A motion platform

Abstract

The utility model provides a utility model provides a kind of motion platform, comprising: static platform;Dynamic platform, for supporting user, dynamic platform is movably connected with static platform, to make dynamic platform can swing up and down and / or move up and down relative to static platform;Fluid medium reservoir device is arranged between dynamic platform and static platform;Fluid adjusting mechanism for adjusting the rigidity and / or damping of fluid medium reservoir device;Detection mechanism, detection mechanism includes first force sensor component, first force sensor component is configured to detect the force value that fluid medium reservoir device receives, and motion parameter sensor for detecting dynamic platform motion information is installed on dynamic platform, detection mechanism can provide the multi-parameter information of comprehensive and accurate evaluation user balance ability, the rigidity and / or damping of motion platform are accurately and conveniently adjusted by fluid adjusting mechanism, so that motion platform can simulate more abundant and real balance training scene.

Description

Technical Field

[0001] This utility model relates to the field of medical device research and sports training equipment technology, and in particular to a sports platform. Background Technology

[0002] As a core biomechanical indicator for maintaining postural stability and motor coordination, human balance ability has significant clinical value in the fields of neurorehabilitation (such as post-stroke balance disorders), sports medicine (athlete proprioceptive training), and geriatrics (fall risk prediction). With my country's accelerating aging population, the surge in the number of falls each year, and increasing public concern for health and quality of life, balance assessment training will undoubtedly become as important and in high demand as blood pressure and heart rate monitoring. Traditional balance training devices only allow for damping adjustment through different settings, lacking stiffness adjustment. Furthermore, stiffness and damping cannot be directly measured to obtain accurate quantitative indicators. They also lack the fusion analysis of multimodal biomechanical parameters such as movement posture and plantar pressure distribution, failing to effectively assess human balance ability and only enabling swaying. In addition, balance training devices suffer from problems such as excessive size, excessively high damping adjustment devices, complex operation, poor adjustment accuracy, and insufficient matching between training scenarios and real-life environments (such as slippery roads and soft sand) due to the limited damping information. They also cannot drive a platform for passive training. Utility Model Content

[0003] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a motion platform that can effectively assess the balance ability of the human body by detecting the posture and other information of the motion platform, and whose stiffness and damping can be precisely adjusted and can realize more diverse motion modes.

[0004] To achieve the above and other related objectives, this utility model provides a motion platform, comprising: a static platform; a dynamic platform for supporting a user, the dynamic platform being movably connected to the static platform to allow the dynamic platform to swing up and / or move up and down relative to the static platform; a fluid medium storage device disposed between the dynamic platform and the static platform; a fluid regulating mechanism for adjusting the stiffness and / or damping of the fluid medium storage device, the fluid regulating mechanism including a pipe, and a regulating valve and a fluid driving element disposed on the pipe, the pipe being connected to the fluid medium storage device; and a detection mechanism including a first force sensor assembly configured to detect the force value acting on the fluid medium storage device, and a motion parameter sensor mounted on the dynamic platform for detecting motion information of the dynamic platform.

[0005] Preferably, the motion platform further includes a controller, the signal input terminal of which is communicatively connected to the detection mechanism, and the signal output terminal of which is communicatively connected to the fluid regulation mechanism. The controller is configured to generate a control signal to trigger the action of the fluid regulation mechanism based on the received motion information of the motion platform and the force value of the fluid medium storage device, so as to regulate the stiffness and / or damping of the fluid medium storage device, so that the force value of the fluid medium storage device tends to a preset value and / or the motion state of the motion platform tends to a preset state.

[0006] Preferably, the fluid medium storage device includes a first bladder and / or a second bladder, and the fluid regulating mechanism is capable of regulating the stiffness of the first bladder and / or the damping of the second bladder.

[0007] More preferably, the fluid regulating mechanism adjusts the stiffness of the first bladder by pumping different amounts of gas and / or liquid media into the first bladder to create different internal pressures in the first bladder; the fluid regulating mechanism adjusts the damping of the second bladder by controlling the flow rate of the liquid media flowing into and out of the second bladder by adjusting the opening of the regulating valve.

[0008] Preferably, the fluid medium storage device is an integrated stiffness and damping regulating bladder. The fluid regulating mechanism pumps different filling amounts of liquid medium or liquid-gas mixture into the bladder to make the bladder have different internal pressures, thereby adjusting the stiffness of the bladder. At the same time, the fluid regulating mechanism can also control the flow rate of the liquid medium or liquid-gas mixture flowing into and out of the bladder by adjusting the opening of the regulating valve, thereby adjusting the damping of the bladder.

[0009] Preferably, the detection mechanism further includes a second force sensor assembly, which can detect the force value and force center position applied by the user's foot to the moving platform.

[0010] More preferably, the controller is configured to generate a control signal that triggers the action of the fluid regulating mechanism based on the received force value of the fluid medium storage device, the motion information of the moving platform, the force value applied by the foot to the moving platform, and the position of the force center, so as to regulate the stiffness and / or damping of the fluid medium storage device, so that the force value of the fluid medium storage device and / or the force value applied by the foot to the moving platform tends to a preset value and / or the motion state of the moving platform tends to a preset state.

[0011] Preferably, the fluid medium storage device is a set of annular bladders or multiple sets of bladders evenly spaced apart, disposed in the gap between the moving platform and the stationary platform. Each set of bladders is a single bladder or multiple bladders arranged in parallel. Each bladder includes a single bladder unit or multiple bladder units stacked vertically.

[0012] More preferably, the first force sensor assembly is installed between the capsule and the static platform, or between the capsule and the moving platform, or between stacked capsule units.

[0013] Preferably, the fluid medium storage device comprises a first fluid cylinder and a second fluid cylinder, each with a cavity and a telescopic rod communicating with the cavity, uniformly spaced within the gap between the moving platform and the stationary platform. The two ends of the first fluid cylinder and the second fluid cylinder are telescopically hinged to the bottom surface of the moving platform and the top surface of the stationary platform. The fluid regulating mechanism adjusts the stiffness of the first fluid cylinder by pumping different amounts of gas and / or liquid medium into the cavity of the first fluid cylinder. The fluid regulating mechanism adjusts the damping by controlling the flow rate of the liquid medium flowing into and out of the cavity of the second fluid cylinder by adjusting the opening of the regulating valve.

[0014] Compared with the prior art, the present invention has at least the following beneficial effects:

[0015] The moving platform, relative to the static platform, can swing up and down, move up and down, or both. It can replace a balance ball, helping users better assess and train their balance. Furthermore, it incorporates a stiffness adjustment function; the fluid adjustment mechanism allows for convenient and precise adjustment of the stiffness and / or damping of the fluid medium storage device. This enables the simulation of richer and more realistic balance training scenarios, providing users with more scientific and comprehensive balance training. Motion parameter sensors provide information including the moving platform's swing angle, angular velocity, angular acceleration, and / or vertical velocity, acceleration, and displacement, helping users or doctors accurately and comprehensively assess the instantaneous state of balance training. The motion state of the moving platform and the force value detected by the first force sensor component on the fluid medium storage device can serve as supplementary reference information. Through the fusion analysis of the above multimodal mechanical parameters, a comprehensive and accurate judgment and assessment of the user's balance ability can be made. At the same time, the actual damping and stiffness can be obtained based on the information from the force sensor and motion parameter sensor, achieving self-calibration and adapting to changes in the external environment without the need for calibration off-site. In addition, compared with traditional damping adjustment structures, the fluid medium-filled bladder damping structure has the advantages of simple installation, large support area, low overall height, and high load-bearing capacity. Furthermore, it also has the function of driving the moving platform for passive training. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0017] In the attached diagram:

[0018] Figure 1 This is a schematic diagram of the overall structure of a motion platform capable of swinging up and down in one embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the structure of the first capsule, the second capsule, and the fluid regulating mechanism in one embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of a partial fluid regulating mechanism including an air pump in one embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of the first capsule, the second capsule, and the fluid regulating mechanism in another embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the structure of the first capsule, the second capsule, and the fluid regulating mechanism in another embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the integrated stiffness and damping adjustment bladder and fluid adjustment mechanism in one embodiment of the present invention.

[0024] Figure 7 This is a schematic diagram of the structure of the first fluid cylinder, the second fluid cylinder, and the fluid regulating mechanism in one embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of the structure of a moving platform and a stationary platform in one embodiment of the present invention, which can realize up-and-down swinging;

[0026] Figure 9 This is a longitudinal sectional view of a moving platform and a stationary platform that can move up and down in one embodiment of the present invention.

[0027] Figure 10 This is a longitudinal sectional view of a moving platform and a stationary platform in one embodiment of the present invention, which can swing up and down and move up and down.

[0028] Figure 11 This is a schematic diagram of the structure of a partial motion platform including a first force sensor assembly in one embodiment of the present invention;

[0029] Figure 12 This is a schematic diagram of the structure of a partial motion platform including a second force sensor assembly in one embodiment of the present invention.

[0030] The attached figures are labeled as follows:

[0031] 100. Static platform; 110. First column; 200. Moving platform; 210. Second column; 211. Ball groove; 212. Limiting groove; 213. Cylindrical groove; 310. First bladder; 320. Second bladder; 330. Integrated stiffness and damping adjustment bladder; 400. Fluid regulation mechanism; 410. Pipeline; 411. First main pipeline; 412. Second main pipeline; 413. First branch pipeline; 414. Second branch pipeline; 420. Adjustment Valve; 430, shut-off valve; 440, hydraulic pump; 450, air pump; 460, liquid storage tank; 470, purifier; 510, first force sensor assembly; 520, motion parameter sensor; 530, second force sensor assembly; 531, heel sensor; 532, forefoot sensor; 600, ball head; 700, limit pin; 810, skateboard holder; 820, skateboard; 830, bladder connecting plate; 910, first fluid cylinder; 920, second fluid cylinder. Detailed Implementation

[0032] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0033] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0034] This invention provides a motion platform, including a static platform and a dynamic platform for supporting the user. The user stands on the dynamic platform for balance training. To accurately and comprehensively understand the user's balance ability, it is necessary to assess it. However, traditional balance devices lack the fusion analysis of multimodal biomechanical parameters such as plantar pressure distribution and angular velocity, making it unable to effectively assess the human body's balance ability. The motion platform provided by this invention can accurately and comprehensively assess the user's balance ability. Its principle is based on a motion parameter sensor installed on the dynamic platform to detect the motion information of the platform, and a first force sensor component configured to detect the force value applied to the bladder. This provides multimodal reference information including the angular velocity of the dynamic platform, swing angle, pressure value, stiffness level, and damping level. After fusing and analyzing the multimodal information, an effective judgment is made on the user's balance ability. In addition, a stiffness adjustment function is added. Through a fluid adjustment mechanism, the stiffness and / or damping of the fluid medium storage device can be conveniently and accurately adjusted, thereby simulating richer and more realistic balance training scenarios, allowing users to receive more scientific and comprehensive balance training. The specific implementation of this invention will be described in detail below with reference to specific embodiments.

[0035] Please see Figures 1 to 11 This utility model provides a motion platform, including: a static platform 100; and a movable platform 200 for supporting a user. The movable platform 200 is movably connected to the static platform 100, allowing the movable platform 200 to swing up and / or move up and down relative to the static platform 100. In a specific embodiment, to achieve the vertical swinging capability of the movable platform 200 relative to the static platform 100, please refer to... Figure 8 A ball joint 600 can be fixedly connected to the top surface of the static platform 100. A second column 210 is provided on the bottom surface of the moving platform 200, and a ball groove 211 adapted to the ball joint 600 is formed on the second column 210. Furthermore, to prevent the moving platform 200 from rotating and causing the user to fall, a limit pin 700 is installed on the ball joint 600, and a long strip-shaped limit groove 212 that cooperates with the limit pin 700 is formed on the second column 210. To enable the moving platform 200 to move vertically relative to the static platform 100, please refer to [reference needed]. Figure 9 A first column 110 can be set on the static platform 100, and a second column 210 can be set on the bottom surface of the moving platform 200. A cylindrical groove 213 adapted to the first column 110 is formed on the second column 210. To enable the moving platform 200 to both swing up and down and move up and down relative to the static platform 100, please refer to [reference needed]. Figure 10As shown, a first column 110 can be fixedly connected to the static platform 100, and a ball head 600 can be connected to the first column 110. A second column 210 is provided on the bottom surface of the moving platform 200, and a cylindrical groove 213 adapted to the diameter of the ball head 600 is opened on the second column 210. The connection relationship of the ball head 600, the first column 110, and the second column 210 can also be interchanged between the static platform 100 and the moving platform 200. A fluid medium storage device is provided between the moving platform 200 and the static platform 100. A fluid regulating mechanism 400 is used to regulate the stiffness and / or damping of the fluid medium storage device, including a pipe 410, and a regulating valve 420 and a fluid driving element provided on the pipe 410. The pipe 410 is connected to the fluid medium storage device. A detection mechanism is provided, including a motion parameter sensor 520 installed on the moving platform 200 to detect the motion information of the moving platform 200, and a first force sensor assembly 510 for detecting the force value of the fluid medium storage device.

[0036] The stiffness and / or damping of the fluid medium storage device can be adjusted by the fluid adjustment mechanism 400, thereby simulating richer and more realistic balance training scenarios and enabling users to receive more scientific and comprehensive balance training. The motion parameter sensor 520 can provide information including the swing angle, swing angular velocity, swing angular acceleration and / or vertical velocity, acceleration and displacement of the moving platform 200, thereby helping users or doctors to accurately and comprehensively judge the motion state of the moving platform 200 during balance training. The force value detected by the first force sensor component 510 on the fluid medium storage device can be used as supplementary reference information. Through the fusion analysis of the above multimodal mechanical parameters, a comprehensive and accurate judgment and evaluation of the user's balance ability can be made. The moving platform 200 has a structural design that can realize up-and-down swinging or up-and-down movement or both up-and-down swinging and up-and-down movement, enabling users to receive more comprehensive balance training.

[0037] In an optional embodiment of this utility model, the motion platform further includes a controller. In a specific implementation, the controller can be a microcontroller or a PLC. The signal input terminal of the controller is communicatively connected to the detection mechanism, and the signal output terminal of the controller is communicatively connected to the fluid regulating mechanism 400. The controller is configured to generate a control signal to trigger the action of the fluid regulating mechanism 400 based on the received motion information of the motion platform 200 and the force value of the fluid medium storage device, so as to regulate the stiffness and / or damping of the fluid medium storage device, so that the force value of the fluid medium storage device tends to a preset value and / or the motion state of the motion platform 200 tends to a preset state.

[0038] The controller enables the motion platform to provide both active and passive training for users. When the user is in good health, they can adjust their posture, force magnitude, and direction based on detected force values ​​and motion state parameters to bring the force and / or motion state closer to preset values ​​and / or states. Furthermore, when the motion parameter sensor 520 detects that the swing angle, angular velocity, etc., are too small, it can determine that the current balance training mode is too simple for the user. This can generate a control signal to trigger the fluid adjustment mechanism 400, allowing the fluid medium storage device to have lower stiffness, lower damping, or variable stiffness and damping to simulate specific life scenarios (such as decks, mountain roads, soft ground, ocean waves, etc.) to increase the difficulty of balance training and help users better train their balance abilities. When the user is a stroke patient, the controller can generate a control signal to trigger the fluid regulation mechanism 400 based on the detected force and posture, adjusting the stiffness and / or damping of the fluid medium storage device to make the motion state of the moving platform 200 tend to a preset state, allowing the user to passively perform balance training on the moving platform 200 in the preset state. In addition, to enhance the safety of the motion platform, a maximum safe swing angle threshold for the moving platform 200 can be set in the controller. Once the motion parameter sensor 520 detects that the swing angle of the moving platform 200 exceeds the maximum safe swing angle threshold, it sends a control signal to the fluid regulation mechanism to increase the stiffness and damping of the fluid medium storage device, preventing dangerous accidents such as falls. Therefore, the controller can adjust the stiffness and / or damping of the fluid medium storage device more intelligently and specifically.

[0039] In an optional embodiment of this utility model, please refer to Figure 2 , Figure 4 , Figure 5 The fluid medium storage device includes a first bladder 310 and / or a second bladder 320. The fluid regulating mechanism 400 can adjust the stiffness of the first bladder 310 and / or the damping of the second bladder 320. In a specific embodiment, the first bladder 310 and the second bladder 320 can be as follows: Figure 5 The entire cyst shown can also be Figure 2 , Figure 4 The device shown consists of multiple independent sub-capsules. The first capsule 310 mainly controls the safety of the motion platform by adjusting its stiffness. The higher the stiffness, the higher the safety. The second capsule 320 mainly simulates road conditions in real-world scenarios by simulating damping. The first capsule 310 and the second capsule 320 can be arranged in different combinations to simulate richer and more realistic balance training scenarios.

[0040] In an optional embodiment of this utility model, please refer to Figures 2-5Because the viscosity and incompressibility of liquid media give them good damping characteristics, while the compressibility of gaseous media gives them good stiffness characteristics, the fluid regulating mechanism 400 adjusts the stiffness of the first bladder 310 by pumping different amounts of gas and / or liquid media into the first bladder 310 to create different internal pressures. The fluid regulating mechanism 400 also adjusts the damping of the second bladder 320 by controlling the flow rate of liquid media flowing into and out of the second bladder 320 by adjusting the opening of the regulating valve 420. The stiffness of the first bladder 310 can be calculated from the force value of the first force sensor assembly 510 and the compression of the first bladder 310 obtained from the tilt angle of the motion parameter sensor 520. The damping of the second bladder 320 can be obtained from the force value of the first force sensor assembly 510 and the angular velocity information of the motion parameter sensor. Therefore, the real-time stiffness and damping of the first bladder 310 and the second bladder 320 can be obtained.

[0041] In a specific embodiment, it can be as follows: Figure 2 As shown, multiple sets of bladders are evenly spaced within the gap between the moving platform 200 and the stationary platform 100. Each set of bladders includes a first bladder 310 and a second bladder 320 arranged laterally side by side. The pipeline 410 mainly includes a first main pipeline 411 and a second main pipeline 412 stacked vertically and annularly around the base, which are connected to the fluid drive element through a shut-off valve 430. The first main pipeline 411 is connected to multiple first branch pipelines 413 that are connected to the first bladder 310 through a regulating valve 420. The second main pipeline 412 is connected to multiple branch pipelines 413 that are connected to the second bladder 320 through a regulating valve 420. The second branch pipe 414 is connected to the first main pipe 411 and the second main pipe 412. The first bladder 310 is located in the area below the edge of the moving platform 200, and the second bladder 320 is located in the area below the center of the moving platform 200. The shut-off valve 430 can control the flow of fluid medium in the entire pipeline, including the first main pipe 411 and the second main pipe 412. The regulating valve 420 allows the stiffness and damping of each first bladder 310 and the second bladder 320 to be controlled individually. In a specific embodiment, a fluid drive component can also be provided for each individual first bladder 310 and the second bladder 320 to achieve more flexible adjustment.

[0042] The first capsule 310, located in the lower region below the edge of the moving platform 200, can provide better support stability for the moving platform and reduce the risk of the moving platform 200 tipping over. It is more suitable for people undergoing stroke rehabilitation. In the initial training, the first capsule 310 can be adjusted to uniform stiffness, and the second capsule 320, located in the lower region closer to the center of the moving platform 200, can be adjusted to a high-damping state to provide stable support for the user. In the recovery training, the first capsule 310 can be adjusted to asymmetrical stiffness, and the second capsule 320 can be adjusted to a low-damping state to increase the training difficulty.

[0043] In specific embodiments, it is also possible to... Figure 4 As shown, the first bladder 310 and the second bladder 320 are arranged at intervals around the base to simulate road conditions that require greater balance. For example, by adjusting the first bladder 310 to low stiffness and the adjacent second bladder 320 to high damping, the road conditions of mottled road surfaces can be simulated.

[0044] In an optional embodiment of this utility model, please refer to Figure 6 The fluid medium storage device is an integrated stiffness and damping regulating bladder 330. The fluid regulating mechanism 400 pumps different filling volumes of liquid medium or liquid-gas mixture into the bladder 330 to create different internal pressures, thereby regulating the stiffness of the bladder 330. Simultaneously, the fluid regulating mechanism 400 can control the flow rate of the liquid medium or liquid-gas mixture into and out of the bladder 330 by adjusting the opening of the regulating valve 420, thereby regulating the damping of the bladder 330. This embodiment's pipe structure and... Figure 2 Similar to the pipeline structure in the example, this arrangement is simpler and can reduce manufacturing costs. In addition, the stiffness and damping integrated adjustment bladder 330 can simultaneously adjust stiffness and damping, which also meets the requirements for simulating multiple road conditions.

[0045] Compared with traditional damping adjustment structures, the bladder structure proposed in this invention has the advantages of simple installation, large support area, and low overall height.

[0046] In an optional embodiment of this utility model, please refer to Figure 1 , Figure 12 The detection mechanism further includes a second force sensor assembly 530, which can detect the force value and force center position applied by the user's feet to the moving platform 200. In a specific embodiment, the second force sensor assembly 530 can be configured as a single force measuring plate that can hold both of the user's feet, simultaneously determining the force value and force center position applied by the user's feet to the moving platform 200; alternatively, the second force sensor assembly 530 can be configured as including two sets of plantar sensor assemblies that can separately detect the force value applied by each of the user's feet to the moving platform 200, and simultaneously determine the force value and force center position of each of the user's feet; furthermore, the second force sensor assembly 530 can be configured as including two sets of plantar sensor assemblies that can separately detect the force value applied by each of the user's feet to the moving platform 200, and the plantar sensor assemblies can be partitioned according to requirements, such as... Figure 11As shown, the system is divided into a heel sensor 531 and a forefoot sensor 532. Further finer divisions are possible to more precisely measure the force values ​​and the position of the force center point at different parts of the foot. This exercise platform can replace a balance ball, providing comprehensive training for the user's balance ability. Simultaneously, based on the collected force values ​​and the position of the force center point, it provides a more accurate and comprehensive assessment of the user's balance ability through quantified parameter indicators.

[0047] In an optional embodiment of this utility model, the controller is configured to generate a control signal that triggers the action of the fluid adjustment mechanism 400 based on the received force value of the fluid medium storage device, the motion information of the moving platform 200, the force value applied by the foot to the moving platform 200, and the position of the force center. This signal is used to regulate the stiffness and / or damping of the fluid medium storage device, so that the force value of the fluid medium storage device and / or the force value applied by the foot to the moving platform 200 tends to a preset value and / or the motion state of the moving platform 200 tends to a preset state. This provides the controller with multi-fusion information parameter input, enabling the controller to generate more accurate control signals that meet the needs of balance training, thereby improving the balance training effect.

[0048] In an optional embodiment of this utility model, the fluid medium storage device is as follows: Figure 5 As shown, a set of annular bladders or similar structures are disposed within the gap between the moving platform and the stationary platform. Figure 2 , Figure 4 The diagram shows multiple groups of cysts spaced evenly apart, each group consisting of a single cyst or as shown in the diagram. Figure 2 , Figure 4 The diagram shows multiple cysts arranged side-by-side, each cyst comprising a single cyst unit or as shown. Figure 2 , Figure 4 The multiple vertically stacked capsule units shown in the diagram ensure that even if one capsule unit is damaged, the others can still function normally, thus improving the reliability and safety of the motion platform.

[0049] In an optional embodiment of this utility model, the first force sensor assembly 510 is installed between the bladder and the static platform 100, or as follows: Figure 1 , Figure 11As shown, the force sensor assembly 510 is installed between the bladder and the moving platform 200 or between stacked bladder units. In a specific embodiment, a bladder connecting plate 830 can be fixedly connected to the top of the bladder. The bottom ends of each sensor in the first force sensor assembly 510 are fixedly connected to the bladder connecting plate 830, and the top ends are connected to the slide plate 820. The top end of the slide plate holder 810 is fixedly connected to the bottom surface of the moving platform 200. The bottom end of the slide plate holder 810 has a groove in which the slide plate 820 can be embedded and slid. The above structural design enables each sensor in the first force sensor assembly 510 to accurately measure the force on the bladder connected to it. On the other hand, it also enables a sliding connection between the moving platform 200 and the bladder, which can minimize the bending deformation of the bladder during the swinging of the moving platform 200 and the resulting fatigue damage, effectively improving the service life of the bladder.

[0050] In an optional embodiment of this utility model, please refer to Figure 7 The fluid medium storage device comprises a first fluid cylinder 910 and a second fluid cylinder 920, each with a cavity and a telescopic rod communicating with the cavity, uniformly spaced within the gap between the moving platform 200 and the stationary platform 100. The two ends of the first fluid cylinder 910 and the second fluid cylinder 920 are telescopically hinged to the bottom surface of the moving platform 200 and the top surface of the stationary platform 100. In a specific embodiment, a ball joint hinge may be used. The fluid regulating mechanism adjusts the stiffness of the first fluid cylinder 910 by pumping different amounts of gas and / or liquid medium into the cavity. The fluid regulating mechanism adjusts the damping by controlling the flow rate of the liquid medium flowing into and out of the cavity of the second fluid cylinder 920 by adjusting the opening of the regulating valve 420. A rigid shell that does not deform itself is used to more precisely adjust the stiffness and / or damping of the moving platform. In a specific embodiment, the first fluid cylinder 910 may use a stiffness-adjustable pneumatic spring, and the second fluid cylinder 920 may use a damper with adjustable damping.

[0051] In an optional embodiment of this utility model, the fluid drive element includes a hydraulic pump connected to a liquid fluid source and / or an air pump connected to a gaseous fluid source. In a specific embodiment, the liquid fluid source can be a storage tank 460, and the gaseous fluid source can be air from the atmosphere. To ensure that the air pump 450 works reliably, a purifier 470 for filtering moisture and other impurities in the air can also be connected to the air pump 450.

[0052] In an optional embodiment of this utility model, the motion platform further includes a safety component, which includes a pressure relief valve disposed on the bladder and / or an overflow circuit pipe connected to the bladder. In a specific embodiment, a pressure relief valve can be disposed on the first bladder 310 and an overflow circuit pipe can be disposed on the second bladder 320 to deal with sudden accidents or malfunctions. For example, when the user applies a severe imbalance to the bladder with an impact load, or when the solenoid valve fails to work properly due to power failure, the first bladder 310 can release gas through the pressure relief valve to relieve pressure, and the second bladder 320 can discharge excess liquid through the overflow circuit pipe to avoid dangerous accidents such as bladder rupture and improve the safety of the motion platform.

[0053] By pumping fluid into and / or discharging fluid into the fluid medium storage device, the moving platform 200 is driven to swing and / or move up and down, thereby enabling passive training of humans.

[0054] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A motion platform, characterized by include: Static platform; A movable platform for supporting a user, wherein the movable platform is movably connected to the static platform so that the movable platform can swing up and down and / or move up and down relative to the static platform; A fluid medium storage device, wherein the fluid medium storage device is disposed between the moving platform and the stationary platform; A fluid regulating mechanism for adjusting the stiffness and / or damping of the fluid medium storage device, the fluid regulating mechanism including a pipe, and a regulating valve and a fluid drive element disposed on the pipe, the pipe being in communication with the fluid medium storage device; The detection mechanism includes a first force sensor assembly configured to detect the force value applied to the fluid medium storage device, and a motion parameter sensor mounted on the moving platform for detecting motion information of the moving platform.

2. The motion platform of claim 1, wherein, It also includes a controller, whose signal input terminal is communicatively connected to the detection mechanism, and whose signal output terminal is communicatively connected to the fluid regulation mechanism. The controller is configured to generate a control signal that triggers the action of the fluid regulation mechanism based on the received motion information of the moving platform and the force value of the fluid medium storage device, so as to adjust the stiffness and / or damping of the fluid medium storage device, so that the force value of the fluid medium storage device tends to a preset value and / or the motion state of the moving platform tends to a preset state.

3. The motion platform of claim 1, wherein, The fluid medium storage device includes a first bladder and / or a second bladder, and the fluid regulation mechanism is capable of regulating the stiffness of the first bladder and / or the damping of the second bladder.

4. The motion platform according to claim 3, characterized in that, The fluid regulation mechanism adjusts the stiffness of the first bladder by pumping different amounts of gas and / or liquid media into it to create different internal pressures; the fluid regulation mechanism also adjusts the damping of the second bladder by controlling the flow rate of the liquid media flowing into and out of it by adjusting the opening of the regulating valve.

5. The motion platform according to claim 3, characterized in that, The fluid regulation mechanism adjusts the stiffness of the first bladder by pumping different amounts of gas and / or liquid media into it to create different internal pressures; the fluid regulation mechanism also adjusts the damping of the second bladder by controlling the flow rate of the liquid media flowing into and out of it by adjusting the opening of the regulating valve.

6. The motion platform of claim 1 or 2, wherein, The detection mechanism also includes a second force sensor assembly, which can detect the force value and force center position applied by the user's foot to the moving platform.

7. The motion platform according to claim 6, characterized in that, The controller is configured to generate a control signal that triggers the action of the fluid regulating mechanism based on the received force value of the fluid medium storage device, the motion information of the moving platform, the force value applied by the foot to the moving platform, and the position of the force center, so as to adjust the stiffness and / or damping of the fluid medium storage device, so that the force value of the fluid medium storage device and / or the force value applied by the foot to the moving platform tends to a preset value and / or the motion state of the moving platform tends to a preset state.

8. The motion platform of claim 1, wherein, The fluid medium storage device is a set of annular bladders or multiple sets of bladders evenly spaced apart, disposed in the gap between the moving platform and the stationary platform. Each set of bladders is a single bladder or multiple bladders arranged in parallel. Each bladder includes a single bladder unit or multiple bladder units stacked vertically.

9. The motion platform according to claim 8, characterized in that, The first force sensor assembly is installed between the capsule and the static platform, or between the capsule and the moving platform, or between stacked capsule units.

10. The motion platform of claim 1, wherein, The fluid medium storage device comprises a first fluid cylinder and a second fluid cylinder, which are uniformly spaced within the gap between the moving platform and the stationary platform and have cavities and telescopic rods connected to the cavities. The two ends of the first fluid cylinder and the second fluid cylinder are telescopically hinged to the bottom surface of the moving platform and the top surface of the stationary platform. The fluid adjustment mechanism adjusts its stiffness by pumping different amounts of gas and / or liquid medium into the cavity of the first fluid cylinder. The fluid regulating mechanism adjusts its damping by controlling the flow rate of the liquid medium flowing into and out of the cavity of the second fluid cylinder by regulating the opening degree of the regulating valve.

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