Robot for fencing training

Abstract

The utility model relates to the technical field of fencing training, in particular to a robot used for fencing training, the robot is matched with a mechanical arm through a chassis to move and perform fencing training actions, the actual combat training effect is achieved, the robot is composed of the chassis (1), a trunk (2), a left arm (3), a right arm (4) and a head (5), and the left arm (3) and the right arm (4) form the mechanical arm. According to the utility model, the training effect of actual fencing training can be realized by using the robot.

Description

Technical Field

[0001] This utility model relates to the field of fencing training technology, and in particular to a robot for fencing training. Background Technology

[0002] Fencing requires athletes to wear protective gear and use specialized weapons (swords) in competitive matches. It demands a high degree of concentration and good physical coordination from the athletes.

[0003] Traditional fencing training relies heavily on fixed human targets, which is insufficient for advanced, combat-oriented training. For fencers to continuously improve, they need extensive and prolonged training in basic hand movements, constantly practicing to develop conditioned reflexes. Athletes' daily training primarily involves thrusting and chopping, and the fixed target cannot provide opportunities for varied movements. Therefore, more effective training methods are needed to enhance fencers' combat capabilities. Utility Model Content

[0004] This utility model provides a robot for fencing training to solve the problems existing in the prior art. The technical solution is as follows:

[0005] A robot for fencing training is provided. The robot performs fencing training actions by coordinating the movement of the chassis and the mechanical arm, thereby achieving a realistic training effect. It consists of five parts: chassis (1), torso (2), left arm (3), right arm (4), and head (5), wherein the left arm (3) and the right arm (4) constitute the mechanical arm.

[0006] Optionally, the chassis (1) portion is used for the autonomous movement of the robot and can cooperate with the opponent athlete to perform forward and backward movements;

[0007] The chassis shell (7) adopts a split structure, which allows for quick assembly and maintenance;

[0008] The power supply is designed with a removable battery (6), which allows for quick battery replacement and extends training time;

[0009] The chassis uses a dual differential type of transport chassis. The front wheels are driven wheels (9) and are 10-inch heavy-duty omnidirectional wheels. The rear wheels are driven wheels (8) and are driven wheels with integrated hub motors to provide power to the chassis.

[0010] Optionally, the torso (2) portion is used to support the robotic arm and adjust the height of the robotic arm;

[0011] The lower profile frame (17) and the upper profile frame (16) are connected by a profile lifting connector (10) to adjust the height of the robotic arm. This can accommodate training at different heights. The fixing method is to fix it with a third spring pin (15), which makes adjustment more convenient.

[0012] The lower chest plate (14) is fixed to the upper profile frame (16) by profile corner piece (13) for mounting the robotic arm;

[0013] The main control plate (11) is fixed to the upper profile frame (16) with profile screws, and the main control plate (12) is installed on it to control the movement of the left arm (3) and the right arm (4).

[0014] Optionally, the right arm (4) is responsible for completing the fencing training movements. It adopts a five-axis serial robotic arm, which can complete most human fencing movements. Its degrees of freedom are shoulder abduction, bending, rotation, elbow bending and wrist rotation.

[0015] The right arm mounting base (20) is installed on the lower chest plate (14) and connected to the shoulder bending / extension actuator mounting base (21) on the right arm. It is fixed by the first spring pin (19) to facilitate quick removal and installation of the right arm.

[0016] The shoulder flexion / extension actuator (18) is mounted on the shoulder flexion / extension actuator mount (21) and is responsible for the forward and backward movement of the arm of the fencing robot. The shoulder abduction / adduction actuator mount (22) is mounted on it for mounting the shoulder abduction / adduction actuator (23) so that the robot's arm can move laterally, away from or close to the body.

[0017] The shoulder rotation actuator mounting base (26) is connected to the shoulder abduction / retraction actuator mounting base (23) via the right arm connector (24), and a shoulder rotation actuator (25) is mounted on it, which allows the arm to rotate around its axis;

[0018] The upper / lower arm connector (27) is used to connect the shoulder rotation actuator (25) and the elbow actuator mounting base (28). The first elbow actuator (29) is mounted on the elbow actuator mounting base (28) and is responsible for the bending and extension of the forearm.

[0019] The wrist actuator mounting base (32) is connected to the first elbow actuator (29) via the forearm connector (30), and a wrist actuator (31) is mounted on it for hand rotation. The rotating part of the wrist actuator connector (33) is mounted on it for end-effector connection.

[0020] The saber (37) is connected by accessory fixing 1 (35) and accessory fixing 2 (36), and is installed on the wrist actuator connector (33) and fixed by quick-release screws (34) to facilitate the replacement of saber types.

[0021] Optionally, the left arm (3) is a three-degree-of-freedom robotic arm with the degrees of freedom being shoulder abduction, flexion and elbow flexion, which, in conjunction with the movement of the right arm (4), maintains overall balance during the movement of the right arm (4).

[0022] The left arm mounting base (41) is mounted on the lower chest plate (14) and connected to the shoulder bending / extension actuator mounting base (40) on the left arm. It is fixed by the second spring pin (42) to facilitate quick removal and installation of the left arm.

[0023] The shoulder flexion / extension actuator (43) is mounted on the shoulder flexion / extension actuator mount (40) and is responsible for the forward and backward movement of the fencing robot's arm. The shoulder abduction / adduction actuator mount (39) is mounted on it for mounting the shoulder abduction / adduction actuator (38) so that the robot's arm can move laterally, away from or close to the body. The shoulder abduction / adduction actuator (38) is connected to the left upper arm connector (44). The other end of the left upper arm connector (44) is fixed to the elbow actuator mount (45) for mounting the second elbow actuator (46) which is responsible for the flexion and extension of the forearm. The left forearm (47) and the left hand (48) are mounted on the second elbow actuator (46).

[0024] Optionally, the head (5) portion is equipped with a binocular camera for capturing video of the opponent athlete.

[0025] Optionally, the robot also includes a control system connected to the binocular camera via wire, used to issue action commands to the robot based on the posture and movement information of the opponent athlete in the video.

[0026] Optionally, each joint actuator is equipped with a control board, which is wired to the control system, and is used to control the actuator of each joint to perform actions through a high-precision servo motor according to the action instructions of the control system.

[0027] The beneficial effects of the technical solution provided by this utility model include at least the following:

[0028] This invention can improve training quality by enhancing athletes' reaction speed and technical skills through intelligent dynamic competition; it can provide movement sequences composed of different types of basic movements and offer personalized training plans tailored to athletes' characteristics; it can replace professional coaches with robots or reduce athletes' dependence on professional coaches and lower long-term training costs. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments 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.

[0030] Figure 1 This is a schematic diagram of a robot structure for fencing training provided by an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the chassis structure of the robot provided in this embodiment of the utility model;

[0032] Figure 3 This is a schematic diagram of the torso structure of the robot provided in this embodiment of the utility model;

[0033] Figure 4 This is a schematic diagram of the right arm structure of the robot provided in this embodiment of the utility model;

[0034] Figure 5 This is a schematic diagram of the left arm structure of the robot provided in this embodiment of the utility model.

[0035] Figure label:

[0036] (1) Chassis (2) Torso (3) Left arm (4) Right arm (5) Head (6) Removable battery (7) Chassis shell (8) Drive wheel (9) Driven wheel (10) Profile lifting connector (11) Main control fixing plate (12) Main control plate (13) Profile corner piece (14) Lower chest plate (15) Third spring pin (16) Upper profile frame (17) Lower profile frame (18) Shoulder bending / extension actuator (19) First spring pin (20) Right arm fixing seat (21) Shoulder bending / extension Actuator Mount (22) Shoulder Abduction / Adduction Actuator Mount (23) Shoulder Abduction / Adduction Actuator (24) Right Arm Connector (25) Shoulder Rotation Actuator (26) Shoulder Rotation Actuator Mount (27) Upper / Lower Arm Connector (28) Elbow Actuator Mount (29) First Elbow Actuator (30) Forearm Connector (31) Wrist Actuator (32) Wrist Actuator Mount (33) Wrist Actuator Connector (34) Quick-Release Screw (35) Accessory Fixing 1 (36) Sabre Fixing 2 (37) Sabre (38) Shoulder Abduction / Adduction Actuator (39) Shoulder Abduction / Adduction Actuator Mounting Base (40) Shoulder Bending / Extension Actuator Mounting Base (41) Left Arm Fixing Base (42) Second Spring Pin (43) Shoulder Bending / Extension Actuator (44) Left Arm Upper Arm Connector (45) Elbow Actuator Mounting Base (46) Second Elbow Actuator (47) Left Forearm (48) Left Hand Detailed Implementation

[0037] To make the technical problems, technical solutions and advantages of this utility model clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0038] This utility model embodiment provides a robot for fencing training, such as... Figure 1 As shown, the robot performs fencing training movements by coordinating the movement of the chassis and the mechanical arm, achieving a realistic training effect. It consists of five parts: chassis (1), torso (2), left arm (3), right arm (4), and head (5), among which the left arm (3) and right arm (4) constitute the mechanical arm.

[0039] Optionally, such as Figure 2 As shown, the chassis (1) part is used for the autonomous movement of the robot and can cooperate with the opponent athlete to move forward and backward;

[0040] The chassis shell (7) adopts a split structure, which allows for quick assembly and maintenance;

[0041] The power supply is designed with a removable battery (6), which allows for quick battery replacement and extends training time;

[0042] The chassis uses a dual differential type of transport chassis. The front wheels are driven wheels (9) and are 10-inch heavy-duty omnidirectional wheels. The rear wheels are driven wheels (8) and are driven wheels with integrated hub motors to provide power to the chassis.

[0043] Optionally, such as Figure 3 As shown, the torso (2) part is used to support the robotic arm and adjust the height of the robotic arm;

[0044] The lower profile frame (17) and the upper profile frame (16) are connected by a profile lifting connector (10) to adjust the height of the robotic arm. This can accommodate training at different heights. The fixing method is to fix it with a third spring pin (15), which makes adjustment more convenient.

[0045] The lower chest plate (14) is fixed to the upper profile frame (16) by profile corner piece (13) for mounting the robotic arm;

[0046] The main control plate (11) is fixed to the upper profile frame (16) with profile screws, and the main control plate (12) is installed on it to control the movement of the left arm (3) and the right arm (4).

[0047] Optionally, such as Figure 4 As shown, the right arm (4) is responsible for completing the training movements of fencing. It adopts a five-axis serial mechanical arm, which can complete most human fencing movements. Its degrees of freedom are shoulder abduction, bending, rotation, elbow bending and wrist rotation.

[0048] The right arm mounting base (20) is installed on the lower chest plate (14) and connected to the shoulder bending / extension actuator mounting base (21) on the right arm. It is fixed by the first spring pin (19) to facilitate quick removal and installation of the right arm.

[0049] The shoulder flexion / extension actuator (18) is mounted on the shoulder flexion / extension actuator mount (21) and is responsible for the forward and backward movement of the arm of the fencing robot. The shoulder abduction / adduction actuator mount (22) is mounted on it for mounting the shoulder abduction / adduction actuator (23) so that the robot's arm can move laterally, away from or close to the body.

[0050] The shoulder rotation actuator mounting base (26) is connected to the shoulder abduction / retraction actuator mounting base (23) via the right arm connector (24), and a shoulder rotation actuator (25) is mounted on it, which allows the arm to rotate around its axis;

[0051] The upper / lower arm connector (27) is used to connect the shoulder rotation actuator (25) and the elbow actuator mounting base (28). The first elbow actuator (29) is mounted on the elbow actuator mounting base (28) and is responsible for the bending and extension of the forearm.

[0052] The wrist actuator mounting base (32) is connected to the first elbow actuator (29) via the forearm connector (30), and a wrist actuator (31) is mounted on it for hand rotation. The rotating part of the wrist actuator connector (33) is mounted on it for end-effector connection.

[0053] The saber (37) is connected by accessory fixing 1 (35) and accessory fixing 2 (36), and is installed on the wrist actuator connector (33) and fixed by quick-release screws (34) to facilitate the replacement of saber types.

[0054] Optionally, such as Figure 5 As shown, the left arm (3) adopts a three-degree-of-freedom robotic arm, whose degrees of freedom are shoulder abduction, flexion and elbow flexion, which, in conjunction with the movement of the right arm (4), maintains the overall balance when the right arm (4) moves;

[0055] The left arm mounting base (41) is mounted on the lower chest plate (14) and connected to the shoulder bending / extension actuator mounting base (40) on the left arm. It is fixed by the second spring pin (42) to facilitate quick removal and installation of the left arm.

[0056] The shoulder flexion / extension actuator (43) is mounted on the shoulder flexion / extension actuator mount (40) and is responsible for the forward and backward movement of the fencing robot's arm. The shoulder abduction / adduction actuator mount (39) is mounted on it for mounting the shoulder abduction / adduction actuator (38) so that the robot's arm can move laterally, away from or close to the body. The shoulder abduction / adduction actuator (38) is connected to the left upper arm connector (44). The other end of the left upper arm connector (44) is fixed to the elbow actuator mount (45) for mounting the second elbow actuator (46) which is responsible for the flexion and extension of the forearm. The left forearm (47) and the left hand (48) are mounted on the second elbow actuator (46).

[0057] Optionally, the head (5) portion is equipped with a binocular camera for capturing video of the opponent athlete.

[0058] Optionally, the robot also includes a control system connected to the binocular camera via wire, used to issue action commands to the robot based on the posture and movement information of the opponent athlete in the video.

[0059] Optionally, each joint actuator is equipped with a control board, which is wired to the control system, and is used to control the actuator of each joint to perform actions through a high-precision servo motor according to the action instructions of the control system.

[0060] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robot for fencing training, characterized in that, The robot moves by cooperating with the chassis and the mechanical arm to perform the action of fencing training, realizes the training effect of actual combat, and is composed of a chassis (1), a trunk (2), a left arm (3), a right arm (4) and a head (5), wherein the left arm (3) and the right arm (4) constitute the mechanical arm; The right arm (4) is responsible for completing the training action of fencing, adopts a five-axis serial mechanical arm, can complete most human fencing actions, and has five degrees of freedom, i.e., shoulder abduction, bending, rotation, elbow bending and wrist rotation; The right arm fixing seat (20) is installed on the lower chest plate (14) and connected with the shoulder bending / stretching actuator mounting seat (21) on the right arm, is fixed by the first spring pin (19), and is convenient for quick disassembly and installation of the right arm; The shoulder bending / stretching actuator (18) is installed on the shoulder bending / stretching actuator mounting seat (21) and is responsible for moving the arm of the fencing robot forward and backward, is provided with the shoulder abduction / adduction actuator mounting seat (22) installed thereon, is used for installing the shoulder abduction / adduction actuator (23), and enables the arm of the robot to move laterally away from or close to the body; The shoulder rotation actuator mounting seat (26) is connected with the shoulder abduction / adduction actuator (23) mounting seat through the right arm connecting piece (24), is provided with the shoulder rotation actuator (25) installed thereon, and can enable the arm to rotate around the shaft; The large arm connecting piece (27) is used for connecting the shoulder rotation actuator (25) and the elbow actuator mounting seat (28), the first elbow actuator (29) is installed on the elbow actuator mounting seat (28) and is responsible for bending and stretching of the small arm; The wrist actuator mounting seat (32) is connected with the first elbow actuator (29) through the small arm connecting piece (30), is provided with the wrist actuator (31) installed thereon, is used for rotation of the hand, and the rotation part is provided with the wrist actuator connecting piece (33) and is used for connecting the end device; The sword (37) is connected by the accessory fixing 1 (35) and the accessory fixing 2 (36), is installed on the wrist actuator connecting piece (33), is fixed by the quick disassembly screw (34), and is convenient for replacing the type of sword; The left arm (3) adopts a three-degree-of-freedom mechanical arm, has three degrees of freedom, i.e., shoulder abduction, bending and elbow bending, cooperates with the movement of the right arm (4), and keeps the balance of the whole when the right arm (4) moves; The left arm fixing seat (41) is installed on the lower chest plate (14) and connected with the shoulder bending / stretching actuator mounting seat (40) on the left arm, is fixed by the second spring pin (42), and is convenient for quick disassembly and installation of the left arm; The shoulder flexion / extension actuator (43) is mounted on the shoulder flexion / extension actuator mounting seat (40), responsible for the forward and backward movement of the arm of the fencing robot, on which the shoulder abduction / adduction actuator mounting seat (39) is mounted, used for mounting the shoulder abduction / adduction actuator (38), enabling the arm of the robot to move laterally away from or close to the body; the shoulder abduction / adduction actuator (38) is connected with the left arm large arm connecting piece (44), the other end of which is fixed with the elbow actuator mounting seat (45) for mounting the second elbow actuator (46), responsible for the flexion and extension of the small arm, and the left small arm (47) and the left hand (48) are mounted on the second elbow actuator (46).

2. The robot of claim 1, wherein, The chassis (1) part is used for the autonomous movement of the robot, which can cooperate with the opponent player to move forward and backward; The chassis housing (7) part adopts a split structure, which can be quickly assembled and repaired; The power supply is designed as a detachable battery (6), which can quickly replace the battery and prolong the training time; The chassis movement form adopts a double-differential type carrying chassis, the front wheel is a driven wheel (9), which adopts a ten-inch heavy-duty omnidirectional wheel, and the rear wheel is a driving wheel (8), which adopts an integrated hub motor to provide power for the chassis.

3. The robot of claim 1, wherein, The torso (2) part is used for supporting the mechanical arm and adjusting the height of the mechanical arm; The lower profile frame (17) and the upper profile frame (16) are connected by a profile lifting connecting piece (10) for adjusting the height of the mechanical arm, which can cope with training conditions at different heights, and are fixed by a third spring pin (15) for convenient adjustment; The lower chest plate (14) is fixed to the upper profile frame (16) by a profile corner piece (13) for mounting the mechanical arm; The main control fixed plate (11) is fixed on the upper profile frame (16) by a profile screw, and the main control board (12) is mounted thereon for controlling the movement of the left arm (3) and the right arm (4).

4. The robot according to any of claims 1-3, characterized in that, The head (5) part is installed with a binocular camera for collecting the video of the opponent player.

5. The robot of claim 4, wherein, The robot further comprises a control system, which is connected with the binocular camera by wire, for issuing action instructions to the robot according to the posture and action information of the opponent player in the video.

6. The robot of claim 5, wherein, The control board is arranged in each joint actuator, which is connected with the control system by wire, for executing actions by the high-precision servo motor according to the action instructions of the control system.

Images