73, buffer member 74;

[0076] Sensor 81, gear shaft 82, large gear 83, small gear 84, sensor mounting plate 85, fourth bearing 86;

[0077] Wire separator 91;

[0078] Rocker arm 2001, pelvic base 2002, impact block 2003, and stop block 2004. DETAILED DESCRIPTION

[0079] The present invention is further described below by way of embodiments, but the present invention is not limited to the scope of the embodiments.

[0080] It should be noted that:

[0081] In this embodiment, in order to facilitate understanding of the relative position relationship between components, specific directions such as left, right, up, and down are used, and are not used to limit the specific installation directions of components in the training machine in other embodiments; the left and right directions in this embodiment are shown in FIG. Fig.14 The X direction in the left direction Fig.14 The left direction shown in Fig.14 The right direction shown in ;

[0082] For ease of understanding, in this embodiment, the positive rotation of the roll axis is limited to Figure 14-17 The clockwise rotation in the Figure 14-17 Rotate counterclockwise.

[0083] The utility model provides a training machine, which comprises a follow-up device and a contact component for contacting a trainer. Figure 1-Figure 18 A structural schematic diagram provided for an embodiment of the utility model.

[0084] The contact member is dynamically connected to the roll shaft 21 of the follower device 1000, such as Figure 1-Figure 5 As shown, the roll shaft 21 is rotatably arranged relative to the roll base 1 of the follower device 1000 , and when the trainee exercises, the contact part can be driven to move, thereby driving the roll shaft 21 to rotate relative to the roll base 1 .

[0085] like Figure 6-Figure 10 As shown, the follower device 1000 also includes a blocking component 3 and a limiting component 4. The blocking component 3 is fixed on the roll shaft 21. When the trainee moves and drives the roll shaft 21 to rotate, the blocking component 3 will be driven to rotate; the limiting component 4 is arranged on the roll base 1, and the limiting component 4 is used to collide with the blocking component 3 to limit the rotation of the blocking component 3, thereby limiting the rotation of the roll shaft 21, thereby realizing the constraint on the trainee's movement range.

[0086] The limiting component 4 is movably arranged on the tilt base 1 to change the position of the limiting component 4 in the circumferential direction of the tilt shaft 21, thereby changing the position of the blocking component 3 blocked by the limiting component 4, so as to change the angular range of rotation of the tilt shaft 21 and realize the adjustment of the trainee's motion range.

[0087] In this embodiment, the training machine is a lower limb training robot, which can be used for walking rehabilitation training of hemiplegic patients. The contact component is used to contact the legs, buttocks and abdomen of the trainee. The contact component is specifically a strap. The roll axis 21 extends in the horizontal direction, and the roll axis 21 follows the trainee to do roll movement. During the actual training process, the therapist can adjust the position of the limit component 4 according to the degree of the patient's walking dysfunction to adjust the angle range of the roll axis 21, limit the patient's range of motion, and limit the amplitude of the patient's roll when walking.

[0088] Specifically, Figure 1 , Figure 5 , Figure 7 , Figure 8 As shown, the follower device 1000 also includes a rotating shaft base 22 and a rotating flange 23. The rotating shaft base 22 is fixed on the roll base 1. The rotating flange 23 is fixedly connected to the roll shaft 21. The roll shaft 21 is rotatably installed on the rotating shaft base 22 through a first bearing 24. The first bearing 24 is specifically a tapered roller bearing. The contact part drives the roll shaft 21 to move relative to the roll base 1 through the rotating flange 23.

[0089] like Fig. 9 , Fig.18 As shown, the training machine also includes two rocker arms 2001 and a pelvic base 2002. The two rocker arms 2001 are rotatably connected to the tilt base 1 at the mounting hole 11 of the tilt base 1, and the two rocker arms 2001 are rotatably connected to the pelvic base 2002, so that the pelvic base 2002, the tilt base 1 and the two rocker arms 2001 form a four-bar linkage in the form of a parallelogram.

[0090] The rocker arm 2001 is fixed with a collision block 2003, and the pelvic base is provided with a stopper 2004. When the trainee exercises, the tilt base 1 is driven to move left and right, so that the rocker arm 2001 rotates relative to the pelvic base 2002, until the collision block 2003 on the rocker arm 2001 and the stopper 2004 on the pelvic base 2002 collide with each other, and the tilt base 1 is restricted from continuing to move left and right, so as to limit the range of left and right movement of the trainee. The collision block 2003 has a plurality of stepped surfaces at different positions in the left and right directions. By adjusting the height of the stopper 2004, the different stepped surfaces on the collision block 2003 collide with the stopper 2004, so as to change the range of left and right movement of the tilt base 1, thereby adjusting the range of left and right movement of the trainee.

[0091] In other embodiments, when the follower device 1000 is used to adjust the range of motion of the trainee's pelvis, the contact component can be made to contact at least one of the trainee's legs, buttocks, and abdomen to follow the trainee's pelvic movement according to specific training needs.

[0092] In other embodiments, the training machine can be used for rehabilitation training of patients and physical training of normal people. In other embodiments, the follower device 1000 can be used to adjust the lateral tilt range of the trainee's pelvis and the rotation range of other parts of the trainee, such as arm training and head training of the trainee; the contact part can be a structure such as a strap or an armrest; the type of the contact part and the orientation of the axis of the lateral tilt shaft 21 can be adaptively adjusted according to the training parts and training items required by the trainee.

[0093] like Figure 5-Figure 8 As shown, the follower device 1000 also includes a sensor 81, a gear shaft 82, a large gear 83 and a small gear 84 meshing with each other, the large gear 83 is fixed on the roll shaft 21, the small gear 84 is rotatably connected with the gear shaft 82 through the fourth bearing 86, the fourth bearing 86 is specifically a deep groove ball bearing, and the gear shaft 82 is mounted on the shaft base 22. The base of the sensor 81 is fixed on the sensor mounting plate 85, the sensor mounting plate 85 is fixed on the shaft base 22, the shaft of the sensor 81 is fixed on the small gear 84, the roll shaft 21 drives the large gear 83 to rotate, thereby driving the small gear 84 and the shaft of the sensor 81 to rotate relative to the base of the sensor 81, and the rotation angle of the small gear 84 is detected by the base of the sensor 81 to indirectly obtain the rotation angle of the roll shaft 21. In this way, the occupation of the axial space of the roll shaft 21 by the sensor 81 detection can be reduced or avoided, so that the axial structure of the roll shaft 21 is compact.

[0094] When adjusting the position of the limiting component 4, the roll shaft can be manually pushed to rotate until it is blocked by the limiting component 4, and the information detected by the sensor can be combined to determine whether the position of the limiting component 4 is adjusted to the correct position.

[0095] In this embodiment, the pinion 84 serves as the detection shaft. In other embodiments, the gear shaft 82 may be rotatably arranged relative to the roll base 1, the pinion 84 may be fixed on the gear shaft 82, and the gear shaft 82 serves as the detection shaft. In other embodiments, the roll shaft 21 and the detection shaft may be driven by a transmission structure such as a gear or a chain.

[0096] like Figure 3 , Figure 6 , Fig. 9 , Fig.10 As shown, the follower device 1000 includes a driving component 51, which is used to automatically drive the limiting component 4 to adjust the position, so that the rotation angle range of the roll shaft 21 can be easily adjusted. The driving component 51 is specifically a motor, which is fixed on a motor mounting seat 52, and the motor mounting seat 52 is fixed on the roll base 1.

[0097] The follower device 1000 also includes a transmission mechanism, which includes a screw 61 and a nut 62. The nut and the screw 61 are meshed, the screw 61 is connected to the output end of the motor, the limit component 4 is fixed on the nut 62, and the motor drives the screw 61 to rotate to drive the nut 62 to move, thereby driving the limit component 4 to move up and down, and changing the position of the limit component 4 in the circumferential direction of the roll shaft 21. Specifically, a hexagonal inner hole is provided at the output end of the motor, and a hexagonal convex column is provided at the end of the screw 61. The power connection between the screw 61 and the motor is realized by the cooperation of the hexagonal inner hole and the hexagonal convex column. In other embodiments, the screw 61 and the output end of the motor can be connected to the power by a coupling connection or a key connection.

[0098] Specifically, the screw rod 61 penetrates into the roll base 1 from the bottom to the top, and passes through the nut 62 and the limiting component 4; the upper end of the screw rod 61 is rotatably connected to the roll base 1 through the second bearing 66, and the second bearing 66 is limited by the shaft retaining ring 65 to prevent the second bearing 66 from falling off; the lower end of the screw rod 61 is rotatably connected to the roll base 1 through the third bearing 67. Specifically, the third bearing 67 is an angle-to-angle bearing, and the screw rod 61 passes through the third bearing 67. Along the axial direction of the screw rod 61, the step on the screw rod 61 presses one side of the inner ring of the third bearing 67, and the locking nut 68 is screwed on the screw rod 61 and presses the other side of the inner ring of the third bearing 67, thereby realizing the axial limitation of the screw rod 61 to prevent the axial movement of the screw rod.

[0099] Specifically, the follower device 1000 also includes matching guide rails 63 and guide sliders 64. The guide rails 63 are fixed on the tilt base 1, and the limiting component 4 is fixed on two guide sliders 64. When the nut 62 drives the limiting component 4 to move, the limiting component 4 follows the guide slider 64 to move along the guide rails 63, thereby improving the stability of the movement of the limiting component 4.

[0100] In this embodiment, the limiting component 4 moves along the axial direction of the screw rod 61 following the nut 62, and the position of the limiting component 4 in the circumferential direction of the tilt shaft 21 is:

[0101] Continuously changing, the rotation angle range of the roll axis 21 can be adjusted steplessly;

[0102] The monotonous change makes the position adjustment of the limiting component 4 simple.

[0103] In other embodiments, the position of the limiting component 4 in the circumferential direction of the roll axis 21 may be variable discontinuously. For example, a plurality of installation positions are arranged at intervals in the circumferential direction of the roll axis 21, and the limiting component 4 is installed in different installation positions to achieve step-by-step adjustment of the rotation angle range of the roll axis 21.

[0104] In this embodiment, the driving component 51 adopts a motor, which is low in cost and simple to control; the transmission mechanism adopts a screw 61 and a nut 62 to realize the conversion between rotational motion and linear motion, and has a compact structure. In other embodiments, the driving component 51 can be a rotating driving component whose output end performs rotational motion, such as a motor, or a moving driving component whose output end performs linear motion, such as a cylinder. In other embodiments, the limiting component 4 can be moved or rotated to change the position of the part of the limiting component 4 that collides with the blocking component 3 along the circumference of the tilt axis 21; the limiting component 4 rotates, for example, the limiting component 4 is set as an eccentric wheel that can rotate relative to the tilt base. In other embodiments, a transmission mechanism may not be provided, for example, a cylinder is used to directly drive the limiting component to move.

[0105] like Figure 6 , Fig.11 As shown, the upper end of the screw rod 61 is provided with a manual action portion 611, which is a hexagonal boss for mounting a sleeve or a wrench. When the drive device fails, the position of the limit component 4 can be manually adjusted by the manual action portion 611 to improve reliability. In other embodiments, the manual action portion 611 can be used to install tools or for holding, and can be flexibly adjusted according to specific application scenarios, for example, set to a prism shape or a handle shape. In other embodiments, the manual action portion 611 and the drive component 51 can be set at the same time, or only one of them can be set.

[0106] In this embodiment, the screw rod 61 and the nut 62 have a self-locking function to lock the limiting component 4 relative to the tilt base 1, which can prevent the limiting component 4 from shaking when the blocking component 3 and the limiting component 4 collide, thereby improving the reliability of the limiting component 4. In other embodiments, other structures connected to the limiting component 4 can be self-locked or a locking component can be set to lock or unlock the limiting component 4 relative to the tilt base 1. For example, the locking component can be provided with a pluggable limiting pin; a transmission component with a self-locking function such as a screw rod 61 or a gear can be used; a driving component 51 with a self-locking function such as an oil cylinder can be used.

[0107] In addition, the follower device 1000 also includes a wire partition 91, which is fixed on the tilt base 1 and is used for wires to pass through, such as wires connected to the power supply machine and wires connected to the sensor.

[0108] like Figure 3 , Figure 6-Figure 10 The limiting component 4 is provided with a striking member 71, and the blocking component 3 is provided with a buffer member 74. The limiting component 4 and the blocking component 3 collide with each other through the striking member 71 and the buffer member 74 to reduce the impact. Specifically, the striking member 71 is made of metal material, which is not easy to deform, and the buffer member 74 is made of rubber, which has a good buffering effect.

[0109] The impact member 71 is rotatably disposed on the limiting member 4 and can collide with the buffer member 74 at different angles to improve the buffering effect. Figure 12-14 As shown, the impact member 71 is provided with an arc-shaped installation groove, and has a cylindrical surface coaxial with the installation groove in the circumference. The impact member 71 is arranged in the hole of the limiting component 4 and contacts the hole of the limiting component 4 through the cylindrical surface; the installation shaft 72, specifically a positioning pin, is inserted into the installation groove and fixed on the limiting component 4 to limit the impact member 71 from rotating relative to the limiting component 4 within the angle corresponding to the installation groove; the impact member 71 has an impact plane in the circumference. When the blocking component 3 and the impact member 71 collide, the impact member 71 rotates so that the impact plane abuts against the buffer member 74 provided on the blocking component 3, which is reliable for limiting the blocking component 3, and can increase the force-bearing surface and reduce the pressure; the pressure plate 73 is fixed on the outside of the limiting component 4 to prevent the impact member 71 from falling off. In addition, the impact member 71 is arranged to rotate, and the impact member 71 can also play a certain buffering effect on the collision between the limiting component 4 and the blocking component 3 during the rotation process. In other embodiments, when the buffer member 74 is not provided, the impact plane of the impact member 71 is used to abut against the blocking component 3.

[0110] like Figure 6 , Figure 7 As shown, the buffer member 74 is fixed on the blocking member 3 and completely covers the portion of the blocking member 3 that collides with the limiting member 4. Such an arrangement can improve the protective buffering effect of the blocking member 3.

[0111] In other embodiments, a buffer may be provided on the limiting component 4 and / or the blocking component 3. The buffer on the limiting component 4 and / or the blocking component 3 may be rotatably provided or fixedly provided, and the specific structural form of the buffer may be flexibly adjusted according to the actual scenario.

[0112] Optional, such as Figure 5 As shown, the blocking component 3 and the limiting component 4 are arranged in the tilting base 1, as shown in FIG. Fig.14 As shown, the limiting component 4 and the inner wall of the tilting base 1 jointly limit the rotation of the blocking component 3, so that the structure is compact and the sealing performance is good. In other embodiments, the blocking component 3 and / or the limiting component 4 can be arranged outside the tilting base 1, and the blocking component 3 and the tilting component extend into the tilting base 1 or extend out of the tilting base 1, so that the blocking component 3 and the limiting component 4 can collide with each other.

[0113] Optionally, in this embodiment, the moving direction of the limiting component 4 is parallel to the vertical direction and perpendicular to the extending direction of the axis of the roll shaft 21 , so that the structure is compact.

[0114] Optional, such as Figure 7As shown, the blocking component 3 has a blocking body 31 and a blocking protrusion 32 protruding from the blocking body 31. The blocking component 3 is connected to the roll shaft 21 through the blocking body 31, and the limiting component 4 is used to collide with the blocking protrusion 32; Fig. 9 As shown, the limiting component 4 has a limiting body 41 and a limiting protrusion 42 protruding from the limiting body 41, and the limiting protrusion 42 is used to collide with the blocking component 3. By the collision of the blocking protrusion 32 with the limiting protrusion 42, on the one hand, the interference between the blocking component 3, the limiting component 4 and other structures can be avoided, and on the other hand, the structure can be made compact. In other embodiments, the blocking component 3 may be provided with or without the blocking protrusion 32, and at the same time, the limiting component 4 may be provided with or without the limiting protrusion 42.

[0115] like Figure 6 , Figure 12-Figure 17 As shown, the follower device 1000 includes two limiting components 4, which are respectively arranged at two sides of the circumference of the roll shaft 21, and are respectively used to prevent the roll shaft 21 from rotating in the positive direction and the reverse direction, that is, rotating in the clockwise direction and the counterclockwise direction.

[0116] The follower device 1000 provided in this embodiment can operate in the following manner:

[0117] (1) The first state: Fig.14 As shown, when the limiting component 4 moves to the uppermost position, the impact members 71 on the two limiting components 4 abut against the buffer members 74 on the blocking component 3, and the limiting component 4 limits the forward and reverse rotation of the blocking component 3. At this time, the roll shaft 21 cannot rotate, and the rotation angle is 0;

[0118] (2) Second state: Fig.15 As shown, when the limiting component 4 moves to the bottom, the collision distance between the blocking component 3 and the limiting component 4 is L, and the rotation angle range of the blocking component 3 and the roll shaft 21 is the largest;

[0119] (3) The third state: Fig.16 As shown, when the limiting component 4 is at the bottom, the trainee drives the tilt shaft 21 to rotate counterclockwise relative to the tilt base 1, that is, to rotate in the reverse direction, and the rotatable angle range is A1, until the blocking component 3 collides with the impact member 71 on the limiting component 4 on the left side in the direction shown in the figure;

[0120] (4) The fourth state: Fig.17 As shown, when the limiting component 4 is at the bottom, the trainee drives the tilt shaft 21 to rotate clockwise relative to the tilt base 1, that is, to rotate in the positive direction, and the rotatable angle range is A2, A2 = A1, until the blocking component 3 collides with the impact member 71 on the limiting component 4 on the right side in the direction shown in the figure;

[0121] (5) When the limiting component 4 is located between the top and the bottom, the angular range of the tilt base 1 is between 0 and A1; when the limiting component 4 moves from the top to the bottom, the angular range of the tilt shaft 21 gradually increases; when the limiting component 4 moves from the bottom to the top, the angular range of the tilt shaft 21 gradually decreases.

[0122] In this embodiment, the two limiting components 4 are set as one body to achieve synchronous movement. In other embodiments, the two limiting components 4 can be set separately and connected by fasteners, brackets or transmission structure power to achieve synchronous movement, and can be set as one body to achieve synchronous movement. When the two limiting components 4 move synchronously, only one driving component 51, one transmission component and one manual action part 611 are required, so that the structure is simple and compact, and the synchronization effect of adjusting the forward and reverse rotation angle ranges of the tilt shaft 21 is good.

[0123] In other embodiments, two limit members 4 may be provided independently of each other to respectively adjust the angle range A2 of the forward rotation and the angle range A1 of the reverse rotation of the tilt shaft 21. Accordingly, two drive members 51 and two manual action parts 611 may also be provided respectively.

[0124] The follower device 1000 provided in this embodiment has the following advantages:

[0125] 1. The rotation angle range of the roll axis 21 is adjusted to facilitate adjusting the rotation angle range of the roll axis 21 according to training requirements, thereby improving the training effect;

[0126] 2. The tilt axis 21 can be adjusted steplessly to better meet the actual needs of trainees;

[0127] 3. The automatic adjustment of the rotation angle range of the roll shaft 21 is realized by the driving component 51, which reduces the complexity of the adjustment operation, is convenient and quick, and can achieve more accurate adjustment;

[0128] 4. Manual adjustment can be performed through the manual action part 611 to avoid failure of adjustment due to failure of the driving component 51, thereby improving reliability;

[0129] 5. The left and right sides can be adjusted at the same time, with simple structure and good consistency.

[0130] Although the specific implementations of the utility model are described above, those skilled in the art should understand that this is only an example, and the protection scope of the utility model is defined by the attached claims. Those skilled in the art can make various changes or modifications to these implementations without departing from the principle and essence of the utility model, but these changes and modifications fall within the protection scope of the utility model.

Claims

1. A follower device for a training apparatus, comprising a tilt base and a tilt shaft, wherein the tilt shaft is rotatably arranged relative to the tilt base, characterized in that: The follower device also includes: a blocking component, wherein the blocking component is arranged on the tilt shaft; The limiting component is used to collide with the blocking component to prevent the roll shaft from rotating relative to the roll base. The limiting component is movably arranged on the roll base to change the position of the limiting component on the circumferential direction of the roll shaft.

2. The follower device for training equipment according to claim 1, characterized in that: The different positions of the limiting component in the circumferential direction of the roll axis are: Continuously changing or discontinuously changing; and / or, monotonically varying.

3. The follower device for training equipment according to claim 1, characterized in that: The follower device further comprises a manual action part, the manual action part is connected to the limiting component by power, and the manual action part is used for installing a tool or for a person to hold; And / or, the follower device further includes a driving component, and the driving component is dynamically connected to the limiting component.

4. The follower device for training equipment according to claim 3, characterized in that: The output end of the driving component is rotatably arranged relative to the tilting base, the follower device further comprises a transmission mechanism, the transmission mechanism comprises a matching screw rod and a nut, the screw rod is dynamically connected to the output end of the driving component, and the limiting component is arranged on the nut; The manual action portion is provided at one end of the screw rod away from the output end of the driving component.

5. The follower device for training equipment according to claim 1, characterized in that: The blocking component comprises a blocking body and a blocking protrusion protruding from the blocking body, the blocking component is connected to the roll shaft via the blocking body, and the limiting component is used to collide with the blocking protrusion; And / or, the limiting component comprises a limiting body and a limiting protrusion protruding from the limiting body, and the limiting protrusion is used to collide with the blocking component.

6. The follower device for training equipment according to claim 1, characterized in that: The follower device includes two limit components, which are respectively arranged on both sides of the circumference of the roll shaft and are respectively used to prevent the roll shaft from rotating in the forward direction or in the reverse direction.

7. The follower device for training equipment according to claim 6, characterized in that: The two limiting components are independent of each other or dynamically connected and move synchronously; And / or, at least a portion of the blocking component is arranged in the roll base, and the blocking component is limited between the limiting component and the inner wall of the roll base following the rotation of the roll axis, and the limiting component has a locking position on the movement path of the limit component. When both of the limiting components are located at the locking position, the forward rotation and reverse rotation of the roll axis are locked.

8. The follower device for training equipment according to claim 1, characterized in that: The blocking component and the limiting component are arranged in the roll base, and the blocking component is limited between the limiting component and the inner wall of the roll base when following the rotation of the roll shaft; And / or, the limiting component is movably arranged on the roll base, and the moving direction of the limiting component is perpendicular to the extending direction of the axis of the roll shaft.

9. The follower device for training equipment according to claim 1, characterized in that: The following device further comprises a buffer, and at least one of the two components, the limiting component and the blocking component, is provided with the buffer, and the limiting component and the blocking component collide with each other through the buffer.

10. The follower device for training equipment according to claim 9, characterized in that: The buffer member on at least one of the two components, the limiting component and the blocking component, is rotatably or fixedly arranged.

11. The follower device for training equipment according to claim 9, characterized in that: The buffer member is provided on the blocking member, and the parts of the blocking member used for colliding with the limiting member are all covered by the buffer member; And / or, the limiting component is provided with an impact member, and the limiting component collides with the blocking component through the impact member, the impact member has an arc-shaped installation groove, and a side facing the blocking component has an impact plane, and the follower device also includes an installation shaft, which is passed through the installation groove and fixed on the limiting component.

12. The follower device for training equipment according to claim 1, characterized in that: The follower device also includes a sensor and a detection shaft. The detection shaft is dynamically connected to the roll shaft and is located outside the roll shaft in the circumferential direction. The sensor is used to detect the rotation of the detection shaft.

13. The follower device for training equipment according to claim 1, characterized in that: The limiting component is self-locked by a locking component or other structure connected to the limiting component to be locked relative to the tilting base.

14. A training machine comprising a contact member for contacting a trainee, characterized in that: The training machine further comprises a follower device for training equipment according to any one of claims 1 to 13, wherein the contact component is connected to the roll shaft and is used to drive the roll shaft to rotate.

15. The training machine according to claim 14, characterized in that The contact component is used to contact at least one of the legs, buttocks and abdomen of the trainer, and the roll axis is extended in the horizontal direction to follow the trainer to make a roll movement.

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