CN110812777B - Intelligent body-building system and adjustable constant resistance output device - Google Patents
Intelligent body-building system and adjustable constant resistance output device Download PDFInfo
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- CN110812777B CN110812777B CN201911305282.5A CN201911305282A CN110812777B CN 110812777 B CN110812777 B CN 110812777B CN 201911305282 A CN201911305282 A CN 201911305282A CN 110812777 B CN110812777 B CN 110812777B
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- 230000001105 regulatory effect Effects 0.000 claims abstract description 28
- 238000004804 winding Methods 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 90
- 230000007246 mechanism Effects 0.000 claims description 56
- 238000006073 displacement reaction Methods 0.000 claims description 40
- 238000012546 transfer Methods 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 238000003825 pressing Methods 0.000 abstract description 8
- 230000004044 response Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000012549 training Methods 0.000 description 26
- 238000000034 method Methods 0.000 description 14
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- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 238000013016 damping Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000011084 recovery Methods 0.000 description 3
- 210000001364 upper extremity Anatomy 0.000 description 3
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/012—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using frictional force-resisters
- A63B21/018—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using frictional force-resisters including a rope or other flexible element moving relative to the surface of elements
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
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Abstract
The invention relates to an intelligent body-building system and an adjustable constant resistance output device, and belongs to the technical field of body-building equipment. The intelligent body-building system comprises a control unit, a stretching belt, a constant resistance output device and a tension sensor; the constant resistance output device comprises a friction piece, a rotary driving device, a rotatable friction wheel, a rotatable constant resistance output wheel and a pressure regulating device; the control unit controls the pressure regulating device to regulate the pre-tightening pressure based on the tension detection signal and the control instruction until the constant-resistance output wheel outputs the target resistance moment; when the constant resistance output wheel winds the stretching belt until the difference between the winding length and the target value is smaller than a preset threshold value, the pressure regulating device is controlled to reduce the pre-pressing pressure until the winding length is equal to the target value and smaller than the preset pressure threshold value. The constant resistance output can be continuously and adjustably provided, the force control frequency response is high, the control algorithm is simple, the use is safe, and the constant resistance output device can be widely applied to the manufacturing field of body-building equipment.
Description
Technical Field
The invention relates to the technical field of fitness equipment, in particular to a stretching type fitness system and an adjustable constant resistance output device based on friction force.
Background
The stretching type body-building system is used as a common body-building device, a constant force output device is used for providing a force source required by stretching, a traditional constant force output device generally comprises a balancing weight, pulleys and a guide rail, the constant force output provided by the traditional constant force output device is generally proportional to the weight of the balancing weight, in the use process, the purpose of changing the output constant force is achieved by manually changing the specification or the number of the balancing weight, and the purpose of continuously adjusting the output constant force can not be achieved, but only the step type adjustment can be achieved.
Along with the increase of body-building demands and the improvement of living standard, the equipment function demands require the constant force output device to automatically adjust the constant force output by the constant force output device, and the control accuracy requirement of the training force is higher.
In order to solve the technical problems, patent document with publication number CN104707294a discloses a pneumatic stepless adjustable constant resistance exercise equipment damper, which changes the ratio of a master arm and a slave arm through an eccentric movable pulley to correct the pressure change generated by the volume change in a closed cavity with variable volume so as to output constant resistance; however, the constant force is not a true constant force, there is a large error that varies with the training stroke and the current gas pressure, and when the reciprocating training stroke is large, the larger the eccentricity required to cancel the pressure generated by the gas compression, resulting in more difficulty in design and manufacture.
The patent document with the publication number of CN205850085U discloses a damping cylinder for fitness equipment, which can realize the size adjustment of hydraulic damping by adjusting the valve port of a hydraulic circuit through a damping adjusting valve, and has simple and practical structure; but has the following disadvantages: the hydraulic viscosity coefficient is easily affected by temperature and the like, the resistance is not linear with a valve port, more importantly, the resistance is related to the speed, and when the speed is zero, the hydraulic cylinder cannot provide force, so that the resistance is only suitable for occasions with speed during running, burst and other training, and is not suitable for training with static holding force such as slow upper limb stretching, weightlifting and the like.
In addition, the prior art provides an adjustable resistive output based on electromagnetic resistance, with passive and active components. The passive method is to place the flywheel in a magnetic field by utilizing the magnetic induction principle, and the flywheel cuts the magnetic field to generate eddy current at a certain speed, wherein the eddy current generates resistance under the magnetic field; the passive method cannot quantitatively adjust the resistance, and the resistance is different at different speeds, so that constant resistance output is difficult to realize, and the practical effect of training is difficult to determine. In the active method, the motor provides load torque, for example, a damping motor structure disclosed in patent document CN109011332a, the motor works in a low-speed working state in the process of stretching training, the back electromotive force is almost 0, the heat generation is serious, a cooling device is needed, and inconvenience is brought to use and maintenance.
Disclosure of Invention
The invention mainly aims to provide an intelligent body-building system, so that a constant resistance output device can provide continuously adjustable constant resistance output, and the force control frequency response is high and the control algorithm is simple;
It is another object of the present invention to provide a constant resistance output device that can be used to construct the intelligent fitness system described above.
In order to achieve the main purpose, the intelligent body-building system provided by the invention comprises a control unit, a stretching belt, a constant resistance output device controlled by the control unit, and a tension sensor for monitoring the tension of the stretching belt; the tension sensor outputs a tension detection signal to the control unit; the constant resistance output device comprises a friction piece, a rotary driving device, a rotatable friction wheel, a rotatable constant resistance output wheel and a pressure regulating device; the pressure adjusting device is used for adjusting the pre-tightening pressure between the friction surface of the friction piece and the wheel periphery of the friction wheel, the stretching belt is wound on the resistance output wheel, and the inner end part of the stretching belt is fixedly connected to the resistance output wheel; the rotary driving device is at least used for driving one of the friction wheel and the friction piece to generate contact displacement relative to the other friction wheel and the friction piece so as to generate dynamic friction force between the friction wheel and the friction piece; the other one outputs a rotating moment based on the dynamic friction force to the constant resistance output wheel through the transmission mechanism; the control unit controls the pressure regulating device to regulate the pre-tightening pressure based on the tension detection signal and the control instruction until the constant-resistance output wheel outputs the target resistance moment; when the constant resistance output wheel winds the stretching belt until the difference between the winding length and the target value is smaller than a preset threshold value, the pressure regulating device is controlled to reduce the pre-pressing pressure until the winding length is equal to the target value and smaller than the preset pressure threshold value.
In the constant resistance output device, the dynamic friction force between the friction wheel and the friction surface of the friction piece is in direct proportion to the pre-pressing force applied by the pressure adjusting device and is irrelevant to the rotating speed of the rotary driving device, so that the output constant resistance can be quickly adjusted by controlling the pre-pressing force, the force control frequency response is effectively improved, and the control algorithm is simple; the force can be continuously regulated well, so that the constant resistance output device can be regulated and controlled steplessly; in addition, the rotation speed of the rotation driving device can not influence the output of the constant resistance, and the rotation speed can be adjusted according to the working efficiency of the device, for example, when a motor is selected to construct the rotation driving device, the higher working efficiency is obtained, and the working safety is ensured. In addition, the control method is simple and convenient to realize, effectively reduces the tension force of the stretching belt in the last recovery process, and avoids damage to the stretching belt and the tension sensor.
The rotary driving device comprises a driving belt pulley and a rotary driving motor, wherein the driving belt pulley and the friction wheel form a group of belt pulley pairs, and the rotary driving motor is used for driving the driving belt pulley to rotate; the friction piece is a transmission belt which forms a belt transmission mechanism with the belt wheel pair; the constant resistance output wheel and the friction wheel are coaxially arranged, and the transmission mechanism is a fixed connecting piece or a fixed connecting part for fixedly connecting the constant resistance output wheel and the friction wheel; the pressure adjusting device comprises a tensioning wheel and a displacement output device, and the displacement output device is used for adjusting tensioning displacement of the tensioning wheel on the driving belt.
The friction wheel is built by the driven belt wheel in the belt transmission mechanism and the friction piece is built by the transmission belt, so that the existing mechanism structure can be utilized, and the pressure adjusting device can be built by the existing transmission belt tensioning force adjusting mechanism, so that the design difficulty and the manufacturing cost are reduced.
The transmission mechanism comprises a rotatable transmission wheel and more than one group of internal engaged gear transmission mechanisms which are arranged in series transmission, wherein each internal engaged gear transmission mechanism comprises an internal gear, an output gear which is coaxially arranged with the internal gear and a planetary gear which is synchronously engaged with the internal gear; the transmission wheel is fixedly connected with the first-stage internal gear in a coaxial rotation manner, and the final-stage output gear is fixedly connected with the constant-resistance output wheel in a coaxial rotation manner; the rotary driving device comprises a rotary driving motor for driving the friction wheel to rotate; the friction piece is a brake tile which is matched with the peripheral surface of the friction wheel, and the brake tile can be arranged on the wheel surface of the transmission wheel in a sliding way along the radial direction of the transmission wheel; the pressure adjusting device is used for driving the brake tile to move back and forth along the radial direction relative to the transfer wheel.
The rotation driving device is at least used for driving one of the friction wheel and the friction piece to generate contact displacement relative to the other friction wheel when the external reverse force applied to the constant resistance output component is larger than or equal to a preset threshold value, so that a dynamic friction force is generated between the friction wheel and the friction surface of the friction piece, and the external reverse force has a force component opposite to the direction of the constant resistance output by the constant resistance output device.
The rotary driving device is further used for driving the constant-resistance output member to rotate based on the friction moment between one and the other transmitted by the transmission mechanism when the external reverse force is smaller than a preset threshold value.
In order to achieve the other purpose, the adjustable constant resistance output device provided by the invention comprises a friction piece, a rotary driving device, a resistance output component, a pressure regulating device and a rotatable friction wheel; the pressure adjusting device is used for adjusting the pre-tightening pressure between the friction surface of the friction piece and the friction surface of the friction wheel; the rotary driving device is used for driving one of the friction wheel and the friction piece to generate contact displacement relative to the other friction wheel and the friction piece to generate dynamic friction force between friction surfaces of the friction wheel and the friction piece; the other outputs a moment based on the dynamic friction force to the resistance output member through the transmission mechanism.
In the constant resistance output device, the dynamic friction force between the friction wheel and the friction surface of the friction piece is in direct proportion to the pre-pressing force applied by the pressure adjusting device and is irrelevant to the rotating speed of the rotary driving device, so that the output constant resistance can be quickly adjusted by controlling the pre-pressing force, the force control frequency response is effectively improved, and the control algorithm is simple; the force can be continuously regulated well, so that the constant resistance output device can be regulated and controlled steplessly; in addition, the rotation speed of the rotation driving device can not influence the output of the constant resistance, and the rotation speed can be adjusted according to the working efficiency of the device, for example, when a motor is selected to construct the rotation driving device, the higher working efficiency is obtained, and the working safety is ensured.
The specific scheme is that the friction surface of the friction wheel is the wheel circumferential surface.
The rotary driving device comprises a driving belt pulley and a rotary output device, wherein the driving belt pulley and the friction wheel form a group of belt pulley pairs, and the rotary output device is used for driving the driving belt pulley to rotate; the friction piece is a transmission belt which forms a belt transmission mechanism with the belt wheel pair; the pressure adjusting device comprises a tensioning wheel and a displacement output device, and the displacement output device is used for adjusting tensioning displacement of the tensioning wheel on the driving belt.
The constant resistance output member and the friction wheel are coaxially arranged, and the transmission mechanism is a fixed connector or a fixed connecting part for fixedly connecting the constant resistance output member and the friction wheel; the constant resistance output device comprises a holding mechanism for holding the transmission belt outside the sleeve belt wheel; the displacement output device is a linear displacement output device.
Another more specific scheme is that the rotary driving device is used for driving the friction wheel to rotate; the transmission mechanism comprises a rotatable transmission wheel; the friction piece is a brake tile which is matched with the peripheral surface of the friction wheel, and the brake tile can be arranged on the wheel surface of the transmission wheel in a sliding way along the radial direction of the transmission wheel; the pressure adjusting device is used for driving the brake tile to move back and forth along the radial direction relative to the transfer wheel.
The transmission mechanism comprises more than one group of internal meshing gear transmission mechanisms which are arranged in series transmission, wherein each internal meshing gear transmission mechanism comprises an internal gear, an output gear which is coaxially arranged with the internal gear and a planetary gear which is synchronously meshed with the internal gear; the transmission wheel is fixedly connected with the first-stage internal gear in a coaxial rotation manner, and the final-stage output gear is fixedly connected with the constant-resistance output member in a coaxial rotation manner; the pressure regulating device comprises a linear displacement output device, an arc chute which is circumferentially arranged along the outer circumferential surface of the brake tile is arranged on the outer circumferential surface of the brake tile, and a rotor of the linear displacement output device can be sleeved in the arc chute in a sliding manner along the arc chute.
The preferable scheme is that the resistance output component is a rotatable resistance output wheel or resistance output shaft; the rotary output of the rotary driving device is driven by the rotary driving motor so as to better balance the working efficiency and the working safety of the rotary driving device; the pre-tightening pressure is elastic pre-tightening pressure, so that the use safety is effectively improved.
Drawings
FIG. 1 is a perspective view of a constant resistance output device and a stretching strap in embodiment 1 of the present invention;
FIG. 2 is a perspective view of the constant resistance output device and the stretching strap of embodiment 1 of the present invention at a different angle from the one shown in the figure;
FIG. 3 is an exploded view of the constant resistance output device and the stretching strap according to embodiment 1 of the present invention;
FIG. 4 is a perspective view of the constant resistance output device and the stretching strap in example 2 of the present invention;
FIG. 5 is a perspective view of the constant resistance output device and the stretching strap of embodiment 2 of the present invention in a structure different from that shown in FIG. 4;
FIG. 6 is an exploded view of the structure of the constant resistance output device and the stretching strap in embodiment 2 of the present invention;
FIG. 7 is a perspective view of a ring gear drive in accordance with embodiment 2 of the present invention;
FIG. 8 is an exploded view of the constant resistance output device and the stretching strap of embodiment 2 of the present invention after omitting the stretching strap, the constant resistance output wheel and the primary ring gear transmission.
Detailed Description
The invention is further described below with reference to examples and figures thereof.
The invention mainly improves the structure of a constant resistance output device in exercise equipment such as a stretching exercise system, and the structure of other parts of the exercise equipment can be designed by referring to the structure of the existing product, for example, the structure disclosed in patent documents such as CN103830873A, CN204352447U and the like.
Example 1
Referring to fig. 1 to 3, the intelligent fitness system of the present invention comprises a control unit, a stretching belt 11, a stretching belt 12, a constant resistance output device and a tension sensor; in the present embodiment, the tension sensor is fixedly connected between the outer connecting end portion of the tension band 1 and the tension device, and a tension detection signal is outputted from a monitor for monitoring the tension of the tension band 1 to the control unit. The control unit comprises a processor and a memory, wherein the memory stores a computer program which, when executed by the processor, can control the relevant units to act so as to realize the control of the training process, at least comprises the steps of applying constant resistance to the stretching belts 11 and 12 and carrying out stepless adjustment on the constant resistance according to the requirement, and can retract the stretching belts according to a preset speed when a training person releases the stretching belts or reduces the stretching force to the stretching belts.
The constant resistance output device includes a belt transmission mechanism, a rotary drive motor 20, and a pressure adjusting device 3. The belt transmission mechanism comprises a driving pulley 40, a driving belt 41 and a driven pulley 42, wherein in the embodiment, the driving pulley 40 is sleeved on a rotor shaft 200 of the rotary driving motor 20 through a key slot mechanism, and can also be in transmission connection through a speed reduction mechanism; the driven pulley 42 is rotatably fitted to the support shaft 24 via the bearing 23. In the present embodiment, the pulley 21 for winding the tension belt 11 and the pulley 22 for winding the tension belt 12 are formed in an integral manner with the driving pulley 40, so that coaxial constant-speed rotation can be achieved, that is, the fixed connection portion between the two pulley portions constitutes the transmission mechanism in the present embodiment, so that the torque received by the driven pulley 41 is transmitted to the pulley 21 and the pulley 22 to output resistance to the tension belt 11 and the tension belt 12 or provide winding action wound onto the pulleys; in addition, the three components may be fixedly connected into a coaxial and constant-rotation-speed integrated structure through a fixed connecting piece such as a bolt, or sleeved on the same rotation shaft through a key slot structure to realize coaxial constant-speed rotation, that is, the fixed connecting piece such as the bolt, the key slot structure and the rotation shaft form a transmission mechanism in the embodiment, so that the torque received by the driven pulley 41 is transmitted to the pulley 21 and the pulley 22 to output resistance to the stretching belt 11 and the stretching belt 12 or provide winding action of winding on the pulleys.
The pressure adjusting device 3 includes a tensioning wheel 30 and a displacement output device 31 for adjusting the tensioning displacement of the tensioning wheel 30 to the driving belt 41, in this embodiment, the displacement output device is a linear displacement output device, and specifically includes a rotary driving motor 32, a guide rod 33 and a screw-nut mechanism, where the rotary driving motor 32 is used to drive the screw 34 of the screw-nut mechanism to rotate; the screw nut 36 is fixedly connected with the rotating shaft 35 of the tensioning wheel 30, and is provided with a guide hole 360 matched with the guide rod 33, and the tensioning wheel 30 is rotatably sleeved on the rotating shaft 35 through a bearing.
In operation, the rotary drive motor 20 drives the drive belt 41 through the drive belt pulley 40, and the tension force is applied to the drive belt 11 and the drive belt 12, so that the driven belt pulley 42 and the inner surface member of the drive belt 41 slip, i.e. have contact displacement, thereby generating a dynamic friction force between the drive belt 41 and the drive belt pulley 42, and the dynamic friction force is only related to the pre-compression force between the drive belt 41 and the driven belt pulley 42 and is irrelevant to the relative rotation speed of the drive belt 41 and the driven belt pulley, so that the torque applied by the drive belt 41 to the driven belt pulley is constant on the premise that the pre-compression force between the drive belt 41 and the driven belt pulley is kept constant, i.e. the belt pulleys 21 and 22 output constant resistance to the two tension belt 11 and the drive belt 12, and on the basis of the constant resistance can be adjusted by adjusting the position of the tension pulley 30 in the axial direction of the guide rod 33 through the displacement output device 31, and stepless adjustment of the constant resistance can be realized. That is, the pulleys 21, 22 constitute a rotatable resistance output wheel in the present embodiment, around which the tension bands 11, 12 are wound and to which the inner end portions are fixedly attached; the driven pulley 42 constitutes a rotatable friction wheel in the present embodiment, and the transmission belt 41 constitutes a friction member in the present embodiment, which has a friction face with the friction wheel; the pressure adjusting device is used for adjusting the pre-tightening pressure between the friction surface of the friction piece and the wheel periphery of the friction wheel; the rotary driving motor 20 and the driving pulley 40 constitute a rotary driving device in the present embodiment, which is configured to drive one of the friction wheel and the friction member to generate a contact displacement with respect to the other, and generate a kinetic friction force between the friction wheel and the friction member, specifically, to drive the driving belt to rotate with respect to the driven pulley 42, and the driven pulley 42 outputs a rotational moment based on the kinetic friction force to the constant resistance output wheel through the transmission mechanism, and the rotational moment is a constant rotational moment, and can be adjusted steplessly.
As shown in fig. 1 to 3, in order to prevent the problem of the belt 41 coming off the pulleys due to the variation of the tension during the transmission, an arc-shaped holding gusset 50 for holding the belt to the outside of the pulley set is disposed on both sides of the two pulleys.
The torque control method of the intelligent body-building system in the training process comprises the following steps that when a processor of the control unit executes a computer program stored in a memory of the processor, the processor can realize the following steps:
(1) The control unit controls the pressure regulating device to regulate the pre-tightening pressure between the driving belt 41 and the driven belt pulley 42 based on the tension detection signal and the control instruction output by the tension detection sensor, and the constant resistance output wheel outputs a target resistance moment; when the external reverse force applied to the constant resistance output member is greater than or equal to a preset threshold value, the rotary driving device drives the friction wheel and the transmission belt in the friction piece to generate contact displacement relative to the friction wheel, and a dynamic friction force is generated between the friction wheel and the friction surface of the friction piece; the preset threshold value is the maximum static friction force between the driven pulley and the driving belt, which can be overcome by the external reverse force, and the maximum static friction force is regulated by the pressure regulating device.
During training, the trainer pulls the tensile belts 11, 12 to provide a tensile force of value F, when the tensile force F is sufficient to overcome the maximum static friction force F between the driven pulley 42 and the driving belt 41, relative sliding occurs between the driving belt 41 and the pulleys, sliding starts from a small wrap angle, so that dynamic friction force exists between the driving belt and the driven pulley 42, the trainer starts to perform stretching movement, and during movement, the friction force is constant because the friction coefficient between the pulleys is constant and the tension force is also constant. Further, the belt transmission mechanism may be modified so that the belt 41 and the driven pulley are kept stationary, and the driving pulley 40 and the belt are displaced in contact with each other to generate a kinetic friction force.
(2) When the constant resistance output wheel winds the stretched tape 11, 12 until the difference between the winding length and the target value is smaller than the preset threshold value, the pressure adjusting means is controlled to decrease the pre-pressing pressure until the winding length is equal to the target value and smaller than the preset pressure threshold value.
After the trainer withdraws the tensile force F, the dynamic friction force F does not disappear, and the driving belt and the belt wheel are driven to realize synchronous rotation within a short period of time, so that the restoring force opposite to the direction F is realized, namely the stretching belt is retracted, and at the moment, the static friction force is formed between the belt wheel and the driving belt; in the embodiment, when the external force overcomes the maximum static friction between the friction wheel and the friction piece, the two will generate relative movement displacement to store dynamic friction, namely constant resistance can be provided for stretching in the stretching training process; when the external force cannot overcome the maximum static friction between the friction wheel and the friction piece, the friction wheel and the friction piece relatively remain static to generate static friction, and the static friction force also provides driving force for stretching and withdrawing, and the driving force is matched with the external force of the stretching strap 12; that is, when the external reverse force applied to the constant resistance output member is smaller than the preset threshold, in this embodiment, the external reverse force is the force transmitted to the pulley by the tensile force applied to the tension belt, the force direction is opposite to the direction of the constant resistance output by the present invention, and the constant resistance output member is driven to rotate based on the friction torque between the friction pulley and the friction member transmitted by the transmission mechanism, and in this embodiment, the tension belt is retracted to drive the pulley to rotate reversely.
In the process of recovering and winding the stretching belts 11, 12, a stop piece is arranged on the outer end part of the stretching belts so as to limit the recovery maximum length of the stretching belts, namely, the winding length has a target value, in order to avoid damage to the stretching belts due to too fast recovery, in the use process, when the constant resistance output wheels wind the stretching belts 11, 12 until the difference between the winding length and the target value is smaller than a preset threshold value, namely, the rest length, the pressure regulating device is controlled to reduce the pre-pressing force until the winding length is equal to the target value and smaller than the preset pressure threshold value, so that the driving belts can be always in a tensioning state, and simultaneously, a small resistance is provided for the stretching belts 11, 12, so that a basic resistance can be provided when a trainer pulls the stretching belts again.
The system outputs constant force through the overload protection capability of belt wheel transmission, and has the advantages that the motor works in a uniform speed state, so that the working condition of the motor is good, and high temperature cannot be generated. In consideration of the total energy flow direction of the power supply, the working condition of the motor is better than that in a low-speed state, the efficiency is higher, and the temperature generated by friction resistance at the belt wheel is only a part of the heating value of the motor operated at the original low speed.
In the process of adjusting the output resistance, a required training torque target is firstly set, required training tension is calculated, the required training tension is compared with the training tension detected by the tension sensor, the error is used as a position control instruction of the servo motor, the compensation of the pretightening force is realized, the tensioning force is further adjusted, the actual load torque is adjusted, and the closed-loop control is realized, so that the accurate control of the training torque is better realized.
In addition, after the tensile belt is recovered, wear can be reduced by adjusting the pre-tension pressure between the pulley and the drive belt to 0; during training, the rotary drive motor 20 is maintained at a constant speed. When training is suspended, the tension is controlled to be 0, and nonsensical friction consumption is prevented. When the system is shut down, the pretightening force is controlled to be 0, and the speed of the servo motor is reduced to be 0.
The technical problems mainly solved by the invention include the following three aspects:
(1) When the motor is used for generating electromagnetic resistance training, the motor efficiency is low and the heating is serious;
(2) The upper limb training of the human body belongs to reciprocating motion, and the training equipment can provide moment in two reciprocating directions so as to realize automatic reset;
(3) The upper limbs of the human body need to provide stable training moment in the training process so as to achieve good training effect;
(4) Intelligent training is realized, and the load moment is intelligent and controllable.
Example 2
As an explanation of embodiment 2 of the present invention, only the differences in the above-described embodiments will be explained below.
Referring to fig. 4 to 8, the friction member in the present embodiment is constructed by using a brake tile 60, and the rotary driving motor 20 directly drives the friction wheel 61 to rotate, i.e., the friction member is a brake tile 60 adapted to the outer circumferential surface of the friction wheel; the pressure adjusting device is a linear displacement output device 63, specifically, a screw-nut mechanism is adopted to cooperate with a rotary driving motor to output linear displacement, or a linear motor is directly adopted to construct, an arc chute 62 circumferentially arranged along the outer circumferential surface of the brake tile 60 is arranged on the outer circumferential surface of the brake tile 60, in this embodiment, the cross section of the arc chute 62 is in a dovetail structure, the mover 630 of the linear displacement output device 63 is in a dovetail structure, and the linear displacement output device can be slidably sleeved in the arc chute 62 along the arc chute 62.
The transmission mechanism arranged between the friction wheel 61 and the belt wheel 65 comprises a rotatable transmission wheel 66, a first internal gear transmission mechanism 67 and a second internal gear transmission mechanism 68 which are arranged in series transmission; as shown in fig. 7, the ring gear transmission mechanism includes an internal gear 71, an output gear 72 arranged coaxially with the internal gear 71, and a planetary gear 73 synchronously meshing with both; the transmission wheel 66 is fixedly connected with the first-stage internal gear in a coaxial rotation manner, namely, is fixedly connected with the internal gear on the first internal gear transmission mechanism 67 in a coaxial rotation manner, the final output gear is fixedly connected with the belt wheel 65 in a coaxial rotation manner, and the output gear of the first internal gear transmission mechanism 67 is fixedly connected with the internal gear of the second internal gear transmission mechanism 68 in a coaxial rotation manner through the transmission shaft 71 and the turntable 72; that is, the brake shoe 60 is fixedly connected with the output gear of the second ring gear transmission mechanism 68 in a coaxial rotation manner, so that the transmission wheel 66 rotates at a smaller rotation angle when the belt wheel 65 rotates for a plurality of circles through two-stage reduction transmission, and the brake shoe 60 and the transmission wheel can be fixedly connected to synchronously rotate, specifically, the brake shoe 60 can be slidably mounted on the wheel surface of the transmission wheel 66 along the radial direction of the transmission wheel 66; the pressure adjustment device is used to drive the brake tile 60 to reciprocate in the radial direction relative to the transfer wheel 66.
In this embodiment, when the tensile force of the tensile belt is greater than or equal to a preset threshold value, the rotation driving device drives the friction wheel to rotate relative to the brake tile, so as to generate a dynamic friction force between the friction wheel and the brake tile, and the dynamic friction force moment drives the belt wheel 65 to output a constant resistance moment through the transmission mechanism; and when the tension applied to the stretched belt is less than a preset threshold, the friction wheel can drive the belt wheel 65 to recover the stretched belt through the transmission mechanism.
The main conception of the invention is that an adjustable constant resistance output device based on friction force is arranged, so that continuous and stepless adjustable resistance can be provided, and the force control frequency response is high and the control algorithm is simple; according to the present concept, the structure of the friction member is not limited to the structure in the above embodiment, and the friction surface of the friction wheel is not limited to the wheel circumferential surface thereof, but may be a wheel end surface, the resistance output member may be a resistance output shaft, or the like; and a compression spring can be arranged on the pressure regulating device to set the pre-compression pressure as elastic pre-compression pressure.
Claims (6)
1. An intelligent body-building system comprises a control unit, a stretching belt, a constant resistance output device controlled by the control unit and a tension sensor for monitoring the tension of the stretching belt; the tension sensor outputs a tension detection signal to the control unit, and is characterized in that:
The constant resistance output device comprises a friction piece, a rotary driving device, a rotatable friction wheel, a rotatable constant resistance output wheel and a pressure regulating device; the pressure adjusting device is used for adjusting the pre-tightening pressure between the friction surface of the friction piece and the wheel circumference surface of the friction wheel, the stretching belt is wound on the constant resistance output wheel, and the inner end part of the stretching belt is fixedly connected to the constant resistance output wheel; the rotary driving device is at least used for driving one of the friction wheel and the friction piece to generate contact displacement sliding relative to the other friction wheel and the friction piece so as to generate a dynamic friction force between the friction wheel and the friction piece; the other one outputs a rotation moment based on the dynamic friction force to the constant-resistance output wheel through a transmission mechanism;
The control unit controls the pressure regulating device to regulate the pre-tightening pressure based on the tension detection signal and the control instruction until the constant resistance output wheel outputs a target resistance moment; when the constant resistance output wheel winds the stretching belt until the difference between the winding length and the target value is smaller than a preset threshold value, controlling the pressure regulating device to reduce the pre-tightening pressure until the winding length is equal to the target value and is smaller than a preset pressure threshold value;
The rotary driving device comprises a driving belt pulley and a rotary driving motor, wherein the driving belt pulley and the friction wheel form a group of belt pulley pairs, and the rotary driving motor is used for driving the driving belt pulley to rotate; the friction piece is a transmission belt which forms a belt transmission mechanism with the belt wheel pair; the constant resistance output wheel and the friction wheel are coaxially arranged, and the transmission mechanism is a fixed connecting piece or a fixed connecting part for fixedly connecting the constant resistance output wheel and the friction wheel; the pressure adjusting device comprises a tensioning wheel and a displacement output device, and the displacement output device is used for adjusting tensioning displacement of the tensioning wheel on the driving belt.
2. An intelligent body-building system comprises a control unit, a stretching belt, a constant resistance output device controlled by the control unit and a tension sensor for monitoring the tension of the stretching belt; the tension sensor outputs a tension detection signal to the control unit, and is characterized in that:
The constant resistance output device comprises a friction piece, a rotary driving device, a rotatable friction wheel, a rotatable constant resistance output wheel and a pressure regulating device; the pressure adjusting device is used for adjusting the pre-tightening pressure between the friction surface of the friction piece and the wheel circumference surface of the friction wheel, the stretching belt is wound on the constant resistance output wheel, and the inner end part of the stretching belt is fixedly connected to the constant resistance output wheel; the rotary driving device is at least used for driving one of the friction wheel and the friction piece to generate contact displacement sliding relative to the other friction wheel and the friction piece so as to generate a dynamic friction force between the friction wheel and the friction piece; the other one outputs a rotation moment based on the dynamic friction force to the constant-resistance output wheel through a transmission mechanism;
The control unit controls the pressure regulating device to regulate the pre-tightening pressure based on the tension detection signal and the control instruction until the constant resistance output wheel outputs a target resistance moment; when the constant resistance output wheel winds the stretching belt until the difference between the winding length and the target value is smaller than a preset threshold value, controlling the pressure regulating device to reduce the pre-tightening pressure until the winding length is equal to the target value and is smaller than a preset pressure threshold value;
the transmission mechanism comprises a rotatable transmission wheel and more than one group of internal meshing gear transmission mechanisms which are arranged in series transmission, and the internal meshing gear transmission mechanism comprises an internal gear, an output gear which is coaxially arranged with the internal gear and a planetary gear which is synchronously meshed with the internal gear; the transmission wheel is fixedly connected with the first-stage internal gear in a coaxial rotation manner, and the final-stage output gear is fixedly connected with the constant-resistance output wheel in a coaxial rotation manner;
The rotary driving device comprises a rotary driving motor for driving the friction wheel to rotate; the friction piece is a brake tile which is matched with the peripheral surface of the friction wheel, and the brake tile can be slidably arranged on the tread of the transmission wheel along the radial direction of the transmission wheel; the pressure regulating device is used for driving the brake tile to reciprocate along the radial direction relative to the transfer wheel.
3. The adjustable constant resistance output device is characterized by comprising a friction piece, a rotary driving device, a constant resistance output component, a pressure regulating device and a rotatable friction wheel; the pressure adjusting device is used for adjusting the pre-tightening pressure between the friction surface of the friction piece and the friction surface of the friction wheel;
The rotary driving device is at least used for driving one of the friction wheel and the friction piece to generate contact displacement sliding relative to the other friction wheel and the friction piece so as to generate a dynamic friction force between friction surfaces of the friction wheel and the friction piece; the other one outputs a moment based on the dynamic friction force to the constant resistance output member through a transmission mechanism;
the friction surface of the friction wheel is the wheel circumference surface;
The rotary driving device comprises a driving belt pulley and a rotary output device, wherein the driving belt pulley and the friction wheel form a group of belt pulley pairs, and the rotary output device is used for driving the driving belt pulley to rotate; the friction piece is a transmission belt which forms a belt transmission mechanism with the belt wheel pair; the pressure adjusting device comprises a tensioning wheel and a displacement output device, and the displacement output device is used for adjusting tensioning displacement of the tensioning wheel on the driving belt;
the constant resistance output member and the friction wheel are coaxially arranged, and the transmission mechanism is a fixed connector or a fixed connecting part for fixedly connecting the constant resistance output member and the friction wheel;
The constant resistance output device comprises a holding mechanism for holding the transmission belt outside the belt wheel in a sleeved mode;
the displacement output device is a linear displacement output device.
4. A constant resistance output device according to claim 3, wherein:
The constant resistance output component is a rotatable constant resistance output wheel or a constant resistance output shaft;
the rotary output of the rotary driving device is driven by a rotary driving motor;
the pre-tightening pressure is elastic pre-tightening pressure.
5. The adjustable constant resistance output device is characterized by comprising a friction piece, a rotary driving device, a constant resistance output component, a pressure regulating device and a rotatable friction wheel; the pressure adjusting device is used for adjusting the pre-tightening pressure between the friction surface of the friction piece and the friction surface of the friction wheel;
The rotary driving device is at least used for driving one of the friction wheel and the friction piece to generate contact displacement sliding relative to the other friction wheel and the friction piece so as to generate a dynamic friction force between friction surfaces of the friction wheel and the friction piece; the other one outputs a moment based on the dynamic friction force to the constant resistance output member through a transmission mechanism;
the friction surface of the friction wheel is the wheel circumference surface;
The rotary driving device is used for driving the friction wheel to rotate;
The transmission mechanism comprises a rotatable transmission wheel;
The friction piece is a brake tile which is matched with the peripheral surface of the friction wheel, and the brake tile can be slidably arranged on the tread of the transmission wheel along the radial direction of the transmission wheel; the pressure regulating device is used for driving the brake tile to reciprocate along the radial direction relative to the transfer wheel;
the transmission mechanism comprises more than one group of internal meshing gear transmission mechanisms which are arranged in series transmission, and the internal meshing gear transmission mechanism comprises an internal gear, an output gear which is coaxially arranged with the internal gear and a planetary gear which is synchronously meshed with the internal gear and the output gear; the transmission wheel is fixedly connected with the first-stage internal gear in a coaxial rotation manner, and the final-stage output gear is fixedly connected with the constant-resistance output member in a coaxial rotation manner;
The pressure regulating device comprises a linear displacement output device, an arc chute which is circumferentially arranged along the outer circumferential surface of the brake tile is arranged on the outer circumferential surface of the brake tile, and a rotor of the linear displacement output device can be slidably sleeved in the arc chute along the arc chute.
6. The constant resistance output device according to claim 5, wherein:
The constant resistance output component is a rotatable constant resistance output wheel or a constant resistance output shaft;
the rotary output of the rotary driving device is driven by a rotary driving motor;
the pre-tightening pressure is elastic pre-tightening pressure.
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| CN112370716B (en) * | 2020-11-27 | 2024-09-10 | 广州视源电子科技股份有限公司 | Spiral winding device of strength training machine and strength training machine |
| CN114904207B (en) * | 2021-02-10 | 2024-02-27 | 广州源动智慧体育科技有限公司 | Control method and device for strength training instrument and strength training instrument |
| CN113559457B (en) * | 2021-08-25 | 2024-07-26 | 李思萍 | Portable full-function real-time constant force training equipment |
| CN113797478B (en) * | 2021-10-14 | 2022-10-18 | 成都拟合未来科技有限公司 | Output force calibration method of strength type intelligent fitness equipment |
| CN115999109B (en) * | 2023-01-18 | 2024-10-11 | 燕山大学 | Hydraulic stretching device with adjustable resistance |
| CN115990332B (en) * | 2023-02-10 | 2025-06-20 | 乐歌人体工学科技股份有限公司 | Fitness chair resistance gear adjustment system and method based on nonlinear spring motor |
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| CN110090400A (en) * | 2019-05-30 | 2019-08-06 | 青岛鹰派克智能健身科技有限公司 | Magnetic control resistance type body-building bicycle |
| CN209361746U (en) * | 2018-10-08 | 2019-09-10 | 北京力动科技有限公司 | A kind of fitness equipment |
| CN212038768U (en) * | 2019-12-18 | 2020-12-01 | 辛普威智能科技(邳州)有限公司 | Intelligent fitness system and adjustable constant-resistance output device |
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| GB190217170A (en) * | 1902-08-02 | 1902-09-25 | Emil Alfred Wahlstroem | Pressure-regulating Device for Pumps. |
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| CN209361746U (en) * | 2018-10-08 | 2019-09-10 | 北京力动科技有限公司 | A kind of fitness equipment |
| CN110090400A (en) * | 2019-05-30 | 2019-08-06 | 青岛鹰派克智能健身科技有限公司 | Magnetic control resistance type body-building bicycle |
| CN212038768U (en) * | 2019-12-18 | 2020-12-01 | 辛普威智能科技(邳州)有限公司 | Intelligent fitness system and adjustable constant-resistance output device |
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