CN214913250U

CN214913250U - Utilize supplementary training equipment of VR and force feedback arm

Info

Publication number: CN214913250U
Application number: CN202121291730.3U
Authority: CN
Inventors: 张彤; 宗星芃; 武睿敏; 郑珂欣; 曹容天
Original assignee: Individual
Current assignee: Li Kexin; Wu Jialing; Yang Tianle; Zhang Boyan; Zhang Yue
Priority date: 2021-06-09
Filing date: 2021-06-09
Publication date: 2021-11-30
Anticipated expiration: 2031-06-09

Abstract

The utility model provides an utilize supplementary training equipment of VR and force feedback arm relates to supplementary training equipment field. The auxiliary training equipment utilizing the VR and the force feedback mechanical arm comprises a mechanical arm, a power-assisted elastic part, VR equipment and a service terminal, wherein the mechanical arm comprises an upper shoulder part, a main arm part, an auxiliary arm part and a hand part, the upper shoulder part, the main arm part, the auxiliary arm part and the hand part are all annular elastic belts, the upper shoulder part is flexibly connected with the main arm part, the auxiliary arm part is flexibly connected with the hand part, binding belts are respectively arranged on the upper shoulder part and the hand part, the main arm part and the auxiliary arm part are connected through the power-assisted elastic part, the power-assisted elastic part is connected to the movable end of the main arm and the movable end of the auxiliary arm, and the service terminal is used for collecting the actions of the mechanical arm and uploading the actions to the VR equipment for display. The utility model can feed back real-time training state of athletes and strengthen the attention exercise of sportsmen.

Description

Utilize supplementary training equipment of VR and force feedback arm

Technical Field

The utility model relates to an auxiliary training equipment field particularly, relates to an utilize auxiliary training equipment of VR and force feedback arm.

Background

At present, sports such as badminton and table tennis training mostly depends on manual guidance of coaches, so that the efficiency is low, and the individual condition of athletes is difficult to effectively improve. The auxiliary training equipment is mostly of a mechanical structure with low intelligent degree, and the auxiliary training equipment is limited in help of improving the training effect.

Based on the current situation, virtual feedback similar to a real environment needs to be generated by applying a virtual environment in the VR device, so that the training immersion of athletes is improved. For this reason, there is a need for an auxiliary training device that can provide feedback to the athlete on the real-time training status and provide force feedback.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an utilize supplementary training equipment of VR and force feedback arm, it can feed back the real-time training status of sportsman, strengthens sportsman's attention exercise.

The embodiment of the utility model is realized like this:

the embodiment of the application provides an utilize supplementary training equipment of VR and force feedback arm, including arm, helping hand elastic component, VR equipment and service terminal, the arm includes shoulder, main arm, vice arm and hand, go up the shoulder main arm vice arm with the hand is annular elastic band, go up the shoulder with main arm flexonics, vice arm with hand flexonics, go up the shoulder with the hand is equipped with the ligature area respectively, main arm with vice arm passes through the helping hand elastic component is connected, the helping hand elastic component connect in the expansion end of main arm with the expansion end of vice arm, service terminal is used for gathering the action of arm reaches the VR equipment display.

The utility model discloses an in some embodiments, go up the shoulder, main arm portion vice arm and the hand all is equipped with displacement sensor, angular velocity sensor and angle sensor, displacement sensor angular velocity sensor with angle sensor is communication connection respectively service terminal.

The utility model discloses an in some embodiments, service terminal control VR equipment shows training instrument and training adversary, and according to arm motion control the training instrument removes, according to training instrument control the action of training adversary, according to the action reverse control of training adversary the action of training instrument.

The utility model discloses an in some embodiments, the aforesaid utilizes supplementary training equipment of VR and force feedback arm to include mobile terminal, mobile terminal is used for the input training degree of difficulty, and will arrive on the training degree of difficulty service terminal, service terminal basis the control of the training degree of difficulty training adversary's action.

In some embodiments of the utility model, including cylinder and the spring that is connected, the cylinder is kept away from the one end of spring articulate in main arm, the spring is kept away from the one end of cylinder connect in the fly jib, the flexible direction of cylinder with the flexible direction of spring is unanimous, the cylinder.

The utility model discloses an in some embodiments, service terminal is equipped with the action database, action database stores has multiunit data, and every group data all include sportsman or training opponent's action, the position of hitting of hand and be used for the sign action and hit the position the action of training instrument.

The utility model discloses an in some embodiments, the service terminal basis the action of training instrument acquires turned angle, moving direction and moving speed, according to the action of training instrument is anticipated the training instrument hits path and floor point in a certain time, and will hit the path with the floor point uploads VR equipment demonstration.

The utility model discloses an in some embodiments, service terminal obtains hitting of hand according to the arm action and hits the position and hit time of beating, according to moving speed with hit time judgement hit the position of beating and whether be located hit the route, and hit the position of beating and arrive the distance analysis sportsman's of floor point reaction rate.

The utility model discloses an in some embodiments, the service terminal according to hit beat the route with the beat position of hitting of hand is estimated to the moving speed, the analysis hand with hit the skew direction of hitting the position, according to skew direction control the elasticity control end of helping hand elastic component.

In some embodiments of the invention, the service terminal sends the offset direction to the VR device.

Compared with the prior art, the embodiment of the utility model has following advantage or beneficial effect at least:

the utility model provides an utilize supplementary training equipment of VR and force feedback arm, including arm, helping hand elastic component, VR equipment and service terminal, the arm includes shoulder, main arm, vice arm and hand, go up the shoulder the main arm with vice arm with the hand is the annular elastic band, go up the shoulder with main arm flexonics, vice arm with hand flexonics, go up the shoulder with the hand is equipped with the ligature area respectively, main arm with vice arm passes through helping hand elastic component connects, helping hand elastic component connect in the expansion end of main arm with the expansion end of vice arm, service terminal is used for gathering the action of arm reaches to reach VR equipment display.

According to the method and the system, virtual training tools and training opponents are displayed through VR equipment, the action of a sports person is tested by the mechanical arm through the action of the mechanical arm collected by the service terminal, and the action of the mechanical arm is displayed through the VR equipment, so that the real experience of immersive training is improved; the upper shoulder part, the main arm part, the auxiliary arm part and the hand part are all arranged into flexibly connected annular elastic belts, so that the upper shoulder part, the main arm part, the auxiliary arm part and the hand part are worn corresponding to the hand arm, different actions of the mechanical arm can be conveniently collected through all parts of the hand arm, the service terminal displays a feedback scene corresponding to the actions of the sportsman through VR equipment, and the movement level and the practical operation capacity of the sportsman are improved; connect main arm and vice arm through elastic resistance spare, provide the cushion force when the sportsman moves by a wide margin, prevent that the sportsman from pulling. The utility model discloses a robotic arm tests and analyzes sportsman's action to utilize VR equipment feedback sportsman's real-time training state, and through VR equipment feedback, strengthened sportsman's attention, improved the security of sportsman exercise.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of an auxiliary training device using VR and force feedback mechanical arms according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an auxiliary training device using VR and force feedback robotic arms according to an embodiment of the present invention;

fig. 3 is the embodiment of the utility model provides an utilize the flow chart of the supplementary training equipment of VR and force feedback arm.

Icon: 1-upper shoulder, 2-main arm, 3-auxiliary arm, 4-wrist, 5-cylinder, 6-piston rod, 7-flexible band, 8-compression bar and 9-sleeve.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the individual features of the embodiments can be combined with one another without conflict.

Examples

Referring to fig. 1 to 3, fig. 1 to 3 are schematic diagrams illustrating an auxiliary training device using VR and force feedback mechanical arms according to an embodiment of the present disclosure. The auxiliary training equipment utilizing the VR and the force feedback mechanical arm comprises a mechanical arm, an assistance elastic part, VR equipment and a service terminal, wherein the mechanical arm comprises an upper shoulder part 1, a main arm part 2, a sub arm part 3 and a hand part, the upper shoulder part 1, the main arm part 2, the sub arm part 3 and the hand part are all annular elastic belts, the upper shoulder part 1 is flexibly connected with the main arm part 2, the sub arm part 3 is flexibly connected with the hand part, the upper shoulder part 1 and the hand part are respectively provided with a binding belt, the main arm part 2 is connected with the sub arm part 3 through the assistance elastic part, the assistance elastic part is connected with the movable end of the main arm part 2 and the movable end of the sub arm part 3, and the service terminal is used for collecting the actions of the mechanical arm and uploading the actions to the VR equipment for displaying.

In detail, the VR device is any existing device, such as a virtual image presented by wearing VR glasses, and the virtual image may include a virtual training scene, a training tool and a training opponent, where the training tool may be a table tennis, a badminton, a soccer, etc. The service terminal is used for collecting the actions of the mechanical arm, wherein the mechanical arm is operated and controlled after a sportsman or a tester wears the mechanical arm, the mechanical arm can be worn on a human body to directly collect the actions of the sportsman, and can also be worn on a mechanical arm used for simulating the actions of the sportsman, and the mechanical arm can be controlled by manually inputting an operation command of the sportsman, so that different actions of the sportsman can be tested. Optionally, the service terminal collects the actions of the mechanical arms through the network, controls the movement of the training tool according to the actions of the mechanical arms, controls the next-step actions of the training opponent according to the training tool, reversely controls the movement of the training tool by using the actions of the training opponent, enables the sportsman to timely react by checking the actions of the training opponent, improves the hit rate of the striking training tool, and further improves the training quality of the training opponent.

In detail, the upper shoulder part 1, the main arm part 2, the auxiliary arm part 3 and the hand part are all annular elastic belts, so that the upper shoulder part, the two arm joints and the wrist corresponding to the human body are sleeved in sequence. The material of the elastic band may be of any conventional arrangement such that the robotic arm is stably worn on the arm. The upper shoulder part 1 and the main arm part 2, the auxiliary arm part 3 and the hand part are respectively connected through the flexible belts 7 to be integrated, and the flexible belts 7 can be made of long cloth or elastic materials to allow each part of the arms of people to move freely. The helping hand elastic component can be spring or elastic webbing, is convenient for install through setting up hard material on main arm portion 2 and auxiliary arm portion 3, and the helping hand elastic component can provide certain resistance when motion personnel move by a wide margin fast, prevents motion personnel's arm strain.

The utility model discloses an in some embodiments, the arm is located sportsman's shoulder, joint and wrist department and all is equipped with displacement sensor, angular velocity sensor and angle sensor, displacement sensor angular velocity sensor with angle sensor is communication connection respectively VR equipment.

In detail, the displacement sensor senses changes in the horizontal position and the height position of the shoulder, the joint and the wrist of the sportsman through the upper shoulder part 1, the main arm part 2, the sub-arm part 3 and the hand part, so that the size change of the displacement of each part is obtained through the detected result, and the moving speed is obtained according to a plurality of times of the size change of the displacement. The displacement sensor can be an angular velocity sensor, and can sense the angle change speed between the shoulder and the joint and between the joint and the hand through the angular velocity sensor, so that the motion strength of the sportsman can be analyzed through the angular velocity. The angle sensor senses the angles between the shoulder and the joint and between the joint and the hand, so that the movement change of the sportsman can be analyzed. Therefore, the whole movement condition and the action change condition of the sportsman can be obtained by utilizing the induction data, various items of data representing the position, the action change and the force can be integrated, the hitting direction, the distance and the speed of the training tool are further analyzed, and the real experience of the user training is improved.

The virtual training tool and the virtual training opponent are displayed through the VR equipment, the action of the mechanical arm is collected through the service terminal, the moving direction and position of the training tool are controlled through the action of the mechanical arm, and further feedback of dynamic training is achieved; the action of a training opponent is controlled according to the training tool, so that the experience of the user in immersive exercise is improved; according to the action of the training tool reversely controlled by the training opponent, the movement condition of the training tool can be analyzed by the sporter according to the feedback of the training opponent, so that the counterpoint training is carried out, and the exercise of the reaction capability of the sporter is enhanced. The motion of the sportsman collected by the motion of the mechanical arm can obtain the position, speed and direction changes of different parts of the arms of the sportsman through the shoulders, the main arm part 2, the auxiliary arm part 3 and the hands. The attention exercise of the sportsperson is enhanced by training the tool and training the opponent's feedback.

In detail, the mobile terminal can be used for the service terminal to control the action of the training opponent according to the training difficulty by inputting the grade of the training difficulty, so that the hitting direction and force can be controlled according to the action of the training opponent, the training tool can be controlled according to different hitting directions and forces, various training strengths can be met, and different sports personnel can use the training tool conveniently.

In some embodiments of the present invention, the service terminal determines the smoothness of movement according to the actions of the shoulder, the joint and the hand, and controls the range of motion of the training tool according to the smoothness of movement.

In detail, the service terminal judges the motion smoothness of the sports personnel according to the motion between the shoulder and the joint and the motion between the joint and the wrist, and controls the moving range of the training tool according to the smoothness, so that the training tool is suitable for the sports personnel to exercise and use, and the risk of strain of the sports personnel caused by too small motion smoothness is avoided. The motion smoothness of the sporter at different hitting positions can be collected, so that the motion range of the training tool is set according to the threshold range of the motion smoothness, and the hitting motion of the training opponent is further set according to the motion range of the training tool. Optionally, when the action of the training opponent is controlled according to the position of the training tool, the hitting direction and speed of the training opponent can be set, so that the hitting position of the training tool is adjusted, the hitting position is located in a comfortable moving range of the training opponent, and the moving range can be set according to the horizontal position and the height. Optionally, when the action smoothness is too small, the training difficulty is small, and the activity range can be expanded; when the action smoothness is too large, the training difficulty is high, sporters are easy to hurt, and the range of motion can be reduced.

The utility model discloses an in some embodiments, service terminal is equipped with the action database, action database stores has multiunit data, and every group data all include sportsman or training opponent's action, hit the position and be used for the sign action and hit the position training instrument's action.

In detail, the service terminal is provided with a motion database, the motion database comprises hitting positions of the training tool and motions of the training opponent, so that the hitting motions of the training opponent are determined according to different hitting positions, wherein the hitting motions are arranged through shoulders, joints and wrists of the training opponent or the sports opponent, so that the motions of the training opponent or the sports opponent are tested by using corresponding motions. And the sports opponent can exercise by simulating the actions, and the service terminal can judge whether the actions are similar by utilizing the actions in the action database when the actions are collected by the mechanical arm, so that the abilities of the sports personnel are evaluated by utilizing the similar actions. And when the similarity between the actions of the mechanical arm in the action database is low, the service terminal can upload the actions of the mechanical arm to the action database. Optionally, the service terminal may control the action of the training opponent by using the action in the action database, so as to improve the self-learning capability of the training opponent.

In detail, the service terminal obtains a rotation angle, a moving direction and a speed according to the action of the training tool, pre-estimates a hitting path and a landing point of the training tool within a certain time according to the action of the training tool, uploads the hitting paths and the landing point to VR equipment according to the hitting paths at different times, and displays the hitting paths and the landing point through the VR equipment so that a training opponent can operate the mechanical arm. Wherein the operation of arm can be through artificial control, also can wear to realize through the motion personnel, does not belong to the utility model discloses a point of improvement, consequently can utilize current controllable formula arm or arm to wear the formula arm here and accomplish, needn't describe in detail here.

In detail, the service terminal obtains the hitting position and hitting time of the hand according to the action of the mechanical arm, judges whether the hitting position is located at a hitting point corresponding to a hitting path of the training tool according to the moving speed and the hitting time of the training tool, and can obtain the response sensitivity of the training personnel according to the distance between the hitting point and the landing point, so that the ability of the training personnel can be evaluated conveniently.

Alternatively, the main arm part 2 and the sub arm part 3 are hinged, so that the main arm part 2 and the sub arm part 3 can move flexibly, and the main arm part 2 and the sub arm part 3 can be prevented from being twisted and injured. The helping hand elastic component can be metal spring or rubber pole, and the helping hand elastic component is connected between the expansion end of main arm portion 2 and the expansion end of auxiliary arm portion 3, can play the cushioning effect when the arm of machinery moves fast, prevents that the too big or undersize of angle of main arm portion 2 and auxiliary arm portion 3 from causing arm and human damage for activity personnel's hitting action is safer. The service terminal predicts the hitting position of the hand according to the hitting path and the moving speed of the hitting tool, so that the deviation direction of the actual position of the hand and the hitting position can be conveniently analyzed, the elastic control end of the power-assisted elastic piece is controlled according to the deviation direction, the main arm 2 can be assisted or prevented from rotating towards different directions relative to the auxiliary arm 3, the exercise safety of sports personnel is improved, and the resistance can be adjusted to adapt to the movement of the mechanical arm by controlling the rigidity of the power-assisted elastic piece. The acting force or the rigidity of the spring can be adjusted through extrusion and stretching, and the service terminal is connected with the spring through the power part so as to adjust the extrusion or stretching of the spring.

In some embodiments of the invention, the service terminal sends the offset direction to the VR device for display. In detail, the service terminal sends the offset direction to VR equipment for display, so that people can check and adjust the action of the mechanical arm conveniently.

In some embodiments of the present invention, the power-assisted elastic member includes a cylinder 5, a pressure rod 8, a sleeve 9 and a spring, the control end of the cylinder 5 is communicatively connected to the service terminal, the cylinder 5 is hinged to the main arm 2, the piston end of the cylinder 5 is hinged to the pressure rod 8, the spring is disposed inside the sleeve 9 and is arranged along the length direction of the sleeve 9, the pressure rod 8 is slidably connected to the inside of the sleeve 9 along the length direction of the sleeve 9, the pressure rod 8 is away from the spring the pressure rod 8 is away from the one end of the cylinder 5 is connected to the spring, the spring is away from the one end of the pressure rod 8 is connected to the auxiliary arm 3, the sleeve 9 is away from the one end of the cylinder 5 is hinged to the auxiliary arm 3.

Wherein the cylinder 5 is hinged on the main arm part 2, the cylinder 5 is hinged with the spring through the pressure rod 8, and the spring is connected with the movable end of the auxiliary arm part 3, so that the main arm part 2 and the auxiliary arm part 3 can move conveniently. And, through the piston rod 6 of control cylinder 5 stretching out, can promote depression bar 8 and stretch into the interior extrusion spring of sleeve 9 to utilize elasticity return force to promote vice arm 3. The piston rod 6 through the control cylinder 5 retracts, the pull rod extension spring can be driven, the auxiliary arm part 3 is driven to retract, the problem that the angle between the auxiliary arm part 3 and the main arm part 2 is too large, muscle strain and strain is caused due to the fact that the moving speed is too fast is solved, the piston rod 6 of the service terminal control cylinder 5 stretches out and stretches into the back, the original position can be returned, the spring is made to be in the normal length, and people convenient to change actions. Because the spring has certain elasticity back force, when providing the buffering effort, can prevent rigid connection damage arm.

In detail, the spring is reciprocated by the piston rod 6 of the cylinder 5, thereby compressing or extending the spring. Wherein, the helping hand elastic component is connected to the arm and is close to one side of health. When the secondary arm 3 rotates towards the striking path, the included angle between the primary arm 2 and the secondary arm 3 increases, the movable end of the cylinder 5 pushes towards the secondary arm 3, so that the spring compresses and pushes the secondary arm 3 to rotate away from the spring, triggering the secondary arm 3 to strike the training tool towards the striking path, and the spring can provide a buffer acting force to prevent the mechanical arm or the human arm from being pulled due to the fact that the moving speed is too fast. Conversely, when the sub arm 3 is rotated toward the striking path, the angle between the main arm 2 and the sub arm 3 is decreased, and the movable end of the cylinder 5 is pulled back toward the sub arm 3, so that the spring is compressed and pushes the sub arm 3 to rotate toward the direction close to the spring, triggering the sub arm 3 to strike the training tool toward the striking path. . Wherein, with the relative rotation of the sleeve 9 and the cylinder 5, the compression rod 8 can slide back and forth along the axial direction of the sleeve 9, and is adapted to extend or extend into the piston rod 6.

The motion database may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.

The service terminal can realize the processing of the data through the processor, realize the control of different devices through the controller, and the processor is in communication connection with the controller so as to control the controller to realize the control function according to the data processing result. Which may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), etc.; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. A Microcontroller (MCU) is a single chip microcomputer in which the main part of the microcomputer is integrated on one chip.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams, and combinations of blocks in the block diagrams, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

To sum up, the auxiliary training equipment who utilizes VR and force feedback arm that this application embodiment provided:

the virtual training tool and the virtual training opponent are displayed through the VR equipment, the mechanical arm is used for collecting the action of the mechanical arm through the service terminal, and the action of the sports personnel is analyzed through the mechanical arm, so that the service terminal controls the moving direction and position of the training tool through the action of the sports personnel, the effect of dynamic training feedback is realized, the action of the training opponent is controlled according to the training tool, and the experience of immersion type exercise of a user is improved; the motion of the training tool is reversely controlled according to the training opponent, and the movement condition of the training tool can be analyzed by the sporter according to the feedback of the training opponent, so that the counterpoint training is carried out, and the reaction capability of the sporter is exercised; the mechanical arm action comprises the position, the speed and the direction of the upper shoulder part 1, the joint and the hand part, so that the horizontal position change, the height position change and the moving speed of the sportsman are analyzed by the mechanical arm action, the moving path and the speed of the struck training tool are analyzed according to the speed and the direction of the sportsman, more accurate training feedback is obtained, and the movement level and the practical operation capacity of the sportsman are improved. The utility model discloses a robotic arm tests and analyzes the motion of sportsman to utilize VR equipment feedback sportsman's real-time training state, strengthened sportsman's attention exercise through training instrument and training adversary's feedback.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The auxiliary training equipment utilizing the VR and the force feedback mechanical arm is characterized by comprising a mechanical arm, a power-assisted elastic part, VR equipment and a service terminal, wherein the mechanical arm comprises an upper shoulder part, a main arm part, an auxiliary arm part and a hand part, the upper shoulder part, the main arm part, the auxiliary arm part and the hand part are all annular elastic belts, the upper shoulder part is flexibly connected with the main arm part, the auxiliary arm part is flexibly connected with the hand part, binding belts are respectively arranged on the upper shoulder part and the hand part, the main arm part and the auxiliary arm part are connected through the power-assisted elastic part, the power-assisted elastic part is connected with the movable end of the main arm and the movable end of the auxiliary arm, and the service terminal is used for collecting the actions of the mechanical arm and uploading the actions to the VR equipment for display.

2. The auxiliary training apparatus utilizing a VR and force feedback robotic arm of claim 1, wherein the upper shoulder, the main arm, the secondary arm, and the hand are each provided with a displacement sensor, an angular velocity sensor, and an angle sensor, the displacement sensor, the angular velocity sensor, and the angle sensor each communicatively coupled to the service terminal.

3. The assisted training device of claim 1, utilizing a VR and force feedback robotic arm, wherein the service terminal controls the VR device to display a training tool and a training opponent and controls the training tool to move according to the robotic arm motions, controls the training opponent's motions according to the training tool, and controls the training tool's motions in reverse according to the training opponent's motions.

4. An auxiliary training apparatus using VR and force feedback robotic arm as claimed in claim 3, wherein said service terminal is provided with a motion database storing a plurality of sets of data, each set of data comprising motion of a sportsman or training opponent, a hitting position of a hand and motion of said training tool for identifying motion and said hitting position.

5. The assisted training device of claim 3, wherein the service terminal obtains rotation angle, moving direction and moving speed according to the motion of the training tool, estimates the hitting path and landing point of the training tool within a certain time according to the motion of the training tool, and uploads the hitting path and landing point to the VR device for display.

6. The auxiliary training apparatus using VR and force feedback robot of claim 5, wherein the service terminal obtains a hitting position and hitting time of a hand according to the robot motion, determines whether the hitting position is located on the hitting path according to the moving speed and the hitting time, and analyzes the reaction speed of the sportsman according to the distance from the hitting position to the landing point.

7. The training aid of VR and force feedback robotic arm of claim 5, wherein said service terminal predicts a hitting position of the hand based on said hitting path and said moving speed, analyzes a deviation direction of the hand from said hitting position, and controls the elastic force control end of said elastic force-assisted member based on said deviation direction.

8. The training aid of claim 7, wherein the service terminal transmits the offset direction to the VR device.

9. The assisted training device of claim 3, comprising a mobile terminal for inputting a training difficulty and uploading the training difficulty to the service terminal, the service terminal controlling the action of the training opponent according to the training difficulty.

10. The training aid of claim 1, wherein the force-assisted elastic member comprises a cylinder and a spring, the cylinder is hinged to the primary arm at an end away from the spring, the spring is connected to the secondary arm at an end away from the cylinder, and the cylinder and the spring extend and retract along the length of the robotic arm.