CN203355241U - Exercise system for martial styles - Google Patents
Exercise system for martial styles Download PDFInfo
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- CN203355241U CN203355241U CN 201320050415 CN201320050415U CN203355241U CN 203355241 U CN203355241 U CN 203355241U CN 201320050415 CN201320050415 CN 201320050415 CN 201320050415 U CN201320050415 U CN 201320050415U CN 203355241 U CN203355241 U CN 203355241U
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Abstract
The utility model relates to an exercise system for martial styles. The exercise system comprises a fixing rack, a moving body, a motor and a control system. The moving body comprises a horizontal rotating platform rack part, a vertical rotating platform rack part and a linear telescopic arm. The motor comprises a first motor, a second motor and a third motor which are used for respectively driving the horizontal rotating platform rack part, the vertical rotating platform rack part and the linear telescopic arm so that the vertical rotating platform rack part and the linear telescopic arm are driven by the horizontal rotating platform rack part to carry out rotating movement on the horizontal plane, the linear telescopic arm is driven by the vertical rotating platform rack part to carry out rotating movement on the vertical plane and the exposed rear end of the linear telescopic arm is in linear movement. The control system comprises a motor controller, a first motor driver, a second motor driver and a third motor driver. The first motor driver, the second motor driver and the third motor driver are respectively connected to the first motor, the second motor and the third motor electrically. The first motor driver, the second motor driver and the third motor driver are controlled by the motor controller so that the first motor, the second motor and the third motor are respectively driven by the first motor driver, the second motor driver and the third motor driver according to a preset time sequence so as to enable the exposed rear end to carry out spatial three-dimensional movement along a preset trajectory.
Description
Technical field
The utility model relates to a kind of wushu movements in martial arts exercise system, and it comprises fixed frame, movable body, motor and control system, and wherein said fixed frame is for supporting described movable body.
Background technology
In people's daily life, use body-building equipment miscellaneous, as treadmill, weight lifting machinery etc.For the people who has deep love for the Taiji push hands motion, often hope can have corresponding pushing hands coach to come mutually mutually pastly facing to exercise with own.But this is often bothersome, because often can not find the opponent, the opponent who especially can not find high level carries out training mate.Therefore need technically a sports equipment can meet the needs of this exercise.
On September 9th, 2009, disclosed Chinese patent literature CN201304228 disclosed a kind of robot for martial art body building and training.Utilizing motor band movable eccentric wheel to make the robot forearm get forward the movable stand leg of robot simultaneously upwards kicks out of, and can computer scorer and sound-producing device be installed in machine person section, make the practitioner often impact at active component, computer meeting automatic scoring also sends voice suggestion.Change general wushu training assistive device and lacked dynamic, dry as dust shortcoming, this multi-functional robot for Martial Arts Teaching makes become vivid and interesting and because the profile of the robot for Martial Arts Teaching can be designed to be similar to the body configuration of wushu training, the practitioner is felt as resisting the same with true man, greatly improve enthusiasm, respond and the flexibility of its exercise, be conducive to the fast lifting fight and fetch water flat.But this patent documentation also is unwell to the exercise such as wushu movements in martial arts such as Tai Ji, and be only to disclose the simulation true man that a kind of passive practitioner of bearing attacks.
On February 8th, 2006, disclosed Chinese patent literature CN1730132A disclosed a kind of automatic Tai Ji hand-pushing exercising machine, and it as shown in Figure 1.This automatic Tai Ji hand-pushing exercising machine comprises frame 1, movable body 2, motor 3, elastic device and control circuit, the gauge tap 5 of control circuit lays respectively at front end, the rear end of frame, movable body establishes 2 in frame 1, movable body 2 is provided with wheel 7 and pushing hands 8, and motor 3 is located in movable body 2, its output is connected with wheel 7; Wheel 7 is 1 motion in frame, and an end of elastic device is connected in frame 1, the other end is connected in movable body 2; The control output end of control circuit connects the control output end of motor 3, makes movable body 2 motions.Although having solved actual life people, this patent look for the companion to practise the problem of Taiji push hands difficulty when exercise, facilitated the practitioner to practise Taiji push hands, but due to its pushing hands the two dimensional motion that can only be moved forward and backward, the three-dimensional track of both hands in the time of therefore can not simulating truly true man's Taiji sports (or singlehanded), do not have to realize from three dimensions technically the simulating sports of mechanical hand.The process of such product simulation is simple, lacks the real space sensation of Taiji push hands, can not make the user reach omnibearing practice effect.
The utility model content
Therefore, the technical problems to be solved in the utility model just is, a kind of three-dimensional wushu movements in martial arts exercise system is provided, and it allows the user to carry out three-dimensional movements in martial arts exercise or study true to nature according to own needed wushu movements in martial arts.
According to wushu movements in martial arts exercise system of the present utility model, it comprises fixed frame, movable body, motor and control system, and wherein said fixed frame is for supporting described movable body.Described movable body comprises and horizontally rotates stand part, vertical rotary stand part and linear telescopic arm; Described motor comprises for driving respectively described first, second, and third motor that horizontally rotates stand part, vertical rotary stand part and linear telescopic arm, make and describedly horizontally rotate that stand part drives described vertical rotary stand part when rotated and the linear telescopic arm rotates on horizontal plane, described vertical rotary stand part drives when rotated described linear telescopic arm and rotates on vertical plane, and the open end of described linear telescopic arm is done rectilinear motion; First, second, and third motor driver that described control system comprises electric machine controller and is electrically connected to respectively described first, second, and third motor, wherein by described first, second, and third motor driver of described motor controller controls, make described first, second, and third motor driver drive respectively described first, second, and third motor according to scheduled timing, move so that described open end is done space three-dimensional along desired trajectory.By this scheme the utility model proposes, user or user can freely select oneself to need the wushu movements in martial arts of exercise, such as the movements in martial arts of certain Taiji push hands, then follow described open end exercise pushing hands action.Because this open end can imitate high-level monkey drill's action, like a virtual expert teacher, so can teach the practitioner, learn high-caliber, accurate exercise action.For the comfortableness of practising, can be one of described open end installing wooden, metal, glass or plastics be preferably rotatable sphere, for practitioner's hand, contacted.Here, described electric machine controller can be connected with described motor driver by the controller adapter, in order to realize interface and control to described motor driver.
According to the preferred version of the utility model system, described the first motor is coupled to described horizontally rotating on stand rotation pivot partly by the first gearbox through the first coupler; Described the second motor is coupled on the rotation pivot of described vertical rotary stand part by the second gearbox through the second coupler; And described the 3rd motor forms the linear actuators of a kind of and described linear telescopic arm coupling.By this measure, each motor can with the coupling of corresponding controlled stand part or telescopic arm precision, in order to control the latter, along desired trajectory, move accurately.
Advantageously, described fixed frame can be fixed on a pedestal.Like this, by the height of pedestal suitably is set, can manufacture as required the height of whole exercise system.
Further improvement according to the utility model system, described electric machine controller is electrically connected to a personal computer or is arranged in this personal computer, for input the control data of described desired trajectory from this personal computer to described electric machine controller, so that making described open end do space three-dimensional along described desired trajectory according to the control of described electric machine controller, described first, second, and third motor moves.By this measure, make the operator likely by this computer, to whole exercise system, be arranged, programme, revise, upgrade etc.
Described personal computer can storage inside or is circumscribed with three-dimensional motion track data storehouse, and described database comprises the track data of the multiple wushu movements in martial arts that can select for the user.Described track data can be by catch the track data of the sample action that moves and obtain in advance by Kinect technology or other similar capturing movement technology.Because the open end movement track that represents exercise action is to move according to the track data in three-dimensional motion track data storehouse, this database has ensured the possibility that the user can be selected multiple wushu movements in martial arts.
In addition, described personal computer can also be electrically connected to operator's display, to allow operator's programming and manage the data of described desired trajectory and described control system is carried out to intervention operation.Set up suitable graphic user interface GUI by this measure, made the operator likely be arranged, programme, revise, upgrade etc. whole exercise system intuitively.
In a kind of scheme more friendly to the user, in the dead ahead that faces described open end and be the user of wushu movements in martial arts exercises, a user display is set, this user display and described personal computer communication, so that the latter is shown to the user by the information relevant with wushu movements in martial arts exercise action.Like this, the user, when using the utility model system to be practised, can watch relevant exercise information, makes exercise more interesting and not uninteresting.
The described information relevant with wushu movements in martial arts exercise action can comprise image and/or the music of wushu coach's exercise in pace with studying.The action that makes the user can imitate the coach by this measure is practised, and strengthens practice effect.
Can be provided with pin equilbrium position, left and right sensor in the position of user's exercise action, for detecting in real time double-legged weight distribution data, so described personal computer receives this weight distribution data wired or wirelessly, and itself and optimum gold exercise reference data value are compared.
Described personal computer can also be used to the double-legged weight distribution data that will be in real time detect and optimum gold exercise reference data value forms respectively figure, and will be transferred on described user display and show with comparison for reference.The user is by reference to oneself data and gold reference pattern relatively, can adjust the exercise paces of oneself so that consistent with the gold reference pattern in good time, thereby reach best exercise state.
Described wushu movements in martial arts can be especially Taiji push hands.Taiji push hands be a kind of action of take hand as main, and sports that coordinate whole body to move, therefore be particularly suitable for application of the present utility model.
In the further scheme of described system, described the first motor and the second motor can adopt PANASONIC product type Minas A4 MQMA022S1, and described the 3rd motor can adopt PANASONIC product type Minas A5 MSMD022G1.Described the first and second motor drivers can adopt PANASONIC product type MADDT1207, and described the 3rd motor driver can adopt PANASONIC product type MADHT1507.Be appreciated that these product types, only for illustrative, obviously also can adopt the product of other types.
In addition, described personal computer inside/outside can be equipped with for connecting the controller adapter of described electric machine controller and described motor driver.Described adapter for example can adopt product type ADLINK MNET-4XMO.By this adapter, personal computer is connected with electric machine controller, thereby realizes driving each motor through motor driver.
Except the purposes that can be used to sports training, described system can also be used to dance movement exercise or study, or is used to the health care of massaging, or for other similar purposes.Should be appreciated that desired trajectory that the utility model has realized that open end is set along the operator does space three-dimensional and move.Therefore, for needs, follow the application that this desired trajectory is taken exercises, all be suitable for the utility model.This exercise is particularly suitable for the adult more than 18 years old, and unisex.
The accompanying drawing explanation
Next at length tell about embodiment of the present utility model by accompanying drawing.On these figure, identical Reference numeral means same or similar cells/elements.Wherein:
Fig. 1 shows the Tai Ji hand-pushing exercising machine of prior art.
Fig. 2-3 show front view, the side view of the mechanical composition part of the utility model wushu movements in martial arts exercise system.
Fig. 4 shows the system block diagram of the utility model wushu movements in martial arts exercise system.
Fig. 5 shows the circuit connection diagram between motor, motor driver and motor adapter in the utility model wushu movements in martial arts exercise system.
Fig. 6 shows the comprehensive circuit connection diagram of the utility model wushu movements in martial arts exercise system.
Fig. 7 shows the electric machine controller adopted in the personal computer of the utility model wushu movements in martial arts exercise system.
Fig. 8 show that the utility model wushu movements in martial arts exercise system uses for measuring the measuring instrument of the weight distribution of user while practising.
Fig. 9 shows the measurement weight distribution figure shown on the personal computer of the utility model wushu movements in martial arts exercise system.
The specific embodiment
Fig. 1 relates to the Tai Ji hand-pushing exercising machine of prior art, and it is set forth in the application's background technology part.
Fig. 2 shows the front view of the mechanical composition part 202 of the utility model wushu movements in martial arts exercise system; Fig. 3 shows its side view.This embodiment of the present utility model for example is operated in the AC power of AC 220V, and the time is intermittently for example 1/30s.As shown in these figures, given wushu movements in martial arts exercise system comprises: fixed frame 107, and by the movable body that horizontally rotates stand part 108, vertical rotary stand part 109 and linear telescopic arm 110 and form, motor 101-103.These parts control system 212 is as shown in Figure 4 controlled.Described fixed frame 107 is for supporting described movable body 108,109,110.Described motor 101-103 comprises the first motor 101, the second motor 102 and the 3rd motor 103, for driving respectively described stand part 108, vertical rotary stand part 109 and the linear telescopic arm 110 of horizontally rotating.Describedly horizontally rotate that stand part 108 drives described vertical rotary stand part 109 when rotated and linear telescopic arm 110 rotates on horizontal plane, described vertical rotary stand part 109 drives when rotated described linear telescopic arm 110 and rotates on vertical plane, and the open end 111 of described linear telescopic arm 110 is done rectilinear motion.
Here, described the first motor 101 and the second motor 102 adopt the servomotor that the PANASONIC product type is Minas A4 MQMA022S1, and its nominal torque is 0.64Nm, and peak torque is 1.91Nm.
The first motor driver 206(1 that control system 212 shown in Fig. 4 comprises electric machine controller 401 and is electrically connected to respectively described the first motor 101, the second motor 102 and the 3rd motor 103), the second motor driver 206(2) and the 3rd motor driver 206(3).Control described the first motor driver 206(1 by described electric machine controller 401), the second motor driver 206(2) and the 3rd motor driver 206(3), make described the first motor driver 206(1), the second motor driver 206(2) and the 3rd motor driver 206(3) drive respectively described the first motor 101, the second motor 102 and the 3rd motor 103 according to scheduled timing so that the open end 111 shown in Fig. 3 is done space three-dimensional along desired trajectory 1008, move.
Here, a described 206(1) and the second motor driver 206(2) adopt PANASONIC product type MADDT1207.Described the 3rd motor driver 206(3) adopt PANASONIC product type MADHT1507.
As Fig. 2,3 clearly as shown in, described the first motor 101 is coupled on the described rotation pivot that horizontally rotates stand part 108 through the first coupler 112 by the first gearbox 104.The second motor 102 is coupled on the rotation pivot of described vertical rotary stand part 109 through the second coupler 113 by the second gearbox 105.Described the 3rd motor 103 forms the linear actuators of a kind of and described linear telescopic arm 110 couplings.This linear actuators adopts the servomotor that the PANASONIC product type is Minas A5 MSMD022G1 or A5 MSMD0221S.Here, the guide screw line pitch of linear actuator drives linear telescopic arm 110 is 10mm, and the driving stroke is 800mm, thrust 300N, and normal speed is 500mm/s.
Connection due to described the first motor 101 by the first gearbox 104 to first couplers 112 is straight line, therefore the first gearbox 104 adopts the linear pattern gearbox that no-load voltage ratio is 1:100, such as model AB90-100-L3-P2, its normal speed is 3500rpm, maximal rate is 6000rpm, and peak torque is 240Nm.Like this, just reduced by the speed that adopts the first gearbox 104, the first motors 101, and increase thus for driving the described moment of torsion that horizontally rotates stand part 108.In addition, this is also favourable for controlling the described precision that horizontally rotates 108 rotations of stand part, because control resolution has been enhanced.
In an example shown, because described the second motor 102 at right angles turns round by the connection of the second gearbox 105 to second couplers 113, therefore the second gearbox 105 adopts the right-angle bending type gearbox that no-load voltage ratio is 1:100, such as model ABR90-100-L3-P2, its specified same speed is 3500rpm, maximal rate is 6000rpm, and peak torque is 240Nm.In the situation that place allows, the second gearbox 105 also can adopt the linear pattern gearbox the same with the first gearbox 104 as required; Or first and second gearbox 104,105 all adopt right-angle bending type gearbox.The second gearbox 105 can reach the effect the same with the first gearbox 104.
Can adopt for the first coupler 112 the first gearbox 104 is coupled on the described rotation pivot that horizontally rotates stand part 108 coupler that model is LK6-C65-2020.Described the second coupler 113 is also like this.The bilateral bore diameter of the coupler of this model is 20mm, and moment of torsion is 15Nm.
As shown in Figure 2, described fixed frame 107 is fixed on a pedestal 100, in order to will carry the vertical rotary stand part 109 of linear telescopic arm 110, is arranged on needed height.Fixed frame 107 is for example by the brass material manufacture, or adopts other material such as aluminium 6061.For example, under the state that restores return, the highest part terrain clearance of vertical rotary stand part 109 is set to 1.49m with reference to practitioner's height.The part of pedestal 100 kiss the earths is set to the square steel disk of 0.6m*0.6m, and this steel disk can bear the horizontal thrust of 222N, to such an extent as to the general user can not push over whole frame.Vertical rotary stand part 109 can be constructed to about 1.21m, is constructed to the about 0.8m length of linear telescopic arm 110 that telescopically extends in vertical rotary stand part 109.For example in the embodiment shown in fig. 3, it is 2.4m that user's exercising platform 114 is set to length, and height H is 8-10 inch (Inch).
On the exercising platform shown in Fig. 3, also show people's footprint pattern Pos, so that conveniently entering position, the practitioner practised.
Fig. 4 shows the system block diagram of the utility model wushu movements in martial arts exercise system.As shown in the figure, be electrically connected to a personal computer 208 on described electric machine controller 401, for the programming data to the described desired trajectory 1008 of described electric machine controller 401 input, move so that described the first motor 101, the second motor 102 and the 3rd motor 103 make the open end 111 of described linear telescopic arm 110 do space three-dimensional along described desired trajectory 1008 according to the control of described electric machine controller 401, thereby complete a series of exercise action.Here, although the electric machine controller 401 shown in Fig. 4 is positioned at outside personal computer 208, shown is that a kind of logic connects.Electric machine controller 401 is appreciated that in actual implementation process, within can be positioned at personal computer 208 physically.Electric machine controller 401 is electrically connected to motor driver 206 by the controller adapter 207 shown in Fig. 6,7.In the present embodiment, described wushu movements in martial arts can be multiple Taiji push hands action.
In described personal computer 208 storage inside or be circumscribed with three-dimensional motion track data storehouse 209, described database 209 comprises the track data of the multiple wushu movements in martial arts that can select for the user.The track data of the sample action that described track data can obtain in advance by using the Kinect technology to catch action.These data are three-dimensional datas of track in time domain.Thereby allow multi-motion is mapped to foregoing mechanical system.
Described personal computer 208 is electrically connected to operator's display 210, to allow operator's 211 programmings and manage the data of described desired trajectory 1008 and described control system 212 is carried out to intervention operation.For convenience of operation, described personal computer 208 can be equipped with corresponding mouse and keyboard.It is for example the user display 201 of LCD display that the dead ahead of at the open end 111 that faces described linear telescopic arm 110, being the user 203 of wushu movements in martial arts exercises arranges one, this user display 201 is communicated by letter with described personal computer 208, so that the latter is shown to the user by the information relevant with wushu movements in martial arts exercise action.The described information relevant with wushu movements in martial arts exercise action comprises image and/or the music of wushu coach's exercise in pace with studying.
Be provided with pin equilbrium position, left and right sensor 204,205 in the position of user's exercise action, for detecting in real time double-legged weight distribution data, described personal computer 208 receives this weight distribution data wired or wirelessly, and itself and optimum gold exercise reference data value are compared.The double-legged weight distribution data that described personal computer 208 also will detect in real time and optimum gold exercise reference data value forms respectively figure, and will be transferred on described user display 201 and show with comparison for reference.At described personal computer 208 inside/outsides, the adapter 207 for connecting described electric machine controller 401 is installed, described electric machine controller 401 and adapter 207 adopt respectively the sports cards of product type ADLINK Motionnet PCI-7856 and ADLINK MNET-4XMO.
Fig. 5 shows the general circuit connection layout between motor, motor driver and motor adapter in the utility model wushu movements in martial arts exercise system.In figure, the motor driver 206 of the above A4/A5 model is connected with motor 101,102,103 by coding cable 300.In embodiment of the present utility model, the motor the 101,102, the 103rd of described A4/A5 model, a kind of motor with encoder, in order to be encoded by described coding cable.In addition, motor 101,102,103 is connected on " four-core driving cable " interface of motor driver 206 by driving cable 301 and braking cable 302.Motor driver 206 is connected to adapter 207 and is thus connected electric machine controller 401 by cable.This electric machine controller 401 and adapter 207 adopt respectively product type ADLINK Motionnet PCI-7856 and ADLINK MNET-4XMO here, and its main port is illustrated as follows:
JP8: external power source input connector (+24V) & The numeral input
Share and urgent input pin,
HS1, HS2:Motionnet signal of communication connector (RJ45),
CN1: the blocking-up of servo interface signal,
IOIF1-4: mechanical I/O and GPIO signal connector,
CM1-4: the servo interface signal connector,
S1: from the ID switch,
S2: the communication speed selector switch,
S3, S5: allow/forbid DO so that the replacement servo-driver,
JP3: the terminating resistor wire jumper,
JP4: allow/forbid the EMG signal,
JP5, JP6: common source or differential power are selected wire jumper.
On the basis connected in the general circuit shown in Fig. 5, Fig. 6 shows the circuit connection diagram of three motor 101-103 of the utility model wushu movements in martial arts exercise system to electric machine controller adapter 207 in more detail.As shown in the figure, the first motor 101 and the second motor 102 all adopt the motor of A4 model, and adopt the motor of A5 model for the 3rd motor 103 of linear actuators.These motors to the connection of electric machine controller adapter 207 comes into question in the explanation in conjunction with Fig. 5, repeats no more here.
It should be noted that, comprise that the electric machine controller 401 that model is ADLINK Motionnet PCI-7856 can externally be connected to personal computer 208 by controller adaptor interface 207, or be integrated in personal computer 208.Fig. 7 shows the schematic diagram of the electric machine controller 401 that the model adopted in the personal computer of the utility model wushu movements in martial arts exercise system is ADLINK Motionnet PCI-7856.
Fig. 8 show that the utility model wushu movements in martial arts exercise system uses for measuring the measuring instrument 1011 of the weight distribution of user while practising.This measuring instrument 1011 for example is arranged in Fig. 3 by the position shown in Reference numeral Pos.Be appreciated that this measuring instrument 1011 is located in platform 114 with being embedded into formula, to such an extent as to just keeping oneself in practice of image user/practitioner not.This measuring instrument 1011 is for example two Wii balance plates that are arranged in parallel.The weight distribution data that 1011 of described measuring instruments record in real time are transferred to personal computer 208 and process and display.
Fig. 9 shows the gravity measurement distribution map shown on the personal computer 208 of the utility model wushu movements in martial arts exercise system 202.As shown in this figure left side, by setting frequency and the cycle of gravity sampling, utilize computer screen can show intuitively corresponding gravimetric data distribution situation.The left and right pin gravity now shown is respectively 30kg and 30kg.Dot between two footprint figures shown in Figure 18 represents the position of practitioner's centre of body weight; The large circle point on the left side means to practise expert's position of centre of gravity.Demonstration image while having shown coach's exercise on Fig. 9 right-hand, can supply practitioner's reference synchronization.
Advantageously, the double-legged weight distribution information of above demonstration and/or coach's presentation graphic are transferred on display 201 and watch in real time for the wushu practitioner.Can on personal computer 208, not show above change curve yet, and only show on display 201.
For improving efficiency and the interest of exercise, also with different colours, side by side show the curve that virtual best coach's double-legged weight distribution changes on display 201, for practitioner's reference and comparison, thereby adjust own double-legged exerting oneself so that as far as possible consistent with coach's graph curve.The curve that described virtual best coach's double-legged weight distribution changes can be stored in the database of personal computer 208 by prior measurement.
Although above with reference to most preferred embodiment of the present utility model, the application is described.But this description is exemplary, rather than restrictive.Those skilled in the art can make various improvement and remodeling to the utility model on the basis of the application's disclosure.These improvement and remodeling all belong to protection domain of the present utility model, as long as they do not break away from design of the present utility model.Protection domain of the present utility model is limited by appending claims.
Claims (12)
1. a wushu movements in martial arts exercise system, comprise fixed frame (107), movable body (108,109,110), motor (101-103) and control system (212), wherein said fixed frame (107), for supporting described movable body (108,109,110), is characterized in that:
Described movable body (108,109,110) comprises and horizontally rotates stand part (108), vertical rotary stand part (109) and linear telescopic arm (110);
Described motor (101-103) comprises for driving respectively the described stand part (108) that horizontally rotates, first (101) of vertical rotary stand part (109) and linear telescopic arm (110), the second (102) and the 3rd motor (103), make and describedly horizontally rotate that stand part (108) drives described vertical rotary stand part (109) when rotated and linear telescopic arm (110) rotates on horizontal plane, described vertical rotary stand part (109) drives when rotated described linear telescopic arm (110) and rotates on vertical plane, and the open end (111) of described linear telescopic arm (110) is done rectilinear motion,
Described control system (212) comprises electric machine controller (401) and is electrically connected to respectively described first (101), first (206(1) of the second (102) and the 3rd motor (103)), second (206(2)) and the 3rd motor driver (206(3)), wherein by described electric machine controller (401), control described first (206(1)), second (206(2)) and the 3rd motor driver (206(3)), make described first (206(1)), second (206(2)) and the 3rd motor driver (206(3)) drive respectively described first (101) according to scheduled timing, the second (102) and the 3rd motor (103), so that described open end (111) is done the space three-dimensional motion along desired trajectory (1008).
2. system according to claim 1 is characterized in that:
Described the first motor (101) is coupled on the described rotation pivot that horizontally rotates stand part (108) through the first coupler (112) by the first gearbox (104); Described the second motor (102) is coupled on the rotation pivot of described vertical rotary stand part (109) by the second gearbox (105) through the second coupler (113); And described the 3rd motor (103) forms the linear actuators of a kind of and described linear telescopic arm (110) coupling.
3. system according to claim 1 is characterized in that:
It is upper that described fixed frame (107) is fixed on a pedestal (100), and the rotatable sphere of or plastics wooden, metal, glass one of described open end installing is contacted for practitioner's hand.
4. according to the described system of one of claim 1-3, it is characterized in that:
Described electric machine controller (401) is electrically connected to a personal computer (208) or is arranged in this personal computer (208), for input the control data of described desired trajectory (1008) from this personal computer (208) to described electric machine controller (401), so that the described first (101), second (102) and the 3rd motor (103) makes described open end (111) do the space three-dimensional motion along described desired trajectory (1008) according to the control of described electric machine controller (401).
5. system according to claim 4 is characterized in that:
Described personal computer (208) is electrically connected to operator's display (210), to allow operator (211), manages the data of described desired trajectory (1008) and described control system (212) is carried out to intervention operation.
6. system according to claim 4 is characterized in that:
In the dead ahead that faces described open end (111) and be the user (203) of wushu movements in martial arts exercises, a user display (201) is set, this user display (201) is communicated by letter with described personal computer (208), so that the latter is shown to the user by the information relevant with wushu movements in martial arts exercise action.
7. system according to claim 6 is characterized in that:
The described information relevant with wushu movements in martial arts exercise action comprises image and/or the music of wushu coach's exercise in pace with studying.
8. system according to claim 4 is characterized in that:
Be provided with pin equilbrium position, left and right sensor (204,205) in the position of user's exercise action, for detecting in real time double-legged weight distribution data, described personal computer (208) receives this weight distribution data wired or wirelessly.
9. system according to claim 8 is characterized in that:
Described personal computer (208) also is transferred to the upper demonstration of described user display (201) with comparison for reference for double-legged weight distribution data and the optimum gold exercise reference data that will detect in real time.
10. according to the described system of any one in claim 1-3, it is characterized in that:
Described wushu movements in martial arts are Taiji push hands.
11. system according to claim 4 is characterized in that:
Described personal computer (208) inside/outside is equipped with for connecting the controller adapter (207) of described electric machine controller (401) and described motor driver (206).
12. system according to claim 1 is characterized in that:
Described electric machine controller (401) is connected with described motor driver (206) by controller adapter (207).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320050415 CN203355241U (en) | 2013-01-30 | 2013-01-30 | Exercise system for martial styles |
| HK13102726A HK1177380A2 (en) | 2013-01-30 | 2013-03-05 | An exercise system for wushu movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320050415 CN203355241U (en) | 2013-01-30 | 2013-01-30 | Exercise system for martial styles |
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| Publication Number | Publication Date |
|---|---|
| CN203355241U true CN203355241U (en) | 2013-12-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320050415 Expired - Lifetime CN203355241U (en) | 2013-01-30 | 2013-01-30 | Exercise system for martial styles |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN203355241U (en) |
| HK (1) | HK1177380A2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103071278A (en) * | 2013-01-30 | 2013-05-01 | 兴伦中国体育研究所有限公司 | Exercise system for martial styles |
| CN111184995A (en) * | 2020-03-11 | 2020-05-22 | 上海琰道健康管理有限公司 | Taiji pushing robot for accompanying training of sports and martial arts |
-
2013
- 2013-01-30 CN CN 201320050415 patent/CN203355241U/en not_active Expired - Lifetime
- 2013-03-05 HK HK13102726A patent/HK1177380A2/en not_active IP Right Cessation
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103071278A (en) * | 2013-01-30 | 2013-05-01 | 兴伦中国体育研究所有限公司 | Exercise system for martial styles |
| CN103071278B (en) * | 2013-01-30 | 2015-02-04 | 兴伦中国体育研究所有限公司 | Exercise system for martial styles |
| CN111184995A (en) * | 2020-03-11 | 2020-05-22 | 上海琰道健康管理有限公司 | Taiji pushing robot for accompanying training of sports and martial arts |
Also Published As
| Publication number | Publication date |
|---|---|
| HK1177380A2 (en) | 2013-08-23 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160824 Address after: Room 16, building 9-12, Hing Wai Industrial Center, 7 Tian Wan Tian Hai Road, Hongkong, China Patentee after: Hing Lun Tai Chi exercise equipment Co.,Ltd. Address before: 50 Wellington Street, central, Hongkong, China Patentee before: XINGLUN CHINA SPORTS INSTITUTE Co.,Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20131225 |