Vertical suspension type low-gravity motion simulation training device

Abstract

The utility model relates to the field of motion simulation training, in particular to a vertical suspension type low-gravity motion simulation training device, which comprises a constant-force suspension mechanism, a constraint connecting mechanism, a motion mechanism and a data acquisition mechanism, and is characterized in that the constant-force suspension mechanism is fixedly connected with the constraint connecting mechanism and is used for giving constant suspension force; the binding connecting mechanism is used for binding the sporter and transmitting the suspension force to the limbs of the sporter through a plurality of force application positions; a motion platform of the motion mechanism is perpendicular to the direction of the suspension force; the data acquisition mechanism is used for acquiring, analyzing, displaying and storing the motion data signals; an upward pulling force with a constant weight proportion is applied in the Z-axis direction of a human body, so that the human body realizes low gravity in the Z-axis direction, and the weight loss of the human body in a range of 0-1G can be realized; human body multi-axial balance function control training in a low-gravity state can be achieved, constant tension is provided, movement of an experiment object can be actively followed and responded, and all training actions of the experiment object are not interfered.

Description

Technical Field

[0001] This utility model relates to the field of sports simulation training, and in particular to a vertically suspended low-gravity sports simulation training device. Background Technology

[0002] Ground-based low-gravity environment simulation technology is a simulation experiment study conducted for space exploration missions, which is of great significance to the development of the aerospace engineering system. The main methods to achieve low gravity include the drop tower method, parabolic flight method, water flotation method, air flotation method, and suspension method.

[0003] The two most critical technical requirements for suspended low-gravity simulation exercise training devices are: constant tension control of the suspension cable and spatial motion tracking of the experimental object's center of mass to ensure the vertical upward movement of the gravity compensation force. With the increasing complexity and high precision requirements of current ground-based low-gravity simulation tasks, higher demands are placed on the rapid and interference-free tracking of low-gravity simulation exercise training devices. The problem with existing low-gravity simulation exercise training devices is that the tension adjustment of the suspension cable always lags behind the movement of the experimental object, which interferes with exercise training and affects the training effect. Utility Model Content

[0004] To address the aforementioned problems, this invention proposes a vertically suspended low-gravity motion simulation training device. By applying an upward pulling force in a constant proportion of body weight along the human body's Z-axis, the human body achieves low gravity in the Z-axis direction. This enables multi-axial balance control training of the human body under low gravity conditions. A servo motor provides constant pulling force and can actively follow and respond to the movement of the experimental subject without interfering with the subject's training actions.

[0005] To achieve the above objectives, this utility model is implemented according to the following technical solution:

[0006] A vertically suspended low-gravity motion simulation training device includes a constant force suspension mechanism, a restraint connection mechanism, a motion mechanism, and a data acquisition mechanism. The constant force suspension mechanism is fixedly connected to the restraint connection mechanism to provide a constant suspension force. The restraint connection mechanism is used to restrain the exerciser and transmit the suspension force to the exerciser's limbs through multiple force application points. The motion platform of the motion mechanism is perpendicular to the direction of the suspension force. The data acquisition mechanism is used to collect, analyze, display, and store motion data signals.

[0007] In one technical solution, the constant force suspension mechanism includes a bracket, a base, a servo motor, a pull rope, a first pulley group, a second pulley group, and a third pulley group. The bottom of the bracket is connected to the motion mechanism, and the top of the bracket is fixed to the base. The servo motor is fixedly connected to the base, and the output shaft of the servo motor is horizontal and connected to a guide wheel. A pull rope is wound on the guide wheel. A first fixed seat is provided on one radial side of the guide wheel, and the first pulley group is slidably connected to the first fixed seat. A second fixed seat is provided on one side of the first fixed seat, and the second pulley group is slidably connected to the second fixed seat. A third fixed seat is provided on one side of the second fixed seat, and the third pulley group is fixedly connected to the third fixed seat. A through hole is opened at the top of the bracket on one side of the third fixed seat. The traction end of the pull rope passes sequentially around the first pulley group, the second pulley group, and the third pulley group and passes through the through hole downwards to connect with the restraint connection mechanism.

[0008] In one technical solution, a first slide rail is fixed on the first fixed base, a first slide block is slidably matched with the first slide rail, and a first pulley group is fixedly connected to the first slide block.

[0009] In one technical solution, a force sensor is connected between the first fixed base and the first sliding base.

[0010] In one technical solution, the second fixed base is elongated, and two second slide rails are symmetrically arranged on the second fixed base. The second slide block is slidably matched with the second slide rails, and the second pulley group is fixedly connected to the second slide block.

[0011] In one technical solution, the second fixed seat is provided with a guide groove between the two second slide rails, and a spring is provided in the guide groove. One end of the spring is connected to the second fixed seat, and the other end is fixedly connected to the second slide block through a connecting plate.

[0012] In one technical solution, the restraint connection mechanism includes a wearable cable strap and a hanger. The wearable cable strap is worn on the athlete's limbs to restrain the athlete. The top of the hanger is connected to the pull rope. The hanger has multiple connection points along the periphery of the wearable cable strap and is connected to the wearable cable strap via flexible ropes.

[0013] In one technical solution, the hanger includes a top column, side rods, a steering rod, and a transverse rod. The top of the top column is connected to the pull rope, and one side of the top column is connected to the top of the side rod. The side rod bends downward on the side of the human body, and the middle part of the side rod is connected to a wearable cable via a flexible rope. The bottom end of the side rod is connected to the steering rod, and the steering rod is fixedly connected to the transverse rod on the side biased towards the human body. The transverse rod is semi-circular around the human body and connected to the wearable cable via flexible ropes at both ends.

[0014] In one technical solution, the motion mechanism has a built-in pressure sensor for collecting plantar pressure data.

[0015] In one technical solution, the data acquisition mechanism includes a surface electromyography (EMG) sensor for acquiring EMG data.

[0016] Compared with the prior art, this utility model has the following advantages:

[0017] This invention applies a constant-force suspension mechanism to the human body along the Z-axis, providing a constant proportion of body weight with an upward pulling force, thus achieving low gravity in the Z-axis direction and enabling weight reduction within the 0-1G range. It allows for multi-axial balance control training under low gravity conditions. The restraint connection mechanism supports and stabilizes the body during weight reduction. The motion mechanism can select a mode to simulate a movement scenario based on training requirements and record motion data during training. The data acquisition mechanism can continuously and synchronously collect motion and posture stability data as needed. It can quickly achieve simulated low-gravity balance control testing and training under multiple scenarios, providing constant tension while actively following and responding to the subject's movements without interfering with their training actions. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the vertically suspended low-gravity motion simulation training device of this utility model.

[0020] Figure 2 A schematic diagram of a constant force suspension mechanism without a protective cover;

[0021] Figure 3 A schematic diagram of the second fixing seat, guide groove, and spring structure;

[0022] Figure 4 This is a schematic diagram of the restraint connection mechanism;

[0023] Figure 5 This is a schematic diagram illustrating the principle of low-gravity environment simulation.

[0024] Reference numerals: 100-Constant force suspension mechanism; 101-Bracket; 1011-Base; 1012-Upright frame; 1013-Top plate; 1014-Protective cover; 102-Base; 103-Servo motor; 104-Pull rope; 105-First pulley group; 106-Second pulley group; 107-Third pulley group; 108-Guide wheel; 109-First fixed seat; 110-Second fixed seat; 111-Third fixed seat; 112-First slide rail; 113-First slide block; 114-Force sensor; 115-Second slide rail; 116-Second slide block; 117-Guide groove; 118-Spring; 119-Connecting plate; 120-Amplifier; 121-Limit block;

[0025] 200 - Restraint connection mechanism; 201 - Wearable cable; 202 - Hanger; 2021 - Top column; 2022 - Side bar; 2023 - Steering rod; 2024 - Lateral bar; 203 - Flexible cable;

[0026] 300-Sports Mechanism;

[0027] 400 - Display control unit. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0029] like Figure 1 As shown, this utility model proposes a vertically suspended low-gravity motion simulation training device, including a constant force suspension mechanism 100, a restraint connection mechanism 200, a motion mechanism 300, and a data acquisition mechanism. The constant force suspension mechanism 100 is fixedly connected to the restraint connection mechanism 200 to provide a constant suspension force. The restraint connection mechanism 200 is used to restrain the exerciser and transmit the suspension force to the exerciser's limbs through multiple force application points. The motion platform of the motion mechanism 300 is perpendicular to the direction of the suspension force. The data acquisition mechanism is used to collect, analyze, display, and store motion data signals.

[0030] Low-gravity motion simulation training platforms simulate different gravity environments by using suspension cables to provide a constant tension in the vertical direction of the body. For example... Figure 5 As shown, the gravity experienced by the test personnel in the Earth environment is G, and the gravity experienced by the test personnel in the ideal low gravity environment is G'. If zero gravity is simulated, the tension of the control cable is T = G, G' = 0; if a gravity environment of 1 / 6g is to be simulated, the compensation force provided by the cable is T = 5 / 6G, G' = 1 / 6G.

[0031] This invention uses a constant force suspension mechanism 100 to apply a constant proportion of body weight upward pulling force in the Z-axis direction of the human body, enabling the human body to achieve low gravity in the Z-axis direction and reduce weight within the range of 0-1G. It can realize multi-axis balance function control training of the human body under low gravity conditions. The function of the restraint connection mechanism 200 is to support and fix the human body during the weight reduction process. The motion mechanism 300 can select a mode to simulate the motion scenario according to the requirements of the exercise training and record the motion data during the exercise training process. The data acquisition mechanism can realize continuous and synchronous acquisition of motion data and posture stability data as needed.

[0032] like Figure 1 , Figure 2 As shown, the constant force suspension mechanism 100 includes a bracket 101, a base 102, a servo motor 103, a pull rope 104, a first pulley group 105, a second pulley group 106, and a third pulley group 107; the device adopts a modular design, and each component module can be quickly disassembled and assembled.

[0033] The support frame 101 includes a base 1011, an upright frame 1012, and a top plate 1013 connected vertically in sequence. The base 1011 is connected to the motion mechanism 300, and the top of the top plate 1013 is fixed with a base 102. The upright frame 1012 is set with a support height according to the motion mechanism 300 and the height that the user may reach during exercise. In this embodiment, the constant force suspension mechanism 100 and the motion mechanism 300 can meet the needs of people with a weight of 45-85kg and a height of 155-185cm. The device is usually installed indoors and can be moved as needed. When unfolded, the height does not exceed 2.5m, and the floor area does not exceed 3m×2m.

[0034] The servo motor 103 is fixedly connected to the base 102. The output shaft of the servo motor 103 is horizontal and connected to the guide wheel 108. A pull rope 104 is wound on the guide wheel 108. A first fixed seat 109 is provided on one radial side of the guide wheel 108. A first pulley group 105 is slidably connected to the first fixed seat 109. A second fixed seat 110 is provided on one side of the first fixed seat 109. A second pulley group 106 is slidably connected to the second fixed seat 110. A third fixed seat 111 is provided on one side of the second fixed seat 110. A third pulley group 107 is fixedly connected to the third fixed seat 111. A through hole is opened at the top of the bracket 101 on one side of the third fixed seat 111. The traction end of the pull rope 104 passes through the first pulley group 105, the second pulley group 106 and the third pulley group 107 in sequence and passes through the through hole to connect downward to the binding connection mechanism 200.

[0035] The servo motor 103, the pull rope 104, the first pulley group 105, the second pulley group 106, and the third pulley group 107 constitute a cable drive system. The servo motor drives the pull rope 104 to apply a constant weight-proportion upward force in the vertical direction of the human body, enabling the human body to achieve low gravity in the vertical direction. This allows for multi-axial balance control training of the human body under low gravity conditions. The initial tension is calibrated during system initialization: the pull rope 104 is pulled upward by the servo motor, and the direction of force transmission is changed by the first pulley group 105, the second pulley group 106, and the third pulley group 107. The servo motor is controlled by automatic control principles and PID algorithms to achieve precise control of the gravity compensation force, ensuring that the gravity compensation force remains stably within 20% when the experimental subject's state changes, without interfering with the experimental subject's training movements.

[0036] The pull rope 104 can be made of steel wire rope or elastic rope. Using elastic rope can ensure the necessary range of motion of the test personnel, while ensuring the continuous and constant tension, which can improve the accuracy and safety of the test.

[0037] In a preferred embodiment of the present invention, the first fixed seat 109 is an L-shaped seat, and a first slide rail 112 is fixed on the first fixed seat 109. The first slide 113 is slidably matched and connected to the first slide rail 112. The first slide 113 is a U-shaped seat, and the first pulley group 105 is fixedly connected to one side of the deflecting guide wheel 108 of the first slide 113.

[0038] In a preferred embodiment of this utility model, a force sensor 114 is connected between the first fixed base 109 and the first slide 113. Specifically, the force sensor 114 is installed on the end side of the first slide 113 that is offset from the first pulley group 105 and close to the first fixed base 109. The force sensor 114 detects the change of tension in real time, and the control system controls and adjusts the servo motor in real time to avoid interference from the cable drive system to exercise training. Preferably, an amplifier 120 for amplifying the signal of the force sensor 114 is also installed on the top plate 1013 to ensure that the signal of the force sensor 114 can be effectively read.

[0039] In a preferred embodiment of the present invention, the second fixed base 110 is elongated, and two second slide rails 115 are symmetrically arranged on the second fixed base 110. The second slide block 116 is slidably matched with the second slide rails 115, and the second pulley group 106 is fixedly connected to the second slide block 116.

[0040] The first pulley group 105 and the first fixed seat 109 are slidably connected, and the second pulley group 106 and the second fixed seat 110 are slidably connected, so that the guiding effect of the first pulley group 105 and the second pulley group 106 on the pull rope 104 is flexible traction, which reduces the influence of the force between the first pulley group 105, the second pulley group 106 and the pull rope 104 on the gravity compensation force, and effectively ensures the stability of constant force maintenance during training.

[0041] As a preferred embodiment of this utility model, such as Figure 3 As shown, the second fixed seat 110 is provided with a guide groove 117 between the two second slide rails 115. A spring 118 is provided in the guide groove 117. One end of the spring 118 is connected to the second fixed seat 110, and the other end is fixedly connected to the second slide block 116 through a connecting plate 119. During exercise training, as the athlete's limbs rise and fall, the control system controls and adjusts the servo motor in real time to maintain a constant force. The pull rope 104 follows the traction during adjustment. Under the traction of the pull rope 104, the second slide block 116 moves instantaneously along the second slide rail 115. The spring 118 provides a buffering effect during the movement of the second slide block 116, reducing the vibration and impact during the following movement of the second slide block 116, and further improving the accuracy of maintaining the gravity compensation force.

[0042] As a further improvement of this utility model, limit blocks 121 are fixedly provided at both ends of the second fixed base 110 along the length direction to limit the extreme positions of the second slide block 116 sliding to both sides.

[0043] As a further improvement of this utility model, a protective cover 1014 for protecting the devices above it is fixedly connected to the top plate 1013.

[0044] like Figure 4 As shown, the restraint connection mechanism 200 includes a wearable cable strap 201 and a hanger 202. The wearable cable strap 201 is worn on the athlete's limbs to restrain the athlete, but does not interfere with the athlete's walking, running, and body rotation movements. The part in contact with the human body must be made of a material with good shapeability. The top of the hanger 202 is connected to the pull rope 104. The hanger 202 has multiple connection points along the periphery of the wearable cable strap 201 and is connected to the wearable cable strap 201 through a flexible rope 203, which effectively ensures the athlete's body balance.

[0045] Specifically, the hanger 202 includes a top column 2021, a side rod 2022, a steering rod 2023, and a transverse rod 2024. The top of the top column 2021 is connected to the pull rope 104, and one side of the top column 2021 is connected to the top of the side rod 2022. The side rod 2022 bends downward on the side of the human body, and the middle part of the side rod 2022 is connected to the wearable cable 201 through a flexible rope 203. The bottom end of the side rod 2022 is connected to the steering rod 2023, and the side rod 2023 is fixedly connected to the transverse rod 2024 on the side of the human body. The transverse rod 2024 is semi-circular around the human body and is connected to the wearable cable 201 at both ends through flexible ropes 203.

[0046] In a preferred embodiment of this utility model, the motion mechanism 300 can be selected as a treadmill, which has built-in pressure sensors for collecting plantar pressure data. The plantar pressure data includes indicators such as plantar pressure distribution, pressure center movement distance, pressure center movement trajectory envelope area, and pressure center movement acceleration. The number of pressure sensors is not less than 6,000. The treadmill can also provide motion data, including indicators such as motion speed, acceleration, and motion distance. Preferably, the treadmill has an emergency protection stop device.

[0047] The data acquisition mechanism obtains motion data, plantar pressure data, and postural stability data through the treadmill and various sensors. Specifically, surface electromyography (EMG) sensors can be used to collect EMG data.

[0048] The data acquisition unit transmits data to the display control unit 400, where the data can be displayed and stored in real time. The display control unit 400 can control the magnitude of the gravity compensation force and display force monitoring data in real time. It can control the treadmill operation, edit, store, and run treadmill programs, with both program-controlled and manual control modes for running speed. Users can select appropriate training modes (walking, running, strength training, or custom), set exercise programs, and send them to the controller of the exercise mechanism; the programs are adjustable. During training, exercise data, plantar pressure data, and postural stability data can be displayed in real time. Training hours, content, and number of participants can be queried, and replays can be performed. Training evaluation information can be input and reports generated. Scoring can be performed based on standardized training volume and standard heart rate range, with four levels: unsatisfactory, satisfactory, good, and excellent.

[0049] The processor, driver, circuit, power supply, and related accessories of this utility model are housed inside the upright frame 1012. Installation, connection, or configuration methods other than those described above can all employ conventional implementation methods, and any method that achieves its beneficial effects can be implemented.

[0050] The method of using the vertical suspension low-gravity motion simulation training device of this utility model is as follows: The athlete's feet are supported on the motion platform of the motion mechanism 300, and the wearable cable 201 is worn on the outside of the limbs. The magnitude of the gravity compensation force is controlled by the display control unit 400. The servo motor 103 drives the pull rope 4 to pull upward. The pull rope 104 changes the direction of force transmission through the first pulley group 105, the second pulley group 106 and the third pulley group 107. The force sensor 114 detects the change of the pulling force in real time. The control system controls and adjusts the servo motor 103 in real time to make the gravity compensation force reach the set weight ratio and keep it constant. The athlete can start training by selecting the exercise mode. During the training, as the athlete's limbs rise and fall, the control system controls and adjusts the servo motor 103 in real time according to the signal of the force sensor 114 to maintain a constant force. The pull rope 104 follows the traction during the adjustment. The second slide 116 moves instantaneously along the second slide rail 115 under the traction of the pull rope 104. The spring 118 provides a buffering effect during the movement of the second slide 116.

[0051] The above description is merely a preferred embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A vertical suspension low gravity motion simulation training device, characterized in that, The application relates to a constant force suspension mechanism (100), a binding connection mechanism (200), a motion mechanism (300) and a data acquisition mechanism, wherein the constant force suspension mechanism (100) is fixedly connected with the binding connection mechanism (200) and is used for giving constant suspension force; the binding connection mechanism (200) is used for binding a mover and transmitting the suspension force to the limbs of the mover through multiple force applying positions; the motion platform of the motion mechanism (300) is perpendicular to the suspension force direction; and the data acquisition mechanism is used for collecting, analyzing and displaying and storing motion data signals.

2. The vertical suspension low-gravity motion simulation training device according to claim 1, characterized in that, The constant force suspension mechanism (100) comprises a support (101), a base (102), a servo motor (103), a pull rope (104), a first pulley set (105), a second pulley set (106) and a third pulley set (107), the bottom of the support (101) is connected with the motion mechanism (300), the top end of the support (101) is fixed with the base (102), the servo motor (103) is fixedly connected with the base (102), the output shaft of the servo motor (103) is horizontal and is connected with a guide wheel (108), the pull rope (104) is wound on the guide wheel (108), a first fixing base (109) is arranged on the radial side of the guide wheel (108), the first fixing base (109) is slidably connected with the first pulley set (105); a second fixing base (110) is arranged on one side of the first fixing base (109), the second fixing base (110) is slidably connected with the second pulley set (106); a third fixing base (111) is arranged on one side of the second fixing base (110), the third fixing base (111) is fixedly connected with the third pulley set (107), a through hole is arranged on the top end of the support (101) on one side of the third fixing base (111), the traction end of the pull rope (104) passes through the first pulley set (105), the second pulley set (106) and the third pulley set (107) in sequence and passes through the through hole to be connected with the binding connection mechanism (200) downwards.

3. The vertical suspension low-gravity motion simulation training device according to claim 2, characterized in that, A first sliding rail (112) is fixed on the first fixing base (109), a first sliding base (113) is slidably matched and connected with the first sliding rail (112), and the first pulley set (105) is fixedly connected on the first sliding base (113).

4. The vertical suspension low-gravity motion simulation training device according to claim 3, characterized in that, A force sensor (114) is connected between the first fixing base (109) and the first sliding base (113).

5. The vertical suspension low-gravity motion simulation training device according to claim 2, characterized in that, The second fixing base (110) is long strip-shaped, two second sliding rails (115) are symmetrically arranged on the second fixing base (110), a second sliding base (116) is slidably matched and connected with the second sliding rail (115), and the second pulley set (106) is fixedly connected on the second sliding base (116).

6. The vertical suspension low-gravity motion simulation training device according to claim 5, characterized in that, A guide groove (117) is arranged between the two second sliding rails (115) on the second fixing base (110), a spring (118) is arranged in the guide groove (117), one end of the spring (118) is connected with the second fixing base (110), and the other end is fixedly connected with the second sliding base (116) through a connecting plate (119).

7. The vertical suspension low-gravity motion simulation training device according to claim 2, characterized in that, The binding connection mechanism (200) comprises a wearable strap (201) and a hanger (202), the wearable strap (201) is used for binding the limbs of the exerciser, the top end of the hanger (202) is connected with the pull rope (104), and the hanger (202) is provided with a plurality of connection positions along the side of the wearable strap (201) and is connected with the wearable strap (201) through a flexible rope (203).

8. The vertical suspension low-gravity motion simulation training device according to claim 7, characterized in that, The hanger (202) comprises a top column (2021), a side rod (2022), a turning rod (2023) and a transverse rod (2024), the top end of the top column (2021) is connected with the pull rope (104), one side of the top column (2021) is connected with the top end of the side rod (2022), the side rod (2022) is bent downward on one side of the human body, the middle part of the side rod (2022) is connected with the wearable strap (201) through the flexible rope (203), the bottom end of the side rod (2022) is connected with the turning rod (2023), the turning rod (2023) is fixedly connected with the transverse rod (2024) which is deviated to one side of the human body, the transverse rod (2024) is in a semi-ring shape and surrounds the human body, and the two ends of the transverse rod (2024) are connected with the wearable strap (201) through the flexible rope (203).

9. The vertical suspension low-gravity motion simulation training device according to claim 1, characterized in that, The movement mechanism (300) is provided with a pressure sensor for collecting foot bottom pressure data.

10. The vertical suspension low-gravity motion simulation training device according to claim 1, characterized in that, The data collection mechanism comprises a surface electromyography sensor for collecting electromyography data.

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