RU2729327C1 - Device with variable surface for rock-climbing - Google Patents

Abstract

FIELD: training simulators; sport.SUBSTANCE: present invention relates to training devices, a device with a variable surface for rock climbing, which can be used for training and preparation of mountaineers and climbers. Device comprises frame made of sections. Sections are made of their metal profile and are connected to each other. Rotary cells are made in the form of triangular prisms. Metal half-axles are fixed on upper and lower faces of rotary cells along vertical axis of symmetry. Assemblies of bearings are axially fixed on upper and lower sections in sections at installation of rotary cells. Rotary cells are fixed in sections by fitting metal half-axles in bearing assemblies. Grips are fixed on side faces of rotary cells. Rotary cell control system includes electric motors with drives, electric motors drivers, rotary cells faces position sensors, fixators of rotary cells position, pickups of rotary cells position fixation locks, sensors control and monitoring units, electric motors with drives and rotary cell position retainers, common control unit, control computer. Device also includes power supply unit. At that drivers of electric motors, sensors of position of rotary cell faces, fixators of rotary cells position, transducers of positioning of rotary cells are connected to control and monitoring units of sensors, electric motors with drives and locks of rotary cells. Control and monitoring units of sensors, electric motors with drives and rotary cell position fixators are connected to common control unit. Drivers of electric motors, control and monitoring units of sensors, electric motors with drives and locks of rotary cells position and common control unit are connected to power supply unit. Common control unit is connected to control computer.EFFECT: simplified assembly and maintenance of the device, increased number of trajectories and training scenarios.10 cl, 3 dwg, 1 ex

Description

The proposed invention relates to training devices, relates to a device with a variable surface for rock climbing, which can be used for training and training climbers and rock climbers.

Currently, simulators that simulate a climbing wall are widely used, containing a frame and an endless flexible element (tape) attached to it, carrying rails or plates mounted one above the other. The continuously moving wall surface provides the ability to reduce the height of the machine, simulate continuous climbing to any height, and exercise endurance.

So, for example, a simulator is known (ed. St. 280284, class A63B 17/00, 1969), containing a frame, an endless flexible element attached to it, carrying rails mounted one above the other. The disadvantage of such a simulator is the low efficiency of training climbers, since creating the ability to simulate continuous ascent, it does not reproduce the relief of the rock surface.

To simulate real-life training conditions, climbing wall simulators either use composite panels with surfaces that simulate the surface of a rock, or use movable frames that allow you to change the angle and height of the wall, which allows you to regulate the load and increase training efficiency.

For example, the known simulator "Wall" (ed. St. No. 646998, class A63B 69/00, publ. 02/15/1979), containing a frame, an endless flexible element attached to it, carrying rails mounted one above the other, panels with a curved surface imitating a rocky relief, means for attaching the panels to the slats and collet clamps for placing rocky hooks installed in the slats, the slats being hinged to one another. The disadvantage of this simulator is the small variability of the ascent trajectories.

Also known is a simulated climbing wall (US 5125877, class A63B 69/00, publ. 06/30/1992), consisting of a frame, at least two guide elements pivotally attached to the upper part of the frame, and a chain structure comprising a plurality of panels, each wall panel having a removable surface panel, with each wall panel being flexibly attached to the next in a continuous chain. The chain structure is guided by the guiding elements so that the simulated climbing wall has an orientation relative to the vertical that matches the orientation of the guiding elements so that the pitch, the angle of the climbing wall is adjustable and so that the panels can move downward in a controlled manner as the climber climbs. This provides the ability to move the plates while climbing the path, but rather limited variability in trails for different workouts.

Also known is a climbing simulator (CN 106215394, class A63B 69/00, publ. 12/14/2016), which contains a lower support, a climbing wall and two rocking electric cylinders. The hinge support bases are respectively located on both sides of the lower support, and the rotating shaft is located in the lower part of the climbing frame. The cylinder barrel bottoms of the two swinging electric cylinders are pivotally attached to the two sides of the lower support, respectively, and the ends of the piston rods of the two swinging electric cylinders are pivotally attached to the two supporting bases, respectively. The two support shafts are mounted on two support bases, and the support springs are mounted on two support shafts, respectively. Two sliding sleeves are located on two sides of the upper part of the climbing wall, two sliding rods are installed in two sliding sleeves, respectively, in sliding mode, the lower ends of the sliding sleeves are equipped with support shafts and support wheels are installed on the upper ends of the movable rods. The two rotating motors are located on the outer sides of the two base supporting hinges, respectively, the main shafts of the rotating motors are coaxially connected to the chain wheels, and the climbing plates are installed in parallel between the chains. Free and safe climbing training is achieved by installing a rotating climbing wall, and the climbing machine is reasonable in structure and convenient to operate. The independence from power supply makes this design quite economical. The rotating structure allows you to continuously climb the wall, developing endurance, but, due to the impossibility of changing the route, the client quickly loses interest in it, and, consequently, the motivation for further studies on this structure.

Known portable climbing wall (US 15897644, class A63B 69/00, publ. 08/16/2018), which contains walls for climbing, movably connected to each other along the upper edge so that they form an A-shaped frame. This allows you to vary the angle between them and thus provide a different level of difficulty when climbing. Wall surfaces are made with holes for insertion parts - anchors for leg stability, grips, obstacles (stones), ropes. The portable climbing wall is stable, mobile and offers variable trajectory configurations. The disadvantage of this design is the lack of variability of the tracks during training.

Known multipurpose climbing wall with adjustable slope (US 16028931, class A63B 69/00, A63B 23/12, A63B 21/04, A63B 21/068, A63B 21/00, publ. 31.01.2019), The wall of the climbing wall consists of panels fixed to the frame, and systems for adjusting the slope of the frame. The slope can be adjusted by activating a drive that extends the top of the frame away from the support wall, tilting the climbing wall to the desired slope. In some embodiments, the climbing wall may also contain one or more fitness accessories that can be brought to an optimal height for a particular user by adjusting the incline of the climbing wall. The design allows you to adjust the angle of the climbing wall, which allows you to more faithfully reproduce the conditions of a real rock, but the variability of the tracks is not provided.

To increase the information content, enhance the learning effects during training, walls with drawings, augmented reality devices, and light-emitting elements can be used.

For example, a climbing wall with augmented reality is known (CN 206675905, class A63B 26/00, published on November 28, 2017), which contains a climbing wall and an augmented reality device. The climbing wall body comprises a wall body base, two support posts, and a wall surface. The two support posts are located vertically on the base of the wall body. The wall surface is positioned vertically on the base of the wall body and is clamped and secured between two posts. The augmented reality device contains a pulley base, a support rod, a human-computer interaction device, and a projection recognition device. The support bar is vertically mounted on the pulley base, and the rotating base is rotationally mounted on the upper end of the support bar. The recognition projection device is horizontally mounted on a rotating base. The lift slide rail is vertically disposed on the support bar, and the rear face of the human-computer interaction device is fixed to the lift slide rail and can slide up and down along the lift slide rail. The ID projection device contains a high definition camera and a high definition projector. The equipment for human-computer interaction is respectively connected with a high-definition camera and a high-definition projector. High definition camera and high definition projector are suitable for wall surface. During use, the user sets the appropriate climbing pattern through the human-machine interaction equipment, and then projects the image of the climbing onto the wall surface through a high definition projector. The high-definition camera can collect the moving image of the climbing person in real time, so that the human-machine equipment can analyze the action of the climbing person. The depth sensor takes an existing image depth camera to obtain depth information. The human-machine interaction device can be a touch screen device or a tablet computer. The climbing wall enhances the consumer's climbing experience, the required multi-circuits can be used without actually replacing the climbing wall. The disadvantage of this solution is the complex hardware implementation.

Also, a training system for climbing an artificial rock wall is known (KR 1020170014676, class А63В 69/00, А63В 24/00, А63В 71/06, published on 28.06.2018), which contains: a lot of climbing holders installed on an artificial rock wall by means of bolts in which a space is formed in the longitudinal direction for inserting both a light emitting element for emitting light of different colors and a photosensor; a control unit receiving a detection signal supplied by the photosensor, transmitting sensory movement information of the user outwardly, and operating movements of the light-emitting element in accordance with a control signal supplied from the outside; communication unit connected to the control unit; and a system controller connected to the communication unit for providing information necessary for movements of the control unit. Thus, the artificial rock wall climbing training system is able to enhance the training effects by operating the light emitting element in accordance with the training mode of the user with the climbing holders. This system allows you to automatically change training scenarios, however, it also has a small variability of the tracks.

The analysis of technical solutions according to the indicated patent documents showed that their main disadvantage is the limited variability of trajectories and / or the absence of dynamic automatic change of training scenarios, which reduces its effectiveness.

The closest in technical essence and the achieved result to the proposed invention is a freely combinable climbing frame, protected by patent CN 207055867, class. A63V 69/00, publ. 03/02/2018, taken as the closest analogue (prototype).

The prototype device includes a mounting bracket and a climbing wall mounted on the mounting bracket, consisting from top to bottom of a plurality of replaceable composite panels. The mounting bracket includes a main frame and a plurality of crossbeams fixed to the main frame. Each crossbeam has a cross-section corresponding to the shape of a dovetail groove in the rear side of each composite panel. In this case, the composite panels are fixed to the cross beams by aligning the cross section of the cross beams and the grooves of the composite panels. The front surfaces of the composite panels can be smooth or grips can be attached to them. The number and location of the grips on different composite panels is different. The main frame is equipped with a replaceable mechanical system capable of autonomously changing composite plates. This provides the ability to change the climbing trajectory during training. The disadvantage of a freely combinable climbing frame is the complexity of the structure due to the need to use a complex interchangeable system of composite plates.

The object of the invention is to create a new device with a variable surface for rock climbing.

The technical result from the use of the proposed invention is to simplify the installation and maintenance of the device, increase the number of trajectories and training scenarios.

The task is achieved by the fact that the device with a variable surface for climbing contains a frame made of sections made of a metal profile, connected to each other, rotary cells made in the form of triangular prisms, on the upper and lower faces of which along the vertical axis of symmetry metal half-shafts, bearing assemblies, axially fixed on the upper and lower profile of the sections in the places of installation of the rotary cells, and the rotary cells are fixed in the sections by installing metal half-shafts in the bearing assemblies, hooks fixed on the lateral faces of the rotary cells, the control system for the rotary cells, including electric motors with drives, electric motor drivers, position sensors for the edges of rotary cells, position latches for rotary cells, actuation sensors for the position of rotary cells, control and monitoring units for sensors, electric motors with drives and position latches for rotary cells, general the control unit, the control computer, and the power supply, while the electric motor drivers, position sensors of the edges of the rotary cells, the position latches of the rotary cells, the sensors of the operation of the position latches of the rotary cells are connected to the control and monitoring units of the sensors, electric motors with drives and the position latches of the rotary cells, control and monitoring units for sensors, electric motors with drives and rotary cell position latches are connected to a common control unit, electric motor drivers, control and monitoring units for sensors, electric motors with drives and rotary cell position latches and a common control unit are connected to a power supply, a common control unit is connected with a control computer.

FIG. 1 is an illustration of a specific embodiment of a variable surface climbing device in accordance with Example 1.

FIG. 2 is an illustration of a particular embodiment of a pivot cell of a variable surface climbing device according to Example 1.

FIG. 3 is a functional diagram of a control system for rotary cells of a device with a variable surface for rock climbing.

Structurally, the variable surface climbing device in FIG. 1-3 contains:

1 - frame;

2 - sections;

3 - rotary cells;

4 - holes;

5 - bearing units;

6 - hooks;

7 - electric motors with drives;

8 - electric motor drivers;

9 - position sensors of the edges of the rotary cells;

10 - shutter of the sensor of the position of the edges of the rotary cells;

11 - position clamps for rotary cells;

12 - sensors for actuation of the position latches of the rotary cells;

13 - rod of the rotary cell position lock;

14 - control and monitoring units for sensors, electric motors with drives and position fixtures of rotary cells;

15 - general control unit;

16 - power supply unit;

17 - control computer;

18 - false panels.

The frame 1 is made of sections 2 made of a metal profile, connected to each other.

Rotary cells 3 are made in the form of triangular prisms.

On the upper faces of the rotary cells 3, holes 4 are made for the rods of the position fixers of the rotary cell 13.

Metal semiaxes are fixed on the upper and lower faces of the rotary cells 3 along the vertical axis of symmetry.

The bearing assemblies 5 are axially fixed on the upper and lower profile of the sections 2 in the places where the rotary cells 3 are installed.

Rotary cells 3 are fixed in sections 2 by installing metal axle shafts in bearing assemblies 5.

The hooks 6 are fixed on the side faces of the turning cells 3.

The control system for rotary cells 3 includes: electric motors with drives 7, electric motor drivers 8, position sensors of the edges of the rotary cells 9, position latches of the rotary cells 11, sensors for the actuation of the position latches of the rotary cells 12, control and monitoring units of sensors, electric motors with drives and position latches of the rotary cells cells 14, general control unit 15, control computer 17.

The drivers of electric motors 8, position sensors of the edges of the rotary cells 9, the position latches of the rotary cells 11, the sensors of the operation of the position latches of the rotary cells 12 are connected to the control and monitoring units of the sensors, electric motors with drives and the position latches of the rotary cells 14.

The control and monitoring units of sensors, electric motors with drives and position latches of rotary cells 14 are connected to a common control unit 15.

Drivers of electric motors 8, control and monitoring units of sensors, electric motors with drives and position fixers of rotary cells 14 and a common control unit 15 are connected to the power supply 16.

The general control unit 15 is connected to the control computer 17.

Sections 2 are made, for example, in the form of rectangular parallelepipeds and are connected to each other using bolts.

In each section 2, for example, four rotary cells 3 are fixed.

Each rotary cell 3 contains a frame made of a metal profile, the side faces of which are lined, for example, with plywood, and the top and bottom edges are made of metal.

The hooks 6 are made, for example, of various shapes and colors from wood or plastic.

On the side faces of the rotary cells 3, a different number of hooks 6 are fixed.

Electric motors with drives 7, electric motor drivers 8, position sensors of the edges of the rotary cells 9, position latches of the rotary cells 11, actuation sensors of the position latches of the rotary cell 12, control and monitoring units of sensors, electric motors with drives and position latches of the rotary cells 14 are fixed, for example, on the upper metal profile from which the frame sections are made, above each rotary cell 3.

Drivers of electric motors 8, position sensors of the edges of the rotary cells 9, position latches of the rotary cells 11, actuation sensors of the position latches of the rotary cells 12 are connected to control and monitoring units of sensors, electric motors with drives and position latches of the rotary cells 14, for example, via wired communication lines.

The control and monitoring units of sensors, electric motors with drives and position detectors of rotary cells 14 are connected to a common control unit 15, for example, via wired communication lines.

Drivers of electric motors 8, control and monitoring units of sensors, electric motors with drives and position detectors of rotary cells 14 and a common control unit 15 are connected to the power unit 16, for example, by means of wired power lines.

The common control unit 15 is connected to the control computer 17 via wired USB, Ethernet or wireless Wi-fi, Bluetooth communication lines.

The frame 1 is lined with bezel panels 18, while for the pivot cells 3 in the bezel panels 18 cutouts are made, the dimensions of which exceed the dimensions of the pivot cells 3 by 1-4 mm.

The assembly of the proposed device with a variable surface for rock climbing is carried out as follows.

The frame 1 is made of the required height and width, rigidly connecting the sections 2 to each other, for example, using bolts. Sections 2 are made from a metal profile by welding the frame in the form of rectangular parallelepipeds.

On the upper and lower profile of the sections 2, in the places where the rotary cells 3 are installed, the bearing units 5, for example, of the UP004ER ISB brand, are axially fixed.

Rotary cells 3 are made in the form of equilateral triangular prisms. For this, a frame in the form of triangular prisms is welded from a metal profile. The side faces of the triangular prisms are faced, for example, with plywood sheets. The upper and lower edges of the rotary cells 3 are made of metal. Metal semiaxes are attached to the upper and lower faces of the rotary cells 3 along the vertical axis of symmetry.

On the lateral faces of the pivot cells 3, hooks 6 are fixed, for example, with bolts. The hooks 6 are made of various shapes and different colors, for example, of wood or plastic. In this case, a different number of hooks 6 are installed on the lateral faces of the turning cells 3. The number of hooks 6 to be installed depends on their sizes.

In each section 2, pivot cells 3 are fixed by installing metal semiaxes of the pivot cells 3 in the bearing assemblies 5. In each section 2, for example, four pivot cells 3 are fixed.

For automatic control of rotary cells 3, a control system is assembled, including: electric motors with drives 7; electric motor drivers 8; position sensors of the edges of the rotary cells 9 with shutters 10; latches of position of rotary cells 11; sensors of operation of the latches of the position of the rotary cells 12; control and monitoring units for sensors, electric motors with drives and position latches of rotary cells 14; common control unit 15; control computer 17.

As the electric motors 7, for example, Purelogic PL42H48-D5 stepper motors are used. As drives of electric motors 7 are used, for example, gears consisting of gears PM27036 Sati and CM27072 Sati.

As drivers of electric motors 8, for example, TTTD Purelogic PLD331 drivers are used.

As sensors for the position of the edges of the rotary cells 9, for example, combinations of three radially offset KTIR0521DS photoelectric sensors with shutters operating on the principle of beam interruption are used. In this case, on the upper metal faces of the rotary cells 3, curtains 10 of the position sensors of the faces of the rotary cells 9 are installed radially relative to each other, so that each curtain is able to interrupt the light beam of one of the three KTIR0521DS sensors.

Also, as sensors of the position of the edges of the rotary cells 9 can be used, for example, contact sensors, which are a pair of metal contacts fixed on the metal profile of sections 2 of the frame 1, which are closed by the third sliding contact rotating together with the rotary cell 3. In this case, the number of pairs of contacts fixed on the metal profile is equal to three and the number of sliding contacts is also equal to three - each sliding contact closes its own pair of contacts fixed on the metal profile.

For example, TAU 0530-T solenoid locks with a retractable rod are used as position latches for the rotary cells 11. In this case, holes 4 for rods 13 are made on the upper metal faces of the rotary cells 3.

Also, latches in the form of spring-loaded electromagnets attached to the metal profile of the sections 2 of the frame 1, which can move within a small range in the vertical direction without moving in the horizontal direction, can also be used as fixers for the position of the rotary cells 11. In this case, to fix the rotary cells 3 on their upper surface (at the location of the holes 4), steel plates are fixed.

For example, microswitches KLS7-KW10-Z2P045 are used as sensors for actuation of the position latches of rotary cells 12.

As control and monitoring units for sensors, electric motors with drives and position fixers of rotary cells 14, for example, MassDuino UNO R3 microcontrollers are used.

As a common control unit 15, for example, the NodeMCU WeMos microcontroller is used.

Any computer with special software that has a network interface, for example, IBM or MAC, is used as a control computer.

Electric motors with drives 7, electric motor drivers 8, position sensors of the edges of the rotary cells 9, position latches of the rotary cells 11, actuation sensors of the position latches of the rotary cells 12, control and monitoring units of sensors, electric motors with drives and position latches of the rotary cells 14 are fixed, for example, on the upper metal profile from which the sections 2 of the frame 1 are made, above each rotary cell 3.

The common control unit 15 and the power unit 16 are installed, for example, in one of the lower sections.

As a power supply unit 16, for example, a switching power supply S-350-12 of constant voltage 220/12 V is used.

The drivers of electric motors 8, position sensors of the edges of the rotary cells 9, position latches of the rotary cells 11, actuation sensors of the position latches of the rotary cells 12 are connected to control and monitoring units of sensors, electric motors with drives and position latches of the rotary cells 14 by means of wired communication lines.

The control and monitoring units of sensors, electric motors with drives and position latches of rotary cells 14 are connected to a common control unit 15 by means of wired communication lines.

Drivers of electric motors 8, control and monitoring units of sensors, electric motors with drives and position latches of rotary cells 14 and a common control unit 15 are connected to the power unit 16 by means of wired power supply lines.

The common control unit 15 is connected to the control computer 17, for example, via a wired (USB, Ethernet) or wireless (Wi-fi, Bluetooth) communication line.

Special software is installed on the control computer 17.

The frame 1 is revetted with false panels 18. At the same time, for the rotary cells 3 in the false panels 18, cutouts are made, the dimensions of which exceed the dimensions of the rotary cells 3 by 1-4 mm.

The assembled structure is fixed vertically with respect to the floor and walls of the building using, for example, anchors.

The proposed device with a variable surface for climbing works as follows.

The person (trainer) serving the climbing wall, using special software, using a graphical or textual interface, forms a project of the geometry of the front working surface of the device, choosing a working side face for each rotary cell 3. After the project is formed, the trainer, using the same software, sends a command to the device, according to which all rotary cells 3 are rotated to the desired angle and form the required geometry on the climbing surface. The command generated by the software installed on the control computer 17 is fed through the communication lines to the common control unit 15. The common control unit 15 generates and transmits control commands to the control and monitoring units of sensors, electric motors with drives and position latches of rotary cells 14. Control units and control of sensors, electric motors with drives and position latches of the rotary cells 14 supply power to the position latches of the rotary cells 11. As a result, the rods 13 of the position latches of the rotary cells 11 are lifted from the holes 4 made on the upper faces of the rotary cells 3 and unlocked, and also turning on the drivers of electric motors 8, which in turn supply power to the electric motors with drives 7. When the required angle of rotation is reached, each rotary cell 3 triggers the position sensors of the edges of the rotary cells 9. This signal is recorded by the control and monitoring units of the sensors, the electric motor switches with drives and position latches of rotary cells 14, which turn off the rotation of electric motors with drives 7 by giving a corresponding signal to the drivers of electric motors 8, after which, with a short delay, the control and monitoring units of sensors, electric motors with drives and position latches of rotary cells 14 turn off the power to the position latches of rotary cells 11. In this case, the rods 13 of the latches 11 are lowered into the holes 4 made on the upper faces of the rotary cells 3, and fix them in the selected position.

In the case when latches in the form of spring-loaded electromagnets fixed on the metal profile of sections 2 of the frame 1 are used as fixers for the position of the rotary cells 11, when the voltage generated by the electromagnets is applied to the winding of the electromagnets, the magnetic field attracts the electromagnets to the steel plates fixed on the upper surfaces of the rotary cells 3 and thereby fixes the rotary cells 3 in the desired position.

The presence of rotary cells 3, which are automatically turned over by the control system, and their design provides an increase in the number of trajectories and training scenarios, while simplifying the installation and maintenance of the device.

In general, the device is reliable and easy to use.

Below is an example of a specific implementation of the proposed device with a variable surface for climbing.

Example 1.

A 4 × 3 m frame is made. For this, four 2 × 1.5 m sections are rigidly connected to each other using bolts. In this case, two sections are installed below - in the first row, and two above them - in the second row (Fig. 1). Each section is made of a metal profile with a cross section of 60 × 30 mm.

Bearing assemblies of the UP004ER ISB brand are axially fixed on the upper and lower metal profiles of the sections in the places where the rotary cells are installed.

Rotary cells are made. Each rotary cell is made in the form of an equilateral triangular prism with a height of 550 mm and a base measuring 600 × 600 × 600 mm. To do this, a frame in the form of a triangular prism is welded from a metal profile and its lateral edges are faced with FSF plywood sheets 15 mm thick. The upper and lower edges are made of metal. For this, triangular sheets made of steel with dimensions of 600 × 600 × 600 mm are welded to the metal profile. Metal semiaxes are welded to the metal upper and lower faces of the rotary cells along the vertical axis of symmetry. On the upper metal faces of the rotary cells, holes are made for the rods of the position fixers of the rotary cells with a diameter of 8 mm, and the curtains of the position sensors of the rotary cells are installed (Fig. 2).

On the side faces of the pivot cells, the hooks are fixed with bolts. Hooks of various shapes and colors made of plastic are used.

Four pivot cells are fixed in each section of the frame by installing vertical semiaxes of the pivot cells in the bearing assemblies.

For automatic control of rotary cells, a control system is made, which includes: electric motors with drives from toothed gears; electric motor drivers; position sensors for the edges of rotary cells with shutters; rotary cells position clamps; sensors of actuation of the latches of the position of the rotary cells; control and monitoring units for sensors, electric motors with drives and position latches of rotary cells; common control unit; computer control.

Purelogic PL42H48-D5 stepper motors are used as electric motors. Gear drives are used as drives of electric motors, consisting of gear wheels PM27036 Sati and CM27072 Sati.

Purelogic PLD331 stepper motor drivers are used as electric motor drivers.

Combinations of three KTIR0521DS photoelectric sensors with shutters operating on the principle of interrupting the beam are used as sensors for the position of the edges of the rotary cells.

TAU 0530-T solenoid locks with a retractable rod are used as position fixtures for the rotary cells.

Microswitches KLS7-KW10-Z2P045 are used as sensors for actuation of the rotary cell position lock.

MassDuino UNO R3 microcontrollers are used as control and monitoring units for sensors, electric motors with drives and rotary cell positioners.

A NodeMCU WeMos microcontroller is used as a common control unit.

An IBM computer with a network interface is used as a control computer.

In this case, electric motors with drives, electric motor drivers, position sensors for the edges of the rotary cells, position latches of the rotary cells, actuation sensors for the position of the rotary cell, control and monitoring units for sensors, electric motors with drives and position latches of the rotary cells are fixed on the upper metal profile from which frame sections, above each pivot cell 3.

In the lower right section of the frame, a common control unit and a power supply unit are installed (Fig. 1).

A switching power supply S-350-12 of constant voltage 220/12 V is used as a power supply.

Electric motor drivers, position sensors of the edges of the rotary cells, position latches of the rotary cells, actuation sensors of the position latches of the rotary cells are connected to control and monitoring units of sensors, electric motors with drives and position latches of the rotary cells by means of wired communication lines.

Control and monitoring units for sensors, electric motors with drives and position latches of rotary cells are connected to a common control unit by means of wired communication lines.

Drivers of electric motors, control and monitoring units of sensors, electric motors with drives and position latches of rotary cells and a common control unit are connected to the power supply unit by means of wired power supply lines.

The common control unit is connected to a control computer with special software via a wired USB communication line.

The frame is faced with false panels made of 15 mm thick FSF plywood sheets. In this case, for the rotary cells in the false panels, cutouts are made, the dimensions of which exceed the dimensions of the rotary cells by 1-4 mm.

The assembled structure is fixed vertically relative to the floor and walls of the room using anchors.

Claims (10)

1. A device with a variable surface for climbing contains a frame made of sections made of a metal profile, connected to each other, rotary cells made in the form of triangular prisms, on the upper and lower faces of which metal half-shafts are fixed along the vertical axis of symmetry, bearing assemblies , axially fixed on the upper and lower profile of the sections in the places where the rotary cells are installed, and the rotary cells are fixed in the sections by installing metal semi-shafts in the bearing assemblies, the hooks fixed on the lateral faces of the rotary cells, the control system for the rotary cells, including electric motors with drives, drivers electric motors, rotary cell edge position sensors, rotary cell position latches, actuation sensors of rotary cell position latches, control and monitoring units for sensors, electric motors with drives and rotary cell position latches, general control unit, control computer , and a power supply unit, while the electric motor drivers, position sensors of the edges of the rotary cells, position latches of the rotary cells, actuation sensors of the position latches of the rotary cells are connected to control and monitoring units of sensors, electric motors with drives and position latches of the rotary cells, control and monitoring units of sensors, electric motors with drives and rotary cell position latches are connected to a common control unit, electric motor drivers, control and monitoring units of sensors, electric motors with drives and rotary cell position latches and a common control unit are connected to a power supply, a common control unit is connected to a control computer. 2. The device according to claim 1, characterized in that the sections are made in the form of rectangular parallelepipeds and are interconnected by bolts. 3. The device according to claim 1, characterized in that each section contains four rotary cells. 4. The device according to claim. 1, characterized in that each rotary cell contains a frame made of a metal profile, the side faces of which are lined with plywood, and the upper and lower edges are made of metal. 5. The device according to claim. 1, characterized in that the hooks are made of various shapes and different colors of wood or plastic. 6. The device according to claim 1, characterized in that a different number of hooks are fixed on the faces of the rotary cells. 7. The device according to claim 1, characterized in that electric motors with drives, electric motor drivers, position sensors of the edges of the rotary cells, position latches of the rotary cells, actuation sensors of the position latches of the rotary cells, control and monitoring units of sensors, electric motors with drives and position latches of the rotary cells are fixed on the upper metal profile from which the frame sections are made, above each rotary cell. 8. The device according to claim 1, characterized in that the electric motor drivers, the position sensors of the edges of the rotary cells, the position latches of the rotary cells, the sensors of the operation of the position latches of the rotary cells are connected to the control and monitoring units of the sensors, the electric motors with drives and the position latches of the rotary cells, as well as control and monitoring units for sensors, electric motors with drives and rotary cell position latches are connected to a common control unit and electric motor drivers, control and monitoring units for sensors, electric motors with drives and rotary cell position latches and a common control unit are connected to the power supply via wired lines communication. 9. The device according to claim 1, characterized in that the common control unit is connected to the control computer via wired USB, Ethernet or wireless Wi-fi, Bluetooth communication lines. 10. The device according to claim 1, characterized in that the frame is lined with false panels, while for the rotary cells in the false panels cutouts are made, the dimensions of which exceed the dimensions of the rotary cells by 1-4 mm.

Images