RU2522093C1 - Sports robot-simulator with programme control in pneumatic actuators - Google Patents

Abstract

FIELD: sports.

SUBSTANCE: sports robot-simulator comprises a control system consisting of a computer (1) equipped with software, and indirectly connected to the parts of the structure of the robot (13). The control system consists of the master controller (2), solenoids (12) of the pneumatic distributors (3) connected to the pneumatic motors (7, 8, 9, 10, 11) of the motion sensors and positioning. In addition, the air supply system comprises an air compressor (4), an air filter (5), a pressure regulator (6), a pressure sensor, the pneumatic distributors (3) and an actuator connected to the parts of the structure of the robot (13), comprising manipulators. At that the structures of the shoulder and hip joints are made with the ability of axial rotation.

EFFECT: simulator adaptation to different training schemes, enabling to develop reaction, to work out muscle memory of the athlete, to practice basic movements and strikes in the dynamics close to actual situation, and to simulate a real sparring, to change efforts, direction of strikes and speed of the movement of the simulator design, bringing them closer to the rhythm of the athlete.

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Description

The invention relates to the field of special sports automated computer-controlled devices, in particular to robotics used for hand-to-hand combat training and other martial arts using shock equipment, as well as for general physical training, development of coordination, speed, maneuverability, and impact force athlete using a mechanical design with pneumatic actuators and a programmable control system.

Known Pecherkin simulator for training athletes, in which the boxing pillow is mounted on the wall, the suspension body is made in the form of a metal core and is mounted on the lower end of the flexible suspension, while the flexible suspension is made in the form of a chain of two parts interconnected by a carbine with the possibility of regulation lengths, and the bracket is mounted on the wall above the boxing pillow in its center. In addition, the simulator can be equipped with a set of suspension bodies having different weights (Pat. No. 2289465 RU. Publish. 12.20.2006).

Known boxer reaction simulator, including a vertical bar, which is perpendicular to which a horizontal bar is provided, equipped with a shock element, a drive motor and a transmission mechanism for the movement of the shock element, in which the shock element is placed at the end of the horizontal bar, the vertical bar is mounted for rotation around a vertical axis, for why it is coaxially bonded to the shaft of an electric motor mounted on a frame under the bar, connected to the network through a voltage regulator (Pat. No. 23 780 RU. Published on July 20, 2002).

Known boxing simulator, including a support, a suspension connected to a support, and an impact object connected to a suspension, in which the support is made in the form of a bent rod with an attachment to the boxer body (Pat. No. 44525 RU. Publ. 03/27/2005).

The punch bag for the kick contains the main bag (2) fixed with a hook (3) on the ceiling, and the middle one (6) attached to the bottom of the main bag (2) with a rope. The mass of the middle bag is from 25% to 100% of the mass of the main bag (Patent No. 0943360 EP. Publish. 09/22/1999; Pat. No. 6,244,993 US. Publish. 12.06.2001).

A well-known sports simulator for measuring the dynamic characteristics of shock and jerk movements, which contains a U-shaped stand-bracket, at least two light sources are installed on one of the legs of the latter, and the same number of photodetectors on the other. Moreover, each of the light sources is optically directly coupled to only one of the photodetectors. Photodetectors are equipped with electronic circuits that record the interruption of the incidence of light beams on them when passing between the legs of the staples of an athlete’s arm or leg, and the moments of their interruption are recorded by an electronic circuit (Pat. No. 2212920 RU. Publish. 09.27.2003).

A known simulator containing a block diagram of an electronic boxing simulator, a software-controlled boxing bag with shock moving limbs, equipped with a means of coordinate bringing it to the athlete by signals about the coordinates of his location in the ring, as well as continuous monitoring of the athlete’s functional state by sensors in the boxing bag and psychophysiological the athlete’s state according to the sensors on his body and equipment in the form of parameters of heart rate, blood pressure, skin resistance Lenia temperature (Pat. №2201784 RU. Publ. 10.04.2003).

A control device for an autonomous robot is known in which all stages of information processing (receiving data from servos and sensors, synthesizing models of surrounding objects from received data, analyzing synthesized models, recognizing objects, generating and transmitting signals to control servos and sensor matrices) are performed with a high degree parallelization. The device employs a method of programmed processing of scenes when the role of elementary operands is performed by whole two-dimensional and three-dimensional images (Pat. No. 2424105 RU. Publ. 10.06.2010).

However, the known device relates to industrial robots and is not intended for its use as a sports simulator - a robot.

A known simulator (options) containing block-functional schemes for constructing two versions of multifunctional electronic simulators based on the use of a modern personal computer with specially written software and a set of sensors on a modern elementary base as a control unit. An adversary simulator was used with software-controlled body movements, moving limbs using digital signals of sensors to form the attacking and defensive actions of an athlete with feedback in the form of light and voice information about the mistakes made. A random number generator has been introduced to control the block of spatial movements of the simulator; limiters have been introduced for the spatial movement of the athlete, equipped with sensors and feedback for forming the correct stance, applying punched punches, improving the strength and accuracy of punches, developing the reaction (Pat. No. 2201783 RU. Publ. 10.04. 2003).

However, the known simulator lacks a pneumatic system and a mechanical structure that can strike and make body movements, simulating sparring that is as close as possible to the real one.

In the known sources of information there is no closest analogue to the claimed solution.

The objective of the present invention is to adapt the simulator to various training schemes, allowing to develop a reaction, develop the muscle memory of an athlete who begins, including, to work out basic movements and strokes in dynamics close to the real situation, and simulate real sparring, in addition, change efforts, the direction of blows and the speed of the construction of the simulator, bringing them closer to the rhythm of the athlete.

The problem is solved in that in a sports robot simulator with programmed control on pneumatic drives, an automated control system is used, consisting of a computer equipped with software that is loaded into a control controller that sends signals to the solenoids of pneumatic distributors, motion and positioning sensors, indirectly connected with mechanical parts of the design of the robot simulator, while the control system is integrated into the air supply system, rzhaschuyu air compressor, air filter, pressure regulator, pressure gauge, pneumatic valves and executive robot mechanism consisting of mechanical manipulators simulator design consisting shoulder and hip compound capable of axial rotation.

It is advisable to expand the range of use of the robot simulator, use pneumatic cylinders, pneumatic cylinders, pneumatic pillows, pneumatic muscles, membrane pneumatic engines as executive engines.

As the shoulder and hip joints of the robot simulator, it is advisable to use rotary mechanisms with an axial drive connected to pneumatic engines that allow the use of side impacts in training programs, as well as for damping (vibration suppression) at the time of impact, which will allow the athlete to use blocks and deflecting movements .

To implement different speeds of blows during training, it is advisable to control the controller with the ability to change the speed of the solenoids of pneumatic distributors that supply air to the pneumatic cylinders.

To carry out strokes of various strengths during training, it is advisable to perform the control controller with the possibility of using different sequences of operation of the solenoids of pneumatic distributors that supply air to the pneumatic cylinders.

It is advisable, to change the force of the blows during the training, the control controller is configured to change the force of the blows of the simulator by distributing air to pressure regulators made with different throughputs.

It is advisable, in order to approximate the simulation of the movements of the robot simulator to the movements of a person, in the design of the simulator use the ratios and proportions of the sizes of parts of the human body, and in the movements of the manipulators lay similarities with the movements of the human body.

The present invention is illustrated by a detailed description and diagrams in which:

Figure 1 characterizes the functional diagram of a sports robot simulator with software control on pneumatic drives (hereinafter robot simulator) according to the invention.

Figure 2 illustrates a front view of the layout of pneumatic engines in the design of the robot simulator.

Figure 3 illustrates a side view of the layout of pneumatic engines in the design of the robot simulator.

Figure 4 illustrates a rear view of the arrangement of pneumatic engines in the design of the robot simulator.

Figure 5 illustrates an isometric diagram of the location of pneumatic engines in the design of the robot simulator.

The sports robot simulator contains a control system, which consists of a computer 1, with installed software, a control controller 2, solenoids of pneumatic valves 12, pneumatic valves 3 (Figure 1). The control system is indirectly connected with structural elements of the robot, consisting of manipulators and directly the design of the simulator 13, including shoulder and hip joints made with the possibility of axial rotation.

From computer 1, the program is loaded into the control controller 2, which is configured to convert the program into a signal and direct it to the solenoids 12 of the pneumatic valves 3. The pneumatic valves 3 are connected to the air compressor 4, the air filter 5 and the pressure regulators 6. Pressure regulators 6 have the ability supply of air pressure to the pairs of pneumatic engines of the upper 7, lower 8, rotary upper 9, rotary lower 10 and lifting 11 by means of pneumatic distributors 3. Quantity pneumatic engines 7, 8, 9, 10, 11 are determined in accordance with the necessary functionality and configuration, at least two pneumatic engines of the top 7, for using only direct punches by manipulator hands. Moreover, each of the pneumatic engines 7, 8, 9, 10, 11 is connected to pneumatic valves 3.

In addition, pneumatic cylinders, pneumatic cylinders, pneumatic pillows, pneumatic muscles, membrane pneumatic motors, respectively, were used as actuators 7, 8, 9, 10, 11 of the manipulators.

The design of the shoulder and hip joints used rotary mechanisms with an axial drive connected to rotary pneumatic engines 9, 10.

For the implementation of the robot simulator 13 movements of different speeds, the control controller 2 is configured to change the speed of the signal to the solenoids 12 of the pneumatic valves 3.

For the implementation by the robot simulator of movements of different strengths, the control controller 2 is configured to change the pressure in the pneumatic engines 7, 8, 9, 10, 11 by supplying air to the pressure regulators 6, configured to supply various pressures.

To approximate the simulation of the movements of the design elements of the robot simulator 13 to the movements of a person, the manipulators and the design of the simulator used ratios and proportions of the sizes of the parts of the human body, and the proportions of the movements of the manipulators are proportional to the movements of the parts of the human body.

Sports robot simulator is used as follows.

The main driving force - the air flow - is supplied through the air compressor 4, which creates the air pressure necessary for the operation of the sports robot simulator, and directs the air flow to the pneumatic distributors 3 through pressure regulators 6 (Figure 1). Pneumatic distributors direct air flow to the pneumatic engines 7, 9 in the upper part of the robot structure 13, two of which 7, one for each manipulator, move the manipulators forward, and two 9, one for each manipulator, perform rotary movements, and in pneumatic motors 8, 10 in the lower part of the robot structure 13, of which pneumatic motors 8, one for each manipulator, move the manipulators forward, and pneumatic motors 10, one for each manipulator, perform rotary movements, and Din motor 11, the center-simulator robot picks up the simulator during training that simulates jumping.

Computer 1 downloads the training program to the control controller 2, which converts the program into a signal to the solenoids 12 that open the valves of the pneumatic distributors 3.

Pneumatic engines 7, 8, 9, 10, 11 convert the air pressure into the mechanical movements of parts of the structure 13 (limbs, body) of the robot simulator.

In the designs of the shoulder joints, rotary mechanisms with an axial drive are used, which are connected to pneumatic engines 9 and 10.

In the process of training, the control controller 2 changes the actuation speed and the actuation sequence of the pneumatic engines 7, 8, 9, 10, 11 by means of solenoids 12 of the pneumatic distributors 3.

To carry out a blow of various strengths, the design 13 of the simulator robot is configured to change the pressure in the pneumatic engines 7, 8, 9, 10, 11 by means of pressure regulators 6.

The approximation of the simulation of the movements of structural elements (limbs and torso) 13 of the robot simulator to human movements is used in the manipulators and construction 13 of the robot simulator of the ratio and proportion of the sizes of parts of the human body, and proportional similarities with the movements of parts of the human body are laid in the movements of the manipulators.

The complete set of the sports robot simulator directly depends on the required functionality. As pneumatic actuators 7, 8, 9, 10, 11 manipulators, respectively, use pneumatic cylinders, pneumatic cylinders, pneumatic pillows, pneumatic muscles, membrane pneumatic engines.

The flow rate and air pressure in the system depend on the number of pneumatic engines 7, 8, 9, 10, 11.

For greater functionality of the sports robot simulator, an air compressor 4 is used, which operates with high pressure up to 15 bar. In this configuration, it is unacceptable to install standard pneumatic engines 7, 8, 9, 10, 11, having a limit of 10 bar, and pneumatic muscles - 6-8 bar.

When picking a sports robot simulator that does not require a constant heavy load, an air compressor 4 with a pressure of up to 8 bar is used.

When using industrial air compressors, an additional pressure regulator (not shown) is installed with a maximum throughput of 8 bar.

As standard, the maximum force is 113.6 kg / s, and the maximum speed reaches 6-8 m / s. These parameters are significantly lower than athletes, but sufficient for realistic sparring. The movements that the sports robot simulator performs are shown in FIGS. 3-6.

The proposed robot simulator allows you to distribute efforts and adapt the simulator to various training schemes that allow you to develop a reaction, develop the muscle memory of an athlete, including, among other things, due to the response of the simulator to the actions of the athlete.

In addition, it allows you to practice basic movements and strokes in dynamics close to the real situation, simulating human movements and imitating sparring.

The proposed sports robot simulator creates the conditions, due to the presence of a pneumatic system, to change the efforts, direction of blows and the speed of movement of the simulator design, bringing them closer to the rhythm of a specific athlete, which allows you to work out the movements as efficiently as possible and in the zones accessible for blows.

In addition, the sports robot simulator is a convenient athlete’s sparring partner at any time according to various ready-made sparring program options, as well as an individual program, depending on the athlete’s initial preparation or physical condition. At the same time, the robot simulator has the ability to adapt to various training schemes with a change in effort and speed.

Claims (8)

1. A sports robot simulator with programmed control on pneumatic drives, characterized by the use of an automated control system in a sports simulator, consisting of a computer equipped with software that is loaded into the control controller, which sends signals to the solenoids of pneumatic distributors, motion and positioning sensors, indirectly connected with mechanical parts of the design of the robot simulator, while the control system is integrated into the air supply system, comprising an air compressor, an air filter, a pressure regulator, a pressure sensor, pneumatic valves and an actuator of the robot, consisting of mechanical manipulators of the simulator design, including shoulder and hip joints made with axial rotation. 2. The robot simulator according to claim 1, characterized in that the pneumatic cylinders, pneumatic cylinders, pneumatic pillows, pneumatic muscles, membrane pneumatic engines are used as executive engines. 3. The robot simulator according to claim 1, characterized in that the design of the shoulder and hip joints used rotary mechanisms with an axial drive connected to pneumatic engines. 4. The robot simulator according to claim 1, characterized in that the control controller is configured to change the response speed of the solenoids of pneumatic valves. 5. The robot simulator according to claim 1, characterized in that the control controller is configured to use different sequences of operation of the solenoids of pneumatic valves. 6. The robot simulator according to claim 1, characterized in that the control controller is configured to change the impact force of the simulator by distributing air to pressure regulators made with different throughputs. 7. The robot simulator according to claim 1, characterized in that the ratio and proportions of the sizes of parts of the human body are used in the design of the simulator. 8. The robot simulator according to claim 1, characterized in that the movements of the manipulators are similar to the movements of parts of the human body.

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