CN204767148U - 6 -degree of freedom magnetic force actuation vibrating muscular training platform - Google Patents

Abstract

The utility model provides a 6 -degree of freedom magnetic force actuation vibrating muscular training platform which characterized in that: this platform includes the four layers mechanism that comprises top -down's first plywood, second plywood, third plywood, fourth plywood and the 5th plywood, the utility model discloses simple structure ingenious has realized mechatronic with magnetic suspension technique and theory of mechanics equi -join, and vibration training is better as a result.

Description

Six degrees of freedom magnetic drive vibrating muscle training platform

technical field

The utility model patent relates to a kind of sports equipment, which is mainly aimed at a device for comprehensive vibration stimulation of muscles during vibration training, that is, a six-degree-of-freedom magnetic drive vibration type muscle training platform.

Background technique

Existing vibration training equipment can provide relatively limited vibration frequency and waveform, and generally can only control harmonic vibration. In the era when people pay more and more attention to physical training, how to train efficiently has become a hot spot that people pay attention to. Vibration training has become popular, but the corresponding equipment is still relatively old and cannot achieve the desired effect.

Contents of the invention

Purpose of the utility model: The utility model provides a six-degree-of-freedom magnetically driven vibration-type muscle training platform, and its purpose is to solve the problem of insufficient muscle training in vibration training existing in previous equipment.

Technical solution: the utility model is realized through the following technical solutions:

A six-degree-of-freedom magnetic force-driven vibration type muscle training platform is characterized in that: the platform includes a top-down first layer board, a second layer board, a third layer board, a fourth layer board and a fifth layer board Consists of four layers of organization;

The first-layer mechanism includes a first-layer board and a second-layer board, and an E-type silicon steel sheet and an electromagnet coil arranged in the E-type silicon steel sheet are arranged on the second-layer board. The permanent magnet at the bottom of the flange corresponds, and the permanent magnet connecting flange is movably connected with the universal coupling arranged at the bottom of the first layer;

The second layer mechanism includes a third layer board, a linear guide rail slide rail arranged on the third layer board, and a linear guide rail slider that cooperates with the linear guide rail slide rail and can slide on the linear guide rail slide rail. The linear guide rail slider is arranged on the bottom of the second layer;

The third layer mechanism includes a fourth layer board, a horizontal driving electromagnet coil arranged on the fourth layer board and a horizontal direction permanent magnet flange corresponding to the horizontal driving electromagnet coil; the horizontal direction permanent magnet flange is arranged on the horizontal direction permanent magnet flange. On the side of the magnet flange, the horizontal permanent magnet flange is set at the bottom of the third layer; the horizontal permanent magnet flange is movably set on the horizontal guide rail and can slide on the horizontal guide rail, the direction of the horizontal guide rail is in line with the straight line The direction of the slide rail is vertical; the fourth layer is a structure that can rotate horizontally relative to the fifth layer with the center as the center;

The fourth-layer mechanism includes a fifth-layer board, a mover and a stator, the mover is arranged at the bottom of the fourth-layer board, and the stator is arranged on the fifth-layer board.

A linear bearing is arranged on the second layer, and the universal coupling is a structure capable of moving up and down under the limit action of the linear bearing.

A sensor base and a limiting device for limiting the sliding distance of the linear guide rail slider are arranged between the third layer board and the second layer board.

Between the third layer board and the fourth layer board, there is a limiting device that limits the moving distance of the third layer board along the horizontal guide rail. The limiting device includes a horizontal hollow spacer cavity and a setting On the solid horizontal limit block at the bottom of the third layer, the solid horizontal limit block extends into the opening of the horizontal hollow space limit cavity to realize the limit.

A cross bearing is arranged between the fourth layer board and the fifth layer board.

The training platform also includes a rotary encoder, the shaft end of the rotary encoder is arranged in the middle of the fourth layer board, and the big end is arranged in the middle of the fifth layer board.

E-shaped silicon steel sheet, electromagnet coil, permanent magnet connecting flange, permanent magnet and universal coupling are composed of three sets, which are arranged in the form of three uniform divisions on the first layer and the second layer. between.

Advantages and effects: the utility model provides a six-degree-of-freedom magnetic-drive vibration-type muscle training platform. The six-degree-of-freedom magnetic-drive vibration-type muscle training platform involved in the utility model is designed by completely simulating the whole body muscle vibration. Muscle vibration should not only vibrate in one direction, but also in multiple directions, so as to make muscle training more effective. In view of the fact that most of the existing vibration training equipment can only vibrate in one direction, and the vibration waveform is single (only harmonic Wave vibration) and other problems, based on mechanical structure and magnetic levitation technology, provide a practical solution to solve vibration training, arbitrary vibration waveform, arbitrary frequency, arbitrary adjustment of amplitude within the stroke range, and insufficient muscle training, etc. question.

The technical solution for the realization of the purpose of the utility model is that the four-layer structure realizes vibrations with different degrees of freedom respectively; the first layer mechanism can realize the XY axis rotation Z direction translation; the second layer mechanism can realize the X direction translation; the third layer mechanism Translational movement in the Y direction can be realized; the fourth layer mechanism can realize Z-axis rotation.

When designing this device, it is designed according to the principle that the subject stands on the platform, and the platform vibrates to drive the subject to be forced to vibrate. The first-layer mechanism includes the first layer plate, the second layer plate, universal coupling, linear guide rail, electromagnetic coil, permanent magnet, permanent magnet mounting flange, bolts, eddy current sensor and other components. The second-layer mechanism includes a third-layer board, an electromagnetic coil, a permanent magnet, a device for installing a permanent magnet, a horizontal limit block, bolts, a linear guide rail, an eddy current sensor and other components. The third-layer mechanism includes a fourth-layer board, an electromagnetic coil, a permanent magnet, a device for installing a permanent magnet, a horizontal limit block, bolts, a linear guide rail, an eddy current sensor and other components. The fourth layer mechanism consists of the fifth layer plate, cross bearing, rotary encoder, electromagnetic coil, permanent magnet, flange for installing the rotary encoder, bolts and other components. When the subject performs muscle vibration training, he stands on the platform, driven by the repulsive force between layer-by-layer electromagnets and permanent magnets, and the position is detected and controlled by eddy current sensors and rotary encoders.

In the 6-DOF magnetically driven vibrating muscle training platform, the material used for each laminate is aluminum, the coil material for the electromagnetic winding is copper, and 45 steel is used for the remaining materials.

The six-degree-of-freedom magnetically driven vibrating muscle training platform has broad application prospects in the medical system and muscle training. This application belongs to the basic sports equipment, which has a direct effect on the overall stimulation of the muscles in vibration training. It can be seen from the existing sports equipment that the vibration training equipment is mainly concentrated in a single degree of freedom, and individual equipment can achieve 3 degrees of freedom, but there is no vibration training equipment that can stimulate muscles in all directions with 6 degrees of freedom; and there is no magnetic levitation technology yet. One of the advantages of applying magnetic levitation technology to vibration training equipment is that it can adjust the vibration waveform, frequency and any amplitude within the stroke range arbitrarily according to needs. Moreover, vibration muscle training also has a positive effect on physical vibration therapy for diseases such as muscle atrophy. The utility model realizes movements in different directions layer by layer, and then controls them through magnetic levitation technology, so that these movements can be linked arbitrarily, thereby successfully solving the problem of insufficient muscle training in vibration training.

The utility model has a simple structure, cleverly combines the magnetic levitation technology and the mechanical principle, etc., realizes the integration of electromechanics, and has better vibration training results.

Description of drawings:

Fig. 1 is the overall assembly schematic diagram of the utility model

Fig. 2 is a schematic diagram of the driving mechanism of the Z-axis rotation of the utility model

In the figure: 1 fifth layer board 2 outer box wall 3 cross bearing 4 fourth layer board 5 bolt 6 horizontal limit block (hollow) 7 horizontal limit block (solid) 8 third layer plate 9 circular gasket 10th Two-layer plate 11 Pin 12E-type silicon steel sheet 13 Electromagnet coil 14 Permanent magnet connecting flange 15 Permanent magnet 16 Universal coupling 17 Connecting universal coupling flange 18 First layer plate 19 Horizontal permanent magnet flange 20 Horizontal permanent magnet 21 linear guide rail slider 22 linear guide rail slide rail 23 upper cover plate 24 foot support base 25 foot support nut 26 foot support screw 27 stator 28 rotor 29 rotary encoder big end fixed flange 30 rotary encoder 31 Rotary encoder small end fixing flange 32 Fixed rotor flange 33 Install sensor base, 34 Linear bearing, 35 Horizontal driving electromagnet coil, 36 Horizontal guide rail, 37 Limiting device.

The specific embodiment: the utility model is further described below in conjunction with the accompanying drawings:

As shown in Figure 1, the utility model provides a six-degree-of-freedom magnetic drive vibration type muscle training platform, which includes a top-down first deck 18, a second deck 10, a third deck 8, A four-layer mechanism composed of the fourth laminate 4 and the fifth laminate 1;

The first layer mechanism comprises a first laminate 18 and a second laminate 10, on which an E-type silicon steel sheet 12 and an electromagnet coil 13 arranged in the E-type silicon steel sheet 12 are arranged on the second laminate 10, and the electromagnet coil 13 Corresponding to the permanent magnet 15 arranged at the bottom of the permanent magnet connecting flange 14, the permanent magnet connecting flange 14 is movably connected with the universal coupling 16 arranged at the bottom of the first laminate 18;

The second layer mechanism includes a third layer board 8, a linear guide rail slide rail 22 arranged on the third layer board 8 and a linear guide rail slider 21 that cooperates with the linear guide rail slide rail 22 and can slide on the linear guide rail slide rail 22, The linear guide rail slider 21 is arranged at the bottom of the second laminate 10;

The third layer mechanism comprises the fourth laminate 4, the horizontal driving electromagnet coil 35 arranged on the fourth laminate 4 and the horizontal direction permanent magnet flange 20 corresponding to the horizontal driving electromagnet coil 35; the horizontal direction permanent magnet flange 20 is arranged on the side of the permanent magnet flange 19 in the horizontal direction, and the permanent magnet flange 19 in the horizontal direction is arranged on the bottom of the third laminate 8; the permanent magnet flange 19 in the horizontal direction is movable on the guide rail 36 in the horizontal direction and can Sliding on the guide rail 36, the direction of the horizontal guide rail 36 is perpendicular to the direction of the linear guide rail slide rail 22; the fourth layer plate 4 is a structure that can rotate horizontally relative to the fifth layer plate 1 with the center as the center of the circle;

The fourth layer mechanism includes a fifth layer board 1 , a mover 27 and a stator 28 , the mover 27 is arranged at the bottom of the fourth layer board 4 , and the stator 28 is arranged on the fifth layer board 1 .

The first layer mechanism can realize the translational movement in the Z direction, or realize the reverse movement at an angle with the plane where the X and Y axes are located; the second layer mechanism can realize the translation mechanism in the X direction; the third layer mechanism can realize the translation mechanism in the Y direction. The moving mechanism; the fourth layer mechanism can realize the rotating mechanism with the Z axis as the axis. Movement in different directions is achieved layer by layer. The 6 degrees of freedom are translation in X, Y, and Z directions and rotation in X, Y, and Z axes. The driving force refers to driving the device with magnetic force. The magnetic levitation control can realize vibration with any waveform, any frequency, and any amplitude within the travel range.

As shown in Figure 1, the plane perpendicular to the paper is the plane where the X-axis and Y-axis are located, the plane where the paper is located is the plane where the Z-axis is located, the movement in the X direction is the movement perpendicular to the direction of the paper, and the movement in the Y direction The movement in the figure is the left and right direction in the figure, and the movement in the Z direction is the direction of the up and down movement in the figure.

A linear bearing 34 is arranged on the second layer 10 , and the universal joint 16 is a structure capable of moving up and down under the limiting action of the linear bearing 34 .

A sensor base 33 and a limit device 37 for limiting the sliding distance of the linear guide rail slider 21 are arranged between the third layer 8 and the second layer 10 .

Between the third layer board 8 and the fourth layer board 4, a limiting device that limits the movement distance of the third layer board 8 along the horizontal guide rail 36 is provided. The limiting cavity 6 and the solid horizontal limiting block 7 arranged at the bottom of the third laminate 8, the solid horizontal limiting block 7 protrudes into the opening of the horizontal hollow limiting cavity 6 to realize the limiting.

A cross bearing 3 is arranged between the fourth layer board 4 and the fifth layer board 1 .

The training platform also includes a rotary encoder 30 , the shaft end of the rotary encoder 30 is set in the middle of the fourth layer 4 , and the big end is set in the middle of the fifth layer 1 .

E-shaped silicon steel sheet 12, electromagnet coil 13, permanent magnet connecting flange 14, permanent magnet 15 and universal coupling 16 are composed of three sets, which are arranged on the first layer in the form of three uniform divisions. Between 18 and the second layer plate 10, that is to say, three universal couplings are evenly distributed on the first layer plate through bolts, and the other end of the universal coupling is connected to a linear bearing, and the linear bearing is a linear bearing with a flange. Bearing, the linear bearing stator is fixed on the second layer by bolts, the electromagnetic coil is installed on the second layer, and the permanent magnet is installed on the universal coupling. The permanent magnet is installed by installing the permanent magnet flange. The position The detection device is installed in the space where the permanent magnet and the electromagnetic coil are located to control the movement of the first layer of board.

Translational movement in the X direction is the second layer mechanism, the linear guide rail slide rail 22 is fixed on the third layer board, the linear guide rail slider is fixed on the second layer board for guidance, and the second layer board and the third layer board are installed The eddy current sensor and the horizontal limit block are used to control the movement in the X direction and prevent accidents due to excessive amplitude.

The Y-direction translation is the third mechanism, which is realized by the horizontal guide rail 36 .

The Z-axis rotation is the fourth-layer mechanism. The inner and outer rings of the cross bearing are respectively installed on the fourth-layer board and the fourth- and fifth-layer boards by bolts. The rotary encoder flange is installed in the center of the fifth-layer board. Installed on the flange through interference fit, the permanent magnet stator is fixed by the flange and the inner ring of the cross bearing, the electromagnetic coil rotor is fixed on the outer ring of the cross bearing, driven by the electromagnetic coil and permanent magnet, and the position is controlled by the rotary encoder. The permanent magnet is exactly the stator 27 shown in FIG. 1 , and the electromagnetic coil is the rotor 28 .

In the utility model, 1 is the fifth floor plate, which is the bottom plate, which is connected with the foundation support below, and each layer mechanism is installed layer by layer above. The cross bearing 3 is installed on the fifth layer 1, the stator 27 is installed on the inner ring of 3 through interference fit, the rotor flange 32 is installed on 1 through bolts, and the fixed flange 29 at the big end of the rotary encoder is installed through bolts On 1, the shaft end fixing flange of the rotary encoder is installed on 4, and the rotary encoder is installed on 29 and 31 through interference fit. Guided by the cross bearing 3, the position is detected by the rotary encoder 30, and the Z-axis rotation is realized.

The permanent magnet in the horizontal direction is installed on 19 by gluing, and the installation sensor base 33 is arranged on the other side of 4, which is connected by bolts to detect the translational position in the Y direction. The linear guide rail slider 21 is connected on the third layer by bolts. On the board, the linear guide rail 22 is installed on 4, guided by 20 and 35, to realize translation in the Y direction;

The first layer 18 and the second layer 10 are made of aluminum alloy, and the universal joint 16 is connected to the universal joint flange 17 by bolts, and then 17 is connected to the first layer 18 by bolts superior. The vertical permanent magnet connection flange 14 is connected to the upper end of the universal coupling 16 through interference fit, and the vertical permanent magnet 15 is connected to 14 by gluing. After the E-shaped silicon steel sheet 12 and the electromagnet coil 13 are assembled , is installed on 10 through pin 11, and linear bearing 34 is installed on 10, through the guidance of linear bearing 34, the translational movement in the Z direction is realized, and through the cooperation and linkage of universal coupling 16 and linear bearing 34, X, Y The shaft turns. The so-called rotation of the X and Y axes is what was mentioned earlier, and it performs an overturning motion at an angle to the second layer, because there are three universal joints 16, which can be controlled by adjusting the electromagnet coil 13 and the permanent magnet 15 The moving distance of the universal joint 16 along the Y-axis direction, when the moving distances of the three points are different, it will appear that one side sinks and the other side tilts up, thus forming a flip, which can also be said to be based on X, The plane where the Y axis is located is the base rotation.

This application realizes the movement in 6 directions through the cooperation between layers. The foot support mechanism is installed under the fifth floor plate 1. The foot support mechanism consists of the foot support base 24, the foot support nut 25 and the foot support screw rod. 26 compositions. An outer box wall 2 is installed outside the whole machine, and the material of the outer box wall is a stainless steel plate with a thickness of 3 mm.

Claims (7)

1. six degree of freedom magnetic force drives an oscillatory type muscular training platform, it is characterized in that: this platform comprises the four layers of mechanism be made up of top-down first laminate (18), the second laminate (10), third layer plate (8), the 4th laminate (4) and layer 5 plate (1);

Ground floor mechanism comprises the first laminate (18) and the second laminate (10), second laminate (10) is provided with E type silicon steel sheet (12) and is arranged on the electromagnet coil (13) in E type silicon steel sheet (12), electromagnet coil (13) is corresponding with the permanent magnet (15) being arranged on permanent magnet adpting flange (14) bottom, and permanent magnet adpting flange (14) is flexibly connected with the Hooks coupling universal coupling (16) being arranged on the first laminate (18) bottom;

Second layer mechanism comprises third layer plate (8), is arranged on the line slideway slide rail (22) on third layer plate (8) and coordinates with line slideway slide rail (22) and the straight-line guide rail slide block (21) that above can slide at line slideway slide rail (22), and straight-line guide rail slide block (21) is arranged on the second laminate (10) bottom;

Third layer mechanism comprises the 4th laminate (4), be arranged on horizontal drive electromagnet coil (35) on the 4th laminate (4) and the horizontal direction permanent magnet flange (20) corresponding with horizontal drive electromagnet coil (35); Horizontal direction permanent magnet flange (20) is arranged on horizontal direction permanent magnet flange (19) side, and horizontal direction permanent magnet flange (19) is arranged on the bottom of third layer plate (8); What horizontal direction permanent magnet flange (19) was movable be arranged on horizontal direction guide rail (36) is upper and can guide rail (36) is upper in the horizontal direction slides, and the direction of horizontal direction guide rail (36) is vertical with the direction of line slideway slide rail (22); 4th laminate (4) for Neng Yi center be that the structure horizontally rotated relative to layer 5 plate (1) is done in the center of circle;

4th layer of mechanism comprises layer 5 plate (1), mover (27) and stator (28), and mover (27) is arranged on the 4th laminate (4) bottom, and stator (28) is arranged on layer 5 plate (1).

2. six degree of freedom magnetic force according to claim 1 drives oscillatory type muscular training platform, it is characterized in that: on the second laminate (10), be provided with linear bearing (34), Hooks coupling universal coupling (16) for can do the structure moved up and down under the position-limiting action of linear bearing (34).

3. six degree of freedom magnetic force according to claim 1 drives oscillatory type muscular training platform, it is characterized in that: the stopping means being provided with the sliding distance of sensor installation pedestal (33) and straight limit guide rail slide block (21) between third layer plate (8) and the second laminate (10).

4. six degree of freedom magnetic force according to claim 1 drives oscillatory type muscular training platform, it is characterized in that: the stopping means being provided with restriction third layer plate (8) guide rail (36) displacement in the horizontal direction between third layer plate (8) and the 4th laminate (4), this stopping means comprises the flat hollow limit chamber (6) that is arranged on the 4th laminate (4) and is arranged on the solid Horizontal limiting block (7) of third layer plate (8) bottom, realizes spacing in the opening that solid Horizontal limiting block (7) puts in flat hollow limit chamber (6).

5. six degree of freedom magnetic force according to claim 1 drives oscillatory type muscular training platform, it is characterized in that: be provided with between the 4th laminate (4) with layer 5 plate (1) and intersect bearing (3).

6. six degree of freedom magnetic force according to claim 1 drives oscillatory type muscular training platform, it is characterized in that: this training platform also comprises rotary encoder (30), the axle head of this rotary encoder (30) is arranged on the centre of the 4th laminate (4), and large end is arranged in the middle of layer 5 plate (1).

7. six degree of freedom magnetic force according to claim 1 drives oscillatory type muscular training platform, it is characterized in that: the mechanism that E type silicon steel sheet (12), electromagnet coil (13), permanent magnet adpting flange (14), permanent magnet (15) and Hooks coupling universal coupling (16) form is three covers, and the form in 3 even branches is arranged between the first laminate (18) and the second laminate (10).