CN110624228B

CN110624228B - Novel swimming training robot auxiliary system

Info

Publication number: CN110624228B
Application number: CN201910837823.2A
Authority: CN
Inventors: 王磊
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-09-05
Filing date: 2019-09-05
Publication date: 2020-10-20
Anticipated expiration: 2039-09-05
Also published as: CN110624228A

Abstract

The utility model provides a novel swimming training robot auxiliary system, including the whole frame that is the cuboid shape, the intermediate position at frame top is equipped with a crossbeam and a pivot along controlling the horizontal direction, the crossbeam is located the pivot front side, the fixed connecting plate that is equipped with in pivot lower part, the distance that both sides limit to the pivot around the connecting plate all is greater than the distance of pivot to the crossbeam, the front side upper surface and the crossbeam bottom contact of connecting plate, the connecting plate lower surface is equipped with a plurality of telescopic links along the vertical direction, the lower extreme of telescopic link is connected with the human ectoskeleton mechanism of wearing formula. The invention is used for passive and automatic swimming teaching, is beneficial to improving the coordination and the flexibility of actions, standardizes and plans the swimming posture and improves the swimming level. The cost is saved, the swimming teaching device is not limited by sites, the swimming teaching is efficient, and the teaching quality is improved.

Description

Novel swimming training robot auxiliary system

Technical Field

The invention belongs to the technical field of swimming training, and particularly relates to a novel swimming training robot auxiliary system.

Background

Swimming is leisure mass sports which is suitable for people of all ages and has the function of body building, and people of different ages can select different swimming postures according to the body characteristics of the people. The swimming sport can promote the coordinated development of joints, bones, muscles and the like of the whole body of a sporter, is beneficial to shaping body-building and correct posture, is beneficial to improving the coordination and flexibility of the human body, promotes the metabolism of the sporter, promotes the functions of organs of people, and has important effect on the comprehensive development of physical and mental health of the people. However, swimming actions are various and complex, and the proficiency of the actions in the exercise process is the core of mastering swimming skills. In the swimming training and teaching process, the accuracy and the standard of the posture are the key for determining the swimming speed. In the traditional swimming training and teaching, because the individual difference and the water condition are complex, the action standardization and the standardization of the trainees are difficult to be ensured in the traditional swimming training and teaching.

At present, the teaching devices for four swimming postures on land are few, and a user actively exerts force in the process of using the device, so that the standard and correct swimming postures cannot be better learned by the user, the learning effect cannot be really and effectively improved, and the technical key points can be mastered.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides a novel swimming training robot auxiliary system which is used for daily swimming training of schools and swimming mechanisms and can also be used for improving the accuracy and coordination of swimming technology.

In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a novel swimming training robot auxiliary system, including the whole frame that is the cuboid shape, the intermediate position at frame top is equipped with a crossbeam and a pivot along controlling the horizontal direction, the crossbeam is located the pivot front side, the fixed connecting plate that is equipped with in pivot lower part, the distance that both sides limit to the pivot around the connecting plate all is greater than the distance of pivot to the crossbeam, the front side upper surface and the crossbeam bottom contact of connecting plate, the connecting plate lower surface is equipped with a plurality of telescopic links along the vertical direction, the lower extreme of telescopic link is connected with the human ectoskeleton mechanism of wearing formula.

Human ectoskeleton mechanism of wearing formula includes back of the body buttockss portion casing, the top of back of the body buttockss portion casing is passed through the hinge and is articulated with the telescopic link lower extreme, back of the body buttockss portion casing lower part is connected with chest abdomen casing through the buckle bandage, the rear side of back of the body buttockss portion casing is connected with bilateral symmetry and the same left lower limbs motion part of structure case and right lower limbs motion part, the front side of back of the body buttockss portion casing is connected with left upper limbs motion part, head motion part and right upper limbs motion part, left upper limbs motion part and right upper limbs motion part bilateral symmetry and structure are the same.

The left lower limb moving part and the right lower limb moving part respectively comprise an L-shaped crotch connecting plate, one end of the crotch connecting plate is connected to the rear side of the top of the hip shell in a rotating mode through a first crotch servo motor, a main shaft of the first crotch servo motor is arranged in the vertical direction, the other end of the crotch connecting plate is connected with a thigh sheath in a rotating mode through a second crotch servo motor, the rear end of the thigh sheath is connected with a shank shell in a rotating mode through a knee joint servo motor, and the rear end of the shank shell is connected with a pedal plate in a rotating mode through an ankle servo motor.

The thigh sheath includes fixed plate, expansion plate, goes up location backplate and location backplate down, the fixed plate front end with second crotch servo motor connect, the spout has been seted up along the fore-and-aft direction in the fixed plate, the expansion plate front end slides and stretches into in the spout and be connected with the fixed plate location through location slot hole and positioning bolt structure, the rear end of expansion plate with knee joint servo motor connect, go up location backplate and lower location backplate longitudinal symmetry and arrange, go up the location backplate and be the arc structure of downwards recessed, the lower location backplate is the arc structure of upwards recessed, go up location backplate and lower location backplate fixed connection respectively at the last side and the lower side of fixed plate.

The left upper limb moving part and the right upper limb moving part respectively comprise a fixing frame fixedly arranged at the front side of the top of the hip shell, the fixing frame is rotationally connected with a first connecting plate arranged in the front-back direction through a first shoulder servo motor, the front end of the first connecting plate is rotationally connected with a second connecting plate obliquely arranged towards the front outer side of the lower part through a second shoulder servo motor, the lower end of the second connecting plate is rotationally connected with a third connecting plate obliquely arranged towards the outer side of the lower part through a third shoulder servo motor, the lower end of the third connecting plate is rotationally connected with an upper arm connecting plate arranged towards the front lower part through a fourth shoulder servo motor, the front end of the upper arm connecting plate is rotationally connected with a front arm connecting plate arranged towards the front lower part through an elbow servo motor, a wrist servo motor is fixedly arranged at the outer side of the front end of the front arm connecting plate, a fixing ring is fixedly arranged at the front end of the front arm, the outer circumference of the fixed ring is rotatably connected with a belt wheel ring, a main shaft of the wrist servo motor is provided with a driving belt wheel, the driving belt wheel is in transmission connection with the belt wheel ring through a belt, the lower part of the front side of the belt wheel ring is fixedly connected with an installation plate, and the front end of the installation plate is fixedly provided with a handle.

The head motion part is including supporting the link, six degree of freedom motion platforms, lower jaw holds in the palm and the neck cover, support the link and be located the preceding lateral part of back of the body buttock casing and chest abdomen casing, support the upper portion of link extend backward and with the front side top fixed connection of back of the body buttock casing, support the link lower part, penetrating around the lower part of support link is seted up, the open neck of downside is perforated, lower jaw holds in the palm upper portion both sides and neck cover lower part both sides and is connected, support the link front side and lower jaw hold in the palm and pass through between the rear side of neck cover six degree of freedom motion platforms connect.

By adopting the technical scheme, the working principle and the process of the invention are as follows: during swimming training, according to training person's height, adjust the length of thigh sheath earlier and with fixed plate and expansion plate through the positioning bolt who passes the location slot hole fixed firm, then untie the buckle bandage, training person's truck is placed in chest abdomen casing and back of the body buttockss portion casing, the thigh is located between location backplate and the lower location backplate, the shank is located the shank shell, the foot is stepped on the running-board, training person's head passes forward in proper order and supports the link neck perforation, lower jaw holds in the palm and the neck cover, the hand passes fixed ring, hold the handle.

The soft elastic material is arranged inside the chest-abdomen shell and the back-hip shell, so that the trainer can feel comfortable. Ankle servo motor can realize ankle up-and-down motion, knee joint servo motor can realize knee joint up-and-down motion, and first crotch joint servo motor can realize the motion of crotch joint side to side, and second crotch joint servo motor can realize the motion of crotch joint up-and-down to realize the motion that the shank satisfies the swimming posture.

The elbow joint servo motor can realize the up-and-down motion of an elbow joint, the third shoulder servo motor can realize the up-and-down motion of a shoulder, and the first shoulder servo motor and the second shoulder servo motor can realize the large-amplitude left-and-right motion of the shoulder under the combined action.

The lower jaw support is connected with the neck sleeve through a buckle, and the six-freedom-degree movement of the head can be realized through the support connection of the six-freedom-degree movement platform.

The hip shell is connected with the rotating shaft through three telescopic rods which are arranged in a triangular mode, the telescopic rods adopt air springs, and the telescopic rods can be extended or compressed during movement, so that the shoulders can move up and down. The fourth shoulder servo motor can realize the up-and-down movement of the upper arm.

The wrist servo motor drives the driving belt wheel to rotate, the driving belt wheel drives the belt wheel ring to rotate through the belt, and the belt wheel ring drives the handle to rotate through the mounting plate, so that the wrist is driven to rotate.

The upper surface of the front side of the connecting plate in the invention is contacted with the bottom of the cross beam, namely, in compression joint fit, so that the system can be in good stability.

The invention can realize the linkage of the whole system through programming control, thereby realizing breaststroke, butterfly stroke and free stroke. If backstroke is to be realized, the system can rotate upwards around the rotating shaft, the whole system is positioned above the frame after rotating 180 degrees, and the connecting plate is in jacking contact with the top of the cross beam, so that the stability of the system is ensured, and the backstroke posture with the face upward is realized.

In conclusion, the invention is used for passive and automatic swimming teaching, is beneficial to improving the coordination and the flexibility of actions, standardizes and plans the swimming posture and improves the swimming level. The cost is saved, the swimming teaching device is not limited by sites, the swimming teaching is efficient, and the teaching quality is improved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view of the left and right lower limb movement portions of FIG. 1;

fig. 3 is an enlarged view of the left upper limb movement portion, the head movement portion and the right upper limb movement portion in fig. 1.

Detailed Description

As shown in figures 1-3, the novel swimming training robot auxiliary system comprises a frame 1 which is integrally in a cuboid shape, a cross beam 2 and a rotating shaft 3 are arranged in the left-right horizontal direction in the middle of the top of the frame 1, the cross beam 2 is located on the front side of the rotating shaft 3, a connecting plate 4 is fixedly arranged on the lower portion of the rotating shaft 3, the distances from the rotating shaft 3 to the cross beam 2 are both larger than the distances from the rotating shaft 3 to the front side and the rear side of the connecting plate 4, the upper surface of the front side of the connecting plate 4 is in contact with the bottom of the cross beam 2, a plurality of telescopic rods 5 are arranged on the lower surface of the connecting plate 4 in the vertical direction, and.

Human ectoskeleton mechanism of wearing formula includes back of the body buttockss portion casing 6, it is articulated with 5 lower extremes of telescopic link that hinge 7 is passed through at the top of back of the body buttockss portion casing 6, 6 lower parts of back of the body buttockss portion casing are connected with chest belly casing 9 through buckle bandage 8, the rear side of back of the body buttockss portion casing 6 is connected with bilateral symmetry and the same left lower limbs motion part 10 of structure case and right lower limbs motion part 11, the front side of back of the body buttockss portion casing 6 is connected with left upper limbs motion part 12, head motion part 13 and right upper limbs motion part 14, left upper limbs motion part 12 and right upper limbs motion part 14 bilateral symmetry and structure are the same.

The left lower limb moving part 10 and the right lower limb moving part 11 both comprise L-shaped crotch connecting plates 15, one end of each crotch connecting plate 15 is rotatably connected to the rear side of the top of the hip shell 6 through a first crotch servo motor 16, the main shaft of the first crotch servo motor 16 is arranged along the vertical direction, the other end of each crotch connecting plate 15 is rotatably connected with a thigh sheath through a second crotch servo motor 17, the rear end of each thigh sheath is rotatably connected with a lower leg shell 19 through a knee joint servo motor 18, and the rear end of each lower leg shell 19 is rotatably connected with a pedal 21 through an ankle servo motor 20.

The thigh sheath comprises a fixing plate 22, a telescopic plate 23, an upper positioning guard plate 24 and a lower positioning guard plate 25, the front end of the fixing plate 22 is connected with the second crotch servo motor 17, sliding grooves are formed in the fixing plate 22 along the front-back direction, the front end of the telescopic plate 23 slides into the sliding grooves and is connected with the fixing plate 22 in a positioning mode through positioning long holes and positioning bolt structures, the rear end of the telescopic plate 23 is connected with the knee joint servo motor 18, the upper positioning guard plate 24 and the lower positioning guard plate 25 are symmetrically arranged up and down, the upper positioning guard plate 24 is of a downward concave arc structure, the lower positioning guard plate 25 is of an upward concave arc structure, and the upper positioning guard plate 24 and the lower positioning guard plate 25 are fixedly connected to the upper side edge and the lower side edge of the fixing plate.

The left upper limb moving part 12 and the right upper limb moving part 14 both comprise a fixed mount 26 fixedly arranged at the front side of the top of the hip shell 6, a first connecting plate 28 arranged in the front-back direction is rotatably connected on the fixed mount 26 through a first shoulder servo motor 27, the front end of the first connecting plate 28 is rotatably connected with a second connecting plate 30 obliquely arranged towards the front outer side of the lower part through a second shoulder servo motor 29, the lower end of the second connecting plate 30 is rotatably connected with a third connecting plate 32 obliquely arranged towards the outer side of the lower part through a third shoulder servo motor 31, the lower end of the third connecting plate 32 is rotatably connected with an upper arm connecting plate 34 arranged towards the front lower part through a fourth shoulder servo motor 33, the front end of the upper arm connecting plate 34 is rotatably connected with a forearm connecting plate 36 arranged towards the front lower part through an elbow servo motor 35, a wrist servo motor 37 is fixedly arranged at the outer side of the front end of the forearm connecting plate 36, a fixed ring 38, the central line of the fixed ring 38 is parallel to the length direction of the forearm connecting plate 36, the outer circumference of the fixed ring 38 is rotatably connected with a belt wheel ring 39, a main shaft of the wrist servo motor 37 is provided with a driving belt wheel 40, the driving belt wheel 40 is connected with the belt wheel ring 39 through a belt in a transmission way, the lower part of the front side of the belt wheel ring 39 is fixedly connected with a mounting plate 41, and the front end of the mounting plate 41 is fixedly provided with a handle 42.

The head motion part 13 comprises a support connecting frame 43, a six-degree-of-freedom motion platform 44, a chin rest 45 and a neck sleeve 46, the support connecting frame 43 is located at the front side part of the hip shell 6 and the chest and abdomen shell 9, the upper part of the support connecting frame 43 extends backwards and is fixedly connected with the top of the front side of the hip shell 6, the lower part of the support connecting frame 43 is provided with a neck perforation 47 which is through from front to back and is open at the lower side, the two sides of the upper part of the chin rest 45 are connected with the two sides of the lower part of the neck sleeve 46, and the front side of the support connecting frame 43 is connected with the chin rest 45 and the rear side of the neck sleeve 46 through the six-degree-of-freedom motion platform 44.

The working principle and the process of the invention are as follows: during swimming training, according to the height of a trainer, the length of a thigh sheath is adjusted, a fixing plate 22 and a telescopic plate 23 are fixed firmly through a positioning bolt penetrating through a positioning long hole, then a buckle binding band 8 is unfastened, the trunk of the trainer is placed in a chest and abdomen shell 9 and a hip shell 6, the thigh is positioned between an upper positioning guard plate 24 and a lower positioning guard plate 25, the calf is positioned in a calf shell 19, feet step on a pedal 21, the head of the trainer penetrates through a neck perforation 47 of a support connecting frame 43, a lower jaw support 45 and a neck sleeve 46 forwards in sequence, the hand penetrates through a fixing ring 38, and the handle 42 is held by hands.

The chest-abdomen part shell 9 and the hip part shell 6 are internally provided with soft elastic materials, which brings comfortable feeling to trainers. The ankle servo motor 20 can realize up-and-down movement of the ankle, the knee joint servo motor 18 can realize up-and-down movement of the knee joint, the first crotch joint servo motor can realize left-and-right movement of the crotch joint, and the second crotch joint servo motor can realize up-and-down movement of the crotch joint, so that the leg can meet the movement of a swimming posture.

The elbow joint servo motor can realize the up-and-down motion of the elbow joint, the third shoulder servo motor 31 can realize the up-and-down motion of the shoulder, and the first shoulder servo motor 27 and the second shoulder servo motor 29 can realize the large-amplitude left-and-right motion of the shoulder under the combined action. The fourth shoulder servo motor 33 can perform up-and-down movement of the upper arm.

The lower jaw support 45 is connected with the neck sleeve 46 through a buckle, and the six-freedom-degree motion of the head can be realized through the supporting connection of the six-freedom-degree motion platform 44. The six-degree-of-freedom motion platform 44 is conventional in the art, and the detailed structure and principle thereof are not described in detail.

The hip shell 6 is connected with the rotating shaft 3 through three telescopic rods 5 which are arranged in a triangular shape, the telescopic rods 5 adopt air springs, and the telescopic rods 5 can be extended or compressed during movement, so that the up-and-down movement of the shoulders is realized.

The wrist servo motor 37 drives the driving belt wheel 40 to rotate, the driving belt wheel 40 drives the belt wheel rim 39 to rotate through the belt, and the belt wheel rim 39 drives the handle 42 to rotate through the mounting plate 41, so that the wrist is driven to rotate.

The upper surface of the front side of the connecting plate 4 in the invention is contacted with the bottom of the cross beam 2, namely, in a compression joint mode, so that the system is in good stability.

The invention can realize the linkage of the whole system through programming control, thereby realizing breaststroke, butterfly stroke and free stroke. If backstroke is to be realized, the system can rotate upwards around the rotating shaft 3, the whole system is positioned above the frame 1 after rotating 180 degrees, and the connecting plate 4 is in abutting contact with the top of the cross beam 2, so that the stability of the system is ensured, and the backstroke posture with the face upward is realized.

The present embodiment is not intended to limit the shape, material, structure, etc. of the present invention in any way, and any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims

1. The utility model provides a novel swimming training robot auxiliary system which characterized in that: the human body exoskeleton robot comprises a frame which is integrally in a cuboid shape, wherein a cross beam and a rotating shaft are arranged in the middle position of the top of the frame along the left-right horizontal direction, the cross beam is positioned on the front side of the rotating shaft, a connecting plate is fixedly arranged at the lower part of the rotating shaft, the distances from the front side edge and the rear side edge of the connecting plate to the rotating shaft are both greater than the distances from the rotating shaft to the cross beam, the upper surface of the front side of the connecting plate is contacted with the bottom of the cross beam, a plurality of telescopic rods are;

the wearable human body exoskeleton mechanism comprises a back and hip shell, the top of the back and hip shell is hinged with the lower end of a telescopic rod through a hinge, the lower part of the back and hip shell is connected with a chest and abdomen shell through a buckle binding band, the rear side of the back and hip shell is connected with a left lower limb moving part and a right lower limb moving part which are bilaterally symmetrical and have the same structure box, the front side of the back and hip shell is connected with a left upper limb moving part, a head moving part and a right upper limb moving part, and the left upper limb moving part and the right upper limb moving part are bilaterally symmetrical and have the same structure;

2. The novel swimming training robot assistance system according to claim 1, wherein: the thigh sheath includes fixed plate, expansion plate, goes up location backplate and location backplate down, the fixed plate front end with second crotch servo motor connect, the spout has been seted up along the fore-and-aft direction in the fixed plate, the expansion plate front end slides and stretches into in the spout and be connected with the fixed plate location through location slot hole and positioning bolt structure, the rear end of expansion plate with knee joint servo motor connect, go up location backplate and lower location backplate longitudinal symmetry and arrange, go up the location backplate and be the arc structure of downwards recessed, the lower location backplate is the arc structure of upwards recessed, go up location backplate and lower location backplate fixed connection respectively at the last side and the lower side of fixed plate.

3. The novel swimming training robot assistance system according to claim 1, wherein: the left upper limb moving part and the right upper limb moving part respectively comprise a fixing frame fixedly arranged at the front side of the top of the hip shell, the fixing frame is rotationally connected with a first connecting plate arranged in the front-back direction through a first shoulder servo motor, the front end of the first connecting plate is rotationally connected with a second connecting plate obliquely arranged towards the front outer side of the lower part through a second shoulder servo motor, the lower end of the second connecting plate is rotationally connected with a third connecting plate obliquely arranged towards the outer side of the lower part through a third shoulder servo motor, the lower end of the third connecting plate is rotationally connected with an upper arm connecting plate arranged towards the front lower part through a fourth shoulder servo motor, the front end of the upper arm connecting plate is rotationally connected with a front arm connecting plate arranged towards the front lower part through an elbow servo motor, a wrist servo motor is fixedly arranged at the outer side of the front end of the front arm connecting plate, a fixing ring is fixedly arranged at the front end of the front arm, the outer circumference of the fixed ring is rotatably connected with a belt wheel ring, a main shaft of the wrist servo motor is provided with a driving belt wheel, the driving belt wheel is in transmission connection with the belt wheel ring through a belt, the lower part of the front side of the belt wheel ring is fixedly connected with an installation plate, and the front end of the installation plate is fixedly provided with a handle.

4. The novel swimming training robot assistance system according to claim 1, wherein: the head motion part is including supporting the link, six degree of freedom motion platforms, lower jaw holds in the palm and the neck cover, support the link and be located the preceding lateral part of back of the body buttock casing and chest abdomen casing, support the upper portion of link extend backward and with the front side top fixed connection of back of the body buttock casing, support the link lower part, penetrating around the lower part of support link is seted up, the open neck of downside is perforated, lower jaw holds in the palm upper portion both sides and neck cover lower part both sides and is connected, support the link front side and lower jaw hold in the palm and pass through between the rear side of neck cover six degree of freedom motion platforms connect.