WO2021022741A1 - 一种攀爬或攀岩训练模拟装置及控制方法 - Google Patents

一种攀爬或攀岩训练模拟装置及控制方法 Download PDF

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Publication number
WO2021022741A1
WO2021022741A1 PCT/CN2019/123201 CN2019123201W WO2021022741A1 WO 2021022741 A1 WO2021022741 A1 WO 2021022741A1 CN 2019123201 W CN2019123201 W CN 2019123201W WO 2021022741 A1 WO2021022741 A1 WO 2021022741A1
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WIPO (PCT)
Prior art keywords
climbing
support
support part
assembly
training device
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PCT/CN2019/123201
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English (en)
French (fr)
Inventor
吴文兵
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苏州软能智能科技有限公司
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Publication of WO2021022741A1 publication Critical patent/WO2021022741A1/zh

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/0048—Training appliances or apparatus for special sports for mountaineering, e.g. climbing-walls, grip elements for climbing-walls
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B26/00—Exercising apparatus not covered by groups A63B1/00 - A63B25/00
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B9/00—Climbing poles, frames, or stages

Definitions

  • the invention relates to sports equipment, in particular to a climbing or rock climbing training simulation device and a control method.
  • Rock climbing is a professional sport that requires long-term professional training.
  • Current training methods include climbing training on real outdoor rock masses, or installing support modules on a tall vertical wall or artificial rock mass. , And then conduct training.
  • Field training is more troublesome.
  • suitable rock masses are generally far away from the living area, inconvenient to come and go, and are greatly affected by the weather, and the cost is high.
  • training on artificial rock mass can overcome the above-mentioned drawbacks, the construction cost of artificial rock mass is high, it occupies a large area, and requires special venues. In fact, compared with other sports facilities, it is very scarce, which seriously affects the promotion and development of this sport. And the height of all man-made rock masses is limited, and it is difficult to simulate rock climbing over tens of meters.
  • the purpose of the present invention is to provide a climbing or rock climbing simulation training device and a control method thereof, which can realize unlimited space simulation climbing training in a limited space.
  • a climbing or rock climbing simulation training device includes:
  • each support assembly is provided with a support part for providing support for the hands and/or feet; the support part can be moved to change its position.
  • the present invention creatively provides a support part that can be moved and changed its position.
  • four support parts (or more support parts) can be used for climbing items with four limbs.
  • the initial positions of the four support parts can be set to be suitable for the human body to climb on the wall or bracket, and be supported by these support parts, when the human body needs to climb upward
  • each support part can be moved to change its position, so when the human body is climbing, it can be adjusted in real time according to needs or settings
  • the relative position of each support part makes it move to the required position to meet the needs of rock climbing training and fit the situation of rock climbing in the real environment.
  • the corresponding support part moves up to the preset position; equivalent to the original support part (support point) disappears, and a new support part ( Support point).
  • the corresponding support part that is still under pressure from the hand and/or foot moves downward;
  • the corresponding support part that is still under pressure from the hand and/or foot moves down to a predetermined position
  • the support part that bears the weight of the human body is located below the support part that does not bear the weight of the human body (the hand support part is relative to the hand support part, the foot support part Relative to the foot support).
  • all the supporting parts are installed on a circulating conveyor.
  • the supporting part keeps moving from top to bottom, so that the human body can continuously climb up on the circulating conveyor, but the actual range of motion It is controlled within the front height range of the circulating conveyor.
  • the longitudinal direction (height direction) itself can realize the height adjustment of the support part by the support part assembly (can be set to fix the support part)
  • the support part assembly can be set to fix the support part
  • the support component or the horizontal traverse adjustment device that adjusts the lateral movement of the support separately.
  • the former is installed on the vertical bracket, wall and other supporting structures, and the support component is installed on the horizontal traverse adjustment component; the latter is to move the horizontal traverse.
  • the adjustment component is installed between the support part and the connection fixing component and the height adjustment component that fix the support part to the vertical support, wall and other supporting structures, so as to realize the height position adjustment and have the function of horizontal movement.
  • the common point of the above-mentioned various motion combinations is to control the different support parts in a limited height (or space range), and the relative position to do reciprocating motion back and forth, so that the simulation realizes the height direction support within the limited height range
  • the continuous update of the points makes it possible to continue climbing upwards.
  • the present invention creatively realizes infinite spatial distance training (if you can take no rest) on a limited spatial distance.
  • each of the supporting parts changes its height relative to the ground through linear movement and/or curved movement.
  • the support can be constructed to only move back and forth in a straight line in the vertical direction and do free movement on the same plane (X and Y coordinates can be changed at the same time or one of the coordinates can be changed separately Value), or move in a three-dimensional space (the three coordinate values of X, Y, and Z can be changed at the same time or any one or two of them).
  • Figures 1 to 3 show an embodiment in which the support part only moves linearly to change the vertical height.
  • a lateral movement mechanism (horizontal line direction parallel to the wall) can be added to the support, so that free movement on the same plane can be achieved (X, Y coordinates can be changed at the same time or one of the coordinates can be changed separately value). It is also possible to add a telescopic movement mechanism in the horizontal direction (the direction perpendicular to the wall), which can realize the linkage adjustment of the two coordinates of Y and Z, and realize the curve change track on a plane perpendicular to the horizontal plane.
  • the climbing or rock climbing simulation training device includes at least one training unit, and each training unit includes two support components: a left foot support component and a right foot support component, and at least one fixed or height-adjustable hand A climbing component, the hand climbing component is arranged above the supporting component; or, each training unit includes the following supporting components: a left hand supporting component, a right hand supporting component, a left foot supporting component and a right foot supporting component, the left hand supporting component And the right hand support assembly are arranged above the left foot support assembly and the right foot support assembly.
  • the supporting assembly further includes:
  • the connecting part one end is connected with the supporting part or integrally formed;
  • the climbing or rock climbing simulation training device also includes a driving device, the driving device is provided with a height adjustment component, and the height adjustment component is in transmission connection with the connecting part, and the connecting part is driven to move in a straight line and/or in a curved motion to change its relative to the ground. height.
  • the driving assembly includes a span adjustment device for adjusting the initial distance between different supporting parts.
  • the height adjustment component includes a hydraulic and/or pneumatic component
  • the connecting portion is connected with a hydraulic or pneumatic component
  • the hydraulic and/or pneumatic component drives the connecting portion to reciprocate; or, the height adjustment component includes One or a combination of two or more of the linear motor drive assembly, the motor and the screw drive assembly, the motor and the guide wheel and the timing belt assembly, and the electromagnetic drive assembly.
  • the connecting part is connected with the height adjustment assembly, and the height adjustment assembly Drive the connecting part to reciprocate.
  • the height adjustment assembly includes one or a combination of two or more of a linear motor drive assembly, a motor and a screw drive assembly, and an electromagnetic drive assembly.
  • the connecting part is connected to the height adjustment assembly, and the height adjustment assembly Drive the connecting part to reciprocate.
  • the span adjustment device includes one or a combination of two or more of a linear motor drive assembly, a motor and a screw drive assembly, a motor and a guide wheel and a timing belt assembly, and an electromagnetic drive assembly.
  • one supporting assembly is provided with two or more supporting parts and their corresponding connecting parts.
  • the height adjustment assembly is composed of two cylinders or hydraulic cylinders, including an upper cylinder or an upper hydraulic cylinder, and an upper piston; a lower cylinder or a lower hydraulic cylinder, and a lower piston; the upper and lower pistons are connected to the same piston rod, the piston rod It is fixedly connected with the connecting part, and the upper and lower cylinders or the upper and lower hydraulic cylinders jointly push the connecting part and the supporting part to reciprocate up and down.
  • the climbing or rock climbing simulation training device is also provided with a telescopic adjustment device, the telescopic adjustment device is arranged between the connecting portion and the support portion, one end of the telescopic adjustment device is fixedly connected to the connecting portion, and one end is connected to the support portion. It connects the support part and the connection part, supports the connection part, and drives the support part away from or close to the connection part.
  • the lower part of the height adjustment assembly is connected with an initial position adjustment device for driving the entire height adjustment assembly and the supporting part to move up and down together, so as to adjust the initial distance between the different supporting parts.
  • the initial position adjustment device is a motor screw system, including a motor, a bearing, and a screw rod.
  • the motor drives the screw rod to rotate, and the screw rod pushes the entire height adjustment assembly and the support part to move up and down together to be used as an adjustment for different support parts.
  • the climbing or rock climbing simulation training device includes at least one support assembly and a corresponding drive device
  • the drive device includes a guide rail and a height adjustment device
  • the support assembly is slidably mounted on the guide rail and can slide back and forth along the guide rail
  • the height adjustment assembly includes a motor, a guide wheel and a synchronous belt assembly
  • the motor is an outer rotor motor
  • the stator of the motor is fixedly connected to one end of the bracket
  • the guide wheel is installed on the other end of the bracket.
  • the synchronous belt is wound around the outer rotor and the guide wheel at the same time, and the synchronous belt is fixedly connected with the supporting assembly.
  • the long axis of the guide rail is perpendicular or substantially perpendicular to the rotating shaft of the motor.
  • the rotation of the outer rotor drives the synchronous belt to move, and the synchronous belt drives the support.
  • the components reciprocate on the guide rail.
  • the climbing or rock climbing simulation training device includes a support component, a guide rail, a bracket, and a height adjustment device.
  • the support component is slidably mounted on the guide rail and can slide back and forth along the guide rail.
  • the height adjustment component includes a motor and Guide wheel and synchronous belt assembly, the motor is an outer rotor motor, the stator of the motor is fixedly connected to one end of the bracket, the guide wheel is installed on the other end of the bracket, and the synchronous belt is simultaneously wound around the outer rotor and the guide
  • the synchronous belt is fixedly connected to the support assembly on the wheels, the long axis of the guide rail is perpendicular or substantially perpendicular to the rotation axis of the motor, the rotation of the outer rotor drives the synchronous belt to move, and the synchronous belt drives the support assembly to reciprocate on the guide rail.
  • the support assembly includes a circulating transmission device, the surface of the circulating transfer device is mounted with the support part, on the front side facing the user, the circulating transfer device drives the support part to move from a high to a low , And move from low to high by the back side, and finally emerge from the high front of the user-facing side and move to the low, and so on.
  • the present invention provides a method for controlling a climbing or rock climbing simulation training device, which includes the following steps: the first step is to construct the above-mentioned climbing or rock climbing simulation training device; the second step, when the human body climbs After the support part is stabilized, the cyclic transmission transmission device is activated, and the human body starts to climb up with the support part, and the movement speed of the cyclic transmission transmission device is controlled to be consistent with the climbing speed of the human body, and it accelerates or slows together with the climbing speed of the human body; When the human body stops climbing, the circulating transmission device stops moving.
  • the sensor can be set on the climbing or rock climbing simulation training device or in the room space where the climbing or rock climbing simulation training device is located.
  • the image processing device includes a camera, and the cameras can be one, two or more; the sensor and image processing device are used to monitor the spatial position of the trained human body relative to the training device and its posture and The movement trend and speed, and the collected data are transmitted to the controller, and the controller controls the movement speed of the transmission device and the human body movement speed to coordinate and adapt.
  • the present invention also provides a control method of a climbing or rock climbing simulation training device, which includes the following steps:
  • the first step is to construct a support part that can at least reciprocate up and down and provide support for the hands and/or feet; there is a distance between the support parts, which can be a fixed distance suitable for climbing, or an adjustable distance The method is adjusted as needed;
  • the corresponding support part that is still under pressure from the hand and/or foot moves downward;
  • the hands and/or feet that previously left the support part re-climb on the original corresponding support part and stabilized
  • the hands or feet that originally contacted the support part leave the corresponding support part to continue climbing.
  • the corresponding supporting part moves upward;
  • the corresponding support part that is still under pressure from the hand and/or foot moves downward;
  • the present invention also provides a control method of a climbing or rock climbing simulation training device, which includes the following steps:
  • the first step is to construct a support part that can at least reciprocate up and down and provide support for the hands and/or feet; there is a distance between the support parts, which can be a fixed distance suitable for climbing, or an adjustable distance The method is adjusted as needed;
  • the second step when the human body climbs on the supporting part and stabilizes, one or both of the supporting parts move up to a predetermined position, and the weight of the human body is applied to the unmoved supporting part;
  • the human body climbs on the support part that moves upward to a predetermined position, and transfers the weight of the human body to the support part that moves upward to the predetermined position.
  • the support part that bears the weight of the human body moves down to the predetermined position.
  • the original unmoved support part moves upward to a predetermined position;
  • the fourth step is to wait for all the support parts to reach the predetermined position and stabilize, the support part that bears the weight of the human body is in the low position, and the support part that does not bear the weight of the human body is in the high position. At this time, the human body can climb to the support part in the high position again;
  • the present invention creatively realizes infinite spatial distance training (if you can take no rest) on a limited spatial distance. In this way, you can easily develop different training plans according to your needs, such as setting the climbing vertical height to 10m, 20m, 50m, 100m...1000m, or more, as long as you need.
  • FIG 1 Figure 1 and Figure 3 are schematic diagrams of the present invention.
  • FIGS 4, 5 and 6 are schematic diagrams of three embodiments of the support portion and its driving device
  • Figure 7 is a schematic diagram of another implementation of the present invention.
  • a climbing or rock climbing simulation training device includes:
  • each support assembly is provided with a support part for providing support for the hands and/or feet; the support part can be moved to change its position.
  • the present invention creatively provides a support part that can be moved and changed its position.
  • 4 support parts or more support parts
  • 4 support parts can be used as shown in Figure 1 and Figure 2.
  • set on a vertical or inclined bracket or wall 1 artificial rock mass is also possible
  • four supporting parts as shown in Figures 1 and 2, including a left-hand supporting part 21, a right-hand supporting part 22,
  • the initial position of the left foot support part 23 and the right foot support part 24 can be set to facilitate the human body to climb to the wall or bracket and be supported by these support parts.
  • the human body 3 can first adjust the 4 support parts to a suitable initial position And the distance between each other (of course, to save costs, the initial position adjustment device can be omitted), and then the human body 3 climbs on these supporting parts, the left foot and right foot respectively climb the left foot support part 23, the right foot support part 24, the left hand and Climb the left hand support part 21 and the right hand support part 22 with the right hand respectively.
  • the human body 3 needs to climb upwards, one hand is generally released to stretch the body so that this hand can climb up to a higher support point, and then Release the foot on the other side to find a higher support point, then release the other hand, climb up to the higher support point, and then release the foot on the other side.
  • the feet look up to a higher support point, and so on.
  • each support part can be moved and changed. Its position, therefore, when the human body is climbing, the relative position between the support parts can be adjusted in real time according to needs or settings, so that they can move to the required position to meet the needs of climbing training and fit the real environment The situation in rock climbing.
  • the corresponding support part moves up to the preset position; equivalent to the original support part (support point) disappears, and a new support part ( Support point).
  • the corresponding support part that is still under pressure from the hand and/or foot moves downward;
  • the corresponding support part that is still under pressure from the hand and/or foot moves down to a predetermined position
  • the support part that bears the weight of the human body is located below the support part that does not bear the weight of the human body (the hand support part is relative to the hand support part, the foot support part Relative to the foot support).
  • the human body 3 has climbed up to the 4 support parts (labeled 21/22/23/24) in the initial position, and then the human body 3 releases the right hand to climb upwards.
  • the right hand support part 22 will move upward to Suitable for the next climbing position of the right hand (the movement of the support part can be controlled by a timer or software system according to the setting, or pressure, capacitance, or photoelectric sensors can be used to detect the movements of the human limbs in real time, and then control the corresponding support part The movement can also be controlled according to the appropriate time period for the actual climbing of the individual).
  • the support (support point) equivalent to the initial position disappears, and the new support point appears at the top suitable for climbing with the right hand, and then the right hand Climb on the right hand support part 22 that appears in the new position. Then, the human body can release the right foot and lift it upwards. At this time, the corresponding right foot support part 24 will move to a position suitable for the right foot to step on, and then the right foot The upper right foot support part 24.
  • the human body After the right foot is supported by the right foot support part 24, the human body will move its center of gravity to the right, transferring the weight of the entire human body to the right hand support part 22 and the right foot support part 24, and then release the left hand and For the left foot (at the same time or at different times), the corresponding left hand support part 21 and left foot support part 23 will move up to a predetermined position, when the left hand and left foot climbs up the left hand support part 21 and left foot support part in the new position At 23 o'clock, the four supporting parts descend at the same time, creating movement space for the next cycle of climbing (to save costs, the reciprocating distance of the four supporting parts can be as long as one climbing span, or two One or more spans).
  • the corresponding left hand support portion 21 and left foot support portion 23 move upwards, in order to save costs, shorten the movable range (length) of the support portion and control the right hand
  • the support part 22 and the right foot support part 24 descend synchronously, using the change of relative height, to realize the height of the 4 support parts alternately rise and fall within a limited vertical height range, so that the human body can continuously in the limited vertical height space at one end
  • the length of this distance unit can be calculated.
  • the human body can be measured in real time to complete the climbing training.
  • the vertical height is
  • Figure 2 shows the situation where the right hand and right foot climb up together or one after another, and then the left hand and left foot climb up together or one after another.
  • Figure 3 is a situation where the right hand and left foot climb up together or one after another, and then the left hand and right foot climb up together or one after another to complete a cycle.
  • This can be set according to personal habits, and it can also control all supports based on the sensor's detection of the movements of the limbs (the loss of pressure, the disappearance of contact, or the visual image and other parameters to determine whether the hands or feet leave the support part) Department of operation.
  • the system controls the corresponding support part to move to a new position.
  • the present invention creatively realizes infinite spatial distance training (if you do not need to rest) on a limited spatial distance. In this way, you can easily develop different training plans according to your needs, such as setting the climbing vertical height to 10m, 20m, 50m, 100m...1000m, or more, as long as you need.
  • the longitudinal direction (height direction) itself can realize the height adjustment of the support part by the support part assembly (can be set to fix the support part)
  • the support part assembly can be set to fix the support part
  • the support component or the horizontal traverse adjustment device that adjusts the lateral movement of the support separately.
  • the former is installed on the vertical bracket, wall and other supporting structures, and the support component is installed on the horizontal traverse adjustment component; the latter is to move the horizontal traverse.
  • the adjustment component is installed between the support part and the connection fixing component and the height adjustment component that fix the support part to the vertical support, wall and other supporting structures, so as to realize the height position adjustment and have the function of horizontal movement.
  • each of the supporting parts can be changed in height relative to the ground through linear movement and/or curved movement through different driving device schemes as required.
  • the support part can be constructed to only move back and forth in a straight line in the vertical direction (as long as the altitude is changed, the movement trajectory includes but is not limited to a straight line perpendicular to the horizontal plane).
  • the movement trajectory includes but is not limited to a straight line perpendicular to the horizontal plane.
  • X, Y coordinates can be changed at the same time or change one of the coordinate values separately
  • move in a three-dimensional space X, Y, Z three coordinate values can be changed at the same time or change any one of them
  • Figures 1 to 3 show an embodiment in which the support part only moves linearly to change the vertical height.
  • a lateral movement mechanism (horizontal line direction parallel to the wall) can be added to the support part, so that free movement on the same plane can be achieved (X and Y coordinates can be changed at the same time or one of the coordinates can be changed separately value). It is also possible to add a telescopic movement mechanism in the horizontal direction (the direction perpendicular to the wall), which can realize the linkage adjustment of the two coordinates of Y and Z, and realize the curve change track on a plane perpendicular to the horizontal plane.
  • a lateral movement mechanism and a telescopic movement mechanism at the same time, which can realize the linear or curved movement of the support part in a three-dimensional space (the three coordinate values of X, Y, and Z can be changed at the same time or any one or two of them) ).
  • Y represents the height direction perpendicular to the horizontal plane
  • X represents the horizontal direction parallel to the horizontal plane and parallel to the wall at the same time
  • Z represents the horizontal expansion and contraction direction parallel to the horizontal plane but perpendicular to the wall.
  • the climbing or rock climbing simulation training device may also be provided with a telescopic adjustment device for adjusting the position of the support portion in the Z-axis direction.
  • the specific implementation may be that the telescopic adjustment device is disposed on the connecting portion and the support. Between the parts, one end of the telescopic adjustment device is fixedly connected with the connecting part, and one end is connected with the supporting part, for connecting the supporting part and the connecting part, supporting the connecting part, and driving the supporting part away from or close to the connecting part.
  • a motor and a screw device are installed on the connecting part, one end of the screw is connected to the motor and the other end is connected to the supporting part.
  • a cylinder or hydraulic cylinder system can also be used to push the support part to expand and contract in the Z-axis direction. The adjustment of the Z-axis direction can increase the difficulty and interest of training, which is closer to the actual situation of the mountain.
  • the support assembly can be constructed as shown in Figure 4, taking the left foot support assembly as an example (the rest of the support assembly can have the same structure, of course, different structures can also be used), including:
  • the connecting portion 231 has one end connected to the supporting portion 23 or integrally formed;
  • the climbing or rock climbing simulation training device also includes a driving device, the driving device is provided with a height adjustment component, and the height adjustment component is in transmission connection with the connecting portion 231, which drives the connecting portion 231 to move linearly and/or curvedly (when a guide rail is provided)
  • the component, the connecting part is slidably installed in the guide rail and moves along the guide rail.
  • the guide rail can be a straight line, a curve, or a combination of a straight line and a curve, so that the motion track of the support part is a straight line, a curve, or a combination of a straight line and a curve, etc.) Change its height relative to the ground.
  • the height adjusting device includes a bracket or guide rail 236, an upper bearing 235, a lower bearing 234, a screw rod 232, a motor 233, and the motor 233 drives the screw rod 232 to rotate, and the screw rod 232 drives the threaded connection with the screw rod 232
  • the portion 231 reciprocates up and down along the screw shaft axis.
  • the support assembly of the example in FIG. 6 adopts a timing belt 42 (or a belt or a chain) and a timing belt drive device 4 for the height adjustment device (for example, a motor-driven roller wheel can be used, or an external rotor motor can be used directly to drive the timing belt Work together with the tensioning wheel 41).
  • a timing belt 42 or a belt or a chain
  • a timing belt drive device 4 for the height adjustment device for example, a motor-driven roller wheel can be used, or an external rotor motor can be used directly to drive the timing belt Work together with the tensioning wheel 41.
  • the left foot support assembly is taken as an example.
  • the support is mounted on the timing belt 42 and is located on the front side 11 of the vertical support.
  • the back 12 of the vertical support is used for Fixed on the wall or other bracket, and the entire support assembly (including the left foot support part 23, the left foot connection part 231, the timing belt 42, the timing belt driving device 4, the tensioning wheel 41) passes through the rotating shaft of the timing belt driving device 4 (In the case of an external rotor motor, the way the motor drives the roller is a bearing seat) and the rotating shaft of the tension wheel 41 is fixedly connected to the vertical support.
  • the timing belt driving device 4 drives the timing belt 42 to reciprocate, and the left foot support portion 23 and the left foot connection portion 231 follow the timing belt to make up and down reciprocating movements, so as to achieve the requirement of the present invention to change the height position of the support portion as required.
  • each support assembly may be provided with a set of driving devices separately, or part or all of the support assemblies may share a set of driving devices.
  • one support assembly can also be provided with two or more support parts and their corresponding connecting parts, so that when the driving device adjusts the stroke distance of the support part, the human body can have more climbing
  • the support point (support part) can be selected.
  • the drive assembly includes a span adjustment device for adjusting the initial distance between different support parts.
  • the height adjustment assembly is composed of two cylinders (or hydraulic cylinders), including an upper cylinder 2371 and an upper piston 2372, a lower cylinder 2381 and a lower piston 2382, and the upper and lower pistons are connected to the same piston rod.
  • the piston rod 2321 is fixedly connected to the connecting portion 231, and the upper and lower cylinders jointly push the connecting portion 231 and the supporting portion 23 to reciprocate up and down. This is a solution for constructing a height adjustment component.
  • a motor screw system is connected to the bottom of the height adjustment component, including a motor 233, a bearing 234 and a screw rod 232.
  • the motor drives the screw rod 232 to rotate, and the screw rod 232 pushes the entire height adjustment
  • the assembly and the supporting part move up and down together to adjust the initial distance between different supporting parts.
  • the height adjustment component may be composed of hydraulic and/or pneumatic components
  • the connecting part is connected with the hydraulic or pneumatic component
  • the hydraulic and/or pneumatic component drives the connecting part to reciprocate.
  • the height adjustment component may also be composed of one or a combination of two or more of a linear motor drive component, a motor and a screw drive component, and an electromagnetic drive component.
  • the connecting part is connected with the height adjustment component, and the height adjustment component is driven The connecting part reciprocates.
  • the span adjustment device may also adopt one or a combination of two or more of linear motor drive components, motor and screw drive components, and electromagnetic drive components.
  • the support assembly includes a circulating transmission device.
  • the surface of the circulating transmission device is installed in accordance with the standards of rock climbing training.
  • the circulating conveying device drives the supporting parts 2 to move from high to low, and from low to high via the back side, and finally to use The higher part of the front on the person's side appears and moves to the lower part, and so on.
  • the circulating conveyor includes a conveyor belt 5 (synchronous belts or other components can also be used) and a conveyor belt drive device 6 (for example, a motor can be used to drive rollers, or an external rotor motor can be used to drive the synchronous belt directly.
  • a conveyor belt drive device 6 for example, a motor can be used to drive rollers, or an external rotor motor can be used to drive the synchronous belt directly.
  • the support 2 can be directly fixed on the outer surface of the conveyor belt 5, eliminating the connection part (the connection part can also be kept, the connection part is fixed on the surface of the conveyor belt 5, and the support part is installed on the connection part ), the positions required for the installation of the multiple support parts 2 are distributed on the entire surface of the conveyor belt 5.
  • the conveyor belt driving device 6 drives the conveyor belt 5 to rotate forward, the conveyor belt 5 facing the rock climber (front) moves from top to bottom.
  • the movement speed matches the upward climbing speed of the climber, ensuring that the climber is always located in the middle section of the front of the conveyor belt 5, which is beneficial to safety.
  • the rock climber continuously climbs upward via the support part 2, and the downward movement of the conveyor belt 5 offsets the upward displacement of the climber, so that the climber can climb infinite distance over a limited vertical distance.
  • the conveyor belt driving device 6 of this embodiment is reversed, the conveyor belt 5 facing the climber moves from bottom to top. At this time, the climber can be trained to climb and land from top to bottom.
  • other implementation methods of the present invention can also achieve downward rock climbing and landing training through reverse control.
  • the entire supporting assembly (including the supporting part 2, the conveyor belt 5, and the conveyor belt drive device 6) passes through the shaft of the conveyor belt drive device 6 (in the case of an external rotor motor, when the motor is used to drive the roller, it is the bearing seat) and the tension wheel 61
  • the rotating shaft is fixedly connected to a vertical bracket (not shown in the figure), and then the vertical bracket is installed on the wall or fixed on the ground.
  • the present invention provides a method for controlling a climbing or rock climbing simulation training device, which includes the following steps: the first step is to construct the above-mentioned climbing or rock climbing simulation training device; the second step, when the human body climbs After the support part is stabilized, the cyclic transmission transmission device is activated, and the human body starts to climb up with the support part, and the movement speed of the cyclic transmission transmission device is controlled to be consistent with the climbing speed of the human body, and it accelerates or slows together with the climbing speed of the human body; When the human body stops climbing, the circulating transmission device stops moving.
  • the transmission device that controls the cyclic transmission in order to ensure that the movement speed of the transmission device that controls the cyclic transmission is consistent with the climbing speed of the human body, it also includes a controller and a sensor and/or image processing device connected to the controller.
  • the sensor can be set The climbing or rock climbing simulation training device or the room space where the climbing or rock climbing simulation training device is located can also be worn on the limbs of the trained human body;
  • the image processing device includes a camera, and the camera can be one, two or more;
  • the sensor and image processing device are used to monitor the spatial position of the trained human body relative to the training device and its posture, movement trend and speed, and transmit the collected data to the controller, which controls the movement speed of the transmission device and the human body Coordinated and adapted movement speed.
  • Various sensors can be used to monitor the movement trend and speed of the human limbs, and the camera can also be used in combination or alone to capture the graphics of the human body in real time, analyze the movement trend and speed of the human body through the image, and to ensure that the human body is always on the conveyor (such as conveyor belt)
  • the conveyor such as conveyor belt
  • the position sensor of the human body In the middle, set the position sensor of the human body, and set the upper and lower safety zone and the buffer zone.
  • the human body is located in the safe zone during training.
  • the controller of the entire device controls the transmission device (such as conveyor belt)
  • the speed is reduced or even stopped (set according to the principles of safety and human comfort).
  • the sensor can be installed on the device or in the room space where the device is located, or worn on the limbs of the trained human body. Other parts of the body can be determined as needed to add relevant sensors. There can be one, two or more cameras to monitor the trained human body. Relative to the spatial position of the training device and its posture and movement trend and speed. There are many controllers and related sensors and image analysis and control systems in the prior art, so they will not be repeated. It is very important to control the movement speed of the transmission device (ie the supporting part) and the human body movement speed to coordinate and adapt, and it is also an important difference between this embodiment and the prior art.
  • the present invention also provides a control method of a climbing or rock climbing simulation training device, which includes the following steps:
  • the first step is to construct a support part that can at least reciprocate up and down and provide support for the hands and/or feet; there is a distance between the support parts, which can be a fixed distance suitable for climbing, or an adjustable distance The method is adjusted as needed;
  • the human body climbs on the support part and stabilizes, the human body continues to climb upwards.
  • the hand or foot leaves the support part, the corresponding support part moves upward; at this time, the support part rises to
  • the corresponding support part that is still under pressure from the hand and/or foot moves downward;
  • the hands and/or feet that previously left the support part re-climb on the original corresponding support part and stabilized
  • the hands or feet that originally contacted the support part leave the corresponding support part to continue climbing.
  • the corresponding supporting part moves upward;
  • the corresponding support part that is still under pressure from the hand and/or foot moves downward;
  • the present invention also provides a control method of a climbing or rock climbing simulation training device, which includes the following steps:
  • the first step is to construct a support part that can at least reciprocate up and down and provide support for the hands and/or feet; there is a distance between the support parts, which can be a fixed distance suitable for climbing, or an adjustable distance The method is adjusted as needed;
  • the second step when the human body climbs on the supporting part and stabilizes, one or both of the supporting parts move up to a predetermined position, and the weight of the human body is applied to the unmoved supporting part;
  • the human body climbs on the support part that moves upward to a predetermined position, and transfers the weight of the human body to the support part that moves upward to the predetermined position.
  • the support part that bears the weight of the human body moves down to the predetermined position.
  • the original unmoved support part moves upward to a predetermined position;
  • the fourth step is to wait for all the support parts to reach the predetermined position and stabilize, the support part that bears the weight of the human body is in the low position, and the support part that does not bear the weight of the human body is in the high position. At this time, the human body can climb to the support part in the high position again;
  • the above-mentioned structural scheme of the present invention can be controlled according to the above-mentioned method, so that the position of the support part can be adjusted as required to meet the practical rock climbing training.
  • the present invention creatively realizes the training of infinite spatial distance on the limited spatial distance (if you can not stop resting). In this way, you can easily develop different training plans according to your needs, such as setting the climbing vertical height to 10m, 20m, 50m, 100m...1000m, or more, as long as you need.

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Abstract

本发明公开了一种攀爬或攀岩模拟训练装置及控制方法，创造性的设置了可以移动改变其位置的支撑部，这样，对于四肢攀爬项目，可以采用4个支撑部，设置在一个垂直或有一定倾角的支架或墙体上，当人体需要向上攀爬时，一般是先释放一只手，以便伸展身体让这只手向上攀上更高处的支撑点，然后再释放另一侧的脚部，该脚部向上寻找到更高处的一个支撑点，然后释放另一只手，向上攀上更高处的支撑点，然后再释放另一侧的脚部，该脚部向上寻找到更高处的一个支撑点，如此循环，为了达到本发明的目的，每个支撑部可以移动改变其位置，因此，在人体在攀爬时，可以根据需要或设定，实施调控各支撑部之间的相对位置。

Description

[根据细则26改正05.12.2019]　一种攀爬或攀岩训练模拟装置及控制方法 技术领域
本发明涉及体育器械，具体涉及一种攀爬或攀岩训练模拟装置及控制方法。
背景技术
攀岩是一项专业的体育运动，需要经过长期专业的专项训练，目前的训练方式包括在真实的野外岩体上进行攀爬训练，或者在一面高大的垂直墙体或人造岩体上安装支撑模块，然后进行训练，野外训练比较麻烦，一是合适的岩体一般远离生活区域，来去不便，并受天气影响较大，且成本高。在人造岩体上训练虽然可以克服上述弊端，但人造岩体构建成本高、占地大、需要专门的场地，实际上相对于其他体育设施非常稀少，严重影响了该项体育运动的推广和发展，并且所有人造岩体的高度受限，很难模拟数十米以上的岩体攀爬。现有技术中还出现一种攀爬模拟装置，是一种类似循环转动的扶梯，人在扶梯上向上行走，这种装置只能模拟攀爬楼梯的情形，而且在向上行走的过程中，扶梯还在不停的向下循环移动，导致实际步间高度差和楼梯存在差异，并且其手部是扶在固定的栏杆上，整个运动姿态和真实体验和实际攀岩的情形更加相去甚远。
发明内容
为解决上述问题，本发明的目的在于提供一种攀爬或攀岩模拟训练装置及其控制方法，可以在有限的空间内实现无限空间的模拟攀爬训练。
为达到上述目的，本发明的技术方案是：
一种攀爬或攀岩模拟训练装置，所述攀爬或攀岩模拟训练装置包括：
至少一个支撑组件，每个支撑组件设有支撑部，用于为手部和/ 或脚部提供支撑；所述支撑部可以移动改变其位置。
我们知道，人体向上攀爬时，需要不断借助更高处的支撑物或支撑点，一步一步向上攀爬，现有技术中，在一定高度的垂直支架、墙体或人造岩体上的不同高度设置错落有致的支撑点，这些支撑点是固定不动的，为了达到训练的目的，通常垂直支架、墙体或人造岩体的高度要达到10米以上，但攀岩高度也受限于垂直支架、墙体或人造岩体的高度，受场地及成本的限制，垂直支架、墙体或人造岩体不可能做得很高，因此实际训练和在野外岩体上攀爬的感受差别很大，需要不断的做折返，无法一气呵成的完成几十米、几百米高度的训练。为了解决这一问题，本发明创造性的设置了可以移动改变其位置的支撑部，这样，对于四肢攀爬项目，可以采用4个支撑部(或更多个支撑部)，设置在一个垂直或有一定倾角的支架或墙体上(人造岩体也可以)，四个支撑部的初始位置可设置为适合人体攀爬上墙体或支架上，并受这些支撑部支撑，当人体需要向上攀爬时，一般是先释放一只手，以便伸展身体让这只手向上攀上更高处的支撑点，然后再释放另一侧的脚部，该脚部向上寻找到更高处的一个支撑点，然后释放另一只手，向上攀上更高处的支撑点，然后再释放另一侧的脚部，该脚部向上寻找到更高处的一个支撑点，如此循环，当然，也可能根据个人的习惯或其他要求，以其他顺序来向上攀爬，为了达到本发明的目的，每个支撑部可以移动改变其位置，因此，在人体在攀爬时，可以根据需要或设定，实时调控各支撑部之间的相对位置，使其移动到需要的位置，以符合攀岩训练的需要，并贴合真实环境中攀岩的情形。
例如，当手部或脚部离开支撑部时，对应的支撑部向上移动到预设的位置；相当于原来那个支撑部(支撑点)消失了，在更高处出现了一个新的支撑部(支撑点)。
或，依然受手部和/或脚部压力的对应的支撑部向下移动；
或，对应于不再受到手部和/或脚部压力的支撑部向上移动，同时，依然受手部和/或脚部压力的对应的支撑部向下移动；
然后，当之前离开支撑部的手部和/或脚部重新攀上原来对应的支 撑部，并稳定后，原来接触支撑部的手部或脚部离开对应的支撑部继续向上攀爬，对应的支撑部向上移动到预定位置；
或，依然受手部和/或脚部压力的对应的支撑部向下移动到预定位置；
或，对应于不再受到手部和/或脚部压力的支撑部向上移动预定位置，同时，依然受手部和/或脚部压力的对应的支撑部向下移动到预定位置；
不论各支撑部如何配合移动，就是要保证每次开始向上攀援前，承受人体重量的支撑部位于未承受人体重量的支撑部的下方(手部支撑部相对于手部支撑部，脚部支撑部相对于脚部支撑部)。
如此往复运动。
或者，所有的支撑部安装在一个循环传送装置上，在面对使用者的正面，支撑部一直由上往下循环移动，使得人体可以在循环传送装置上不断向上攀爬，但实际的活动范围被控制在循环传送装置的正面高度范围内。
支撑部相互之间具有一定的距离(根据适宜人体攀爬的原则设定或可调整的设置，纵向方向(高度方向)本身支撑部组件就可以实现支撑部的高度调整(可以设置将支撑部固定到垂直支架、墙体等支撑结构上的连接固定组件及高度调整组件)，并且在支撑部组件安装时还可以调整支撑部组件相互间的位置，而在水平方向可以再根据需要设置可以调整整个支撑部组件或单独调整支撑部横向移动的水平横移调整装置，前者安装在垂直支架、墙体等支撑结构上，支撑部组件再安装到水平横移调整组件上；后者是将水平横移调整组件安装在支撑部与将支撑部固定到垂直支架、墙体等支撑结构上的连接固定组件及高度调整组件之间，实现高度位置调整的同时，具有水平横移的功能。
上述的各种运动组合的共同点，都是控制不同的支撑部在限定的高度(或空间范围)内，相对位置做周而复始的往复运动，从而在有限的高度范围内，模拟实现了高度方向支撑点的不断更新，使得持续 向上攀援成为可能。
因此，本发明创造性的在有限的空间距离上实现了无限空间距离的训练(如果你可以不休息的话)。这样，可以方便的根据需要制定不同的训练计划，比如攀爬垂直高度设定为10m、20m、50m、100m……1000m，甚至更多，只要你需要。
进一步的，每个所述支撑部通过直线移动和/或曲线运动改变其相对于地面的高度。
根据训练要求的复杂程度，以及对真实环境的模拟需求不同，可以构建支撑部只能在垂直方向直线往复运动、在同一平面上做自由运动(X、Y坐标可以同时改变或单独改变其中一个坐标值)、或在一个立体空间中进行移动(X、Y、Z三个坐标值可以同时改变或改变其中任一一个或两个坐标值)。图1到图3所示是支撑部只做直线运动以改变垂直高度的实施方式。为了满足更加复杂的攀岩模拟，可以对支撑部加入横向移动机构(和墙面平行的水平线方向)，使得可以实现在同一平面上做自由运动(X、Y坐标可以同时改变或单独改变其中一个坐标值)。也可以增设水平方向(与墙面垂直的方向)的伸缩运动机构，可以实现在Y和Z的两个坐标的联动调整，实现在一个垂直于水平面的平面上的曲线变化轨迹。或者同时增设横向移动机构和伸缩运动机构，可以实现支撑部在一个立体空间中的直线或曲线移动(X、Y、Z三个坐标值可以同时改变或改变其中任一一个或两个坐标值)。
进一步的，所述攀爬或攀岩模拟训练装置包括至少一个训练单元，每个训练单元包括两个支撑组件：左脚支撑组件和右脚支撑组件，还包括至少一个固定或高度可调的手部攀援部件，所述手部攀援组件设置于支撑组件的上方；或者，每个训练单元包括以下支撑组件：左手支撑组件、右手支撑组件、左脚支撑组件和右脚支撑组件，所述左手支撑组件和右手支撑组件设置于左脚支撑组件和右脚支撑组件的上方。
进一步的，所述支撑组件还包括：
连接部，一端与支撑部连接或一体成型；
所述攀爬或攀岩模拟训练装置还包括驱动装置，所述驱动装置设有高度调整组件，高度调整组件与连接部传动连接，带动连接部做直线移动和/或曲线运动改变其相对于地面的高度。
进一步的，所述驱动组件包括还设有跨度调整装置，用于调整不同支撑部之间的初始距离。
进一步的，所述高度调整组件包括液压和/或气压组件，所述连接部与液压或气压组件连接，液压和/或气压组件驱动所述连接部做往复运动；或者，所述高度调整组件包括直线电机驱动组件、电机及螺杆驱动组件、电机及导向轮及同步带组件、电磁驱动组件中的一种或两种及两种以上的组合，所述连接部与高度调整组件连接，高度调整组件驱动所述连接部做往复运动。
进一步的，所述高度调整组件包括直线电机驱动组件、电机及螺杆驱动组件、电磁驱动组件中的一种或两种及两种以上的组合，所述连接部与高度调整组件连接，高度调整组件驱动所述连接部做往复运动。
进一步的，所述跨度调整装置包括直线电机驱动组件、电机及螺杆驱动组件、电机及导向轮及同步带组件、电磁驱动组件中的一种或两种及两种以上的组合。
进一步的，一个支撑组件设置有两个或两个以上的支撑部及其对应的连接部。
进一步的，所述高度调整组件由两个气缸或液压缸来组成，包括上气缸或上液压缸，和上活塞；下气缸或下液压缸，和下活塞；上下活塞连接同一活塞杆，活塞杆与连接部固定连接，上、下气缸或上、下液压缸共同推动连接部和支撑部做上下往复运动。
进一步的，攀爬或攀岩模拟训练装置还设有伸缩调整装置，所述伸缩调整装置设置于连接部和支撑部之间，该伸缩调整装置一端与连接部固定连接，一端与支撑部连接，用于连接支撑部和连接部，并对连接部起支撑作用，同时驱动支撑部远离或靠近连接部。
进一步的，所述高度调整组件的下方传动连接一个初始位置调整装置，用以推动整个高度调整组件及支撑部一起上下移动，用以作为调整不同支撑部之间的初始距离。
进一步的，所述初始位置调整装置为电机螺杆系统，包括电机、轴承和丝杆，电机带动丝杆转动，丝杆推动整个高度调整组件及支撑部一起上下移动，用以作为调整不同支撑部之间的初始距离。
进一步的，所述攀爬或攀岩模拟训练装置包括至少一个支撑组件和对应的驱动装置，所述驱动装置包括导轨和高度调整装置，所述支撑组件滑动安装于导轨上，并可以沿导轨往复滑动，所述高度调整组件包括电机及导向轮及同步带组件，所述电机为外转子电机，所述电机的定子固定连接于支架的一端，所述导向轮装设于支架的另一端，所述同步带同时绕设在外转子和导向轮上，并且同步带与支撑组件固定连接，所述导轨的长轴方向与电机的转轴垂直或基本垂直，外转子的旋转带动同步带运动，同步带带动支撑组件在导轨上往复运动。
进一步的，所述攀爬或攀岩模拟训练装置包括一个支撑组件、导轨、支架和高度调整装置，所述支撑组件滑动安装于导轨上，并可以沿导轨往复滑动，所述高度调整组件包括电机及导向轮及同步带组件，所述电机为外转子电机，所述电机的定子固定连接于支架的一端，所述导向轮装设于支架的另一端，所述同步带同时绕设在外转子和导向轮上，并且同步带与支撑组件固定连接，所述导轨的长轴方向与电机的转轴垂直或基本垂直，外转子的旋转带动同步带运动，同步带带动支撑组件在导轨上往复运动。
进一步的，所述支撑组件包括一个循环传动的传送装置，所述循环传送装置的表面安装所述支撑部，在面向使用者一侧的正面，循环传送装置带动支撑部由高处向低处移动，并经背向一侧由低处向高处移动，最终又从面向使用者一侧的正面的高处出现并向低处移动，如此循环往复。针对该技术方案，本发明提供了一种攀爬或攀岩模拟训练装置的控制方法，包括以下步骤：第一步，构建上述的攀爬或攀岩模拟训练装置；第二步，当人体攀爬上支撑部并稳定后，启动循环传 动的传送装置，人体开始借助支撑部向上攀爬，控制循环传动的传送装置的运动速度与人体的攀爬速度相一致，跟随人体攀爬速度一起加快或减缓；当人体停止攀爬，循环传动的传送装置停止运动。
进一步的，还包括控制器和与所述控制器连接的传感器和/或图像处理装置，所述传感器可以设置在攀爬或攀岩模拟训练装置上或攀爬或攀岩模拟训练装置所在的房间空间中，也可以佩戴在受训人体的四肢上；图像处理装置包括摄像机，摄像机可以为一个、两个或多个；传感器和图像处理装置用于监控受训人体相对于本训练装置的空间位置以及其姿态和运动趋势和速度，并将采集到的数据传送给控制器，所述控制器控制传送装置的移动速度和人体运动速度协调适配。
本发明还提供一种攀爬或攀岩模拟训练装置的控制方法，包括以下步骤：
第一步，构建至少可以上下往复运动并为手部和/或脚部提供支撑的支撑部；支撑部之间具有距离，这个距离可以是固定的适宜于攀爬的距离，也可以采用可调整的方式根据需要调整；
第二步，当人体攀爬上支撑部并稳定后，人体继续向上攀爬，当手部或脚部离开支撑部时，对应的支撑部向上移动；
或，依然受手部和/或脚部压力的对应的支撑部向下移动；
或，对应于不再受到手部和/或脚部压力的支撑部向上移动，同时，依然受手部和/或脚部压力的对应的支撑部向下移动；
第三步，当之前离开支撑部的手部和/或脚部重新攀上原来对应的支撑部，并稳定后，原来接触支撑部的手部或脚部离开对应的支撑部继续向上攀爬，对应的支撑部向上移动；
或，依然受手部和/或脚部压力的对应的支撑部向下移动；
或，对应于不再受到手部和/或脚部压力的支撑部向上移动，同时，依然受手部和/或脚部压力的对应的支撑部向下移动；
如此往复运动。
本发明还提供一种攀爬或攀岩模拟训练装置的控制方法，包括以下步骤：
第一步，构建至少可以上下往复运动并为手部和/或脚部提供支撑的支撑部；支撑部之间具有距离，这个距离可以是固定的适宜于攀爬的距离，也可以采用可调整的方式根据需要调整；
第二步，当人体攀爬上支撑部并稳定后，其中一个或两个支撑部向上移动到预定位置，此时人体的重量施加在未移动的支撑部上；
第三步，然后人体攀上向上移动到预定位置的支撑部，并将人体重量转移施加到向上移动到预定位置的支撑部上，稳定后，承受人体重量的支撑部向下移动到预定位置，同时，原来未移动的支撑部向上移动到预定位置；
第四步，等所有支撑部都到达预定位置并稳定后，承受人体重量的支撑部位于低位，未承受人体重量的支撑部位于高位，此时人体可以再次向处于高位的支撑部攀爬；
如此重复第三步和第四步的动作，模拟攀岩的动作。
因此，本发明创造性的在有限的空间距离上实现了无限空间距离的训练(如果你可以不休息的话)。这样，可以方便的根据需要制定不同的训练计划，比如攀爬垂直高度设定为10m、20m、50m、100m......1000m，甚至更多，只要你需要。
附图说明
图1、图2和图3是本发明的示意图；
图4和图5、图6是支撑部及其驱动装置的三种实施例示意图；
图7是本发明另一种实现的示意图。
图中数字和字母所表示的相应部件名称：
墙体1；左手支撑部21；右手支撑部222；左脚支撑部23；右脚支撑部24；人体3；连接部231；支架或导轨236；上轴承235；下轴承234；丝杆232；电机233；上气缸2371；上活塞2372；下气缸2381；下活塞2382；活塞杆2321；同步带42；同步带驱动装置4；张紧轮41；垂直支架正面11侧；垂直支架的背面12；支撑部2；传送带5；传送带驱动装置6。
具体实施方式
下面结合附图和具体实施方式对本发明作进一步详细的说明。
为达到上述目的，本发明的技术方案是：
一种攀爬或攀岩模拟训练装置，所述攀爬或攀岩模拟训练装置包括：
至少一个支撑组件，每个支撑组件设有支撑部，用于为手部和/或脚部提供支撑；所述支撑部可以移动改变其位置。
我们知道，人体向上攀爬时，需要不断借助更高处的支撑物或支撑点，一步一步向上攀爬，现有技术中，在一定高度的垂直支架、墙体或人造岩体上的不同高度设置错落有致的支撑点，这些支撑点是固定不动的，为了达到训练的目的，通常垂直支架、墙体或人造岩体的高度要达到10米以上，但攀岩高度也受限于垂直支架、墙体或人造岩体的高度，受场地及成本的限制，垂直支架、墙体或人造岩体不可能做得很高，因此实际训练和在野外岩体上攀爬的感受差别很大，需要不断的做折返，无法一气呵成的完成几十米、几百米高度的攀援训练。为了解决这一问题，本发明创造性的设置了可以移动改变其位置的支撑部，这样，对于四肢攀爬项目，可以采用4个支撑部(或更多个支撑部)如图1和图2所示，设置在一个垂直或有一定倾角的支架或墙体1上(人造岩体也可以)，四个支撑部(如图1和图2所示，包括左手支撑部21、右手支撑部22、左脚支撑部23、右脚支撑部24)的初始位置可设置为方便人体攀爬到墙体或支架上，并受这些支撑部支撑，人体3可以先调整4个支撑部到合适的初始位置及相互间的距离(当然为节约成本，可以省略初始位置调整装置)，然后人体3攀爬上这些支撑部，左脚右脚分别攀上左脚支撑部23、右脚支撑部24，左手和右手分别攀上左手支撑部21和右手支撑部22，当人体3需要向上攀爬时，一般是先释放一只手，以便伸展身体让这只手向上攀上更高处的支撑点，然后再释放另一侧的脚部，该脚部向上寻找到更高处的一个支撑点，然后释放另一只手，向上攀上更高处的支撑点， 然后再释放另一侧的脚部，该脚部向上寻找到更高处的一个支撑点，如此循环，当然，也可能根据个人的习惯或其他要求，以其他顺序来向上攀爬，为了达到本发明的目的，每个支撑部可以移动改变其位置，因此，在人体在攀爬时，可以根据需要或设定，实时调控各支撑部之间的相对位置，使其移动到需要的位置，以符合攀岩训练的需要，并贴合真实环境中攀岩的情形。
例如，当手部或脚部离开支撑部时，对应的支撑部向上移动到预设的位置；相当于原来那个支撑部(支撑点)消失了，在更高处出现了一个新的支撑部(支撑点)。
或，依然受手部和/或脚部压力的对应的支撑部向下移动；
或，对应于不再受到手部和/或脚部压力的支撑部向上移动，同时，依然受手部和/或脚部压力的对应的支撑部向下移动；
然后，当之前离开支撑部的手部和/或脚部重新攀上原来对应的支撑部，并稳定后，原来接触支撑部的手部或脚部离开对应的支撑部继续向上攀爬，对应的支撑部向上移动到预定位置；
或，依然受手部和/或脚部压力的对应的支撑部向下移动到预定位置；
或，对应于不再受到手部和/或脚部压力的支撑部向上移动预定位置，同时，依然受手部和/或脚部压力的对应的支撑部向下移动到预定位置；
不论各支撑部如何配合移动，就是要保证每次开始向上攀援前，承受人体重量的支撑部位于未承受人体重量的支撑部的下方(手部支撑部相对于手部支撑部，脚部支撑部相对于脚部支撑部)。
如此往复运动。
如图1所示，人体3已经攀上处于初始位置的4个支撑部(标号21/22/23/24)，然后人体3释放右手向上攀爬，此时，右手支撑部22会向上移动到合适右手下一步攀爬的位置(支撑部的移动可以由定时器或软件系统根据设定进行控制，也可以采用压力、电容、或光电等传感器实时检测人体四肢的动作，然后控制对应的支撑部移动， 也可以根据个人实际攀爬的适宜的时间周期进行控制)，此时相当于初始位置的支撑部(支撑点)消失了，新的支撑点出现在上方适合右手攀爬的地方，然后右手攀爬上出现在新位置的右手支撑部22，然后，人体可以释放右脚并使其向上抬举，此时对应的右脚支撑部24会移动到上方合适右脚踩踏的位置，然后右脚踏上右脚支撑部24，右脚受到右脚支撑部24支撑后，人体会将重心向右侧移动，将整个人体的重量转移到右手支撑部22和右脚支撑部24上，然后释放左手及左脚(同时或不同时间)，其对应的左手支撑部21和左脚支撑部23会向上移动到预定的位置，当左手左脚攀上出现在新位置的左手支撑部21和左脚支撑部23时，四个支撑部同时下降，为下一循环的攀爬创造出运动空间(为节约成本，4个支撑部的往复移动的距离可以只做到一个攀爬跨度的距离，也可以是两个或两个跨度以上)。
或者，在释放左手及左脚(同时或不同时间)，其对应的左手支撑部21和左脚支撑部23向上移动的同时，为了节约成本，缩短支撑部可移动的范围(长度)，控制右手支撑部22和右脚支撑部24同步下降，利用相对高度的变化，实现对4个支撑部在一段有限的垂直高度范围内高度交替上升和下降，使得人体可以在一端有限的垂直高度空间内不断完成向上攀爬的过程，每完成一次四肢的交替向上攀爬的循环，就等于向上攀爬了一个距离单元，这个距离单元的长度可以计算，累计下来，就可以实时测得人体完成攀爬训练的垂直高度。
其中图2所示是右手和右脚一起或先后向上攀援，然后左手和左脚一起或先后向上攀援的情形。
图3是右手和左脚一起或先后向上攀援，然后才是左手和右脚一起或先后向上攀援，完成一个循环的情形。这个可以根据个人的习惯设定，也可以根据传感器检测到四肢的动作(压力消失与否、接触的消失与否、或视觉图像等参数判断手部或脚部是否离开支撑部)来控制所有支撑部的运行。当传感器检测到手部或脚部离开(释放)对应的支撑部后，系统控制对应的支撑部移动到新的位置。
因此，本发明创造性的在有限的空间距离上实现了无限空间距离 的训练(如果你可以不需要休息的话)。这样，可以方便的根据需要制定不同的训练计划，比如攀爬垂直高度设定为10m、20m、50m、100m......1000m，甚至更多，只要你需要。
支撑部相互之间具有一定的距离(根据适宜人体攀爬的原则设定或可调整的设置，纵向方向(高度方向)本身支撑部组件就可以实现支撑部的高度调整(可以设置将支撑部固定到垂直支架、墙体等支撑结构上的连接固定组件及高度调整组件)，并且在支撑部组件安装时还可以调整支撑部组件相互间的位置，而在水平方向可以再根据需要设置可以调整整个支撑部组件或单独调整支撑部横向移动的水平横移调整装置，前者安装在垂直支架、墙体等支撑结构上，支撑部组件再安装到水平横移调整组件上；后者是将水平横移调整组件安装在支撑部与将支撑部固定到垂直支架、墙体等支撑结构上的连接固定组件及高度调整组件之间，实现高度位置调整的同时，具有水平横移的功能。
以上只是几种控制支撑部如何配合不同攀爬习惯或姿态进行位置的调整，实际应用中，可以根据自身的习惯对每个支撑部的移动方向及移动距离进行精确控制，例如，可以在每一步攀援动作之前设置一个停顿时间，模拟每次攀上一个新的高点，都要停顿一下的实际情形，也可以将连续攀援和间隙停顿混合在一起，以满足不同的训练需要。实现方向及距离的控制技术，现有技术很多，不再赘述。
在实际应用中，每个所述支撑部可以根据需要通过不同驱动装置方案，通过直线移动和/或曲线运动改变其相对于地面的高度。
根据训练要求的复杂程度，以及对真实环境的模拟需求不同，可以构建支撑部只能在垂直方向直线往复运动(只要改变海拔高度即可，移动轨迹包括但不限于垂直于水平面的直线)、在同一平面上做自由运动(X、Y坐标可以同时改变或单独改变其中一个坐标值)、或在一个立体空间中进行移动(X、Y、Z三个坐标值可以同时改变或改变其中任一一个或两个坐标值)。图1到图3所示是支撑部只做直线运动以改变垂直高度的实施方式。为了满足更加复杂的攀岩模拟， 可以对支撑部加入横向移动机构(和墙面平行的水平线方向)，使得可以实现在同一平面上做自由运动(X、Y坐标可以同时改变或单独改变其中一个坐标值)。也可以增设水平方向(与墙面垂直的方向)的伸缩运动机构，可以实现在Y和Z的两个坐标的联动调整，实现在一个垂直于水平面的平面上的曲线变化轨迹。或者同时增设横向移动机构和伸缩运动机构，可以实现支撑部在一个立体空间中的直线或曲线移动(X、Y、Z三个坐标值可以同时改变或改变其中任一一个或两个坐标值)。上述坐标系，Y代表垂直于水平面的高度方向，X代表平行于水平面且同时平行于墙面的横向方向，Z代表平行于水平面但垂直于墙面的水平伸缩方向。
因此在实际应用中，攀爬或攀岩模拟训练装置还可以设有伸缩调整装置，用于调整支撑部在Z轴方向的位置，具体实施方式可以是，所述伸缩调整装置设置于连接部和支撑部之间，该伸缩调整装置一端与连接部固定连接，一端与支撑部连接，用于连接支撑部和连接部，并对连接部起支撑作用，同时驱动支撑部远离或靠近连接部。例如，在连接部上安装电机及螺杆装置，螺杆的一端传动连接电机，另一端连接支撑部。也可以采用气缸或液压缸系统来推动支撑部在Z轴方向伸缩。Z轴方向的调整可以增加训练的难度及趣味，更加接近野外山体的实际情况。
在实际应用中，所述支撑组件可以如图4构成，以左脚支撑部组件为例(其余支撑部组件都可以是同样的结构，当然也可以采用不同的结构)，包括：
连接部231，一端与支撑部23连接或一体成型；
所述攀爬或攀岩模拟训练装置还包括驱动装置，所述驱动装置设有高度调整组件，高度调整组件与连接部231传动连接，带动连接部231做直线移动和/或曲线(当设置一个导轨组件，连接部滑动装设在导轨中并沿导轨运动，导轨可以为直线、曲线、或直线与曲线的结合，从而使得支撑部的运动轨迹为直线、曲线、或直线与曲线的组合等)运动改变其相对于地面的高度。图4的示例中，高度调整装置包括支 架或导轨236，上轴承235，下轴承234，丝杆232，电机233，电机233带动丝杆232转动，丝杆232带动与丝杆232螺纹连接的连接部231沿丝杆轴向上下往复运动。图6的示例的支撑组件，其高度调整装置采用同步带42(也可以是皮带或链条)及同步带驱动装置4(如可以采用电机驱动辊轮的方式，或直接采用外转子电机驱动同步带的方式等，配合张紧轮41一起工作)，图6中，以左脚支撑部组件为例，支撑部安装在同步带42上，并位于垂直支架正面11侧，垂直支架的背面12用于固定在墙壁上或其他支架上，而整个支撑组件(包括左脚支撑部23、左脚连接部231、同步带42、同步带驱动装置4、张紧轮41)通过同步带驱动装置4的转轴(外转子电机时，电机带动辊轮的方式则是轴承座)和张紧轮41的转轴固定连接到垂直支架上。同步带驱动装置4带动同步带42往复运动，则左脚支撑部23及左脚连接部231跟随同步带做上下往复运动，实现本发明根据需要改变支撑部高度位置的要求。
在实际应用中，每个支撑组件既可以单独对应设置一套驱动装置，也可以其中部分或全部支撑组件共用一套驱动装置。
在一些实施例中，一个支撑组件还可以设置两个或两个以上的支撑部及其对应的连接部，使得在驱动装置调整支撑部的行程距离一定的情形下，人体可以有更多的攀援支撑点位(支撑部)可以选择。
在某些实施例中，所述驱动组件包括还设有跨度调整装置，用于调整不同支撑部之间的初始距离。如图5所示，是一种构建示例，高度调整组件由两个气缸(或液压缸)来组成，包括上气缸2371和上活塞2372，下气缸2381和下活塞2382，上下活塞连接同一活塞杆2321，活塞杆2321与连接部231固定连接，上下气缸共同推动连接部231和支撑部23做上下往复运动。这是一种构建高度调整组件的方案，在这个高度调整组件的下方传动连接一个电机螺杆系统，包括电机233、轴承234和丝杆232，电机带动丝杆232转动，丝杆232推动整个高度调整组件及支撑部一起上下移动，用以作为调整不同支撑部之间的初始距离。
在实际应用中，所述高度调整组件可以采用包括液压和/或气压组件构成，所述连接部与液压或气压组件连接，液压和/或气压组件驱动所述连接部做往复运动。
高度调整组件也可以采用包括直线电机驱动组件、电机及螺杆驱动组件、电磁驱动组件中的一种或两种及两种以上的组合构成，所述连接部与高度调整组件连接，高度调整组件驱动所述连接部做往复运动。
所述跨度调整装置也可以采用包括直线电机驱动组件、电机及螺杆驱动组件、电磁驱动组件中的一种或两种及两种以上的组合。
图5只是其中的一种组合方式。
如图7所示，为了降低成本，简化结构，在实际应用中，还有一种实施方案，所述支撑组件包括一个循环传动的传送装置，所述循环传送装置的表面按照攀岩训练的标准安装多个所述支撑部2，在面向使用者一侧的正面，循环传送装置带动支撑部2由高处向低处移动，并经背向一侧由低处向高处移动，最终又从面向使用者一侧的正面的高处出现并向低处移动，如此循环往复。图7的示例中，循环传送装置包括传送带5(也可以采用同步带或其他部件)和传送带驱动装置6(如可以采用电机驱动辊轮的方式，或直接采用外转子电机驱动同步带的方式等，配合张紧轮一起工作)，这里支撑部2可直接固定在传送带5的外表面上，省去连接部(也可以保留连接部，连接部固定于传送带5表面，支撑部安装在连接部上)，多个支撑部2安装需要的位置分布在传送带5的全部表面上，传送带驱动装置6带动传送带5正转时，面向攀岩者一面(正面)的传送带5是一直由上往下运动的，该运动速度与攀岩者向上攀爬的速度匹配，保证攀岩者始终位于传送带5正面的中间段，利于安全。攀岩者不断的经由支撑部2向上进行攀爬，而传送带5向下的移动抵消了攀爬者向上的位移，使得攀爬者在有限的垂直距离上实现无限距离的攀爬。本实施例的传送带驱动装置6反转时，面向攀爬者一面的传送带5是由下往上运动的，此时可以进行攀爬者由上往下攀岩降落的训练。当然，本发明的其他实 施方式，通过反向控制，也可以实现往下攀岩降落的训练。整个支撑组件(包括支撑部2、传送带5、传送带驱动装置6)通过传送带驱动装置6的转轴(为外转子电机时，当采用电机带动辊轮的方式则是轴承座)和张紧轮61的转轴固定连接到一个垂直支架(图中未示出)上，再将垂直支架安装到墙上或固定在地面上。针对该技术方案，本发明提供了一种攀爬或攀岩模拟训练装置的控制方法，包括以下步骤：第一步，构建上述的攀爬或攀岩模拟训练装置；第二步，当人体攀爬上支撑部并稳定后，启动循环传动的传送装置，人体开始借助支撑部向上攀爬，控制循环传动的传送装置的运动速度与人体的攀爬速度相一致，跟随人体攀爬速度一起加快或减缓；当人体停止攀爬，循环传动的传送装置停止运动。在实际应用中，为了保证控制循环传动的传送装置的运动速度与人体的攀爬速度相一致，还包括控制器和与所述控制器连接的传感器和/或图像处理装置，所述传感器可以设置在攀爬或攀岩模拟训练装置上或攀爬或攀岩模拟训练装置所在的房间空间中，也可以佩戴在受训人体的四肢上；图像处理装置包括摄像机，摄像机可以为一个、两个或多个；传感器和图像处理装置用于监控受训人体相对于本训练装置的空间位置以及其姿态和运动趋势和速度，并将采集到的数据传送给控制器，所述控制器控制传送装置的移动速度和人体运动速度协调适配。可以采用各种传感器监控人体四肢的运动趋势和速度，还可以联合或单独采用摄像机实时捕捉人体的图形，通过图像分析人体的运动趋势和速度，以及为了确保人体始终位于传送装置(例如传送带)的中部，设置人体的位置传感器，并设置上下安全区间及缓冲区间，人体在训练时位于安全区间内，当人体任何部位越过安全区间进入缓冲区间，整个装置的控制器控制传送装置(例如传送带)的速度降低甚至停止(根据安全及人体的舒适性原则来设定)。传感器可以设置在装置上或装置所在的房间空间中，也可以佩戴在受训人体的四肢上，身体其他部位根据需要确定是否需要增设相关传感器，摄像机可以为一个、两个或多个，监控受训人体相对于本训练装置的空间位置以及其姿态和运动趋势和速度。控制器及相关传 感器及图像分析控制系统在现有技术中很多，不再赘述。控制传送装置(即支撑部)的移动速度和人体运动速度协调适配是非常关键的，也是本实施方式与现有技术的一种重要的区别。只有满足控制传送装置(即支撑部)的移动速度和人体运动速度协调适配，才能真正实现对攀岩或攀爬的模拟。另外，支撑部的设置，也是本实施方式与现有技术的一个重要区别，现有技术中，例如循环运动的扶梯，只能训练腿部攀登，类似爬楼梯，和实现对攀岩或攀爬的模拟相去甚远。本方案用简单有效的方式实现了对攀岩或攀爬的高度模拟，具有很高的市场价值和社会意义。
本发明还提供一种攀爬或攀岩模拟训练装置的控制方法，包括以下步骤：
第一步，构建至少可以上下往复运动并为手部和/或脚部提供支撑的支撑部；支撑部之间具有距离，这个距离可以是固定的适宜于攀爬的距离，也可以采用可调整的方式根据需要调整；
第二步，当人体攀爬上支撑部并稳定后，人体继续向上攀爬，当手部或脚部离开支撑部时，对应的支撑部向上移动；此时，该支撑部上升到
或，依然受手部和/或脚部压力的对应的支撑部向下移动；
或，对应于不再受到手部和/或脚部压力的支撑部向上移动，同时，依然受手部和/或脚部压力的对应的支撑部向下移动；
第三步，当之前离开支撑部的手部和/或脚部重新攀上原来对应的支撑部，并稳定后，原来接触支撑部的手部或脚部离开对应的支撑部继续向上攀爬，对应的支撑部向上移动；
或，依然受手部和/或脚部压力的对应的支撑部向下移动；
或，对应于不再受到手部和/或脚部压力的支撑部向上移动，同时，依然受手部和/或脚部压力的对应的支撑部向下移动。
如此往复运动。
本发明还提供一种攀爬或攀岩模拟训练装置的控制方法，包括以下步骤：
第一步，构建至少可以上下往复运动并为手部和/或脚部提供支撑的支撑部；支撑部之间具有距离，这个距离可以是固定的适宜于攀爬的距离，也可以采用可调整的方式根据需要调整；
第二步，当人体攀爬上支撑部并稳定后，其中一个或两个支撑部向上移动到预定位置，此时人体的重量施加在未移动的支撑部上；
第三步，然后人体攀上向上移动到预定位置的支撑部，并将人体重量转移施加到向上移动到预定位置的支撑部上，稳定后，承受人体重量的支撑部向下移动到预定位置，同时，原来未移动的支撑部向上移动到预定位置；
第四步，等所有支撑部都到达预定位置并稳定后，承受人体重量的支撑部位于低位，未承受人体重量的支撑部位于高位，此时人体可以再次向处于高位的支撑部攀爬；
如此重复第三步和第四步的动作，模拟攀岩的动作。
本发明的上述结构方案可以根据上述方法进行控制，实现支撑部按照需要进行位置调整，以满足贴近实际的攀岩训练。
因此，本发明创造性的在有限的空间距离上实现了无限空间距离的训练(如果你可以不停止休息的话)。这样，可以方便的根据需要制定不同的训练计划，比如攀爬垂直高度设定为10m、20m、50m、100m......1000m，甚至更多，只要你需要。
以上所述的仅是本发明的优选实施方式，应当指出，对于本领域的普通技术人员来说，在不脱离本发明创造构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。

Claims (17)

  1. 一种攀爬或攀岩模拟训练装置，其特征在于，所述攀爬或攀岩模拟训练装置包括：
    至少一个支撑组件，每个支撑组件设有支撑部，用于为手部和/或脚部提供支撑；所述支撑部可以移动改变其位置。
  2. 根据权利要求1所述的攀爬或攀岩模拟训练装置，其特征在于，所述支撑部通过直线移动和/或曲线运动改变其相对于地面的高度。
  3. 根据权利要求1所述的攀爬或攀岩模拟训练装置，其特征在于，所述攀爬或攀岩模拟训练装置包括至少一个训练单元，每个训练单元包括两个支撑组件：左脚支撑组件和右脚支撑组件，还包括至少一个固定或高度可调的手部攀援部件，所述手部攀援组件设置于支撑组件的上方；或者，每个训练单元包括以下支撑组件：左手支撑组件、右手支撑组件、左脚支撑组件和右脚支撑组件，所述左手支撑组件和右手支撑组件设置于左脚支撑组件和右脚支撑组件的上方。
  4. 根据权利要求1-3任一所述的攀爬或攀岩模拟训练装置，其特征在于，所述支撑组件还包括：
    连接部，一端与支撑部连接或与支撑部一体成型；
    所述攀爬或攀岩模拟训练装置还包括驱动装置，所述驱动装置设有高度调整组件，高度调整组件与连接部传动连接，带动连接部做直线移动和/或曲线运动改变其相对于地面的高度。
  5. 根据权利要求4所述的攀爬或攀岩模拟训练装置，其特征在于，所述驱动组件包括还设有跨度调整装置，用于调整不同支撑部之间的初始距离。
  6. 根据权利要求4所述的攀爬或攀岩模拟训练装置，其特征在于，所述高度调整组件包括液压和/或气压组件，所述连接部与液压或气压组件连接，液压和/或气压组件驱动所述连接部做往复运动；或者，所述高度调整组件包括直线电机驱动组件、电机及螺杆驱动组件、电机及导向轮及同步带组件、电磁驱动组件中的一种或两种及两种以上的组合，所述连接部与高度调整组件连接，高度调整组件驱动所述连接部做往复运 动。
  7. 根据权利要求5所述的攀爬或攀岩模拟训练装置，其特征在于，所述跨度调整装置包括直线电机驱动组件、电机及螺杆驱动组件、电机及导向轮及同步带组件、电磁驱动组件中的一种或两种及两种以上的组合。
  8. 根据权利要求4所述的攀爬或攀岩模拟训练装置，其特征在于，一个支撑组件设置有两个或两个以上的支撑部及其对应的连接部。
  9. 根据权利要求4所述的攀爬或攀岩模拟训练装置，其特征在于，所述高度调整组件由两个气缸或液压缸来组成，包括上气缸或上液压缸，和上活塞；下气缸或下液压缸，和下活塞；上下活塞连接同一活塞杆，活塞杆与连接部固定连接，上、下气缸或上、下液压缸共同推动连接部和支撑部做上下往复运动。
  10. 根据权利要求4所述的攀爬或攀岩模拟训练装置，其特征在于，攀爬或攀岩模拟训练装置还设有伸缩调整装置，所述伸缩调整装置设置于连接部和支撑部之间，该伸缩调整装置一端与连接部固定连接，一端与支撑部连接，用于连接支撑部和连接部，并对连接部起支撑作用，同时驱动支撑部远离或靠近连接部。
  11. 根据权利要求4所述的攀爬或攀岩模拟训练装置，其特征在于，所述高度调整组件的下方传动连接一个初始位置调整装置，用以推动整个高度调整组件及支撑部一起上下移动，用以作为调整不同支撑部之间的初始距离。
  12. 根据权利要求5所述的攀爬或攀岩模拟训练装置，其特征在于，所述初始位置调整装置为电机螺杆系统，包括电机、轴承和丝杆，电机带动丝杆转动，丝杆推动整个高度调整组件及支撑部一起上下移动，用以作为调整不同支撑部之间的初始距离。
  13. 根据权利要求6所述的攀爬或攀岩模拟训练装置，其特征在于，所述攀爬或攀岩模拟训练装置包括至少一个支撑组件和对应的驱动装置，所述驱动装置包括导轨和高度调整装置，所述支撑组件滑动安装于导轨上，并可以沿导轨往复滑动，所述高度调整组件包括电机及导向轮 及同步带组件，所述电机为外转子电机，所述电机的定子固定连接于支架的一端，所述导向轮装设于支架的另一端，所述同步带同时绕设在外转子和导向轮上，并且同步带与支撑组件固定连接，所述导轨的长轴方向与电机的转轴垂直或基本垂直，外转子的旋转带动同步带运动，同步带带动支撑组件在导轨上往复运动。
  14. 根据权利要求1所述的攀爬或攀岩模拟训练装置，其特征在于，所述支撑组件包括一个循环传动的传送装置，所述循环传送装置的表面安装所述支撑部，在面向使用者一侧的正面，循环传送装置带动支撑部由高处向低处移动，并经背向一侧由低处向高处移动，最终又从面向使用者一侧的正面的高处出现并向低处移动，如此循环往复。
  15. 根据权利要求14所述的攀爬或攀岩模拟训练装置，其特征在于，还包括控制器和与所述控制器连接的传感器和/或图像处理装置，所述传感器可以设置在攀爬或攀岩模拟训练装置上或攀爬或攀岩模拟训练装置所在的房间空间中，也可以佩戴在受训人体的四肢上；图像处理装置包括摄像机，摄像机可以为一个、两个或多个；传感器和图像处理装置用于监控受训人体相对于本训练装置的空间位置以及其姿态和运动趋势和速度，并将采集到的数据传送给控制器，所述控制器控制传送装置的移动速度和人体运动速度协调适配。
  16. 一种攀爬或攀岩模拟训练装置的控制方法，其特征在于，包括以下步骤：
    第一步，构建至少可以上下往复运动并为手部和/或脚部提供支撑的支撑部；支撑部之间具有距离；
    第二步，当人体攀爬上支撑部并稳定后，然后人体继续向上攀爬，当手部或脚部离开支撑部时，对应的支撑部向上移动；
    或，依然受手部和/或脚部压力的对应的支撑部向下移动；
    或，对应于不再受到手部和/或脚部压力的支撑部向上移动，同时，依然受手部和/或脚部压力的对应的支撑部向下移动；
    第三步，当之前离开支撑部的手部和/或脚部重新攀上原来对应的支撑部，然后原来接触支撑部的手部或脚部离开对应的支撑部继续向上攀 爬，对应的支撑部向上移动；
    或，依然受手部和/或脚部压力的对应的支撑部向下移动；
    或，对应于不再受到手部和/或脚部压力的支撑部向上移动，同时，依然受手部和/或脚部压力的对应的支撑部向下移动；
    如此往复运动。
  17. 一种攀爬或攀岩模拟训练装置的控制方法，其特征在于，包括以下步骤：
    第一步，构建如权利要求14所述的攀爬或攀岩模拟训练装置；
    第二步，当人体攀爬上支撑部并稳定后，启动循环传动的传送装置，人体开始借助支撑部向上攀爬，控制循环传动的传送装置的运动速度与人体的攀爬速度相一致，跟随人体攀爬速度一起加快或减缓；
    当人体停止攀爬，循环传动的传送装置停止运动。
PCT/CN2019/123201 2019-08-08 2019-12-05 一种攀爬或攀岩训练模拟装置及控制方法 WO2021022741A1 (zh)

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