CN112915511B - Sitting type cross-country skiing skill testing and simulation training platform for disabled people - Google Patents
Sitting type cross-country skiing skill testing and simulation training platform for disabled people Download PDFInfo
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- A—HUMAN NECESSITIES
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- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/18—Training appliances or apparatus for special sports for skiing
- A63B69/182—Training appliances or apparatus for special sports for skiing for cross-country-skiing
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0084—Exercising apparatus with means for competitions, e.g. virtual races
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
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Abstract
The invention provides a sitting type cross-country skiing skill testing and simulation training platform for disabled people, which comprises two sub-platforms, a cushion platform fixed between the two sub-platforms, a skiing chair positioned on the cushion platform and an electric control system; the sub-platform comprises a pneumatic control system and a wireless three-dimensional force measuring platform; the pneumatic control systems respectively comprise a mechanical rodless cylinder, an air source unit and a backpressure control module, the mechanical rodless cylinder is used as a slideway of the platform, and a piston of the mechanical rodless cylinder reciprocates along the axial direction of a cylinder cavity to simulate the relative motion between a human body and a stay bar falling point in the skiing process; the wireless three-dimensional force measuring platform is arranged at the top of the mechanical rodless cylinder and used for collecting acting forces of the ski stick and the wireless three-dimensional force measuring platform when the ski stick is in contact with the top of the wireless three-dimensional force measuring platform. The invention applies pneumatic transmission to cross-country skiing simulation, realizes quick and automatic return of the piston through pneumatic driving, and the ski pole can be freely lifted up to carry out normal skiing and pole transporting, thereby realizing the whole process simulation of sitting posture cross-country skiing action.
Description
Technical Field
The invention relates to the technical field of skiing training equipment, in particular to a sitting type cross-country skiing skill testing and simulation training platform for disabled people.
Background
The disabled person sitting type cross-country skiing is a snowing project of disabled persons with extremely high physical requirements on Olympic games, and is known as 'snowing marathon'. Sitting skiing requires equipping a pair of skis with a sitting ski on which the disabled person rides to prop up the pole. However, the sitting cross-country skiing sport for the disabled in China starts late and develops slowly, and has a larger gap compared with that in European countries.
The most common cross-country skiing training method in non-snowy seasons at present is that disabled athletes sit on a skiing device with a pulley plate arranged under the skiing device, and simulate cross-country skiing technical actions on outdoor asphalt roads. However, ski poles on hard asphalt roads can put unnecessary stress on the back, shoulders and arms, and even can cause muscle damage. In addition, outdoor temperature is high and air humidity is high in summer, and disabled athletes can easily get heatstroke when training under the sun for a long time. When meeting heavy rain weather, outdoor cross-country skiing simulation training can not be normally carried out, and the training progress is influenced.
In the outdoor training process of sitting cross-country skiing of disabled people, the monitoring of data such as the heart rate, the oxygen consumption, the three-dimensional strut force, the technical action of athletes is difficult, and the workload of scientific research personnel is huge. Meanwhile, due to the interference of external environmental factors, the stability of the monitored cross-country skiing related movement data is poor. These problems have led to less theoretical research on the seated cross-country skiing activities of the disabled in our country, and it is difficult for coaches to develop personalized skill strengthening training solutions for each disabled athlete based on comprehensive and reliable training data.
In order to enable the sitting cross-country skiing simulation training of the disabled to be not limited by seasons and site factors any longer and to monitor training data of the disabled, an indoor training test device for the sitting cross-country skiing athlete is urgently needed.
The training device for simulating cross-country skiing, such as that disclosed in US8986167 (published as 2015.03.24), can simulate the pole of cross-country skiing well, but it cannot simulate the whole process of cross-country skiing because the pole cannot be lifted from the rail during the training process. Meanwhile, the device can only monitor the force data of the stay bar along the direction of the guide rail, but cannot realize the comprehensive monitoring of the three-dimensional force data of the stay bar.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a sitting type cross-country skiing skill testing and simulation training platform for disabled people, which can realize the simulation training of the actions of indoor cross-country skiing support rods and the real-time monitoring of motion data, thereby improving the competitive level of sitting type cross-country skiing athletes for disabled people in China and perfecting the scientific research theory system of sitting type cross-country skiing sports for disabled people in China.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a disabled person sitting type cross-country skiing skill testing and simulation training platform which is characterized by comprising two sets of mutually symmetrical and mutually independently controlled sub-platforms, a cushion platform fixed between the two sub-platforms, a skiing chair arranged on the cushion platform and an electric control system, wherein the two sets of sub-platforms are connected with the electric control system through a connecting wire; each sub-platform comprises a pneumatic control system and a wireless three-dimensional force measuring platform;
the pneumatic control system comprises a mechanical rodless cylinder, an air source unit and a backpressure control module; the mechanical rodless cylinder is used as a slideway of the standing cross-country skiing skill testing and simulation training platform, and the piston of the mechanical rodless cylinder reciprocates along the axial direction of a cylinder cavity to simulate the relative motion between a human body and a stay bar falling point in the skiing process; the backpressure control module comprises a second filter, an electric control proportional valve, a pneumatic control backpressure valve and a pressure sensor which are sequentially connected through a pipeline; the rear end cover of the mechanical rodless cylinder is provided with three air ports, and the front end cover of the mechanical rodless cylinder is provided with one air port; the air outlet of the air source unit forms a main branch through a pipeline which is sequentially provided with a T-shaped three-way joint, a pressure reducing valve and a three-position five-way electromagnetic valve, the main branch forms a front cavity air supply/exhaust branch and a rear cavity air supply branch after passing through the three-position five-way electromagnetic valve and is respectively communicated with a fourth air port and a first air port of the mechanical rodless cylinder, a pressure regulating valve is arranged on the front cavity air supply/exhaust branch, and a one-way valve and a throttle valve are arranged on the rear cavity air supply branch; a back pressure control branch communicated with a second air port of the mechanical rodless cylinder is formed at the air outlet of the air source unit after passing through the T-shaped three-way joint, and the back pressure control module is arranged on the back pressure control branch; the third air port of the mechanical rodless cylinder is communicated with a quick exhaust branch; the quick exhaust branch is provided with a two-position two-way electromagnetic valve; the side wall of the mechanical rodless cylinder is provided with a plurality of magnetic switches along the axial direction of the cylinder, and the electric control system detects the position of the piston in the mechanical rodless cylinder through the signal change when the magnetic ring of the piston of the mechanical rodless cylinder is in contact with and disconnected with each magnetic switch so as to control the actions of the electric control proportional valve, the three-position five-way electromagnetic valve and the two-position two-way electromagnetic valve;
the wireless three-dimensional force measuring platform is arranged at the top of the mechanical rodless cylinder through a linear reciprocating mechanism; the linear reciprocating mechanism comprises a linear slide rail fixed at the top of the mechanical rodless cylinder, a guide rail slide block reciprocating along the linear slide rail, and a mounting frame respectively connected with the guide rail slide block and a piston of the mechanical rodless cylinder; the wireless three-dimensional force measuring platform comprises a three-dimensional force sensor and a wireless amplifier which are fixed on the mounting frame, a stress plate fixed on the upper surface of the three-dimensional force sensor and a snow simulation pad covering the stress plate, and the three-dimensional force sensor transmits acquired three-dimensional force data to the electric control system through the wireless amplifier.
Compared with the prior art, the invention has the following characteristics and beneficial effects:
the invention can ensure that the sitting posture cross-country skiing simulation training is not limited by seasons and site factors any more, expand the sitting posture cross-country skiing simulation training site from outdoor to indoor, and simultaneously can avoid the injury of the outdoor sitting posture cross-country skiing simulation training to the body of the athlete to a certain extent.
The invention is driven by air pressure, has the advantages of rapid action, rapid response, convenient adjustment and the like, and can drive the sliding block to realize rapid automatic return. Meanwhile, in the return process of the sliding block, the ski pole can be freely lifted to carry out normal skiing and pole transporting, so that the problem that the ski pole of the existing sliding rail pull rope type cross-country skiing simulator cannot be lifted normally is solved, the whole-process simulation of sitting posture cross-country skiing actions is realized, and more real sitting posture cross-country skiing feeling is provided for a user.
In addition, the invention can also monitor and store the strut three-dimensional force at two sides of the user when the user carries out sitting cross-country skiing simulation training in real time, and the data can be used for analyzing the motion data of the user to obtain the strut skill parameters of the user, such as the magnitude of the strut force, the asymmetry of the left and right strut force, the strut rhythm and the like, so as to quantify the cross-country skiing strut capability level of the user.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a seated cross-country skiing skill testing and simulation training platform for the disabled according to an embodiment of the invention;
FIG. 2 is a side view of a single sub-platform of FIG. 1;
FIGS. 3 and 4 are pneumatic schematic diagrams of the cylinder control system of a single sub-platform;
FIG. 5 is a schematic view of a wireless three-dimensional force-measuring platform of the present kit;
FIG. 6 is a flow chart of a wireless three-dimensional force platform for monitoring the strut force of an athlete;
figure 7 is a schematic view of the struts of a disabled seated cross country skier on the platform.
In the figure: 10-rear bottom plate, 20-middle bottom plate, 30-front bottom plate, 40-mechanical rodless cylinder, 41-mounting frame, 42-stop block, 43-linear guide rail, 44-guide rail slide block, 45-first electromagnetic switch, 46-second electromagnetic switch, 47-third electromagnetic switch, 48-fourth electromagnetic switch, 50-pad table, 60-ski chair, 70-front side support piece, 80-hydraulic buffer, 90-wireless three-dimensional force measuring platform, 91, snow simulation pad, 92-stress plate, 93, three-dimensional force sensor, 94-wireless amplifier, 100-pneumatic control unit, 110-rear side support piece, 120-shock absorber, 130-shock absorber support, 140-air source unit, 141-air source, 142-air storage tank, 143-cold dryer, 144-first filter, 150-backpressure control module, 151-second filter, 152-electric control proportional valve, 153-pneumatic control backpressure valve, 154-pressure sensor, 161-T type three-way joint, 162-pressure reducing valve, 163-three-position five-way electromagnetic valve, 170-front cavity air supply/exhaust branch, 171-pressure regulating valve, 180-rear cavity air supply branch, 181-one-way valve, 182-throttle valve, 190-quick exhaust branch, 191-two-position two-way electromagnetic valve and 192-silencer.
Detailed Description
The following describes in detail a seated cross-country skiing skill testing and simulated training platform for disabled persons in accordance with the present invention with reference to the accompanying drawings and examples.
The platform for testing and simulating the skills of disabled people in sitting-type cross-country skiing comprises two sets of sub-platforms which are symmetrical and independently controlled, a pad platform 50 fixed between the two sub-platforms, a skiing chair 60 fixed on the pad platform 50 and an electric control system (the electric control system is not shown in the figure) electrically connected with the two sub-platforms. The sub-platforms have the same structure, and one of the sub-platforms is taken as an example for explanation.
Referring to fig. 1-5, the sub-platform includes a pneumatic control system and a wireless three-dimensional force measuring platform 90. Wherein,
the pneumatic control system comprises a mechanical rodless cylinder 40, an air source unit 140 and a backpressure control module 150; the mechanical rodless cylinder 40 is used as a slideway of the platform, the piston of the mechanical rodless cylinder 40 reciprocates along the axial direction of a cylinder cavity to simulate the relative motion between a human body and a stay bar falling point in the skiing process, and in an initial state, the slide block and the piston of the mechanical rodless cylinder 40 are positioned at the front end position of the stroke of the mechanical rodless cylinder 40, and in the previous moment of return stroke, the slide block and the piston of the mechanical rodless cylinder 40 are positioned at the tail end position of the stay bar stroke of the mechanical rodless cylinder 40; the backpressure control module 150 comprises a second filter 151, an electronic control proportional valve 152, an air control backpressure valve 153 and a pressure sensor 154 which are sequentially connected through pipelines. Four air ports are arranged on the front end cover and the rear end cover of the mechanical rodless cylinder 40, a first air port to a third air port (a, b and c) are all positioned on the rear cavity end cover of the mechanical rodless cylinder 40, and a fourth air port d is positioned on the front cavity end cover of the mechanical rodless cylinder 40. The air outlet of the air source unit 140 forms a main branch through a pipeline which is sequentially provided with a T-shaped three-way joint 161, a pressure reducing valve 162 and a three-position five-way electromagnetic valve 163, the main branch is communicated with a fourth air port d and a first air port a of the mechanical rodless cylinder 40 respectively through a front cavity air supply/exhaust branch 170 and a rear cavity air supply branch 180 which are formed after the three-position five-way electromagnetic valve 163, a pressure regulating valve 171 is arranged on the front cavity air supply/exhaust branch 170, and a one-way valve 181 and a throttle valve 182 are arranged on the rear cavity air supply branch 180; a back pressure control branch communicated with a second air port b of the mechanical rodless cylinder 40 is formed at the air outlet of the air source unit 140 after passing through the T-shaped three-way joint 161, and the back pressure control module 150 is arranged on the back pressure control branch; the third port c of the mechanical rodless cylinder 40 is communicated with a fast exhaust branch 190, and a two-position two-way electromagnetic valve 191 is arranged in the fast exhaust branch 190. The side wall of the mechanical rodless cylinder 40 is provided with a plurality of magnetic switches along the axial direction of the cylinder, and the electric control system detects the position of the piston in the mechanical rodless cylinder 40 through the signal change when the magnetic ring of the piston of the mechanical rodless cylinder 40 is in contact with and disconnected with each magnetic switch so as to control the actions of the electric control proportional valve 152, the three-position five-way electromagnetic valve 163 and the two-position two-way electromagnetic valve 191.
Referring to fig. 5, a wireless three-dimensional force measuring platform 90 is disposed on top of the mechanical rodless cylinder 40 through a linear reciprocating mechanism. The linear reciprocating mechanism comprises a linear slide rail 43 fixed at the top of the mechanical rodless cylinder 40, a guide rail slide block 44 reciprocating along the linear slide rail 43 and a mounting frame 41 respectively connected with the guide rail slide block 44 and the piston of the mechanical rodless cylinder 40, the wireless three-dimensional force measuring platform is fixed on the mounting frame 41, and the guide rail slide block 44, the mounting frame 41 and the piston in the mechanical rodless cylinder are linked; a stopper 42 is further provided at one side of the mounting bracket 41 to limit the moving stroke of the rail slider 44 in cooperation with a damper 120 of a mechanical rodless cylinder. The wireless three-dimensional force-measuring platform 90 comprises a three-dimensional force sensor 93 and a wireless amplifier 94 fixed on the mounting frame 41, a stress plate 92 fixed on the upper surface of the three-dimensional force sensor 93, and a snow simulation mat 91 covered on the stress plate 92. When the ski pole generates acting force on the snow simulation mat 91, the acting force is transmitted by the stress plate 92, collected by the three-dimensional force sensor 93 and transmitted to the electronic control system through the wireless amplifier 94, and can be used for analyzing the force application state of the skier.
The specific implementation modes and functions of the components in the embodiment of the invention are respectively described as follows:
the mechanical rodless cylinder 40 is used as a slideway of the platform, so that a piston and a slide block of the mechanical rodless cylinder 40 can reciprocate along the axial direction of a cylinder cavity. In order to ensure the stability of the mechanical rodless cylinder 40 during the testing and training process, a bottom plate is arranged between the mechanical rodless cylinder 40 and the ground, and the front end and the rear end of the mechanical rodless cylinder 40 are fixedly connected with the bottom plate through a front side support 70 and a rear side support 110 respectively. Front side support 70 and back side support 110 all adopt the better steel sheet of intensity, and have set up the strengthening rib, still are used for preventing to take place to warp under the impact of mounting bracket 41 process and return braking when guaranteeing mechanical type rodless cylinder 40 and bottom plate joint strength, influence life. The bottom plate is formed by splicing a rear bottom plate 10, a middle bottom plate 20 and a front bottom plate 30, and two adjacent bottom plates are connected through bolts so that workers can conveniently disassemble, assemble and transport the bottom plates.
The air source unit 140 includes an air source 141, an air storage tank 142, a freeze dryer 143, and a first filter 144, which are connected in sequence. The air source 141 is a low noise screw air compressor for supplying air of a certain pressure to the front chamber air supply/exhaust branch 170, the rear chamber air supply branch 180 and the back pressure control branch to drive the operation of the apparatus. The gas storage tank 142 is installed on a pipeline behind the gas source 141, and pressure pulsation caused by discontinuous operation of the gas source 141 (air compressor) can be reduced by using the gas storage tank 142, so that sufficient and stable gas supply is ensured. Optionally, a gas pressure gauge is installed on the gas tank 142 for displaying the pressure of the gas stored in the gas tank 142. The cooling dryer 143 is installed on a pipeline behind the gas storage tank 142, and the cooling dryer 143 cools and dries the gas supplied to the subsequent branch to extend the service life of each pneumatic component. A first filter 144 is installed on the pipeline after the freeze dryer 143, and the first filter 144 is used to ensure the cleanness of the gas supplied into the subsequent branch to prevent the gas path from being blocked by impurities in the gas.
In the main branch, the air outlet of the air source unit 140, i.e., the air outlet of the first filter 144, passes through the T-shaped three-way joint 161, and then passes through the pressure reducing valve 162 to stabilize the pressure of the air source in the main branch, so that the air source is in a constant state, the damage to the pneumatic components due to sudden change of the air pressure of the air source is reduced, and then the air source is communicated with the air inlet of the three-position five-way solenoid valve 163. The three-position five-way solenoid valve 163 has two working ports, the first working port is communicated with the air inlet of the rear cavity air supply branch 180, the second working port is communicated with one end of the front cavity air supply/exhaust branch 170, the air in the front cavity of the mechanical rodless cylinder 40 can be exhausted through the front cavity air supply/exhaust branch 170 connected with the fourth air port d through the air outlet of the three-position five-way solenoid valve 163, and in order to reduce the noise during the exhaust, a silencer is arranged at the air outlet of the three-position five-way solenoid valve 163.
In the rear chamber air supply branch 180, the air delivered through the first working port of the three-position five-way solenoid valve 163 passes through the check valve 181 and the throttle valve 182 in order and then flows into the first port a of the mechanical rodless cylinder 40. The check valve 181 is used to prevent the gas in the cylinder rear chamber from being exhausted through the three-position five-way solenoid valve 163, i.e., the first port a is used only as an intake port. The speed of the return stroke action of the piston and the sliding table in the mechanical rodless cylinder is adjusted by adjusting the pressure of gas in the rear cavity of the cylinder through the throttle valve 182.
In the front cavity air supply/exhaust branch 170, two ends of the branch are respectively communicated with the second working port of the three-position five-way solenoid valve 163 and the fourth air port d of the mechanical rodless cylinder 40, the pressure regulating valve 171 on the front cavity air supply/exhaust branch 170 is used for regulating the air pressure supplied to the front cavity of the cylinder, and different air pressures in the front cavity of the cylinder respectively correspond to different strut resistance levels. In the process, the front cavity air supply/exhaust branch 170 supplies air to the mechanical rodless cylinder 40 through the fourth air port d, and in the return stroke, the front cavity air supply/exhaust branch 170 exhausts the air in the front cavity of the mechanical rodless cylinder 40 through the fourth air port, and the exhausted air is finally exhausted through the exhaust port of the three-position five-way electromagnetic valve 163.
In the backpressure control branch, the backpressure control module 150 includes a second filter 151, an electrically controlled proportional valve 152, an pneumatically controlled backpressure valve 153, and a pressure sensor 154, which are sequentially connected through a pipe. An air inlet of the second filter 151 is communicated with an air outlet of the air source unit 140 through a T-shaped three-way joint 161, an air outlet of the second filter 151 is communicated with an air inlet of the electronic control proportional valve 152, an air outlet of the electronic control proportional valve 152 is communicated with a first air inlet of the pneumatic control backpressure valve 153, a second air inlet of the pneumatic control backpressure valve 153 is communicated with a second air port b of the mechanical rodless cylinder 40 after passing through the pressure sensor 154, and the pipe diameter of a pipeline in the backpressure control branch is smaller than that of a pipeline in the main branch (in the embodiment, the pipe diameter of an air pipe communicated with an air path element in the backpressure control branch is 4mm, and the pipe diameter of the main air path is 12 mm). The second filter 151 serves to ensure cleanliness of the gas supplied to the electrically controlled proportional valve 152 to prevent impurities in the gas from causing clogging and damage to the electrically controlled proportional valve 152. The electric control proportional valve 152 takes an electric signal sent by an electric control system as a control signal, and is used for controlling the back pressure set value of the pneumatic control back pressure valve 153. The pneumatic control back pressure valve 153 is used for adjusting the air pressure of the rear cavity of the mechanical rodless cylinder 40, and when the air pressure in the rear cavity of the mechanical rodless cylinder 40 is greater than a back pressure set value, redundant air in the rear cavity of the mechanical rodless cylinder 40 can be discharged from an air outlet of the pneumatic control back pressure valve 153 through a second air port b; when the gas pressure in the rear cavity of the mechanical rodless cylinder 40 is less than or equal to the set back pressure value, the second air port b does not exhaust, and a pressure build-up is formed in the rear cavity of the mechanical rodless cylinder 40. The pressure sensor 154 is used for monitoring the back pressure value in the back cavity of the mechanical rodless cylinder 40 (i.e. the air pressure in the back cavity of the mechanical rodless cylinder 40) in real time, so that the staff can conveniently debug the back pressure change of the back cavity of the mechanical rodless cylinder 40.
The rapid exhaust branch 50 is provided with a two-position two-way solenoid valve 191 and a silencer 192, an air inlet of the two-position two-way solenoid valve 191 is communicated with a third air port c of the mechanical rodless cylinder 40, and the silencer 192 is arranged at an air outlet of the two-position two-way solenoid valve 191. When the air pressure in the rear cavity of the mechanical rodless cylinder 40 needs to be decreased rapidly (for example, when the piston and the slide block reach a certain position and the simulated strut resistance needs to be decreased rapidly in the strut, the air pressure in the rear cavity of the cylinder needs to be adjusted to decrease rapidly, and the air outlet of the pneumatic control back pressure valve 153 has a slow exhaust speed), the two-position two-way electromagnetic valve 191 acts to exhaust all the air in the rear cavity of the mechanical rodless cylinder 40.
A first magnetic switch 45, a second magnetic switch 46, a third magnetic switch 47, a fourth magnetic switch 48 and a damper 120 are sequentially disposed from front to back on the side surface of the mechanical rodless cylinder 40, and the damper 120 is fixed by a damper support 130 mounted on the side wall of the mechanical rodless cylinder 40. The position of each magnetic switch and damper 120 on the side of the mechanical rodless cylinder 40 can be adjusted as desired. When a magnetic ring in the piston is close to the magnetic switch, contacts in the magnetic switch are closed, generated electric signals are transmitted to the electric control system, and the electric control system controls the three-position five-way electromagnetic valve 163, the electric control proportional valve 152 and the two-position two-way electromagnetic valve 191 to act according to magnetic switch signals at different positions; when the magnetic ring in the piston leaves the magnetic switch, the contact in the magnetic switch is disconnected, and the electric signal disappears. The damper 120 is used to prevent the piston and the ramp from moving backward after the strut is finished, and the position of the damper can be set according to the maximum strut stroke of cross-country skiing by a user, so that the damper has good universality. In addition, the front cavity of the mechanical rodless cylinder 40 is filled with gas with certain pressure, so that the resistance action on the piston and the sliding table during backward movement can be weakened, the control of the resistance of the support rod can be realized by changing the pressure in the front cavity of the mechanical rodless cylinder 40, and when the rod is released midway, the pressure in the front cavity of the mechanical rodless cylinder 40 can also push the sliding table to move backwards continuously to reach the tail end of the stroke.
Further, since the piston and the slide table of the mechanical rodless cylinder 40 have a fast return speed, in order to avoid damaging the front end cover of the mechanical rodless cylinder 40, a hydraulic buffer 80 is provided at the front end of the mechanical rodless cylinder 40. The hydraulic buffer 80 can absorb more than 90% of impact energy through the throttle hole, convert the impact energy into oil heat energy and dissipate the oil heat energy, so that the piston and the sliding table moving at high speed can be quickly braked and are stopped at the starting position.
The mechanical rodless cylinder 40 is provided with a linear guide rail 43, and the mounting frame 41 is connected with a guide rail slider 44 mounted on the linear guide rail 43 and used for bearing the wireless three-dimensional force measuring platform 90. The stopper 42 is installed below the mounting frame 41 and is used for contacting the shock absorber 120 after the stay bar is finished so as to make the wireless three-dimensional force measuring platform 90 static. The three-dimensional force sensor 93 is disposed above the mounting bracket 41 and is used for monitoring three-dimensional force data of the cross-country skier during pole supporting. The force-bearing plate 92 is disposed above the three-dimensional force sensor 93 for bearing the transfer strut force. Snow simulation pads 91 are provided above the force-bearing plate 92 for contact with the tips of the ski pole base. The snow simulation pad 91 is a shock absorption pad with a thickness of 10-15 mm, and a player can insert the tip of the bottom of the ski stick into the snow simulation pad 91 or pull the tip out of the snow simulation pad 91 by holding the ski stick with hands. The snow simulation mat 91 has super toughness and elasticityThe tip of the ski pole is inserted into or pulled out of the bottom tip of the ski pole, which causes less damage to the snow simulation pad 91 and can be used for a long time. When the damage of the snow simulating mat 91 is serious, the worker should replace the new one to prevent the influence on the normal use of the present invention. Because the snow simulation mat 91 has superior toughness and elasticity, the tip of the ski pole can be freely lifted and dropped from the snow simulation mat 91 by the player, so that the action on the snow of the cross-country skier can be more realistically restored. A wireless amplifier 94 is disposed on the side of the mounting frame 41 for collecting the three-dimensional force signal (F) collected by the three-dimensional force sensor 93X、FY、FZ) The cross-country ski supporting rod skill analysis method comprises the following steps of sending the cross-country ski supporting rod skill to an electronic control system in a WI-FI form for analysis and storage, and analyzing and evaluating the cross-country ski supporting rod skill of an athlete; in addition, wireless amplifier 94 is supplied power by a detachable lithium battery, and when the three-dimensional force data of the stay bar cannot be normally monitored due to insufficient power supply, the lithium battery can be directly replaced, so that the service life of the platform is prolonged, and the service life of the platform is shown in fig. 6.
Further, in order to prevent the damage of the three-dimensional force sensor 93 caused by the excessive mass of the stress plate 92 during the rapid braking of the hydraulic buffer 80, the stress plate 92 is made of aviation aluminum, and the back surface of the stress plate is provided with a plurality of reinforcing ribs. This can reduce the mass of the force-bearing plate as much as possible while ensuring the strength of the force-bearing plate 92.
The position of the cushion platform 50 fixed between the two sub-platforms can be flexibly adjusted according to the habit of a user, the ski chair 60 is arranged at the top of the cushion platform 50, an athlete sits on the ski chair 60, and the mounting surface of the ski chair 60 is slightly higher than the wireless three-dimensional force measuring platforms at two sides, so that the situation that the athlete contacts with the lower limbs of the athlete in the motion process of the platform is prevented, and the personal safety of the athlete is endangered. The bottom of the cushion table 50 is provided with a plurality of foot cups for horizontal adjustment of the cushion table 50.
In addition, the disabled seated cross-country skiers need to fix the ski chair to the platform before using the platform set to perform cross-country skiing simulation training. The disabled seated cross-country skiers can use highly specialized and personalized ski chairs and ski poles, so that the snow actions of the disabled seated cross-country skiers can be restored more truly, and the reliability of the acquired data is ensured.
Referring to FIG. 7, a disabled seated cross-country skier using the present platform for cross-country skiing simulation training first sits on the ski chair 60 of the pad 50 and performs a pole drop, i.e., the tip of a ski pole, into the snow simulation pad 91 of the wireless three-dimensional force platform 90, and then pushes the wireless three-dimensional force platform 90 and the mounting bracket 41 backward. In the strut process (performed according to (i → ii → iii) of fig. 7), the simulation of the strut resistance is realized by controlling the change of the air pressure in the cylinder cavity. When the wireless three-dimensional force measuring platform 90 reaches the end of the strut stroke, the athlete retracts the strut (the return stroke is performed according to (c → g) of fig. 7), and the tip of the ski pole disengages from the snow simulation pad 91 of the wireless three-dimensional force measuring platform 90. Meanwhile, the wireless three-dimensional force measuring platform 90 and the mounting frame 41 are quickly returned to the starting position under the action of gas pushing to prepare for entering the next brace. Specifically, the working process of the pneumatic control system of the invention is as follows:
after the pneumatic control system is powered on and ventilated, firstly, the Y1 end of the three-position five-way solenoid valve 163 is electrified, namely, the left side of the three-position five-way solenoid valve 163 is ventilated, compressed air from an air source sequentially passes through the check valve 181, the throttle valve 182 and the first air port a of the mechanical rodless cylinder 40 through a pipeline and enters the rear cavity of the cylinder, after the air pressure in the rear cavity of the cylinder rises to a required air pressure value, the Y1 end of the three-position five-way solenoid valve 163 is electrified, and the Y2 end of the three-position five-way solenoid valve 163 is electrified, namely, the right side of the three-position five-way solenoid valve 163 is ventilated, and the compressed air from the air source enters the front cavity of the cylinder through the pressure regulating valve 171, so that the front cavity of the cylinder is filled with air with certain pressure. At this time, the piston and the slider of the mechanical rodless cylinder 40 are located at the front end of the cylinder, the user strut pushes the sliding table to move backwards, when the magnetic ring in the piston is close to the position of the first magnetic switch 45, the contact in the first magnetic switch 45 is closed, the generated electric signal is sent to the electric control system, then the electric control system controls the electric control proportional valve 152 to output the air pressure value set at the position point to the air control back pressure valve 153, and further the air pressure change of the rear cavity of the cylinder is controlled; when the magnetic ring in the piston leaves the first magnetic switch 45, the contacts in the first magnetic switch 45 are opened and the electrical signal disappears. The slide block continues to move backwards under the action of the supporting rod of the user, when the magnetic ring in the piston reaches the position near the second magnetic switch 46, the electric control system controls the electric control proportional valve 152 to output the air pressure value set at the position point to the pneumatic control back pressure valve 153, and the air pressure in the rear cavity of the air cylinder continues to drop according to the setting. Then, when the magnetic ring in the piston reaches the vicinity of the third magnetic switch 47, the electric control system controls the two-position two-way electromagnetic valve 191 to act, the quick exhaust branch 190 is opened, and the air pressure in the rear cavity of the air cylinder is quickly reduced. When the piston and the slide block continue to move backwards and reach the end of the stroke, the user brace ends and the ski pole is lifted from the slipway.
When the piston and the slide block reach the end of the stroke, the piston and the slide block stop near the fourth magnetic switch 48 under the action of the shock absorber 120, the fourth magnetic switch 48 triggers an electric signal to be sent to the electric control system, then the electric control system controls the two-position two-way electromagnetic valve 191 to close and stop exhaust, the electric control proportional valve 152 enables the rear cavity of the cylinder to form pressure-holding, then the electric control system controls the Y2 end of the three-position five-way electromagnetic valve 163 to lose power and the Y1 end to be powered on, namely the left side of the three-position five-way electromagnetic valve 163 is ventilated, compressed air from an air source enters the rear cavity of the cylinder through a pipeline, the piston and the slide block are driven to rapidly return through the third magnetic switch 47, the second magnetic switch 46 and the first magnetic switch 45 and stop at the starting position, and air in the front cavity of the cylinder is discharged into the external atmosphere through the front cavity air supply/exhaust branch 170 and the three-position five-way electromagnetic valve 163. When the magnetic ring in the piston of the mechanical rodless cylinder 40 reaches the vicinity of the first magnetic switch 45, an electric signal generated by the magnetic switch 45 is sent to the electric control system, and then the electric control system controls the Y1 end of the three-position five-way electromagnetic valve 163 to lose electricity and the Y2 end to be electrified, namely the right side of the three-position five-way electromagnetic valve 163 is ventilated, and gas with certain pressure is supplied to the front cavity of the cylinder. Meanwhile, the electronic control system controls the electronic control proportional valve 152 to output the corresponding air pressure at the starting position to the pneumatic control backpressure valve 153, so that the air pressure in the rear cavity of the mechanical rodless cylinder 40 is reduced and stabilized at the initial backpressure set value, and the initial resistance of the cross-country skiing strut is simulated. While the piston and the slide block return rapidly, the user retracts the ski pole to prepare for the next pole-supporting.
Claims (10)
1. A disabled person sitting type cross-country skiing skill testing and simulation training platform is characterized by comprising two sets of sub-platforms which are symmetrical to each other and are controlled independently, a cushion platform fixed between the two sub-platforms, a skiing chair arranged on the cushion platform and an electric control system; each sub-platform comprises a pneumatic control system and a wireless three-dimensional force measuring platform;
the pneumatic control system comprises a mechanical rodless cylinder, an air source unit and a backpressure control module; the mechanical rodless cylinder is used as a slideway of the sitting cross-country skiing skill testing and simulation training platform, and the piston of the mechanical rodless cylinder reciprocates along the axial direction of a cylinder cavity to simulate the relative motion between a human body and a stay bar falling point in a skiing process; the backpressure control module comprises a second filter, an electric control proportional valve, a pneumatic control backpressure valve and a pressure sensor which are sequentially connected through a pipeline; the rear end cover of the mechanical rodless cylinder is provided with three air ports, and the front end cover of the mechanical rodless cylinder is provided with one air port; the air outlet of the air source unit forms a main branch through a pipeline which is sequentially provided with a T-shaped three-way joint, a pressure reducing valve and a three-position five-way electromagnetic valve, the main branch forms a front cavity air supply/exhaust branch and a rear cavity air supply branch after passing through the three-position five-way electromagnetic valve and is respectively communicated with a fourth air port and a first air port of the mechanical rodless cylinder, a pressure regulating valve is arranged on the front cavity air supply/exhaust branch, and a one-way valve and a throttle valve are arranged on the rear cavity air supply branch; a back pressure control branch communicated with a second air port of the mechanical rodless cylinder is formed at the air outlet of the air source unit after passing through the T-shaped three-way joint, and the back pressure control module is arranged on the back pressure control branch; the third air port of the mechanical rodless cylinder is communicated with a quick exhaust branch; the quick exhaust branch is provided with a two-position two-way electromagnetic valve; the side wall of the mechanical rodless cylinder is provided with a plurality of magnetic switches along the axial direction of the cylinder, and the electric control system detects the position of the piston in the mechanical rodless cylinder through the signal change when the magnetic ring of the piston of the mechanical rodless cylinder is in contact with and disconnected with each magnetic switch so as to control the actions of the electric control proportional valve, the three-position five-way electromagnetic valve and the two-position two-way electromagnetic valve;
the wireless three-dimensional force measuring platform is arranged at the top of the mechanical rodless cylinder through a linear reciprocating mechanism; the linear reciprocating mechanism comprises a linear slide rail fixed at the top of the mechanical rodless cylinder, a guide rail slide block reciprocating along the linear slide rail, and a mounting frame respectively connected with the guide rail slide block and a piston of the mechanical rodless cylinder; the wireless three-dimensional force measuring platform comprises a three-dimensional force sensor and a wireless amplifier which are fixed on the mounting frame, a stress plate fixed on the upper surface of the three-dimensional force sensor and a snow simulation pad covering the stress plate, and the three-dimensional force sensor transmits acquired three-dimensional force data to the electric control system through the wireless amplifier.
2. The platform of claim 1, wherein in the pneumatic control system, a first working port of the three-position five-way solenoid valve is communicated with an air inlet of the air supply branch of the rear cavity, a second working port of the three-position five-way solenoid valve is communicated with the air supply/exhaust branch of the front cavity, and a first silencer is installed at an air outlet of the three-position five-way solenoid valve; the three-position five-way electromagnetic valve is used for controlling the switching of the cylinder action mode.
3. The platform of claim 1, wherein the pneumatic control system prevents the air in the back chamber of the mechanical rodless cylinder from being exhausted through the three-position five-way solenoid valve by the check valve, and the throttle valve regulates the speed of the return stroke of the mechanical rodless cylinder.
4. The platform of claim 1, wherein the pneumatic control system regulates the pressure of the air supplied to the front cavity of the mechanical rodless cylinder by the pressure regulating valve, and different air supply pressures in the front cavity of the mechanical rodless cylinder correspond to different levels of strut resistance.
5. The platform of claim 1, wherein in the pneumatic control system, the pneumatic control back pressure valve is used to adjust the air pressure of the rear cavity of the mechanical rodless cylinder, and when the air pressure in the rear cavity of the mechanical rodless cylinder is greater than the set back pressure value of the electrically controlled proportional valve, the excess air pressure in the rear cavity of the mechanical rodless cylinder is exhausted from the air outlet of the pneumatic control back pressure valve; and when the gas pressure in the rear cavity of the mechanical rodless cylinder is less than or equal to the back pressure set value of the electric control proportional valve, the gas outlet of the pneumatic control back pressure valve is closed.
6. The platform of claim 1, wherein a second muffler is mounted on the exhaust port of the two-position, two-way solenoid valve; when the air pressure in the rear cavity of the mechanical rodless cylinder needs to be rapidly reduced, the two-position two-way electromagnetic valve acts to rapidly discharge the gas in the rear cavity of the mechanical rodless cylinder.
7. The platform of claim 1, wherein the air supply unit comprises an air supply, an air storage tank, a cold dryer and a first filter, which are connected in sequence.
8. The platform of claim 1, wherein the front end of the mechanical rodless cylinder is provided with a hydraulic buffer, the side wall of the mechanical rodless cylinder at the maximum strut stroke is provided with a shock absorber, and one side of the mounting frame is provided with a stop matched with the shock absorber and the hydraulic buffer to limit the motion stroke of the rail block and realize braking.
9. The disabled seated cross-country skiing skill testing and simulated training platform of claim 1, wherein the wireless amplifier is powered by a detachable lithium battery; the snow simulation pad is a silica gel pad or a polyurethane rubber pad with the thickness of 10-15 mm.
10. The disabled seated cross-country ski skill testing and simulated training platform of claim 1, wherein the base of the platform is provided with a plurality of foot cups.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108815799A (en) * | 2018-06-06 | 2018-11-16 | 孟春玲 | A kind of health and fitness facilities with air-cleaning function |
| CN110801611A (en) * | 2019-11-11 | 2020-02-18 | 武汉体育学院 | Indoor skiing simulator capable of measuring pressure and adjusting skiing speed and method thereof |
| CN112090048A (en) * | 2020-09-27 | 2020-12-18 | 首都体育学院 | Intelligent training equipment for simulating sitting posture cross-country skiing |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| AU2001263972B2 (en) * | 2000-12-07 | 2007-05-10 | Jose Luis Galvez Campos | System for exercising the lower extremities in seated persons |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108815799A (en) * | 2018-06-06 | 2018-11-16 | 孟春玲 | A kind of health and fitness facilities with air-cleaning function |
| CN110801611A (en) * | 2019-11-11 | 2020-02-18 | 武汉体育学院 | Indoor skiing simulator capable of measuring pressure and adjusting skiing speed and method thereof |
| CN112090048A (en) * | 2020-09-27 | 2020-12-18 | 首都体育学院 | Intelligent training equipment for simulating sitting posture cross-country skiing |
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