CN103071278A - Exercise system for martial styles - Google Patents
Exercise system for martial styles Download PDFInfo
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- CN103071278A CN103071278A CN2013100351380A CN201310035138A CN103071278A CN 103071278 A CN103071278 A CN 103071278A CN 2013100351380 A CN2013100351380 A CN 2013100351380A CN 201310035138 A CN201310035138 A CN 201310035138A CN 103071278 A CN103071278 A CN 103071278A
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Abstract
The invention relates to an exercise system for martial styles, which comprises a fixing rack, a moving body, a motor and a control system. The moving body comprises a horizontal rotating platform rack part, a vertical rotating platform rack part and a linear telescopic arm; the motor comprises a first motor, a second motor and a third motor which are used for respectively driving the horizontal rotating platform rack part, the vertical rotating platform rack part and the linear telescopic arm, so that the vertical rotating platform rack part and the linear telescopic arm are driven by the horizontal rotating platform rack part to carry out rotating movement on the horizontal plane, the linear telescopic arm is driven by the vertical rotating platform rack part to carry out rotating movement on the vertical plane, and the exposed end of the linear telescopic arm is in linear movement; and the control system comprises a motor controller, a first motor driver, a second motor driver and a third motor driver, wherein the first motor driver, the second motor driver and the third motor driver are respectively connected to the first motor, the second motor and the third motor electrically. The first motor driver, the second motor driver and the third motor driver are controlled by the motor controller, so that the first motor, the second motor and the third motor are respectively driven by the first motor driver, the second motor driver and the third motor driver according to a preset time sequence so as to enable the exposed end to carry out spatial three-dimensional movement along a preset trajectory.
Description
Technical field
The present invention relates to a kind of wushu movements in martial arts exercise system, it comprises fixed frame, movable body, motor and control system, and wherein said fixed frame is used for supporting described movable body.
Background technology
In people's daily life, use body-building equipment miscellaneous, such as treadmill, weight lifting machinery etc.For the people who has deep love for the Taiji push hands motion, often hope can have corresponding pushing hands coach to come mutually mutually pastly facing to exercise with own.But this often takes a lot of trouble, because often can not find the adversary, the adversary who especially can not find high level carries out training mate.Therefore need technically a sports equipment can satisfy the needs of this exercise.
On September 9th, 2009, disclosed Chinese patent literature CN201304228 disclosed a kind of robot for martial art body building and training.The movable stand leg that utilizes the motor drives eccentric wheel to make the robot forearm get forward the while robot is upwards kicked out of, and can computer scorer and sound-producing device be installed in machine person section, so that the practitioner whenever impacts at active component, computer meeting automatic scoring also sends voice suggestion.Change general wushu training assistive device and lacked dynamic, dry as dust shortcoming, this multi-functional robot for Martial Arts Teaching makes become vivid and interesting and can be designed to be similar to the body configuration owing to being used for the profile of the robot of Martial Arts Teaching of wushu training, the practitioner is felt as resisting the same with true man, greatly improve enthusiasm, respond and the flexibility of its exercise, be conducive to the fast lifting fight and fetch water flat.But this patent documentation also is unwell to exercise such as wushu movements in martial arts such as Tai Ji, and only is to disclose the simulation true man that a kind of passive practitioner of bearing attacks.
On February 8th, 2006, disclosed Chinese patent literature CN1730132A disclosed a kind of automatic Tai Ji hand-pushing exercising machine, and it as shown in Figure 1.This automatic Tai Ji hand-pushing exercising machine comprises frame 1, movable body 2, motor 3, elastic device and control circuit, the gauge tap 5 of control circuit lays respectively at front end, the rear end of frame, movable body establishes 2 in frame 1, movable body 2 is provided with wheel 7 and pushing hands 8, and motor 3 is located in the movable body 2, its output is connected with wheel 7; Wheel 7 is 1 motion in frame, and an end of elastic device is connected in frame 1, the other end is connected in movable body 2; The control output end of control circuit connects the control output end of motor 3, makes movable body 2 motions.Although having solved the actual life people, this patent when exercise, look for the companion to practise the Taiji push hands hard problem, made things convenient for the practitioner to practise Taiji push hands, but because its pushing hands is the two dimensional motion that can only move forward and backward, the three-dimensional track of both hands in the time of therefore can not simulating truly true man's Taiji sports (or singlehanded) is realized the simulating sports of mechanical hands technically from three dimensions.The process of such product simulation is simple, lacks the real space sensation of Taiji push hands, can not make the user reach omnibearing practice effect.
Summary of the invention
Therefore, the technical problem to be solved in the present invention just is, a kind of three-dimensional wushu movements in martial arts exercise system is provided, and it allows the user to carry out three-dimensional movements in martial arts exercise or study true to nature according to own needed wushu movements in martial arts.
According to wushu movements in martial arts exercise system of the present invention, it comprises fixed frame, movable body, motor and control system, and wherein said fixed frame is used for supporting described movable body.Described movable body comprises and horizontally rotates stand part, vertical rotary stand part and linear telescopic arm; Described motor comprises for driving respectively described first, second, and third motor that horizontally rotates stand part, vertical rotary stand part and linear telescopic arm, so that describedly horizontally rotate that stand part drives described vertical rotary stand part when rotated and the linear telescopic arm rotates at horizontal plane, described vertical rotary stand part drives when rotated described linear telescopic arm and rotates at vertical plane, and the open end of described linear telescopic arm is done rectilinear motion; First, second, and third motor driver that described control system comprises electric machine controller and is electrically connected to respectively described first, second, and third motor, wherein by described first, second, and third motor driver of described motor controller controls, so that described first, second, and third motor driver drives respectively described first, second, and third motor according to scheduled timing, so that doing space three-dimensional along desired trajectory, described open end moves.By this scheme that the present invention proposes, user or user can freely select oneself to need the wushu movements in martial arts of exercise, such as the movements in martial arts of certain Taiji push hands, then follow described open terminal exercise pushing hands action.Because this open end can imitate high-level monkey drill's action, like a virtual expert teacher, learn high-caliber, accurate exercise action so can teach the practitioner.For the comfortableness of practising, can be one of described open terminal installing wooden, metal, glass or the preferred of plastics be rotatable sphere, contact for practitioner's hand.Here, described electric machine controller can be connected with described motor driver by the controller adapter, in order to realize interface and control to described motor driver.
The preferred version of system according to the invention, described the first motor is coupled to described horizontally rotating on the stand rotation pivot partly by the first gearbox through the first coupler; Described the second motor is coupled on the rotation pivot of described vertical rotary stand part by the second gearbox through the second coupler; And described the 3rd motor forms the linear actuators of a kind of and described linear telescopic arm coupling.By this measure, each motor can with the coupling of corresponding controlled stand part or telescopic arm precision so that the control latter moves along desired trajectory accurately.
Advantageously, described fixed frame can be fixed on the pedestal.Like this, by the height of pedestal suitably is set, can make as required the height of whole exercise system.
The further improvement of system according to the invention, be electrically connected a personal computer at described electric machine controller, be used for inputting to described electric machine controller the programming data of described desired trajectory, move so that described first, second, and third motor makes described open end do space three-dimensional along described desired trajectory according to the control of described electric machine controller.By this measure so that the operator might arrange, programme, revise, upgrade etc. whole exercise system by this computer.
Described personal computer can storage inside or is circumscribed with three-dimensional motion track data storehouse, and described database comprises can be for the track data of the multiple wushu movements in martial arts of user selection.Described track data can be by catch the track data of the sample action that moves and obtain in advance with Kinect technology or other similar capturing movement technology.Move because the open end movement track that represents exercise action is the track data according to three-dimensional motion track data storehouse, this database has ensured the possibility that the user can select multiple wushu movements in martial arts.
In addition, described personal computer can also be electrically connected operator's display, to allow operator's programming and to manage the data of described desired trajectory and described control system is carried out intervention operation.The operator set up suitable graphic user interface GUI by this measure, so that might arrange, programme, revise, upgrade etc. to whole exercise system intuitively.
A kind of to the more friendly scheme of user in, in the dead ahead that faces described open end and be the user of wushu movements in martial arts exercises a user display is set, this user display and described personal computer communication are so that the latter is shown to the user with the information relevant with wushu movements in martial arts exercise action.Like this, the user can watch relevant exercise information when using system of the present invention to practise, so that exercise is more interesting and not uninteresting.
The described information relevant with wushu movements in martial arts exercise action can comprise image and/or the music of wushu coach's exercise in pace with studying.So that can imitating coach's action, the user practises the enhancing practice effect by this measure.
Can be provided with pin equilbrium position, left and right sides sensor in the position of user's exercise action, be used for detecting in real time the weight distribution data of both feet, so described personal computer receives this weight distribution data wired or wirelessly, and itself and optimum gold exercise reference data value compared.
Described personal computer can also be used to the double-legged weight distribution data that will be in real time detect and optimum gold exercise reference data value forms respectively figure, and will be transferred on the described user display and show with comparison for reference.The user is by with reference to oneself data and gold reference pattern relatively, can adjust the exercise paces of oneself so that consistent with the gold reference pattern in good time, thereby reach best exercise state.
Described wushu movements in martial arts especially can be Taiji push hands.Taiji push hands be a kind of action take hand as main, therefore and sports that cooperate whole body to move are particularly suitable for application of the present invention.
In the further scheme of described system, described the first motor and the second motor can adopt PANASONIC product type Minas A4 MQMA022S1, and described the 3rd motor can adopt PANASONIC product type Minas A5 MSMD022G1.Described the first and second motor drivers can adopt PANASONIC product type MADDT1207, and described the 3rd motor driver can adopt PANASONIC product type MADHT1507.Be appreciated that these product types only for illustrative, obviously also can adopt the product of other types.
In addition, described personal computer inside/outside can be equipped be used to the controller adapter that connects described electric machine controller and described motor driver.Described adapter for example can adopt product type ADLINK MNET-4XMO.By this adapter personal computer is connected with electric machine controller, thereby realizes driving each motor through motor driver.
Except the purposes that can be used to sports training, described system can also be used to dance movement exercise or study, or is used to the health care of massaging, or is used for other similar purposes.Should be appreciated that desired trajectory that the present invention has realized that open end is set along the operator does space three-dimensional and move.Therefore, follow the application that this desired trajectory is taken exercises for needs, all be suitable for the present invention.This exercise is particularly suitable for the adult more than 18 years old, and unisex.
Description of drawings
Next at length tell about embodiments of the invention by accompanying drawing.On these figure, identical Reference numeral represents same or similar cells/elements.Wherein:
Fig. 1 shows the Tai Ji hand-pushing exercising machine of prior art.
Fig. 2-3 shows front view, the side view of the mechanical composition part of wushu movements in martial arts exercise system of the present invention.
Fig. 4 shows the system block diagram of wushu movements in martial arts exercise system of the present invention.
Fig. 5 shows the circuit connection diagram between motor, motor driver and motor adapter in the wushu movements in martial arts exercise system of the present invention.
Fig. 6 shows the comprehensive circuit connection diagram of wushu movements in martial arts exercise system of the present invention.
Fig. 7 shows the electric machine controller that adopts in the personal computer of wushu movements in martial arts exercise system of the present invention.
Fig. 8 shows system's operational flow diagram of wushu movements in martial arts exercise system of the present invention.
Fig. 9 shows the control graphical interfaces that presents on the personal computer of wushu movements in martial arts exercise system of the present invention.
Figure 10-14 shows each program circuit of control wushu movements in martial arts exercise system of the present invention.
The measuring instrument of the weight distribution when Figure 15 shows practising for the measurement user of wushu movements in martial arts exercise system use of the present invention.
Figure 16 shows the measurement weight distribution figure that the personal computer at wushu movements in martial arts exercise system of the present invention shows.
The specific embodiment
Fig. 1 relates to the Tai Ji hand-pushing exercising machine of prior art, and it is set forth in the application's background technology part.
Fig. 2 shows the front view of the mechanical composition part 202 of wushu movements in martial arts exercise system of the present invention; Fig. 3 shows its side view.This embodiment of the present invention for example is operated in the AC power of AC 220V, and the time for example is 1/30s intermittently.As shown in these figures, given wushu movements in martial arts exercise system comprises: fixed frame 107, and by the movable body that horizontally rotates stand part 108, vertical rotary stand part 109 and linear telescopic arm 110 and consist of, motor 101-103.These parts are controlled by control system shown in Figure 4 212.Described fixed frame 107 is used for supporting described movable body 108,109,110.Described motor 101-103 comprises the first motor 101, the second motor 102 and the 3rd motor 103, is used for driving respectively described stand part 108, vertical rotary stand part 109 and the linear telescopic arm 110 of horizontally rotating.The described stand part 108 that horizontally rotates drives when rotated described vertical rotary stand part 109 and linear telescopic arm 110 and rotates at horizontal plane, described vertical rotary stand part 109 drives when rotated described linear telescopic arm 110 and rotates at vertical plane, and described linear telescopic arm 110 open terminal 111 do rectilinear motion.
Here, it is the servomotor of Minas A4 MQMA022S1 that described the first motor 101 and the second motor 102 adopt the PANASONIC product type, and its nominal torque is 0.64Nm, and peak torque is 1.91Nm.
The first motor driver 206(1 that control system 212 shown in Figure 4 comprises electric machine controller 401 and is electrically connected to respectively described the first motor 101, the second motor 102 and the 3rd motor 103), the second motor driver 206(2) and the 3rd motor driver 206(3).By described the first motor driver 206(1 of described electric machine controller 401 controls), the second motor driver 206(2) and the 3rd motor driver 206(3), so that described the first motor driver 206(1), the second motor driver 206(2) and the 3rd motor driver 206(3) drive respectively described the first motor 101, the second motor 102 and the 3rd motor 103 according to scheduled timing so that shown in Figure 3 open terminal 111 do space three-dimensional along desired trajectory 1008 and move.
Here, a described 206(1) and the second motor driver 206(2) adopt PANASONIC product type MADDT1207.Described the 3rd motor driver 206(3) adopts PANASONIC product type MADHT1507.
As Fig. 2,3 clearly shown in, described the first motor 101 is coupled on the described rotation pivot that horizontally rotates stand part 108 through the first coupler 112 by the first gearbox 104.The second motor 102 is coupled on the rotation pivot of described vertical rotary stand part 109 through the second coupler 113 by the second gearbox 105.Described the 3rd motor 103 forms the linear actuators of a kind of and described linear telescopic arm 110 couplings.It is the servomotor of Minas A5 MSMD022G1 or A5 MSMD0221S that this linear actuators adopts the PANASONIC product type.Here, the guide screw line pitch of linear actuator drives linear telescopic arm 110 is 10mm, and the driving stroke is 800mm, thrust 300N, and normal speed is 500mm/s.
Because described the first motor 101 is straight lines by the connection of the first gearbox 104 to first couplers 112, therefore the first gearbox 104 employing no-load voltage ratios are the linear pattern gearbox of 1:100, such as model AB90-100-L3-P2, its normal speed is 3500rpm, maximal rate is 6000rpm, and peak torque is 240Nm.Like this, just reduced by the speed that adopts the first gearbox 104, the first motors 101, and increase thus for driving the described moment of torsion that horizontally rotates stand part 108.In addition, this also is favourable for the described precision that horizontally rotates 108 rotations of stand part of control, because control resolution has been enhanced.
In an example shown, because described the second motor 102 at right angles turns round by the connection of the second gearbox 105 to second couplers 113, therefore the second gearbox 105 employing no-load voltage ratios are the right-angle bending type gearbox of 1:100, such as model ABR90-100-L3-P2, its specified same speed is 3500rpm, maximal rate is 6000rpm, and peak torque is 240Nm.In the situation that the place allows, the second gearbox 105 also can adopt the linear pattern gearbox the same with the first gearbox 104 as required; Or first and second gearbox 104,105 all adopts right-angle bending type gearbox.The second gearbox 105 can reach the effect the same with the first gearbox 104.
Being used for that the first gearbox 104 is coupled to the first coupler 112 on the described rotation pivot that horizontally rotates stand part 108, can to adopt model be the coupler of LK6-C65-2020.Described the second coupler 113 also is like this.The bilateral bore diameter of the coupler of this model is 20mm, and moment of torsion is 15Nm.
As shown in Figure 2, described fixed frame 107 is fixed on the pedestal 100, is arranged on needed height in order to will carry the vertical rotary stand part 109 of linear telescopic arm 110.Fixed frame 107 is for example by the brass material manufacturing, or adopts other material such as aluminium 6061.For example, under the state that restores return, the highest part terrain clearance of vertical rotary stand part 109 is set to 1.49m with reference to practitioner's height.The part of pedestal 100 kiss the earths is set to the square steel disk of 0.6m*0.6m, and this steel disk can bear the horizontal thrust of 222N, to such an extent as to the general user can not push over whole frame.Vertical rotary stand part 109 can be constructed to approximately 1.21m, and approximately 0.8m is long at the linear telescopic arm 110 of vertical rotary stand part 109 extensions to be constructed to telescopically.For example in the embodiment shown in fig. 3, it is 2.4m that user's exercising platform 114 is set to length, and height H is 8-10 inch (Inch).
On exercising platform shown in Figure 3, also show people's footprint pattern Pos, so that conveniently entering the position, the practitioner practises.
Fig. 4 shows the system block diagram of wushu movements in martial arts exercise system of the present invention.As shown in the figure, be electrically connected a personal computer 208 at described electric machine controller 401, be used for to the programming data of the described desired trajectory 1008 of described electric machine controller 401 inputs, so that described the first motor 101, the second motor 102 and the 3rd motor 103 make open terminal 111 of described linear telescopic arm 110 do space three-dimensional along described desired trajectory 1008 according to the control of described electric machine controller 401 and move, thereby finish a series of exercise action.Here, although the electric machine controller 401 shown in Fig. 4 is positioned at outside the personal computer 208, shown is that a kind of logic connects.Be appreciated that in the implementation process of reality, electric machine controller 401 can be positioned within the personal computer 208 physically.Electric machine controller 401 is electrically connected with motor driver 206 by the controller adapter 207 shown in Fig. 6,7.In the present embodiment, described wushu movements in martial arts can be multiple Taiji push hands action.
In described personal computer 208 storage inside or be circumscribed with three-dimensional motion track data storehouse 209, described database 209 comprises can be for the track data of the multiple wushu movements in martial arts of user selection.The track data of the sample action that described track data can obtain in advance by using the Kinect technology to catch action.These data are three-dimensional datas of track in the time domain.Thereby allow multi-motion is mapped to foregoing mechanical system.
Described personal computer 208 is electrically connected operator's display 210, to allow operator's 211 programmings and to manage the data of described desired trajectory 1008 and described control system 212 is carried out intervention operation.Be handled easily, described personal computer 208 can be equipped with corresponding mouse and keyboard.Arrange one in open terminal 111 dead aheads of being the user 203 of wushu movements in martial arts exercise that face described linear telescopic arm 110 and for example be the user display 201 of LCD display, this user display 201 is communicated by letter with described personal computer 208, so that the latter is shown to the user with the information relevant with wushu movements in martial arts exercise action.The described information relevant with wushu movements in martial arts exercise action comprises image and/or the music of wushu coach's exercise in pace with studying
Be provided with pin equilbrium position, left and right sides sensor 204,205 in the position of user's exercise action, be used for detecting in real time the weight distribution data of both feet, described personal computer 208 receives this weight distribution data wired or wirelessly, and its gold exercise reference data value with optimum is compared.The double-legged weight distribution data that described personal computer 208 also will detect in real time and optimum gold exercise reference data value form respectively figure, and will be transferred on the described user display 201 and show with comparison for reference.Be equipped be used to the adapter 207 that connects described electric machine controller 401 at described personal computer 208 inside/outsides, described electric machine controller 401 and adapter 207 adopt respectively the sports cards of product type ADLINK Motionnet PCI-7856 and ADLINK MNET-4XMO.
Fig. 5 shows the general circuit connection layout between motor, motor driver and motor adapter in the wushu movements in martial arts exercise system of the present invention.Among the figure, the motor driver 206 of the above A4/A5 model is connected with motor 101,102,103 by coding cable 300.In an embodiment of the present invention, the motor 101,102, the 103rd of described A4/A5 model, a kind of motor with encoder is in order to be encoded by described coding cable.In addition, motor 101,102,103 is connected on " four-core driving cable " interface of motor driver 206 by driving cable 301 and braking cable 302.Motor driver 206 is connected to adapter 207 and is thus connected electric machine controller 401 by cable.This electric machine controller 401 and adapter 207 adopt respectively product type ADLINK Motionnet PCI-7856 and ADLINK MNET-4XMO here, and its main port is illustrated as follows:
JP8: external power source input connector (+24V) ﹠amp; The numeral input
Share and urgent input pin,
HS1, HS2:Motionnet signal of communication connector (RJ45),
CN1: the blocking-up of servo interface signal,
IOIF1-4: mechanical I/O and GPIO signal connector,
CM1-4: the servo interface signal connector,
S1: from the ID switch,
S2: the communication speed selector switch,
S3, S5: allow/forbid DO so that the replacement servo-driver,
JP3: the terminating resistor wire jumper,
JP4: allow/forbid the EMG signal,
JP5, JP6: common source or differential power are selected wire jumper.
On the basis that general circuit shown in Figure 5 connects, Fig. 6 shows three motor 101-103 of wushu movements in martial arts exercise system of the present invention in more detail to the circuit connection diagram of electric machine controller adapter 207.As shown in the figure, the first motor 101 and the second motor 102 all adopt the motor of A4 model, and are used for the motor of the 3rd motor 103 employing A5 models of linear actuators.These motors to the connection of electric machine controller adapter 207 comes into question in the explanation in conjunction with Fig. 5, repeats no more here.
Need to prove, comprise that model is that the electric machine controller 401 of ADLINK Motionnet PCI-7856 can externally be connected to personal computer 208 by controller adaptor interface 207, perhaps is integrated in the personal computer 208.Fig. 7 shows the schematic diagram that the model that adopts is the electric machine controller 401 of ADLINK Motionnet PCI-7856 in the personal computer of wushu movements in martial arts exercise system of the present invention.
The workflow that the below adopts when introducing system of the present invention operation.
Fig. 8 shows system's operational flow diagram of wushu movements in martial arts exercise system of the present invention.System begins start in step 501.Reset by introducing step 502.The result drives open terminal 111 at the arm of linear telescopic described in the step 503 110 to turn back to original position.In step 504, by as required number and the repetition time of input motion movements in martial arts of the user who practises.Next start the execution of motion and carry out selected wushu exercise movements in martial arts in step 506 in step 505.At this moment, user/practitioner may stand on the platform 114, contacts open terminally 111 with the wrist of the right hand or left hand, and follows its path and moves, and other parts of health also can cooperate accordingly and move simultaneously.For example, this motion can be depended on practitioner's stance, usually, when right crus of diaphragm is set out in advance to make arrangements, can use right hand accompany movement; When left foot is set out in advance to make arrangements, can use the left hand accompany movement.In the process of carrying out motion, can shut down or reset in step 508 at any time by the user, or cause shutting down in step 508 because of system overload.If not this situation, this process finishes and shutdown in step 507.
Fig. 9 shows the control graphical interfaces GUI that presents on the personal computer of wushu movements in martial arts exercise system of the present invention.The user utilizes this interface can select needed wushu movements in martial arts T1 movement to T9 movement.On the right of these wushu movements in martial arts, show " connect " " disconnect " and " Axis info. " three buttons.By clicking this three buttons, corresponding graphical interfaces will occur respectively and carry out alternately for the operator.This will be described in detail in conjunction with Figure 10-14 hereinafter.
Figure 10-14 shows each program circuit of control wushu movements in martial arts exercise system of the present invention.In the present embodiment, the present invention adopts Visual Basic .NET programming language to realize.Obviously, according to shown in flow process, adopt the functional sequence shown in other Languages all can be realized arbitrarily.
Figure 10 shows operating process " main classes ", and it has opened the entrance of whole process flow operation.In step 601, carry out main program and be written into and initialize, comprise and read the control script, the mechanical arm parameter is set, be written into routing information.Here, the mechanical arm parameter comprises the described physical parameter that horizontally rotates stand part 108, vertical rotary stand part 109 and linear telescopic arm 110.In step 605, by clicking icon shown in Figure 9 " AxisInfo. ", will pull " Axis Info. " window view into.Then, carry out the homing operation, and single axle is controlled in order to implement calibration.Here, single axle refers to the described motion pivot that horizontally rotates stand part 108, vertical rotary stand part 109 and linear telescopic arm 110.In step 602, by clicking icon shown in Figure 9 " connect ", a plurality of axle parameters are set, and servo-drive system is opened, shown in Fig. 9 the right.Step enters into 604,, servo-drive system can be turn-offed termination routine in step 607 by pressing " disconnect " icon here.Triggering that timer has a 1ms has been shown intermittently in the square frame step 606, has been used for carrying out the Timertask () of " AxisInfo " class shown in Figure 11, and the Timertask () that carries out " RobotArm " class shown in Figure 13.
Figure 11 shows " AxisInfo " class that flow process shown in Figure 10 will be called.Initialize in step 700, in order to set up the data that label shows each axle, and set up button and control each axle.This step 700 has two branches 701 and 702.In branch's step 701, carry out homing by clicking " Go Home ".In branch's step 702, go to origin position by clicking " To Zero " button.Timertask () in this " AxisInfo " class has been shown in the square frame step 703, has been used for upgrading the value that label shows.
Figure 13 shows " RobotArm " class that flow process shown in Figure 10 will be called.Initialize in step 901, in order to set scope and the deviant of each axle.This step 901 has four 902-905 of branch.In branch's step 902, carry out homing by calling " GoHome() " function.In branch's step 903, by calling " GoCenter() " function and mechanical arm is moved on to origin position.In branch's step 904, by calling " moveto() " function and mechanical arm is moved on to ad-hoc location.In branch's step 905, start path movement by calling " MovePath() " function.Timertask () in this " RobotArm " class has been shown in the square frame step 906, and for detection of the state of mechanical arm, if this arm just moves at execution route, this is in the situation that it has arrived the next target location of input, current goal position.
Figure 12,14 shows respectively two other class that this embodiment can also use.In " Arm_Position " class shown in Figure 12, call function SetXYZPosition () in step 801.Judge in step 802 then whether Absolute is true.If, stored coordinate values and do not consider deviant in step 804 then, and XYZ coordinate is transformed into polar coordinates.If not, stored coordinate values and consider deviant in step 803 then, and XYZ coordinate is transformed into polar coordinates." Paths " class shown in Figure 14 has provided two functions.First function LoadPoints () shown in the square frame 1001 is used for reading in the .csv file that comprises routing information; Read in two lines at first of user's both feet position and calculate double-legged place-centric; Read remaining line, calculate and store each point with respect to the distance of above double-legged place-centric, and carry out mirror image with moving along the Y-Z plane.。
The measuring instrument 1011 of the weight distribution when Figure 15 shows practising for the measurement user of wushu movements in martial arts exercise system use of the present invention.This measuring instrument 1011 for example is arranged among Fig. 3 by the position shown in the Reference numeral Pos.Be appreciated that this measuring instrument 1011 is located in the platform 114 with being embedded into formula, to such an extent as to just keeping oneself in practice of image user/practitioner not.This measuring instrument 1011 is two Wii balance plates that are arranged in parallel for example.The weight distribution data that 1011 Real-time Measurings of described measuring instrument get are transferred to personal computer 208 and process and display.
Figure 16 shows the gravity measurement distribution map in personal computer 208 demonstrations of wushu movements in martial arts exercise system 202 of the present invention.Shown in this figure left side, by setting frequency and the cycle of gravity sampling, utilize computer screen can show intuitively corresponding gravimetric data distribution situation.The left and right sides pin gravity that show this moment is respectively 30kg and 30kg.Dot between two footprint figures shown in Figure 180 represents the position of practitioner's centre of body weight; The large circle point on the left side then represents to practise expert's position of centre of gravity.Image when having shown coach's exercise on Figure 16 right-hand can supply practitioner's reference synchronization.
Advantageously, the double-legged weight distribution information of above demonstration and/or coach's presentation graphic are transferred on the display 201 and watch in real time for the wushu practitioner.Can on personal computer 208, not show above change curve yet, and only show at display 201.
For improving efficient and the interest of exercise, on display 201, also side by side show the curve that virtual best coach's double-legged weight distribution changes with different colours, for practitioner's reference and comparison, thereby adjust own double-legged exerting oneself so that as far as possible consistent with coach's graph curve.The curve that described virtual best coach's double-legged weight distribution changes can be stored in the database of personal computer 208 by prior measurement.
Although above with reference to most preferred embodiment of the present invention the application is described.But this description is exemplary, rather than restrictive.Those skilled in the art can make various improvement and remodeling to the present invention on the basis of the application's disclosure.These improvement and remodeling all belong to protection scope of the present invention, as long as they do not break away from design of the present invention.Protection scope of the present invention is limited by appending claims.
Claims (15)
1. wushu movements in martial arts exercise system, comprise fixed frame (107), movable body (108,109,110), motor (101-103) and control system (212), wherein said fixed frame (107) is used for supporting described movable body (108,109,110), it is characterized in that:
Described movable body (108,109,110) comprises and horizontally rotates stand part (108), vertical rotary stand part (109) and linear telescopic arm (110);
Described motor (101-103) comprises for driving respectively the described stand part (108) that horizontally rotates, first (101) of vertical rotary stand part (109) and linear telescopic arm (110), the second (102) and the 3rd motor (103), so that describedly horizontally rotate that stand part (108) drives described vertical rotary stand part (109) when rotated and linear telescopic arm (110) rotates at horizontal plane, described vertical rotary stand part (109) drives when rotated described linear telescopic arm (110) and rotates at vertical plane, and the open end (111) of described linear telescopic arm (110) is done rectilinear motion;
Described control system (212) comprises electric machine controller (401) and is electrically connected to respectively described first (101), first (206(1) of the second (102) and the 3rd motor (103)), second (206(2)) and the 3rd motor driver (206(3)), wherein by described first (206(1) of described electric machine controller (401) control), second (206(2)) and the 3rd motor driver (206(3)), so that described first (206(1)), second (206(2)) and the 3rd motor driver (206(3)) drive respectively described first (101) according to scheduled timing, the second (102) and the 3rd motor (103) is so that described open end (111) is done the space three-dimensional motion along desired trajectory (1008).
2. system according to claim 1 is characterized in that:
Described the first motor (101) is coupled on the described rotation pivot that horizontally rotates stand part (108) through the first coupler (112) by the first gearbox (104); Described the second motor (102) is coupled on the rotation pivot of described vertical rotary stand part (109) by the second gearbox (105) through the second coupler (113); And described the 3rd motor (103) forms the linear actuators of a kind of and described linear telescopic arm (110) coupling.
3. system according to claim 1 is characterized in that:
Described fixed frame (107) is fixed on the pedestal (100), and the rotatable sphere of or plastics wooden, metal, glass one of described open terminal installing contacts for practitioner's hand.
4. described system one of according to claim 1-3 is characterized in that:
Be electrically connected to a personal computer (208) or be installed in this personal computer (208) at described electric machine controller (401), be used for inputting to described electric machine controller (401) from this personal computer (208) programming data of described desired trajectory (1008), so that described the first (101), second the (102) and the 3rd motor (103) makes described open end (111) do the space three-dimensional motion along described desired trajectory (1008) according to the control of described electric machine controller (401).
5. system according to claim 4 is characterized in that:
Described personal computer (208) storage inside or be circumscribed with three-dimensional motion track data storehouse, described database comprise can be for the track data of the multiple wushu movements in martial arts of user selection.
6. system according to claim 5 is characterized in that:
Described track data is by using the Kinect technology to catch the track data of the sample action that moves and obtain in advance.
7. system according to claim 4 is characterized in that:
Described personal computer (208) is electrically connected operator's display (210), to allow operator (211) to programme and to manage the data of described desired trajectory (1008) and described control system (212) is carried out intervention operation.
8. system according to claim 4 is characterized in that:
In the dead ahead that faces described open end (111) and be the user (203) of wushu movements in martial arts exercises a user display (201) is set, this user display (201) is communicated by letter with described personal computer (208), so that the latter is shown to the user with the information relevant with wushu movements in martial arts exercise action.
9. system according to claim 8 is characterized in that:
The described information relevant with wushu movements in martial arts exercise action comprises image and/or the music of wushu coach's exercise in pace with studying.
10. system according to claim 4 is characterized in that:
Be provided with pin equilbrium position, left and right sides sensor (204 in the position of user's exercise action, 205), be used for detecting in real time the weight distribution data of both feet, described personal computer (208) receives this weight distribution data wired or wirelessly, and its gold exercise reference data value with optimum is compared.
11. system according to claim 10 is characterized in that:
Described personal computer (208) also forms respectively figure for the double-legged weight distribution data that will detect in real time and optimum gold exercise reference data value, and will be transferred to the upper demonstration of described user display (201) with comparison for reference.
12. the described system of each according to claim 1-3 is characterized in that:
Described wushu movements in martial arts are Taiji push hands.
13. system according to claim 4 is characterized in that:
Described personal computer (208) inside/outside is equipped be used to the controller adapter (207) that connects described electric machine controller (401) and described motor driver (206).
14. system according to claim 1 is characterized in that:
Described system is used to dance movement exercise or study, or is used to the health care of massaging.
15. system according to claim 1 is characterized in that:
Described electric machine controller (401) is connected with described motor driver (206) by controller adapter (207).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310035138.0A CN103071278B (en) | 2013-01-30 | 2013-01-30 | Exercise system for martial styles |
| HK13107280.9A HK1179913A1 (en) | 2013-01-30 | 2013-06-21 | An exercise system for wushu movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310035138.0A CN103071278B (en) | 2013-01-30 | 2013-01-30 | Exercise system for martial styles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103071278A true CN103071278A (en) | 2013-05-01 |
| CN103071278B CN103071278B (en) | 2015-02-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310035138.0A Active CN103071278B (en) | 2013-01-30 | 2013-01-30 | Exercise system for martial styles |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN103071278B (en) |
| HK (1) | HK1179913A1 (en) |
Cited By (1)
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|---|---|---|---|---|
| CN109224375A (en) * | 2018-08-14 | 2019-01-18 | 汪毅 | It is a kind of to guide walk with vigorous strides away assessment training device and its application method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110038282A (en) * | 2019-04-23 | 2019-07-23 | 齐鲁理工学院 | A kind of wushu movement guiding device |
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Also Published As
| Publication number | Publication date |
|---|---|
| HK1179913A1 (en) | 2013-10-11 |
| CN103071278B (en) | 2015-02-04 |
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Effective date of registration: 20160825 Address after: Room 16, building 9-12, Hing Wai Industrial Center, 7 Tian Wan Tian Hai Road, Hongkong, China Patentee after: Hing Lun Tai Chi exercise equipment Co., Ltd. Address before: 50 Wellington Street, central, Hongkong, China Patentee before: Xinglun China Sports Institute Co., Ltd. |