CN214344312U - A simulation skiing machine for disabled person's position of sitting skiing training and test - Google Patents
A simulation skiing machine for disabled person's position of sitting skiing training and test Download PDFInfo
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- CN214344312U CN214344312U CN202120187936.5U CN202120187936U CN214344312U CN 214344312 U CN214344312 U CN 214344312U CN 202120187936 U CN202120187936 U CN 202120187936U CN 214344312 U CN214344312 U CN 214344312U
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Abstract
The utility model provides a simulated skiing machine for training and testing sitting skiing of disabled people, which comprises two belt transmission mechanisms, a cushion platform and a skiing chair which are fixed between the two belt transmission mechanisms, and an electric control system; the belt transmission mechanism comprises a rack, a transmission belt, a driving wheel, a driven wheel, a servo motor, a synchronous belt transmission mechanism and a plurality of three-dimensional force sensors; the servo motor drives the driven wheel to rotate through a synchronous belt transmission mechanism, the driving wheel and a transmission belt; a plurality of three-dimensional force sensors are fixed on the inner side wall of the rack and are covered by a transmission belt supporting plate, the top of the transmission belt supporting plate is in contact with a transmission belt, when the ski pole generates acting force on the transmission belt, the acting force is transmitted through the transmission supporting plate and then is collected by each three-dimensional force sensor and output to an electric control system, and the electric control system controls the rotating speed of the servo motor according to received three-dimensional force data. The utility model discloses can realize the overall process simulation of position of sitting cross country skiing action.
Description
Technical Field
The utility model relates to a skiing simulation machinery technical field, in particular to simulation skiing machine that is used for disabled person's position of sitting skiing training and test.
Background
The winter project of healthy people in China is in the leading position in the world, the scientific content is in a higher level, but the training scientific content of the project on Olympic Games of disabled people is low, the sports technology and equipment are not supported by scientific research, the research of scientific research theory and training means is almost absent, and the improvement of the sports result is limited. At present, the training method for winter snowing projects of disabled people in China has relatively lagged means, short training time and few chance of competition activities, and is difficult to greatly improve the training and competition performances, and the problems can restrict the development of winter sports of the disabled people in China.
The winter handicapped athletes with disabled lower limbs are special, can not depend on leg strength to do skiing sports, and can only sit on a skiing device to do cane sliding by depending on upper limb strength. At present, in China, fewer special devices are used for sitting skiing training of winter disabled Olympic athletes, and fewer devices are used for collecting and testing movement data of the sitting skiing athletes. Therefore, it is highly desirable to design a skiing simulator for training and testing the sitting skiing of the disabled, so as to improve the training level of the skiing athlete in the sitting posture of the disabled.
An existing indoor simulation skiing machine, such as chinese utility model patent CN208541771U (granted japanese 2019.02.26), discloses an indoor simulation skiing machine that has a simple structure, a reasonable design, an attractive appearance, high reliability, good stability, and can meet the development and needs of ice and snow sports. The skiing machine is not suitable for training disabled seated skiers, occupies a large area, enables users to move at a given speed only passively, and cannot detect the force data of the support rods.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the weak point of prior art, providing a simulation skiing machine that is used for disabled person's position of sitting skiing training and test. The utility model discloses a simulation skiing machine can let incomplete auspicious sportsman in winter of low limbs disabled no longer receive the restraint of season and place factor, just can carry out skiing training and capability test indoor.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a simulation skiing machine for training and testing the sitting skiing of the disabled, which is characterized by comprising two bilateral symmetry belt transmission mechanisms, a cushion platform and a skiing chair which are fixed between the two belt transmission mechanisms and are close to one end of the belt transmission mechanism, and an electric control system; each belt transmission mechanism respectively comprises a frame, a transmission belt, a driving wheel, a driven wheel, a servo motor, a synchronous belt transmission mechanism and a plurality of three-dimensional force sensors; the servo motor drives the driving wheel to rotate sequentially through the synchronous belt transmission mechanism and the driving shaft, and the driving wheel drives the driven wheel to rotate through the transmission belt; the three-dimensional force sensors are uniformly distributed in the length direction of the transmission belt and fixed on the inner side wall of the rack, the tops of the three-dimensional force sensors are covered by the transmission belt supporting plate, the three-dimensional force sensors are fixedly connected with the transmission belt supporting plate, the top of the transmission belt supporting plate is in contact with the transmission belt, when the ski pole generates acting force on the transmission belt, the acting force is transmitted through the transmission supporting plate and then is collected by the three-dimensional force sensors and output to the electric control system, and the electric control system controls the rotating speed of the servo motor according to the received three-dimensional force data.
Compared with the prior art, the utility model has the following characteristics and beneficial effect:
the utility model discloses a split type double-belt transmission structure, user's health can the immobilization, carries out skiing upper limbs vaulting pole action simulation. The utility model discloses can provide a safe and reliable's skiing simulation platform for can't rely on shank strength, can only sit the skiing person who relies on upper limbs strength to carry out the cane and slide on the ski chair.
Compare in traditional drive belt type indoor simulation skiing machine, the utility model discloses a occupation of land space is littleer, the manufacturing is lower, weight is lighter, the security is higher. The utility model discloses requirement to operational environment is lower, can lay in most indoor environment, simultaneously, because the utility model discloses small, the quality is light, and the user can move the position according to actual requirement.
The sportsman is utilizing the utility model discloses a during simulation skiing machine, the ski pole can freely lift up and carry out normal skiing fortune pole to overcome the unable problem that normally lifts up of ski pole of current slide rail stay cord formula cross country skiing simulator, realize the overall process simulation of position of sitting cross country skiing action, for the user with more real position of sitting cross country skiing impression.
Additionally, the utility model discloses can also apply the vaulting pole power data on the device when real-time detection and save the sportsman vaulting pole for user's motion data analysis, thereby help the user to know the ability of oneself more clearly. And simultaneously, the utility model provides an among the three-dimensional power data input the electrical system software that three-dimensional force sensor will detect, the electrical system software is according to the mechanics function in the actual skiing, and the three-dimensional power data who will gather change into the acceleration, and the rethread integral operation obtains speed, and then control servo motor's rotational speed change. Therefore, the skiing machine is more intelligent, the sense of reality of skiing machine simulation can be improved, and athletes can obtain more real skiing feeling.
Drawings
Fig. 1 is a schematic view of the overall structure of a ski simulator according to an embodiment of the present invention;
FIG. 2 is a schematic view of the belt drive mechanism of the snowboarding machine of FIG. 1;
FIG. 3 is a schematic view of the belt drive mechanism of FIG. 2 with the drive belt removed;
FIG. 4 is a schematic view of the belt support plate and three-dimensional force sensor at the front end of the belt drive mechanism of FIG. 1;
FIG. 5 is a flow chart of the speed adjustment of the snowboarder of FIG. 1.
In the figure: 10-a rack protective cover, 20-a transmission belt, 30-a servo motor, 40-a pulley cover, 50-a motor mounting plate, 60-a rack, 61-4080 belt line fixing blocks, 62-4080 belt line tensioning blocks, 70-a foot cup, 80-a transmission belt supporting plate, 90-a driving wheel, 100-a synchronous belt tensioning screw, 110-a synchronous belt transmission mechanism, 111-a synchronous belt tensioning screw, 112-a synchronous belt driving wheel, 113-a synchronous belt driven wheel, 114-a synchronous belt, 120-a driven wheel, 130-a sensor connecting plate, 140-a three-dimensional force sensor, 150-a transmission belt tensioning screw, 160-a sensor supporting plate, 170-a ski chair, 180-a belt transmission mechanism and 190-a cushion platform.
Detailed Description
The technical solution of the skiing simulator for training and testing the sitting skiing of the disabled will be described in detail with reference to the accompanying drawings and embodiments.
As shown in fig. 1-4, the utility model provides a simulation skiing machine for disabled person's sitting posture skiing training and test, including two bilateral symmetry and mutually independent belt drive mechanism 180, be fixed in between two belt drive mechanism and be close to the pad platform 190 of belt drive mechanism one end, be fixed in the skiing chair 170 and the electrical system (this electrical system is not shown in the figure) above pad platform 190. When in use, the skiing frame of the disabled seated skier is fixed between the two belt transmission mechanisms and close to one end of the driven roller. The disabled person sits on the ski chair 170 and holds the ski pole in a pole-supporting motion on the two drive belts with the drive mechanism 180. The simulation skiing machine can flexibly adjust the fixed position of the skiing chair 170 and the distance between the two belt transmission mechanisms 180 according to the strut habit of the sitting skiing athlete and the tip distance of the left skiing stick and the right skiing stick so as to meet the requirements of different athletes. Compared with the existing simulation skiing machine, the skiing chair of the utility model is not required to be arranged on the transmission belt, and only needs to be firmly fixed on the ground, thus having better safety, reducing the psychological burden of the user, and ensuring that the user can use the utility model more securely; and simultaneously, the utility model discloses still have that occupation of land space is little, remove convenient advantage.
The two belt transmission mechanisms 180 according to the embodiment of the present invention have the same structure, and the belt transmission mechanism on one side thereof is taken as an example for explanation. The belt transmission mechanism 180 includes a frame 60, a transmission belt 20, a driving pulley 90, a driven pulley 120, a servo motor 30, a synchronous belt transmission mechanism 110, and a plurality of three-dimensional force sensors 140. The driven wheel 120 is sleeved on a driven shaft fixed at the front end of the rack 60 (the driven shaft and the rack are kept relatively static), the driving wheel 90 is sleeved on a driving shaft rotatably connected at the rear end of the rack 60, the servo motor 30 drives the driving wheel 90 to rotate through the synchronous belt transmission mechanism 110 and the driving shaft in sequence, and the driving wheel 90 drives the driven wheel 120 to rotate through the transmission belt 20. The plurality of three-dimensional force sensors 140 are uniformly distributed along the length direction of the transmission belt 20 and fixed on the inner side wall of the rack 60, the tops of the plurality of three-dimensional force sensors 140 are covered by the transmission belt supporting plate 80, no relative motion is generated between each three-dimensional force sensor 140 and the transmission belt supporting plate 80, the top of the transmission belt supporting plate 80 is in contact with the transmission belt, when the ski pole generates acting force on the transmission belt 20, the acting force is transmitted through the transmission supporting plate 80 and then is collected by each three-dimensional force sensor 140 and output to the electronic control system, and the electronic control system controls the rotating speed of the servo motor 30 according to the received three-dimensional force data.
The embodiment of the utility model provides an in each part concrete implementation and function describe respectively as follows:
the frame 60 of this embodiment is a frame structure with light weight and good rigidity, the embodiment adopts 4080 aluminum profile, the frame structure is provided with 4080 belt line fixing block 61 and 4080 belt line tensioning block 62, specifically, the 4080 belt line fixing block 61 is used for installing a wheel axle (i.e. a driving shaft) of the driving wheel 90, the 4080 belt line fixing block 61 is provided with a bearing, so that the driving shaft can freely rotate in the 4080 belt line fixing block 61; the 4080 belt-line tensioning block 62 is used to mount the axle (i.e., driven shaft) of the driven wheel 120, and the position of the driven shaft in the 4080 belt-line tensioning block 62 can be adjusted by rotating the drive belt tensioning screw. Frame protection covers 10 are further provided on both sides of the frame 60 to prevent injury to persons due to collision of the frame structure of the frame 60 with the persons during use of the device. A motor mounting plate 50 is fixed below the rear end of the frame 60 and used for mounting the servo motor 30. The rear end of the rack 60 is provided with a driving shaft through a rotating bearing, so that the driving shaft and the rack 60 can rotate relatively, the front end of the rack 60 is provided with a driven shaft, the driven shaft and the rack 60 cannot rotate relatively, but the tensioning of a transmission belt can be realized by adjusting the front position and the rear position of the driven shaft.
Further, the bottom of the frame 60 is provided with a plurality of foot cups 70 uniformly distributed for horizontal adjustment of the present ski simulator.
Referring to fig. 3, the timing belt transmission mechanism 110 is disposed at the rear end of the frame 60, and includes a timing belt tensioning screw 111 fixed on the motor mounting plate 50, a timing belt driving pulley 112 connected to an output shaft of the servo motor 30, a timing belt driven pulley 113 sleeved at one end of the driving shaft, and a timing belt 114 connected between the timing belt driving pulley 112 and the timing belt driven pulley 113. The output shaft of the servo motor 30 is connected with one of the synchronous pulleys 112 through a key, and the relative position between the output shaft of the servo motor 30 and the synchronous belt driving pulley 112 can be adjusted by rotating the synchronous belt tensioning screw 111, so that the synchronous belt 113 is tensioned. The outside of the synchronous belt drive mechanism 110 is further provided with a pulley cover 40 for preventing the external environment from affecting the transmission of the servo motor 30 and protecting the safety of personnel during the use process of the device. The servo motor 30 is provided with a brake mechanism which can better ensure the personal safety of a user and can realize instant emergency braking when an emergency stop button is pressed in case of an accident.
Both the driving wheel 90 and the driven wheel 120 are provided with flanges for preventing the driving belt 20 from deviating during the operation. The two ends of the fixed shaft of the driven wheel 120 are provided with threaded holes respectively connected with one end of a driving belt tensioning screw 150, the other end of the driving belt tensioning screw 150 penetrates through the frame, the driving belt 20 can be tensioned by rotating the driving belt tensioning screw 150 to penetrate through the other end of the frame, so that the tension degree of the driving belt 20 is maintained, the slipping phenomenon is prevented, and the movement stability of the driving belt 20 is improved.
As shown in fig. 4, a sensor support plate 160 is respectively fixed on the inner side wall of the front end and the rear end of the frame 60, a three-dimensional force sensor 140 is respectively fixed on each sensor support plate 160, the top of each three-dimensional force sensor 140 is fixedly connected with the bottom of a sensor connecting plate 130 through a bolt, and the top of the sensor connecting plate 130 is fixedly connected with the bottom of the belt support plate 80 through a bolt.
Further, the driving belt supporting plate 80 is an aluminum alloy T-shaped groove plate, so that the driving belt supporting plate has the advantages of being good in rigidity and light in weight, and meanwhile, the T-shaped groove plate belongs to a standard part, does not need to be customized, and is convenient to produce and transport. The T-shaped slots at the front and rear ends of the belt support plate 80 can capture the bolts used to connect the sensor connection plate 130 to the three-dimensional force sensor 140 so that relative slippage between the two does not occur. The upper surface of the belt support plate 80 is subjected to a teflon thermal spray process. The teflon coating can play a role in lubrication between the transmission belt 20 and the transmission belt support plate 80, and reduce the friction coefficient, thereby prolonging the service life of the transmission belt 20 and reducing the influence of the friction between the transmission belt 20 and the transmission belt support plate 80 on the three-dimensional force sensor 140. Meanwhile, the polytetrafluoroethylene has good electrical insulation, and can avoid the influence on the device caused by static electricity generated during friction of the transmission belt 20.
As shown in fig. 5, when the disabled seated cross-country skier props up the pole on the present simulated ski machine, the skier applies force to the transmission belt support plate 80 through the ski pole, the three-dimensional force sensor 140 located below the transmission belt support plate 80 inputs the collected force data of the athlete's prop into the electronic control system, the control end converts the collected three-dimensional force data into acceleration according to the mechanical function in actual skiing, and then obtains the rotation speed of the servo motor 30 through integral operation, and then the electronic control system sends an instruction to the controller of the servo motor 30, the controller of the servo motor 30 controls the rotation speed change of the servo motor 30, and the servo motor 30 drives the transmission belt 20 to operate according to the speed calculated by the electronic control system, thereby generating a corresponding speed feedback to the user's prop force.
The calculation formula for converting the collected three-dimensional force data into the running speed of the transmission belt is as follows:
where a is the running acceleration of the belt 20 at the present time, v is the running speed of the belt 20 at the present time, and v is0Is the last moment (interval t)0Time, typically 10ms) of the running speed of the belt 20, T being the current time, FY1And FY2The strut force in the forward direction collected by the three-dimensional force sensors 140 on the left and right sides, respectively, F is the friction coefficient between the simulated snowboard and the snowfield (the value of F can be set in the system), M is the sum of the mass of the user and the equipment used by the user (the user needs to set the value of M in the system before using the equipment), F is the sum of the mass of the user and the equipment used by the user, andZ1and FZ2The force of the support rod along the vertical direction is collected by the three-dimensional force sensors on the right two sides respectively, and g is gravity acceleration.
The method for controlling the change of the rotating speed of the roller of the simulated skiing machine according to the strut force data of the disabled sitting skiing athlete collected by the three-dimensional force sensor 140 below the transmission belt supporting plate 80 enables the skiing machine to be more intelligent, improves the reality sense of skiing simulation, and enables the disabled athlete to obtain more real skiing feeling. Meanwhile, the electric control system can also store the data acquired by the three-dimensional force sensor 140, and the data can be used for acquiring and analyzing the motion data of the disabled sitting skiing athletes to help the disabled skiing athletes to improve skiing skill level.
Claims (9)
1. A simulated skiing machine for training and testing sitting skiing of disabled people is characterized by comprising two bilaterally symmetrical belt transmission mechanisms, a pad platform and a skiing chair which are fixed between the two belt transmission mechanisms and close to one end of the belt transmission mechanisms, and an electric control system; each belt transmission mechanism respectively comprises a frame, a transmission belt, a driving wheel, a driven wheel, a servo motor, a synchronous belt transmission mechanism and a plurality of three-dimensional force sensors; the servo motor drives the driving wheel to rotate sequentially through the synchronous belt transmission mechanism and the driving shaft, and the driving wheel drives the driven wheel to rotate through the transmission belt; the three-dimensional force sensors are uniformly distributed in the length direction of the transmission belt and fixed on the inner side wall of the rack, the tops of the three-dimensional force sensors are covered by the transmission belt supporting plate, the three-dimensional force sensors are fixedly connected with the transmission belt supporting plate, the top of the transmission belt supporting plate is in contact with the transmission belt, when the ski pole generates acting force on the transmission belt, the acting force is transmitted through the transmission supporting plate and then is collected by the three-dimensional force sensors and output to the electric control system, and the electric control system controls the rotating speed of the servo motor according to the received three-dimensional force data.
2. The snowplow of claim 1, wherein the belt support plate is a T-channel plate.
3. The machine of claim 1, wherein the belt support plate is an aluminum alloy T-channel plate.
4. The simulated ski machine of claim 1, wherein the upper surface of the belt support plate is coated with polytetrafluoroethylene.
5. The snowboarding machine of claim 1, wherein a sensor support plate is fixed to each of the inner side walls of the front and rear ends of the frame, and one of the three-dimensional force sensors is fixed to each of the sensor support plates.
6. A simulated ski machine as claimed in claim 1, wherein the drive wheel and the driven wheel are each provided with a rib.
7. The machine of claim 1, wherein the synchronous belt transmission mechanism comprises a synchronous belt tensioning screw located on the frame, a synchronous belt driving wheel connected with the output shaft of the servo motor, a synchronous belt driven wheel sleeved at one end of the driving shaft, and a synchronous belt connected between the synchronous belt driving wheel and the synchronous belt driven wheel, and the synchronous belt tensioning screw is rotated to adjust the relative position between the output shaft of the servo motor and the synchronous belt driving wheel, so as to tension the synchronous belt.
8. A simulated ski machine as claimed in claim 1, wherein the frame is of a frame construction, a motor mounting plate is provided beneath the rear end of the frame, and frame shields are provided on the frame on either side of the belt.
9. A machine as claimed in claim 1, wherein the base of the frame is provided with a plurality of evenly distributed feet cups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120187936.5U CN214344312U (en) | 2021-01-25 | 2021-01-25 | A simulation skiing machine for disabled person's position of sitting skiing training and test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120187936.5U CN214344312U (en) | 2021-01-25 | 2021-01-25 | A simulation skiing machine for disabled person's position of sitting skiing training and test |
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| Publication Number | Publication Date |
|---|---|
| CN214344312U true CN214344312U (en) | 2021-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120187936.5U Active CN214344312U (en) | 2021-01-25 | 2021-01-25 | A simulation skiing machine for disabled person's position of sitting skiing training and test |
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| CN (1) | CN214344312U (en) |
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2021
- 2021-01-25 CN CN202120187936.5U patent/CN214344312U/en active Active
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