CN112915511B - A sitting cross-country skiing skill test and simulation training platform for the disabled - Google Patents

Abstract

The invention provides a sitting type cross-country skiing skill testing and simulation training platform for disabled people, which comprises two sub-platforms, a cushion platform fixed between the two sub-platforms, a skiing chair positioned on the cushion platform and an electric control system; the sub-platform comprises a pneumatic control system and a wireless three-dimensional force measuring platform; the pneumatic control systems respectively comprise a mechanical rodless cylinder, an air source unit and a backpressure control module, the mechanical rodless cylinder is used as a slideway of the platform, and a piston of the mechanical rodless cylinder reciprocates along the axial direction of a cylinder cavity to simulate the relative motion between a human body and a stay bar falling point in the skiing process; the wireless three-dimensional force measuring platform is arranged at the top of the mechanical rodless cylinder and used for collecting acting forces of the ski stick and the wireless three-dimensional force measuring platform when the ski stick is in contact with the top of the wireless three-dimensional force measuring platform. The invention applies pneumatic transmission to cross-country skiing simulation, realizes quick and automatic return of the piston through pneumatic driving, and the ski pole can be freely lifted up to carry out normal skiing and pole transporting, thereby realizing the whole process simulation of sitting posture cross-country skiing action.

Description

A sitting cross-country skiing skill test and simulation training platform for the disabled

technical field

The invention relates to the technical field of ski training equipment, in particular to a sitting cross-country skiing skill test and simulation training platform for the disabled.

Background technique

Seated cross-country skiing for the disabled is a paralympic snow sport with extremely high physical requirements, known as the "snow marathon". Sitting skiing requires a seated ski on a pair of skis, on which the disabled athlete rides with poles. However, the sitting cross-country skiing for the disabled in my country started late and developed slowly, and there is a big gap compared with European countries.

At present, the most common cross-country skiing training method in non-snow seasons is for disabled athletes to sit on skis with roller boards installed underneath, and simulate cross-country skiing technical movements on the outdoor asphalt road. However, poles on hard asphalt can put unnecessary stress on the back, shoulders, and arms, and can even cause muscle damage. In addition, in summer, the outdoor temperature is high and the air humidity is high, and disabled athletes are prone to heat stroke after training under the sun for a long time. When encountering rainstorms, the outdoor cross-country skiing simulation training cannot be carried out normally, affecting the training progress.

During the outdoor training process of the disabled sitting cross-country skiing, it is difficult to monitor the athletes' heart rate, oxygen consumption, three-dimensional strut force, technical movements and other data, and the workload of scientific researchers is huge. At the same time, due to the interference of external environmental factors, the monitored sports data related to cross-country skiing is less stable. These problems have resulted in less theoretical research on seated cross-country skiing for the disabled in my country, and it is difficult for coaches to formulate a personalized skill-enhancing training plan for each disabled athlete based on comprehensive and reliable training data.

In order to make the disabled seated cross-country skiing simulation training no longer limited by seasonal and site factors, and at the same time to monitor the training data of disabled athletes, an indoor training test device for disabled seated cross-country skiers is urgently needed.

Cross-country skiing training equipment commonly used by cross-country skiers at present, such as a training equipment imitating cross-country skiing disclosed in US Patent US8986167 (announcement date 2015.03.24), the bottom tip of the ski pole needs to be attached to the slider on the guide rail. Although the equipment can simulate the strut stage of cross-country skiing well, because the ski poles cannot be lifted from the guide rails during the training process, the correct simulation of the whole process of cross-country skiing cannot be realized. At the same time, the device can only monitor the force data of the strut along the guide rail, but cannot realize the comprehensive monitoring of the three-dimensional force data of the strut.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies of the prior art, and propose a sitting cross-country skiing skill test and simulation training platform for the disabled, which can not only realize the simulation training of indoor cross-country skiing pole movements, but also realize the real-time monitoring of sports data. , so as to improve the competitive level of my country's disabled seated cross-country skiers and improve the scientific research theoretical system of my country's disabled seated cross-country skiing.

In order to achieve the above object, the present invention adopts the following technical solutions:

A seated cross-country skiing skill test and simulation training platform for disabled persons proposed by the present invention is characterized in that it includes two sets of sub-platforms that are symmetrical to each other and independently controlled from each other, and a pad fixed between the two sub-platforms is installed on all the sub-platforms. The ski chair above the cushion platform and the electronic control system; each sub-platform respectively includes a pneumatic control system and a wireless three-dimensional force measuring platform;

The pneumatic control system includes a mechanical rodless cylinder, an air source unit and a back pressure control module; the mechanical rodless cylinder is used as the slideway of the standing cross-country skiing skill test and simulation training platform. The reciprocating motion of the piston of the rodless type rodless cylinder along the axial direction of the cylinder cavity simulates the relative movement between the human body and the landing point of the strut during the skiing process; the back pressure control module includes a second filter, an electric control proportional valve, air-controlled back pressure valve and pressure sensor; three air ports are provided on the rear end cover of the mechanical rodless cylinder, and one air port is provided on the front end cover of the mechanical rodless cylinder; the air source unit The main branch is formed through the pipeline with a T-type three-way joint, a pressure reducing valve and a three-position five-way solenoid valve in sequence. The main branch passes through the three-position five-way solenoid valve to form the front cavity supply/discharge The air branch and the rear chamber air supply branch are respectively connected with the fourth air port and the first air port of the mechanical rodless cylinder, the front chamber supply/exhaust branch is provided with a pressure regulating valve, and the rear chamber supplies air A one-way valve and a throttle valve are arranged on the branch; after the air outlet of the air source unit passes through the T-type three-way joint, a back pressure control branch is formed which is communicated with the second air port of the mechanical rodless cylinder. the back pressure control module is arranged on the back pressure control branch; the third air port of the mechanical rodless cylinder is communicated with a quick exhaust branch; the quick exhaust branch is provided with a two-position two-way solenoid valve; The side wall of the mechanical rodless cylinder is provided with a plurality of magnetic switches along the cylinder axis, and the electronic control system changes the signal when the magnetic ring of the mechanical rodless cylinder is contacted and disconnected with each magnetic switch, Detecting the position of the piston in the mechanical rodless cylinder to control the actions of the electronically controlled proportional valve, the three-position five-way solenoid valve and the two-position two-way solenoid valve;

The wireless three-dimensional force measuring platform is arranged on the top of the mechanical rodless cylinder through a linear reciprocating mechanism; the linear reciprocating mechanism includes a linear slide rail fixed on the top of the mechanical rodless cylinder, and reciprocates along the linear slide rail. The guide rail slider, and the mounting frame respectively connected with the guide rail slider and the piston of the mechanical rodless cylinder; the wireless three-dimensional force measuring platform includes a three-dimensional force sensor and a wireless amplifier fixed on the mounting frame, fixed on the three-dimensional A force plate on the upper surface of the force sensor and a snow simulation pad covering the force plate, the three-dimensional force sensor transmits the collected three-dimensional force data to the electronic control system through a wireless amplifier.

Compared with the prior art, the present invention has the following characteristics and beneficial effects:

The present invention can make the seated cross-country skiing simulation training no longer limited by the factors of seasons and venues, expand the seated cross-country skiing simulation training field from outdoor to indoor, and at the same time, can avoid the outdoor sitting cross-country skiing simulation training to a certain extent. damage.

The invention is driven by air pressure, has the advantages of quick action, quick response, convenient adjustment, etc., and can drive the sliding block to realize rapid automatic return. At the same time, during the return journey of the slider, the ski poles can be lifted freely for normal skiing, thus overcoming the problem that the ski poles of the existing rail-pulling cross-country skiing simulator cannot be lifted normally, and realizing the sitting cross-country skiing action The whole process of simulation, giving users a more realistic cross-country skiing experience in a sitting position.

In addition, the present invention can also monitor and save the three-dimensional force of the struts on both sides when the user performs the sitting cross-country skiing simulation training in real time. Pole skill parameters such as pole force asymmetry, pole rhythm, etc., to quantify the user's cross-country ski pole ability level.

Description of drawings

1 is a schematic diagram of the overall structure of a sitting cross-country skiing skill test and a simulated training platform for the disabled according to an embodiment of the present invention;

Fig. 2 is a side view of a single sub-platform in Fig. 1;

Figures 3 and 4 are the pneumatic schematic diagrams of the cylinder control system of a single sub-platform;

Figure 5 is a schematic structural diagram of the wireless three-dimensional force measuring platform of this set of platforms;

Fig. 6 is the flow chart of the wireless three-dimensional force measuring platform to the athlete's strut force monitoring;

Figure 7 is a schematic diagram of the strut on the platform of the disabled sitting cross-country skier.

In the picture: 10-rear bottom plate, 20-middle bottom plate, 30-front bottom plate, 40-mechanical rodless cylinder, 41-installation frame, 42-stop block, 43-linear guide rail, 44-guide rail slider, 45-section One electromagnetic switch, 46-second electromagnetic switch, 47-third electromagnetic switch, 48-fourth electromagnetic switch, 50-pad, 60-ski chair, 70-front support, 80-hydraulic buffer, 90- Wireless three-dimensional force measuring platform, 91, snow simulation pad, 92-force plate, 93, three-dimensional force sensor, 94-wireless amplifier, 100-pneumatic control unit, 110-rear side support, 120-shock absorber, 130 -Shock absorber support, 140-air source unit, 141-air source, 142-air storage tank, 143-air dryer, 144-first filter, 150-back pressure control module, 151-second filter , 152-electrically controlled proportional valve, 153-air-controlled back pressure valve, 154-pressure sensor, 161-T-type three-way joint, 162-reducing valve, 163-three-position five-way solenoid valve, 170-front cavity supply/ Exhaust branch, 171-pressure regulating valve, 180-rear cavity air supply branch, 181-check valve, 182-throttle valve, 190-quick exhaust branch, 191-two-position two-way solenoid valve, 192 -silencer.

Detailed ways

The following is a detailed description of a sitting cross-country skiing skill test and simulation training platform for the disabled in accordance with the present invention in conjunction with the accompanying drawings and examples.

A seated cross-country skiing skill test and simulation training platform for the disabled according to an embodiment of the present invention includes two sets of sub-platforms that are symmetrical to each other and independently controlled from each other, a pad 50 fixed between the two sub-platforms, and fixed to the pad 50 The ski chair 60 above and the electric control system electrically connected with the two sub-platforms (the electric control system is not shown in the figure). Each sub-platform has the same structure, and one of the sub-platforms is taken as an example for description.

1 to 5 , the sub-platform includes a pneumatic control system and a wireless three-dimensional force measuring platform 90 . in,

The pneumatic control system includes a mechanical rodless cylinder 40, an air source unit 140 and a back pressure control module 150; the mechanical rodless cylinder 40 is used as the slideway of the platform, and the piston of the mechanical rodless cylinder 40 is driven along the axial direction of the cylinder cavity. In the initial state, the slider and the piston of the mechanical rodless cylinder 40 are located at the front end of the stroke of the mechanical rodless cylinder 40, and in the return stroke A moment before, the slider and the piston of the mechanical rodless cylinder 40 are located at the end position of the strut stroke of the mechanical rodless cylinder 40; the back pressure control module 150 includes a second filter 151, an electronically controlled proportional valve connected in sequence through a pipeline 152 , an air-controlled back pressure valve 153 and a pressure sensor 154 . The front and rear end covers of the mechanical rodless cylinder 40 are provided with four air ports, the first to third air ports (a, b, c) are all located on the end cover of the rear cavity of the mechanical rodless cylinder 40, and the fourth air port d It is located on the front chamber end cover of the mechanical rodless cylinder 40. The air outlet of the air source unit 140 forms a main branch through a pipeline that is sequentially provided with a T-shaped three-way joint 161, a pressure reducing valve 162 and a three-position, five-way solenoid valve 163. The main branch passes through the three-position, five-way solenoid valve 163. The front chamber supply/exhaust branch 170 and the rear chamber air supply branch 180 are formed to communicate with the fourth air port d and the first air port a of the mechanical rodless cylinder 40 respectively, and the front chamber supply/exhaust branch 170 is provided with The pressure regulating valve 171 and the air supply branch 180 in the rear cavity are provided with a one-way valve 181 and a throttle valve 182; The back pressure control branch is connected to the second air port b of the mechanical rodless cylinder 40, and the back pressure control module 150 is arranged on the back pressure control branch; the third air port c of the mechanical rodless cylinder 40 is communicated with a quick exhaust branch 190, A two-position two-way solenoid valve 191 is provided in the quick exhaust branch 190 . The side wall of the mechanical rodless cylinder 40 is provided with a plurality of magnetic switches along the cylinder axis, and the electronic control system detects the mechanical The position of the piston in the rodless cylinder 40 is controlled to control the actions of the electronically controlled proportional valve 152 , the three-position five-way solenoid valve 163 and the two-position two-way solenoid valve 191 .

Referring to FIG. 5 , the wireless three-dimensional force measuring platform 90 is arranged on the top of the mechanical rodless cylinder 40 through a linear reciprocating mechanism. The linear reciprocating mechanism includes a linear slide rail 43 fixed on the top of the mechanical rodless cylinder 40, a guide rail slider 44 reciprocating along the linear slide rail 43, and a guide rail slide 44 and a piston connected to the mechanical rodless cylinder 40 respectively. The installation frame 41, the wireless three-dimensional force measuring platform is fixed on the installation frame 41, the guide rail slider 44, the installation frame 41 and the piston in the mechanical rodless cylinder are linked together; It cooperates with the shock absorber 120 of the mechanical rodless cylinder to limit the movement stroke of the guide rail slider 44 . The wireless three-dimensional force measuring platform 90 includes a three-dimensional force sensor 93 and a wireless amplifier 94 fixed on the mounting frame 41 , a force plate 92 fixed on the upper surface of the three-dimensional force sensor 93 , and a snow simulation pad covering the force plate 92 91. When the ski pole acts on the snow simulation pad 91, the force is transmitted by the force plate 92 and then collected by the three-dimensional force sensor 93, and transmitted to the electronic control system through the wireless amplifier 94, which can be used to analyze the force exerted by the skier state.

The specific implementation manner and function of each component in the embodiment of the present invention are respectively described as follows:

The mechanical rodless cylinder 40 is used as the slideway of the platform, so that the piston and the slider of the mechanical rodless cylinder 40 can reciprocate along the axial direction of the cylinder cavity. In order to ensure the stability of the mechanical rodless cylinder 40 during testing and training, a bottom plate is provided between the mechanical rodless cylinder 40 and the ground, and the front and rear ends of the mechanical rodless cylinder 40 pass through the front support members respectively. 70 and the rear side support 110 are fixedly connected to the bottom plate. Both the front side support 70 and the rear side support 110 are made of steel plates with good strength, and are provided with reinforcing ribs, which not only ensure the strength of the connection between the mechanical rodless cylinder 40 and the bottom plate, but also prevent the installation frame 41 from moving and returning. Deformation occurs under the impact of braking, which affects the service life. The bottom plate is formed by splicing the rear bottom plate 10, the middle bottom plate 20 and the front bottom plate 30, and the two adjacent bottom plates are connected by bolts, so as to facilitate the disassembly and transportation of the bottom plate by the staff.

The air source unit 140 includes an air source 141 , an air storage tank 142 , a refrigerating machine 143 and a first filter 144 which are connected in sequence. The air source 141 adopts a low-noise screw air compressor, which is used to supply a certain pressure of gas to the front chamber air supply/exhaust branch 170, the rear chamber air supply branch 180 and the back pressure control branch to drive the equipment to run. . The air storage tank 142 is installed on the pipeline behind the air source 141. The air storage tank 142 can reduce the pressure pulsation caused by the discontinuous operation of the air source 141 (air compressor), thereby ensuring sufficient and stable air supply. Optionally, an air pressure gauge is installed on the gas storage tank 142 to display the pressure of the gas stored in the gas storage tank 142 . The refrigerating machine 143 is installed on the pipeline behind the gas storage tank 142, and the refrigerating machine 143 is used to cool and dry the gas supplied to the subsequent branches, so as to prolong the service life of each pneumatic element. The first filter 144 is installed on the pipeline after the refrigerating machine 143, and the first filter 144 is used to ensure the cleanliness of the gas supplied to the subsequent branch, so as to prevent the impurities in the gas from causing blockage of the gas path.

In the main branch, the air outlet of the air source unit 140, that is, the air outlet of the first filter 144, passes through the T-shaped three-way joint 161 and then passes through the pressure reducing valve 162 to stabilize the air source in the main branch, so that the air source can be stabilized. In a constant state, the damage to the pneumatic components due to the sudden change in the air pressure of the air source is reduced, and then it is communicated with the air inlet of the three-position five-way solenoid valve 163 . The three-position, five-way solenoid valve 163 has two working ports, the first working port is communicated with the air inlet of the rear chamber air supply branch 180, and the second working port is communicated with one end of the front chamber air supply/exhaust branch 170. The gas in the front cavity of the rodless cylinder 40 can be discharged through the exhaust port of the three-position five-way solenoid valve 163 through the front cavity supply/exhaust branch 170 connected with the fourth air port d. In order to reduce the noise during exhaust, The exhaust port of the three-position five-way solenoid valve 163 is provided with a muffler.

In the rear chamber air supply branch 180 , the gas delivered through the first working port of the three-position five-way solenoid valve 163 passes through the one-way valve 181 and the throttle valve 182 in sequence and then flows into the first air port a of the mechanical rodless cylinder 40 . The one-way valve 181 is used to prevent the gas in the rear chamber of the cylinder from being discharged through the three-position, five-way solenoid valve 163, that is, the first air port a is only used as an air intake port. The speed of the return movement of the piston and the sliding table in the mechanical rodless cylinder is adjusted by adjusting the pressure of the gas in the back cavity of the cylinder through the throttle valve 182 .

In the front chamber supply/exhaust branch 170, the two ends of the branch are respectively communicated with the second working port of the three-position five-way solenoid valve 163 and the fourth air port d of the mechanical rodless cylinder 40. The pressure regulating valve 171 on the gas branch 170 is used to adjust the gas pressure supplied into the front chamber of the cylinder, and different gas pressures in the front chamber of the cylinder correspond to different resistance levels of the struts respectively. During the process, the front chamber supply/exhaust branch 170 supplies air to the mechanical rodless cylinder 40 through the fourth air port d. The gas is discharged through the fourth gas port, and the discharged gas is finally discharged from the exhaust port of the three-position, five-way solenoid valve 163 .

In the back pressure control branch, the back pressure control module 150 includes a second filter 151 , an electrically controlled proportional valve 152 , an air controlled back pressure valve 153 and a pressure sensor 154 connected in sequence through pipes. The air inlet of the second filter 151 is communicated with the air outlet of the air source unit 140 through the T-shaped tee joint 161, and the air outlet of the second filter 151 is communicated with the air inlet of the electronically controlled proportional valve 152, and the electronically controlled proportional valve The air outlet of 152 is communicated with the first air inlet of the air-controlled back pressure valve 153, and the second air inlet of the air-controlled back pressure valve 153 is communicated with the second air port b of the mechanical rodless cylinder 40 after passing through the pressure sensor 154, The pipe diameter of the pipeline in the back pressure control branch is smaller than the pipe diameter of the pipeline in the main branch (in this embodiment, the pipe diameter of the air pipe connected to the air path element in the back pressure control branch is 4 mm, and the main air pipe has a diameter of 4 mm. diameter is 12mm). The second filter 151 is used to ensure the cleanliness of the gas supplied to the electronically controlled proportional valve 152 , so as to prevent impurities in the gas from causing clogging and damage to the electronically controlled proportional valve 152 . The electronically controlled proportional valve 152 uses the electrical signal sent by the electronic control system as a control signal to control the back pressure setting value of the air-controlled back pressure valve 153 . The air-controlled back pressure valve 153 is used to adjust the air pressure in the back chamber of the mechanical rodless cylinder 40. When the gas pressure in the back chamber of the mechanical rodless cylinder 40 is greater than the set value of the back pressure, the back chamber of the mechanical rodless cylinder 40 will be closed. The excess gas in the cylinder will be discharged from the air outlet of the air-controlled back pressure valve 153 through the second air port b; when the gas pressure in the back cavity of the mechanical rodless cylinder 40 is less than or equal to the set value of the back pressure, the second air port b Without exhausting, pressure is formed in the back cavity of the mechanical rodless cylinder 40 . The pressure sensor 154 is used to monitor the back pressure value in the back cavity of the mechanical rodless cylinder 40 in real time (that is, the air pressure in the back cavity of the mechanical rodless cylinder 40 ), so as to facilitate the staff to carry out the back cavity of the mechanical rodless cylinder 40 Debugging of back pressure changes.

In the quick exhaust branch 50, a two-position two-way solenoid valve 191 and a muffler 192 are provided. The air inlet of the two-position two-way solenoid valve 191 is communicated with the third air port c of the mechanical rodless cylinder 40, and the muffler 192 It is arranged at the exhaust port of the two-position two-way solenoid valve 191 . When the air pressure in the back cavity of the mechanical rodless cylinder 40 needs to drop rapidly (for example, when the strut is used, when the piston and the slider reach a certain position, and the simulated strut resistance needs to drop rapidly, the rear cavity of the cylinder needs to be adjusted The air pressure in the back pressure valve 153 drops rapidly, and the exhaust speed of the air outlet of the air control back pressure valve 153 is relatively slow), the two-position two-way solenoid valve 191 acts, and all the gas in the back cavity of the mechanical rodless cylinder 40 is exhausted.

A first magnetic switch 45 , a second magnetic switch 46 , a third magnetic switch 47 , a fourth magnetic switch 48 , and a shock absorber 120 are provided on the side surface of the mechanical rodless cylinder 40 in this order from front to back, and the shock absorber 120 is mounted by The shock absorber support 130 is fixed on the side wall of the mechanical rodless cylinder 40 . The positions of each magnetic switch and shock absorber 120 on the side of the mechanical rodless cylinder 40 can be adjusted at will according to actual needs. Among them, each magnetic switch is used to detect the position of the piston and the sliding table of the mechanical rodless cylinder 40. When the magnetic ring in the piston is close to the magnetic switch, the contact in the magnetic switch is closed, and the generated electrical signal is transmitted to the electronic control system. , the electronic control system controls the actions of the three-position five-way solenoid valve 163, the electronically controlled proportional valve 152, and the two-position two-way solenoid valve 191 according to the magnetic switch signals at different positions; when the magnetic ring in the piston leaves the magnetic switch, the The contacts are opened and the electrical signal disappears. The shock absorber 120 is used to prevent the piston and the sliding table from continuing to move backward after the strut ends, and its position can be set according to the user's maximum strut stroke for cross-country skiing, and has good versatility. In addition, filling a certain pressure gas into the front cavity of the mechanical rodless cylinder 40 can weaken the resistance of the piston and the sliding table when they move backwards, which can be achieved by changing the pressure in the front cavity of the mechanical rodless cylinder 40. Controlling the resistance of the strut, when the rod is disengaged in the middle, the pressure in the front cavity of the mechanical rodless cylinder 40 can also push the sliding table to continue to move backwards to reach the end of the stroke.

Further, since the piston and the sliding table of the mechanical rodless cylinder 40 return faster, in order to avoid damaging the front end cover of the mechanical rodless cylinder 40 , a hydraulic buffer 80 is provided at the front end of the mechanical rodless cylinder 40 . The hydraulic shock absorber 80 can absorb more than 90% of the impact energy through the orifice, convert it into oil heat energy and dissipate it, so that the high-speed moving piston and sliding table can be quickly braked and stopped at the starting position.

The mechanical rodless cylinder 40 is provided with a linear guide rail 43 , and the mounting frame 41 is connected to the guide rail slider 44 installed on the linear guide rail 43 for carrying the wireless three-dimensional force measuring platform 90 . The stopper 42 is installed under the mounting frame 41, and is used for contacting the shock absorber 120 after the strut ends, so that the wireless three-dimensional force measuring platform 90 is stationary. The three-dimensional force sensor 93 is arranged above the mounting frame 41 and is used to monitor the three-dimensional force data of the cross-country skier when he is strutting. The force receiving plate 92 is arranged above the three-dimensional force sensor 93, and is used for carrying and transmitting the force of the strut. The snow simulation pad 91 is arranged above the force bearing plate 92 for contacting with the tip of the bottom of the ski pole. The snow simulation pad 91 is a shock-absorbing pad with a thickness of 10-15 mm. The athlete holds the ski pole and can insert the tip of the bottom of the ski pole into the snow simulation pad 91 or pull it out from the snow simulation pad 91 . The snow simulation pad 91 is made of materials with super toughness and elasticity, such as silicone and urethane rubber. The plunge or pull out of the bottom tip of the ski pole will cause less damage to the snow simulation pad 91 and can be used for a long time. . When the snow simulation pad 91 is seriously damaged, the staff needs to replace it with a new snow simulation pad to prevent the normal use of the present invention from being affected. Because the snow simulation pad 91 has super toughness and elasticity, the athlete can lift and drop the tip of the ski pole from the snow simulation pad 91 freely, so that the snow action of the cross-country skier can be more realistically restored. The wireless amplifier 94 is arranged on the side of the mounting frame 41, and is used for sending the three-dimensional force signals (F _X , F _Y , F _Z ) collected by the three-dimensional force sensor 93 to the electronic control system in the form of WI-FI for analysis and storage, It is used for the analysis and evaluation of the athletes' cross-country skiing pole skills; in addition, the wireless amplifier 94 is powered by a detachable lithium battery. When the three-dimensional force data of the pole cannot be monitored normally due to insufficient power supply, the lithium battery can be directly replaced, thereby Extend the use time of the platform, see Figure 6.

Further, in order to prevent the damage of the three-dimensional force sensor 93 when the hydraulic buffer 80 is rapidly braked due to the excessive mass of the force plate 92, the force plate 92 is made of aviation aluminum, and there are several reinforcing ribs on the back. In this way, the mass of the force-bearing plate 92 can be reduced as much as possible while ensuring the strength of the force-bearing plate 92 .

The position of the cushion table 50 fixed between the two sub-platforms can be flexibly adjusted according to the user's habit. The top of the cushion table 50 is provided with a ski chair 60, the athlete sits on the ski chair 60, and the installation surface of the ski chair 60 is slightly It is higher than the wireless three-dimensional force measuring platform on both sides, which can prevent contact with the lower limbs of athletes during the movement of the platform and endanger the personal safety of athletes. The bottom of the stand 50 is provided with a plurality of foot cups for horizontal adjustment of the stand 50 .

In addition, disabled seated cross-country skiers need to fix their ski chairs on the platform before using this platform for cross-country skiing simulation training. Disabled seated cross-country skiers can use their highly specialized and personalized ski chairs and ski poles, which can more realistically restore the snow movements of disabled seated cross-country skiers and ensure the reliability of the collected data .

Referring to Figure 7, when disabled cross-country skiers use this platform for cross-country skiing simulation training, the athletes need to sit on the ski chair 60 on the platform 50 and first drop the pole, that is, the tip of the ski pole is plunged into the wireless three-dimensional force measuring platform. Then, the strut pushes the wireless three-dimensional force measuring platform 90 and the mounting frame 41 to move backward. During the strut process (according to ①→②→③ in Fig. 7), the simulation of strut resistance is realized by controlling the change of air pressure in the cylinder cavity. When the wireless three-dimensional force measuring platform 90 reaches the end of the strut stroke, the athlete retracts the pole (the return process is performed according to ③→④→① in FIG. 7 ), and the tip of the ski pole is detached from the snow simulation pad 91 of the wireless three-dimensional force measuring platform 90 . At the same time, the wireless three-dimensional force measuring platform 90 and the mounting frame 41 quickly return to the starting position under the action of the gas push to prepare for the next strut. Specifically, the working process of the pneumatic control system in the present invention is as follows:

After the pneumatic control system is energized and ventilated, first, the Y1 end of the three-position five-way solenoid valve 163 is powered on, that is, the left side of the three-position five-way solenoid valve 163 is ventilated, and the compressed air from the air source passes through the pipeline through the single The first air port a of the diverter valve 181, the throttle valve 182, and the mechanical rodless cylinder 40 enters the rear chamber of the cylinder. When the power is lost and the Y2 terminal is energized, that is, the right side of the three-position five-way solenoid valve 163 is ventilated, and the compressed air from the air source enters the front chamber of the cylinder through the pressure regulating valve 171, so that the front chamber of the cylinder is filled with a certain pressure of gas. At this time, the piston and the slider of the mechanical rodless cylinder 40 are located at the front end of the cylinder, and the user strut pushes the slider to move backward. When the magnetic ring in the piston is close to the position of the first magnetic switch 45, the first magnetic The contact in the switch 45 is closed, the generated electrical signal is sent to the electric control system, and then the electric control system controls the electric control proportional valve 152 to output the air pressure value set at the position point to the air control back pressure valve 153, and then Control the change of air pressure in the rear chamber of the cylinder; when the magnetic ring in the piston leaves the first magnetic switch 45, the contact in the first magnetic switch 45 is disconnected, and the electrical signal disappears. The slider continues to move backward under the action of the user's strut. When the magnetic ring in the piston reaches the vicinity of the second magnetic switch 46, the electronic control system controls the electronic control proportional valve 152 to output the air pressure value set at the position point to the air pressure value. In the back pressure control valve 153, the air pressure in the rear chamber of the cylinder continues to decrease according to the setting. Then, when the magnetic ring in the piston reaches the vicinity of the third magnetic switch 47, the electronic control system controls the action of the two-position two-way solenoid valve 191, the quick exhaust branch 190 is opened, and the air pressure in the rear chamber of the cylinder drops rapidly. When the piston and slider continue to move backwards, near the end of the stroke, the user's strut ends and the pole is lifted from the slide.

When the piston and the slider reach the end of the stroke, the piston and the slider stop near the fourth magnetic switch 48 under the action of the shock absorber 120, the fourth magnetic switch 48 triggers an electrical signal to send to the electronic control system, and then the electronic control system Control the two-position two-way solenoid valve 191 to close and stop the exhaust, and the electronically controlled proportional valve 152 to form a pressure in the rear chamber of the cylinder, and then the electronic control system controls the three-position five-way solenoid valve 163. The left side of the three-position five-way solenoid valve 163 is ventilated, and the compressed air from the air source enters the back cavity of the cylinder through the pipeline, and the driving piston and the slider pass through the third magnetic switch 47, the second magnetic switch 46, and the first magnetic switch in turn. 45 returns quickly and stops at the starting position, and the gas in the front chamber of the cylinder is discharged to the outside atmosphere through the front chamber supply/exhaust branch 170 and the three-position five-way solenoid valve 163. When the magnetic ring in the piston of the mechanical rodless cylinder 40 reaches the vicinity of the first magnetic switch 45, the electrical signal generated by the magnetic switch 45 is sent to the electronic control system, and then the electronic control system controls the Y1 end of the three-position five-way solenoid valve 163 When the power is lost and the Y2 terminal is energized, that is, the right side of the three-position five-way solenoid valve 163 is ventilated, and a certain pressure of gas is supplied to the front chamber of the cylinder. At the same time, the electric control system controls the electric control proportional valve 152 to output the corresponding air pressure at the starting point to the air control back pressure valve 153, so that the air pressure in the back cavity of the mechanical rodless cylinder 40 is lowered and stabilized at the initial back pressure setting value, so as to reduce Simulates the initial resistance of a cross-country ski pole. At the same time as the piston and slider return quickly, the user retracts the ski pole and prepares for the next strut.

Claims (10)

1. A disabled person sitting type cross-country skiing skill testing and simulation training platform is characterized by comprising two sets of sub-platforms which are symmetrical to each other and are controlled independently, a cushion platform fixed between the two sub-platforms, a skiing chair arranged on the cushion platform and an electric control system; each sub-platform comprises a pneumatic control system and a wireless three-dimensional force measuring platform;

the pneumatic control system comprises a mechanical rodless cylinder, an air source unit and a backpressure control module; the mechanical rodless cylinder is used as a slideway of the sitting cross-country skiing skill testing and simulation training platform, and the piston of the mechanical rodless cylinder reciprocates along the axial direction of a cylinder cavity to simulate the relative motion between a human body and a stay bar falling point in a skiing process; the backpressure control module comprises a second filter, an electric control proportional valve, a pneumatic control backpressure valve and a pressure sensor which are sequentially connected through a pipeline; the rear end cover of the mechanical rodless cylinder is provided with three air ports, and the front end cover of the mechanical rodless cylinder is provided with one air port; the air outlet of the air source unit forms a main branch through a pipeline which is sequentially provided with a T-shaped three-way joint, a pressure reducing valve and a three-position five-way electromagnetic valve, the main branch forms a front cavity air supply/exhaust branch and a rear cavity air supply branch after passing through the three-position five-way electromagnetic valve and is respectively communicated with a fourth air port and a first air port of the mechanical rodless cylinder, a pressure regulating valve is arranged on the front cavity air supply/exhaust branch, and a one-way valve and a throttle valve are arranged on the rear cavity air supply branch; a back pressure control branch communicated with a second air port of the mechanical rodless cylinder is formed at the air outlet of the air source unit after passing through the T-shaped three-way joint, and the back pressure control module is arranged on the back pressure control branch; the third air port of the mechanical rodless cylinder is communicated with a quick exhaust branch; the quick exhaust branch is provided with a two-position two-way electromagnetic valve; the side wall of the mechanical rodless cylinder is provided with a plurality of magnetic switches along the axial direction of the cylinder, and the electric control system detects the position of the piston in the mechanical rodless cylinder through the signal change when the magnetic ring of the piston of the mechanical rodless cylinder is in contact with and disconnected with each magnetic switch so as to control the actions of the electric control proportional valve, the three-position five-way electromagnetic valve and the two-position two-way electromagnetic valve;

the wireless three-dimensional force measuring platform is arranged at the top of the mechanical rodless cylinder through a linear reciprocating mechanism; the linear reciprocating mechanism comprises a linear slide rail fixed at the top of the mechanical rodless cylinder, a guide rail slide block reciprocating along the linear slide rail, and a mounting frame respectively connected with the guide rail slide block and a piston of the mechanical rodless cylinder; the wireless three-dimensional force measuring platform comprises a three-dimensional force sensor and a wireless amplifier which are fixed on the mounting frame, a stress plate fixed on the upper surface of the three-dimensional force sensor and a snow simulation pad covering the stress plate, and the three-dimensional force sensor transmits acquired three-dimensional force data to the electric control system through the wireless amplifier.

2. The platform of claim 1, wherein in the pneumatic control system, a first working port of the three-position five-way solenoid valve is communicated with an air inlet of the air supply branch of the rear cavity, a second working port of the three-position five-way solenoid valve is communicated with the air supply/exhaust branch of the front cavity, and a first silencer is installed at an air outlet of the three-position five-way solenoid valve; the three-position five-way electromagnetic valve is used for controlling the switching of the cylinder action mode.

3. The platform of claim 1, wherein the pneumatic control system prevents the air in the back chamber of the mechanical rodless cylinder from being exhausted through the three-position five-way solenoid valve by the check valve, and the throttle valve regulates the speed of the return stroke of the mechanical rodless cylinder.

4. The platform of claim 1, wherein the pneumatic control system regulates the pressure of the air supplied to the front cavity of the mechanical rodless cylinder by the pressure regulating valve, and different air supply pressures in the front cavity of the mechanical rodless cylinder correspond to different levels of strut resistance.

5. The platform of claim 1, wherein in the pneumatic control system, the pneumatic control back pressure valve is used to adjust the air pressure of the rear cavity of the mechanical rodless cylinder, and when the air pressure in the rear cavity of the mechanical rodless cylinder is greater than the set back pressure value of the electrically controlled proportional valve, the excess air pressure in the rear cavity of the mechanical rodless cylinder is exhausted from the air outlet of the pneumatic control back pressure valve; and when the gas pressure in the rear cavity of the mechanical rodless cylinder is less than or equal to the back pressure set value of the electric control proportional valve, the gas outlet of the pneumatic control back pressure valve is closed.

6. The platform of claim 1, wherein a second muffler is mounted on the exhaust port of the two-position, two-way solenoid valve; when the air pressure in the rear cavity of the mechanical rodless cylinder needs to be rapidly reduced, the two-position two-way electromagnetic valve acts to rapidly discharge the gas in the rear cavity of the mechanical rodless cylinder.

7. The platform of claim 1, wherein the air supply unit comprises an air supply, an air storage tank, a cold dryer and a first filter, which are connected in sequence.

8. The platform of claim 1, wherein the front end of the mechanical rodless cylinder is provided with a hydraulic buffer, the side wall of the mechanical rodless cylinder at the maximum strut stroke is provided with a shock absorber, and one side of the mounting frame is provided with a stop matched with the shock absorber and the hydraulic buffer to limit the motion stroke of the rail block and realize braking.

9. The disabled seated cross-country skiing skill testing and simulated training platform of claim 1, wherein the wireless amplifier is powered by a detachable lithium battery; the snow simulation pad is a silica gel pad or a polyurethane rubber pad with the thickness of 10-15 mm.

10. The disabled seated cross-country ski skill testing and simulated training platform of claim 1, wherein the base of the platform is provided with a plurality of foot cups.

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