CN207745494U - A kind of robot for fencing training - Google Patents
A kind of robot for fencing training Download PDFInfo
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- CN207745494U CN207745494U CN201820031313.7U CN201820031313U CN207745494U CN 207745494 U CN207745494 U CN 207745494U CN 201820031313 U CN201820031313 U CN 201820031313U CN 207745494 U CN207745494 U CN 207745494U
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Abstract
The utility model is related to fencing training fields, specifically disclose a kind of robot for fencing training.The robot for being used for fencing training includes trunk, and the trunk is equipped at least one mechanical arm, and mechanical arm includes large arm and forearm, and the large arm is hinged with trunk, and the first driving means for driving large arm rotation are equipped between large arm and trunk；The forearm is hinged with the one end of large arm far from trunk, and the second driving device of driving forearm rotation is equipped between large arm and forearm；One end rotary moveable of the forearm far from large arm is connected with clamping part, and is equipped with third driving device in junction；It further include the control system for controlling first driving means, the second driving device and the work of third driving device.The above-described robot for fencing training realizes waving to cut and hitting action with thorn for the sword item of connection on the holder portion, simulates the action of opponent, the fencing training of realization actual combatization by the linkage of large arm, forearm and clamping part.
Description
Technical field
The utility model is related to fencing training field more particularly to a kind of robots for fencing training.
Background technology
Fencing is a kind of sports items for growing up from ancient times sword-play decisive struggle, it combines graceful action and flexible
Tactics, it is desirable that the high concentration of sportsmanship and the good coordination of body can embody the good action of sportsman and agility
Reaction.
Existing fencing training target is mostly fixed dummy, be mainly used for training thorn hit or cut human body it is effective branch
The elemental motion of position.Since during entire training, target remains static, and trained practicality is bad, is suitable for
Beginner carries out the training of elemental motion, and for the advanced training of actual combatization, then also need to coach or training mate accompany into
Row, such trained cost is very high, is unfavorable for the universal and development of fencing.
Invention content
The technical problem to be solved by the present invention is to provide a kind of robot for fencing training, by large arm, small
The linkage of arm and sword hand realizes waving to cut and hitting action with thorn for the sword item being connected on sword hand, simulates the action of opponent, realization
The fencing training of actual combatization.
In order to solve the above-mentioned technical problem, the technical scheme that the utility model is provided is as follows：It is a kind of for fencing training
Robot, including trunk, the trunk are equipped at least one mechanical arm, and the mechanical arm includes large arm and forearm, institute
The large arm stated is hinged with trunk, and the first driving dress for driving large arm to be rotated relative to trunk is equipped between large arm and trunk
It sets；The forearm is hinged with the one end of large arm far from trunk, and is equipped with driving forearm relative to big between large arm and forearm
Second driving device of arm rotation；One end rotary moveable of the forearm far from large arm is connected with sword hand, and is set in junction
There are third driving device, the rotary shaft of the sword hand to be parallel to the length direction of forearm；Further include control system, the control
System control first driving means, the second driving device and the work of third driving device processed.
When in use, sword item is connected to by sword hand in robot, and by control system control first driving means,
The work of second driving device and third driving device realizes the movement of sword item, simulates the sword in opponent's hand.Due to large arm and trunk
Hinged, forearm is hinged with large arm, and clamping part is connect with forearm rotary moveable, in actual work, it is only necessary to when sword item is clamped,
The rotary shaft of sword length direction and clamping part is set to be obliquely installed, you can to realize sword by the linkage of large arm, forearm and clamping part
What the thorn of item hit all angles brandishes action.By the linkage of large arm, forearm and sword hand, waving for the sword item on sword hand is realized
It cuts and hits action with thorn.
In order to improve trained actual combat degree, more set actions can be preset in advance, when training, can select to repeat a certain
The pattern of set action targetedly trains certain a set of action；The pattern that control system random selection action can also be used, carries
The randomness of sword action is waved by high robot, and then reaches train athletes adaptability to changes, improves the purpose of warfighting capabilities.
Compared with prior art, the robot that the application records is simulated the action of opponent, is carried by the action of mechanical arm
The high practicality of fencing training, is suitable for the advanced training of actual combatization of sportsman.
Preferably, the control system includes signal receiver；Further include for be mounted on sportsman with and with
The corresponding signal generator of the signal receiver, the signal generator and signal receiver can within the scope of certain distance
Pass through communicating wireless signals.Signal generator is arranged on the protector of fencing training, in this way when carrying out fencing training, works as letter
Number generator at a distance from image training robot in a certain range when, image training robot is started to work, and when sportsman leaves this
When distance range, image training robot is in standby.Using this scheme, not only avoids sportsman and carried out in training midway
When rest, repeated multiple times open and close robot；And sportsman is also avoided after terminating training, forget to close training airplane
Device people, and image training robot is caused to be in booting working condition always, and cause energy waste.
Preferably, further including the pedestal being slidably connected with trunk, and four-drive device is equipped in junction；Described
Pedestal includes the supporting leg being arranged before and after two.
Preferably, the first driving means, the second driving device, third driving device and four-drive device are equal
For electric cylinders, cylinder, hydraulic cylinder or stepper motor.
Preferably, the one end of the supporting leg far from trunk is equipped with several traveling wheels, the traveling wheel include to
A few driving wheel, and the 5th driving device for driving driving wheel to roll is equipped on pedestal.
Preferably, the pedestal is equipped at least one main power source, and at least one accessory power supply is set on head,
The main power source and accessory power supply is rechargeable battery pack.To ensure that fencing robot utilizes auxiliary electricity in suspend mode
Source maintains to wake up, and races and trains using the power drive of main power source, reaches power saving and extends battery life purpose.
Preferably, further including action evaluation module, the action evaluation module includes the photography being arranged on trunk
Equipment records the action of sportsman in real time from the visual angle of opponent, completes to return after training for sportsman and coach
Care for, find training in deficiency, so as to be directed to training, correct a mistake promptly.
Preferably, the action evaluation module further includes image playback equipment corresponding with photographic equipment, it is described
Image playback equipment is connect with photographic equipment by wire signal or wireless signal.
Preferably, the action evaluation module further includes the sensing being arranged on trunk for incuding the impact of sword item
Device, when the sword item in player hand effectively hits corresponding sensor, sensor generates signal, and feeds back to control system
System, the validity of sportsman's attack is evaluated with this.
Preferably, the control system further includes being arranged on head for measuring testing the speed for trainer's movement velocity
Device mutually hands over device and the remote-control communication device for remote control for realizing interactive voice.In conjunction in action assessment system
Photographic equipment, fencing training person is taken pictures, records a video, identifies, detects and is incuded jointly, and coordinates voice prompt and long-range
Remote control mode, startup and stopping, the adjusting of posture and paces, training set pattern and sports tactics to be automatically performed robot are selected,
Realize actual combatization and intelligentized fencing training.Robot is practiced in training can also be according to the data and the level of training of trainer, certainly
It is dynamic that different patterns is selected to achieve the effect that precisely trained faster to improve the level of trainer.
Description of the drawings
Fig. 1 is structural schematic diagram of the present embodiment for the robot of fencing training；
Fig. 2 is control module figure of the present embodiment for the robot of fencing training.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Embodiment
As shown in Figure 1, a kind of robot for fencing training, including trunk 3, the trunk 3 are equipped at least one
A mechanical arm 1, the mechanical arm 1 include large arm 14 and forearm 12, and the large arm 14 is hinged with trunk 3, and in large arm 14
The first driving means 15 that driving large arm 14 is rotated relative to trunk 3 are equipped between trunk 3.The forearm 12 and large arm 14
One end far from trunk 3 is hinged, and is equipped between large arm 14 and forearm 12 driving forearm 12 is rotated relative to large arm 14 the
Two driving devices 13.One end rotary moveable of the forearm 12 far from large arm 14 is connected with sword hand 11, and is equipped in junction
The rotary shaft of third driving device 8, the sword hand 11 is parallel to the length direction of forearm 12.
Further include control system, the control system controls first driving means 15, the second driving device 13 and third
Driving device 8 works.When in use, sword item is connected to by sword hand 11 in robot, and controls first by control system
The work of driving device 15, the second driving device 13 and third driving device 8 realizes the movement of sword item, simulates the sword in opponent's hand.
Since large arm 14 and trunk 3 are hinged, forearm 12 is hinged with large arm 14, and sword hand 11 is connect with 12 rotary moveable of forearm, in reality
When work, it is only necessary to when sword item is clamped, so that sword length direction and the rotary shaft of sword hand 11 is obliquely installed, you can by big
The linkage of arm 14, forearm 12 and sword hand 11 realizes that the thorn of sword item hit all angles brandishes action.
In order to improve trained actual combat degree, more set actions can be preset in advance, when training, can select to repeat a certain
The pattern of set action targetedly trains certain a set of action；The pattern that control system random selection action can also be used, carries
The randomness of sword action is waved by high robot, and then reaches train athletes adaptability to changes, improves the purpose of warfighting capabilities.
As shown in Fig. 2, the control system includes signal receiver 19；Further include for be mounted on sportsman with and
Signal generator corresponding with the signal receiver 19, the signal generator and signal receiver 19 are in certain distance model
It can pass through communicating wireless signals in enclosing.Signal generator is arranged on the protector of fencing training, in this way when progress fencing training
When, when signal generator at a distance from image training robot in a certain range when, image training robot is started to work, and works as sportsman
When leaving the distance range, image training robot is in standby.Using this scheme, sportsman is not only avoided in training
When way carries out rest, repeated multiple times open and close robot；And sportsman is also avoided after terminating training, forget to close
Image training robot, and image training robot is caused to be in booting working condition always, and cause energy waste.
Further, as shown in Figure 1, further including the pedestal 7 being slidably connected with trunk 3, the trunk 3 and pedestal 7 it
Between be equipped with four-drive device 10 for driving 7 relative motion of trunk 3 and pedestal.The pedestal 7 before and after two including setting
The supporting leg 4 set, the one end of the supporting leg 4 far from trunk 3 are respectively equipped with traveling wheel 5, and the traveling wheel 5 includes at least one
Driving wheel, and the 5th driving device 6 for driving driving wheel to roll is equipped on pedestal 7.Robot can under the action of driving wheel
To carry out mass motion, the paces of sportsman can targetedly be trained, it is horizontal to improve trained actual combatization.It is front and back to set
The supporting leg 4 set not only increases robot in appearance with the similarity degree of human body, and whole stability is more preferable.
Further, the rechargeable battery pack of fencing training robot is installed as main power source on the pedestal 7 of traveling wheel 5
9, installation auxiliary rechargeable battery pack is used as accessory power supply 22 on the head 2, to ensure that the robot that fences in suspend mode
Shi Liyong accessory power supplys 22 maintain to wake up, and race and train using the power drive of main power source 9, reach power saving and extend the battery longevity
Order purpose.
Further, as shown in Fig. 2, the control system further includes action evaluation module, action assessment
Module includes the photographic equipment 17 being arranged on trunk 3, and connect by wire signal or wireless signal with photographic equipment 17
Playback equipment.The action of sportsman can be recorded in real time from the visual angle of opponent, completed after training for sportsman and coach
Looked back, find training in deficiency, so as to be directed to training, correct a mistake promptly.
The action evaluation module further includes the sensor being arranged on trunk 3 for incuding the impact of sword item, works as movement
For sword item in member's hand when effectively hitting corresponding sensor, sensor generates signal, and feeds back to control system, is commented with this
The validity of valence sportsman's attack.
Further, as shown in Fig. 2, the control system further includes velometer 16, the language of training machine head part 2
Sound interacts device 20 and remote-control communication device 21, in conjunction with the photographic equipment 17 in action assessment system, is carried out jointly to fencing training person
It takes pictures, record a video, identify, detect and incudes, and coordinate voice prompt and remote control mode, to be automatically performed the startup of robot
It is adjusted with stopping, posture and paces, training set pattern and sports tactics are selected, realization actual combatization and intelligentized fencing training.Instruction
Lian Lian robots can also automatically select different patterns, faster to improve according to the data and the level of training of trainer
The level of trainer achievees the effect that precisely trained.
Compared with prior art, the action of opponent is simulated by the action of mechanical arm 1 by the robot that the application records, and leads to
Intelligent recognition and analysis are crossed, the digitlization and intelligence of fencing training are realized, to greatly improve the reality of fencing training
War property is suitable for the advanced training of actual combatization of sportsman.
In short, the above is only the preferred embodiment of the utility model only, it is not intended to limit the utility model, it is all
All any modification, equivalent and improvement made within spirit of the present utility model and principle etc., should be included in this practicality
Within novel protection domain.
Claims (10)
1. a kind of robot for fencing training, it is characterised in that：Including trunk（3）, the trunk（3）It is equipped at least
One mechanical arm（1）, the mechanical arm（1）Including large arm（14）And forearm（12）, the large arm（14）With trunk（3）Hinge
It connects, and in large arm（14）With trunk（3）Between be equipped with driving large arm（14）Relative to trunk（3）The first driving means of rotation
（15）；The forearm（12）With large arm（14）Far from trunk（3）One end it is hinged, and in large arm（14）And forearm（12）Between
Equipped with driving forearm（12）Relative to large arm（14）Second driving device of rotation（13）；The forearm（12）Far from large arm（14）
One end rotary moveable be connected with sword hand（11）, and it is equipped with third driving device in junction（8）, the sword hand（11）'s
Rotary shaft is parallel to forearm（12）Length direction；Further include control system, the control system controls first driving means
（15）, the second driving device（13）And third driving device（8）Work.
2. the robot according to claim 1 for fencing training, it is characterised in that：The control system includes letter
Number receiver（19）；Further include for be mounted on sportsman with and with the signal receiver（19）Corresponding signal occurs
Device, the signal generator and signal receiver（19）Communicating wireless signals can be passed through within the scope of certain distance.
3. the robot according to claim 1 for fencing training, it is characterised in that：Further include and trunk（3）Sliding
The pedestal of connection（7）, and it is equipped with four-drive device in junction（10）；The pedestal（7）Including what is be arranged before and after two
Supporting leg（4）.
4. the robot according to claim 3 for fencing training, it is characterised in that：The first driving means
（15）, the second driving device（13）, third driving device（8）With four-drive device（10）Be electric cylinders, cylinder, hydraulic cylinder or
Stepper motor.
5. the robot according to claim 3 for fencing training, it is characterised in that：The supporting leg（4）Far from trunk
（3）One end several traveling wheels are installed（5）, the traveling wheel（5）Include at least one driving wheel, and in pedestal（7）
It is equipped with the 5th driving device that driving driving wheel rolls（6）.
6. the robot according to claim 3 for fencing training, it is characterised in that：The pedestal（7）It is equipped with
At least one main power source（9）, and on head（2）At least one accessory power supply is set（22）, the main power source（9）With auxiliary electricity
Source（22）It is rechargeable battery pack.
7. the robot for fencing training according to any one of claim 1-6, it is characterised in that：The control system
System further includes action evaluation module, and the action evaluation module includes being arranged on head（2）Photographic equipment（17）.
8. the robot according to claim 7 for fencing training, it is characterised in that：The action evaluation module is also
Including with photographic equipment（17）Corresponding image playback equipment, the image playback equipment and photographic equipment（17）By wired
Signal or wireless signal connection.
9. the robot according to claim 7 for fencing training, it is characterised in that：The action evaluation module is also
Including being arranged in trunk（3）On for incude sword item impact sensor.
10. the robot for fencing training according to claim 1-6,8, any one of 9, it is characterised in that：It is described
Control system further include be arranged on head（2）For measuring the velometer of trainer's movement velocity（16）, for realizing people
The interactive voice device of machine dialogue（20）With the remote-control communication device for remote control（21）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820031313.7U CN207745494U (en) | 2018-01-09 | 2018-01-09 | A kind of robot for fencing training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820031313.7U CN207745494U (en) | 2018-01-09 | 2018-01-09 | A kind of robot for fencing training |
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| Publication Number | Publication Date |
|---|---|
| CN207745494U true CN207745494U (en) | 2018-08-21 |
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ID=63152527
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820031313.7U Active CN207745494U (en) | 2018-01-09 | 2018-01-09 | A kind of robot for fencing training |
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| Country | Link |
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| CN (1) | CN207745494U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347438A (en) * | 2020-02-24 | 2020-06-30 | 五邑大学 | Learning type robot and learning correction method based on same |
| CN113198159A (en) * | 2021-05-28 | 2021-08-03 | 扬州市皓联电子科技有限公司 | Novel digital fencing target |
| CN115253243A (en) * | 2022-08-10 | 2022-11-01 | 广西科技大学 | Training equipment with visual monitoring function for fencing training |
| CN116312081A (en) * | 2022-09-07 | 2023-06-23 | 中山大学 | Child autism treatment device based on ball game |
-
2018
- 2018-01-09 CN CN201820031313.7U patent/CN207745494U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347438A (en) * | 2020-02-24 | 2020-06-30 | 五邑大学 | Learning type robot and learning correction method based on same |
| CN113198159A (en) * | 2021-05-28 | 2021-08-03 | 扬州市皓联电子科技有限公司 | Novel digital fencing target |
| CN115253243A (en) * | 2022-08-10 | 2022-11-01 | 广西科技大学 | Training equipment with visual monitoring function for fencing training |
| CN115253243B (en) * | 2022-08-10 | 2023-03-10 | 广西科技大学 | Training equipment with visual monitoring for fencing training |
| CN116312081A (en) * | 2022-09-07 | 2023-06-23 | 中山大学 | Child autism treatment device based on ball game |
| CN116312081B (en) * | 2022-09-07 | 2024-05-07 | 中山大学 | Child autism treatment device based on ball game |
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