CN116672649A - Robot for detecting and guiding body-building actions - Google Patents

Abstract

The invention relates to the technical field of fitness equipment, in particular to a fitness action detection guiding robot, which comprises a frame, wherein a space for performing fitness actions is enclosed by the frame, a cross bar is slidably arranged on the vertical direction of the frame, a constant resistance unit which is connected with the cross bar and is used for increasing static load to the cross bar through applying unidirectional rotation resistance is arranged at the bottom of the frame, a reset device for pulling down the cross bar is arranged in the constant resistance unit, a hovering unit for controlling the cross bar to hover safely is arranged on the frame, and a data processing unit for indirectly detecting the force time and the force amplitude of the weightlifting actions is arranged on the frame. According to the invention, the structure that linear motion is converted into rotary motion is arranged on the cross bar, and the constant resistance unit is arranged on the rotary motion structure, so that simulation of core strength training of body-building actions is realized, and the constant resistance unit only applies unidirectional static load to the cross bar, thereby avoiding risks of pulling or crushing a user of the cross bar.

Description

A fitness action detection and guidance robot

technical field

The invention relates to the technical field of fitness equipment, in particular to a fitness action detection and guidance robot.

Background technique

Fitness action detection and guidance robot is a kind of fitness auxiliary equipment combined with intelligent sensor technology and computer control technology. It detects and corrects the fitness actions of novice users through various sensors, computer algorithms and other technologies, and at the same time provides corresponding guidance and feedback. , can get rid of the dependence on professional trainers to achieve more scientific, accurate and convenient fitness training.

At present, the mainstream fitness action detection and guidance robot mainly detects the movement state of the user's limbs by fixing infrared cameras, gyroscopes, acceleration sensors and other equipment on the user's body, and obtains the frequency and amplitude data of the movement state of the limbs through the sensors. , combined with computer algorithms, guides the user's fitness actions so that the user can carry out more scientific and targeted fitness training. Because the infrared camera, gyroscope, acceleration sensor and other detection equipment can only detect the movement state of the user's limbs, but cannot detect the strength and force time, it is only suitable for light basic fitness training, and has limited guiding significance for core strength training.

Although the movement state of the limbs can be used as a guiding reference for core strength training such as weightlifting and bench press through algorithms, it cannot provide real-time feedback on the data of force exertion and force exertion time in the core strength training of the user. Therefore, the core strength in fitness activities Training help is limited. Another solution is to fix equipment such as gyroscopes and acceleration sensors on fitness equipment such as barbells and constant force tensioners, and monitor the movement status of fitness equipment in real time, such as position change parameters, the frequency and Amplitude data, combined with computer algorithms, guides the user's fitness actions, which can improve the accuracy of the data to a certain extent, but this method has certain security risks. When pushing, if the movement is incorrect, the training volume is too large, or the strength and speed are not properly controlled, there will be some sudden injuries such as stress injury of skeletal muscles or cramps caused by excessive accumulation of lactic acid caused by anaerobic exercise, which will further Increase the risk of the barbell losing control and injuring the user.

Therefore, the present invention provides a body-building action detection and guidance robot, which can reduce the risk of injury of the user while improving the accuracy of body-building action force detection, and improve the safety of body-building core strength training.

Contents of the invention

The object of the present invention is to provide a kind of body-building action detection guiding robot, by setting the horizontal bar that simulates the vertical movement of lifting the barbell, setting the structure that the linear motion is transformed into rotary motion on the horizontal bar, setting on the structure that the rotary motion occurs The constant resistance unit that applies one-way static load to the horizontal bar realizes the simulation of core strength training for fitness movements, because the constant resistance unit only applies one-way static load to the horizontal bar and cannot drive the horizontal bar, and avoids constant resistance at the same time Risk of straining or crushing the user of the bar by the unit.

The present invention provides following specific scheme:

It includes: a frame, the frame is surrounded by a space for fitness exercises, a horizontal bar is slidably installed in the vertical direction of the frame, and a horizontal bar connected with the horizontal bar is provided at the bottom of the frame by applying one-way rotation resistance to the horizontal bar. The bar increases the static load of the constant resistance unit, the constant resistance unit is provided with a reset device for pulling down the bar, the frame is provided with a hovering unit for controlling the bar to hover safely, and the frame is provided with A data processing unit for indirect detection of force exertion time and force exertion range in weightlifting action coordinated with a constant resistance unit.

The frame, used to support the entire structure, is made of high-strength thermoformed steel to prevent deformation of the frame during fitness training. The most important exercises in core strength training are bench press and weightlifting. Both bench press and weightlifting require the use of barbells. The grip part used for core strength training is used to simulate the lever in the barbell in order to ensure the uniformity of training habits and prevent users from being injured. The levers are set exactly the same, and the constant resistance unit is used to simulate the load of the barbell plate. Therefore, compared with the non-constant resistance unit that is positively related to the displacement stroke imposed by springs and elastic tapes, it can most simulate the barbell in bench press and weightlifting. Load, the one-way application force of the constant resistance unit is to enable the user to drive the horizontal bar in one direction when simulating bench press and weightlifting movements, because the constant resistance unit only applies a one-way static load to the horizontal bar and cannot drive the horizontal bar. When the user stops applying force to the horizontal bar, the constant resistance unit will not apply force to the horizontal bar, so that the user will not receive the applied force from the constant resistance unit. Further, the hovering unit can When the horizontal bar is applying force, the horizontal bar is safely hovered at the position where the user stops applying force to the horizontal bar, so that the horizontal bar will not fall due to gravity and hurt the user, and it is also convenient to accurately determine the user's last movement position.

The data processing unit is used to record the data of the constant resistance unit, such as the force time and force frequency of the constant resistance unit, and guide the user's fitness actions through the algorithm processing of the background computing core, so that the user can perform more scientific and targeted exercises. Sexual fitness training. The data processing unit also includes a signal input unit, such as a microphone, a touch control panel, and keys, as well as a signal output device, such as a display, a sound system, and an indicator light. The digital hardware is the same as the existing fitness auxiliary equipment, so it will not be repeated here.

The constant resistance unit includes two gear boxes symmetrically installed on both sides of the bottom of the frame, each of which is rotatably installed with a set of reduction gears consisting of a worm wheel and a worm, and each of the worms is wound with a The pull rope fixedly connected with the horizontal bar, the rotating shaft of the worm wheel is connected with a reversible motor through the force transmission mechanism, the reversible motor is electrically connected with the data processing unit, and the worm is equipped with a mechanical device to prevent the worm speed from exceeding the set value. rev limiter.

Since the fitness movements of bench press and weightlifting are characterized by low speed and heavy load, and fitness equipment should not occupy too much space, the single-stage transmission of the worm gear has the characteristics of large speed ratio, large torque, high overload capacity, stable operation, and low noise. It is most suitable for torque transmission in low-speed and heavy-load strength training. The reversible motor is used to provide rotational resistance to the worm, thereby providing linear resistance to the linear displacement of the bar, simulating the load of the barbell in bench press and weightlifting. Compared with linear resistance, rotational resistance is easier to record and it is better to control and adjust the magnitude of resistance. The data processing unit only needs to record the resistance of the current reversible motor, and detect the rotation speed and rotation time of the reversible motor at the same time, so as to calculate the force exertion time and magnitude of the current user's core strength training under the current load.

Compared with sources of frictional rotational resistance such as friction plates, the reversible motor can be switched to a motor for external work by changing the connection and cooperation relationship between the stator and the rotor, or it can be switched to a generator that converts the torque of the external force on the rotating shaft into electrical energy. Changing the current value of its coil to change its magnetic moment can realize the adjustment of the resistance of the rotating load, that is, the adjustment of the upward push resistance of the horizontal bar. Further, when the reversible motor is switched to the generator state, it is only necessary to detect the generator The current, voltage, frequency and other parameters of the generator can be converted through the processing algorithm of the data processing unit to obtain the user's force training time and force range. Generally speaking, the output voltage and magnetic flux of the generator, the number of coil turns and The rotation speed is directly proportional to the coil length and cross-sectional area, load current and magnetic flux density. The output current of the generator is directly proportional to the load resistance and inversely proportional to the output voltage and magnetic flux. The output frequency of the generator is directly proportional to the rotation speed and inversely proportional to the magnetic field strength. For this reason, a set of sensors for detecting data can be saved. The force transmission mechanism can be connected by a coupling or meshed with gears. At the same time, the reversible motor can be switched to When the motor is in the state, it can be used as the drive source of the reset device, which can save a set of independent drive sources for the reset device, optimize the space layout of the equipment, and reduce the cost of equipment at the same time.

The reset device includes a one-way meshing transmission mechanism arranged in the gearbox, and the one-way meshing transmission mechanism simultaneously engages the reversible motor with the worm wheel and the worm screw for one-way transmission torque.

The one-way meshing transmission mechanism can be realized by mechanical ratchet and electromagnetic control torque. The specific ratchet or electromagnetic force direction is set as follows: when the reversible motor is switched to the generator state, the reversible motor and worm gear in the generator state do not directly generate torque transmission at this time. Torque transmission occurs between the worm gear and the worm, and torque transmission occurs between the worm and the reversible motor in the generator state; when the reversible motor switches to the motor state, the reversible motor and the worm gear in the motor state generate direct torque transmission, and torque transmission occurs between the worm gear and the worm, and the worm No torque transmission takes place with reversible motors in generator state. The resetting device can also be a structure in which the worm reverses through a clutch cooperating with a planetary wheel or an idler wheel, but more gears and control structures need to be added, and the manufacturing cost is higher.

The hovering unit includes a constant force coil spring installed on the top of the frame and connected by a safety rope and the bearing rotating block, and the pulling force of the constant force coil spring is equal to the sum of the gravity of the bearing rotating block and the horizontal bar. When the user stops applying force to the horizontal bar, the constant force coil spring will safely hover the horizontal bar at the position where the user stops applying force to the horizontal bar. The horizontal bar will not fall due to gravity and hurt the user, and it is also convenient and accurate The last movement position of the user, at the same time, because the constant force coil spring continues to apply upward force to wind up the safety rope, it can avoid the interference of the safety rope being pressed by the bearing rotating block below when it moves upward, and can ensure that when the horizontal bar is pulled upward stability, to avoid load jumps due to the force interference of the safety rope, the hovering unit can also be an electric hoist with a torque limiter, when an electric hoist is used, the torque limit of the torque limiter is the bearing rotation The sum of the block gravity and the torque of the horizontal bar on the hoist shaft.

The mechanical speed limiter includes a housing fixedly installed in the gearbox, the shaft of the worm passes through the housing, and the area where the worm is located in the housing is evenly equipped with a plurality of telescopic claws that limit centrifugal movement by tension springs. The periphery of the telescopic claw is provided with a speed-limiting ring gear with the same tooth shape as the telescopic claw. Between the outer ring of the speed-limiting ring gear and the inner wall of the housing, there are multiple sets of concave-convex relative mutual limit limit blocks. A tension spring is arranged between the limit blocks.

The mechanical speed limiter is to prevent the user from spraining due to excessive force. Within the set value of the worm speed, due to the existence of the tension spring, the telescopic claw is pulled and limited to one end of the worm without contacting the speed limiting ring gear, while the horizontal bar When the speed of the worm driven upwards is too fast, the telescopic claws on the worm move to the side away from the worm under centrifugal action, and the telescopic claws touch the speed-limiting ring gear and then engage with each other to achieve locking, and then drive the speed-limiting ring gear relative to the shell. To overcome the rotation of the extension spring tension, at the same time, multiple sets of concavo-convex relative limit blocks can not only be used to install the extension spring, but also can realize the rotation angle limit of the speed-limiting ring gear relative to the shell. When two adjacent limit blocks When in contact, the worm, the ring gear and the casing can no longer realize the rotation caused by the upward movement of the horizontal bar, thereby locking the horizontal bar.

When the horizontal bar moves upwards too fast, the extension spring is used to exert force on it to realize the deceleration warning, and the limit block realizes the limit lock, thereby preventing the user from exerting force too fast and causing sprains.

The vertical part of the frame is provided with a C-shaped chute, the horizontal bar is a symmetrical crankshaft, and the two ends of the crankshaft are rotated by a limit shaft to install a round cake-shaped bearing rotating block, and the rotation angle of the horizontal bar is vertical 180° in the direction, the upper and lower ends of the bearing rotating block are respectively connected with the safety rope and the tension rope, and the bearing rotating block is clamped in the C-shaped chute.

The C-shaped chute can bear radial and axial loads, and the clamping fit with the rotating block of the disc-shaped bearing naturally has the performance of locking and limiting, and can bear axial and radial loads. Compared with other sliding structures, in During low-speed and heavy-load strength training, the C-shaped chute can maintain reliable connection strength and stability. The crank part of the crankshaft can be relatively locked in the C-shaped chute to rotate the bearing rotating block. On the one hand, in order to further simulate core strength training In order to allow the user to provide a certain range of motion for the muscles and joints that are exerting force during the strength training process, and to prevent the user from being injured due to continuous exertion of force in fixed movements, the rotation angle of the horizontal bar is vertical The 180° in the vertical direction prevents the user from over-rotating the crank part of the crankshaft during use and causing strain due to backward leaning, which realizes further simulation of core strength training for fitness movements.

Angular contact ball bearings that can rotate relative to the C-shaped chute are provided on the outer surfaces of the axial sides of each of the bearing rotating blocks, and the angular contact ball bearings and the horizontal bar are installed on the bearing rotating blocks. The parts are coaxially installed, and each angular contact ball bearing is provided with a chamfer on the side away from the bearing rotating block. Angular contact ball bearings can bear both axial load and radial load. When an upward force is applied to the horizontal bar during strength training, the verticality of the force cannot be guaranteed under the characteristics of human muscle movement, that is, the C-shaped chute may frequently contact with the horizontal bar. The contact friction in various aspects occurs on the bearing rotating block, and the angular contact ball bearing on the outer surface of the side of the bearing rotating block can reduce the friction between the C-shaped chute and the bearing rotating block. The load bearing capacity of this kind of bearing is relatively small. When installing, it must be ensured that the centerlines of the inner and outer rings of the bearing coincide with the axis to reduce the occurrence of offset loads and avoid affecting the service life of the bearing. On the one hand, chamfering can reduce the bearing edge The contact pressure with the C-type chute avoids stress concentration damage to the bearing or the inner wall of the C-type chute. At the same time, because the angular contact ball bearing can bear both axial load and radial load, the design of the chamfer can make both sides of the bar Provide guiding force when the force is uneven, quickly transfer the offset load on the horizontal bar to the radial surface of the bearing and the C-shaped chute, and quickly rotate the offset load on the horizontal bar through the bearing to achieve fast leveling of the torque on the horizontal bar , improve the smoothness of the movement of the bar in the C-shaped chute, and avoid muscle strain caused by stress.

The surface of the rotating shaft of the worm is provided with a spiral groove that matches the pull rope, and each of the gear boxes is provided with an elastic guide wheel that matches the direction of rotation of the groove, and the direction of the elastic force of the guide wheel is consistent with The axis of the worm is parallel and points to the direction in which the tension rope breaks away from the worm.

The elastic guide wheel can cooperate with the spiral groove to realize that the tension rope is evenly wound and arranged along the spiral groove on the surface of the shaft of the worm. into the spiral groove to prevent the tension ropes from being squeezed and rubbed against each other during winding. On the one hand, the service life of the tension ropes is improved; When pulling out, there will be no mutual extrusion between the tension ropes, and the horizontal bar can remain stable when pulled upwards, avoiding load jumps due to frictional extrusion.

Compared with prior art, the beneficial effect of the present invention is:

1. The present invention simulates the vertical movement of lifting the barbell by arranging a horizontal bar, arranging on the horizontal bar a structure in which the linear motion is converted into a rotary motion, and setting a constant unidirectional resistance load applied to the horizontal bar on the structure of the rotary motion. The resistance unit replaces the load of the barbell to realize the simulation of core strength training for fitness movements. The constant resistance unit only applies a one-way static load to the bar and cannot drive the bar, and at the same time avoids the constant resistance unit from harming the bar user risk and improve the safety of fitness movements.

2. The switch between resistance and power is realized through the reversible motor. By controlling and adjusting the coil current value of the reversible motor in the generator state to change its magnetic moment, the resistance of the rotating load can be adjusted to realize the setting of the pulling resistance of the horizontal bar. At the same time It also realizes the automatic recovery of the protruding horizontal bar. Only by detecting the current, voltage, frequency and other parameters of the reversible motor in the state of the generator, it can be converted to obtain the user's force training time and force range, and optimize The structural layout of the present invention is improved, and the use cost of the present invention is reduced.

3. Set a hovering unit on the horizontal bar, cooperate with an adjustable constant resistance unit and a one-way meshing transmission mechanism. The constant resistance unit only applies a one-way static load to the horizontal bar and cannot drive the horizontal bar. The hovering unit continues to control the horizontal bar. Apply an upward pulling force equal to the weight of the horizontal bar. When the user stops applying force to the horizontal bar, the constant force coil spring will safely hover the horizontal bar at the position where the user stops applying force to the horizontal bar, and the horizontal bar will not fall under gravity And harm the user, further improved the security of body-building action.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Figure 2 is a schematic diagram of the connection between the horizontal bar and the front of the bearing rotating block;

Figure 3 is a schematic diagram of the connection between the horizontal bar and the back of the bearing rotating block;

Fig. 4 is a structural diagram of the horizontal bar, the bearing rotating block and the angular contact ball bearing;

Fig. 5 is a diagram of the internal motion state of the gearbox when pulling out the tension rope;

Figure 6 is a diagram of the internal motion state of the gearbox when the tension rope is retracted;

Fig. 7 is a non-locking state diagram of the telescopic claw and the speed limiting ring gear;

Fig. 8 is a diagram of the locking state of the telescopic claw and the speed limiting ring gear.

Among the figure: 1, frame; 101, C-shaped chute; 2, horizontal bar; 201, bearing rotating block; 202, angular contact ball bearing; 3, constant force coil spring; 4, gear box; 401, worm; 402, Worm wheel; 403, cone wheel one; 404, cone wheel two; 405, gear one; 406, gear two; 407, elastic guide wheel; 408, spiral groove; 5, tension rope; 6, safety rope; 7, reversible motor ; 8, mechanical speed limiter; 801, shell; 802, extension spring two; 9, telescopic claw; 901, extension spring one; 10, speed limiting ring gear.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. The embodiments described below are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In some embodiments, the frame 1, the C-shaped chute 101, the horizontal bar 2, the bearing rotating block 201, the angular contact ball bearing 202, the constant force coil spring 3, the safety rope 6, and the tension rope can be arranged with reference to FIGS. 1 to 4 5 and constant force coil spring 3, wherein frame 1 both sides is provided with the C-type chute 101 of Q345A material that opening is opposite, and frame 1 both sides top is provided with tension bar connection and guarantees that both sides C-type chute 101 keeps vertical equidistant. Both the safety rope 6 and the tension rope 5 can be made of wear-resistant nylon to ensure quietness and durability. The bearing rotating block 201 is set in the shape of a round cake and embedded in the C-shaped chute 101, and the two ends of the crank-shaped horizontal bar 2 with a diameter of 28 mm are inserted into the opening of the C-shaped chute 101, and are respectively installed in the C-shaped chute on both sides. The bearing rotating block 201 in 101 is rotationally connected, and angular contact ball bearings 202 are installed on both axial sides of the bearing rotating block 201. The diameter of the angular contact ball bearing 202 is larger than that of the bearing rotating block 201, that is, a structure approximately "concave" is formed. . A constant force coil spring 3 is arranged on the top of both sides of the frame 1, and the tension end of the constant force coil spring 3 is connected with the top of the bearing rotating block 201 by a safety rope 6. The sum of the gravity of the block 201 and the angular contact ball bearing 202.

In some embodiments, the gear box 4 and other components installed inside it can be set with reference to FIGS. Circle the tension rope 5, and one end of the tension rope 5 is connected with the bottom of the bearing rotating block 201, the worm wheel 402 meshed with the worm 401 is rotated in the gear box 4, and the worm wheel 402 is coaxially equipped with a bevel wheel 403, and the gear box 4 is provided with Double-headed reversible motor 7, the reversible motor 7 one end rotating shaft is equipped with bevel wheel 1 403 engaged bevel wheel 2 404, and reversible motor 7 other end rotating shaft is installed with gear 2 406 engaged gear 1 405, wherein gear 1 405 and bevel wheel Two 404 are one-way ratchet gears.

In some embodiments: when the user performs core strength weightlifting exercise, the data processing unit inputs the lifted weight, and the data processing unit is automatically set according to the transmission ratio of the worm gear 402, the worm 401, the first cone wheel 403 and the second cone wheel 404 The electric current parameter of reversible motor 7, for example the user sets weight-lifting load as 100Kg, and the transmission ratio of worm screw 401 to worm gear 402 is 5 to 1, and the transmission efficiency of worm gear 402 and worm screw 401 is 60%. The transmission ratio is 1 to 2, and the user inputs a load requirement of 100Kg through the signal input unit, and the calculation module in the data processing unit converts the rotational resistance of the reversible motor 7 into 100kg*5/2*0.6=150kg.

In some embodiments: according to the weight-lifting load that has been set to carry out the training of body-building action, the user needs to hold the horizontal bar 2 with both hands in the front as with the barbell, and the feet and knees are separated at least as wide as the shoulders or take a fairly wide step forward and backward. In the posture of tilting the body or squatting down, stretching out the chest and buttocks, the hands and the core muscles of the trunk begin to exert force, as shown in Figure 1, gradually pull out the horizontal bar 2, and at this time the crank part of the crankshaft can be relatively locked Connected to the C-shaped chute 101, the bearing rotating block 201 rotates relative to each other. When the crankshaft is subjected to a force in a non-vertical direction, the angular contact ball bearing 202 follows the force and collides with the inner wall of the C-shaped chute 101. Referring to Figure 4, due to The angular contact ball bearing 202 can bear both axial load and radial load. Since the diameter of the angular contact ball bearing 202 is larger than that of the bearing rotating block 201, the angular contact ball bearing 202 will preferentially contact the C-shaped chute 101 at this time. Friction, so it will quickly and smoothly guide various non-vertical upward component forces into vertical upward resultant force, reduce the jamming of the crankshaft and the C-shaped chute 101, and make the process of the forearm exerting force more in line with muscle development. With the ergonomics of force, the user can maintain a stable and smooth force and reduce the risk of muscle strain.

Referring to Figure 5, as the user continues to exert force, the safety rope 6 is gradually pulled upwards. At this time, the safety rope 6 drives the worm 401 to rotate counterclockwise as shown in Figure 5, and the worm 401 drives the worm wheel 402 to rotate counterclockwise as shown in Figure 5. Then the first cone wheel 403 rotates counterclockwise following the worm wheel 402. At this time, since the parameters of the reversible motor 7 have been set in advance, the reversible motor 7 at this time provides the direction of R1 to the second cone wheel 404 as shown in Figure 5. As the user continues to exert force, the reversible motor 7 moves in the direction of S1 and generates current. The one-way ratchet locking engagement direction of the cone wheel 2 404 transmits torque to the rotating shaft of the reversible motor 7 when rotating in the direction of S1. The one-way ratchet locking meshing direction of gear one 405 is slipping when rotating in the S1 direction, and the torque will not be transmitted to the reversible motor 7 shaft. At this time, gear one 405 and gear two 406 do not transmit torque, and the worm 401 The gear two 406 that drives the coaxial rotation does not interfere with the gear one 405 driven by the reversible motor 7 . Since the reversible motor 7 moves in the S1 direction to generate current, when the current, voltage, frequency and other data are transmitted to the calculation module in the data processing unit, the calculation module can convert the user's strength training through the processing algorithm of the data processing unit. The exertion time and force amplitude are based on these data to formulate a fitness action guide that is more in line with the user. When the horizontal bar 2 moves upward, the length of the safety rope 6 has a margin. Winding.

5 and 7, in some embodiments, in order to prevent the worm 401 from rotating too fast, a mechanical speed limiter 8 is provided on the shaft of the worm 401. A specific embodiment is: multiple speed limiters are evenly distributed on the shaft of the worm 401. A slidable telescopic claw 9 whose movement direction is radially parallel to the worm 401, the telescopic claw 9 can be made of round steel with a tip pointing to the centrifugal direction of the worm 401, and the telescopic claw 9 is slidably installed on the diameter of the worm 401 In the direction, the speed-limiting ring gear 10 can be made of a ring gear with multiple centripetal tips, and a tension spring 901 is arranged between the telescopic claw 9 and the worm 401 to lock the telescopic claw 9 until it is not in contact with the speed-limiting gear. When the horizontal bar 2 drives the worm 401 to rotate too fast, referring to Figure 8, the telescopic claw 9 on the worm 401 moves to the side away from the worm 401 under centrifugal action, and the telescopic claw 9 touches the limit After that, the speed-limiting ring gear 10 engages with each other to realize locking, and then drives the speed-limiting ring gear 10 to rotate relative to the housing 801 to overcome the tension of the tension spring 2 802. The spring can also realize the rotation angle limitation of the speed-limiting ring gear 10 relative to the housing 801. When two adjacent limit blocks are in contact, the worm 401, the speed-limiting ring gear 10 and the housing 801 can no longer realize the upward movement of the horizontal bar 2. The rotation of the horizontal bar 2 is further locked to avoid the rapid rotation of the worm 401, thereby preventing the user from exerting force too fast and causing sprains.

Referring to Fig. 6, in some embodiments, after the user pulls the horizontal bar 2 to the top to complete a push movement, it is necessary to reset the horizontal bar 2 at the high position downwards, and at this time, input a downward reset command to the data processing unit , then the reversible motor 7 switches to the motor state at this time. Referring to Figure 6, the reversible motor 7 rotates in the S2 direction at this time, and the gear 1 405 and the gear 2 406 can transmit torque at this time, and the one-way ratchet of the bevel wheel 2 404 is locked. When the meshing direction is S2, no torque will be transmitted to the rotating shaft of the reversible motor 7. At this time, the reversible motor 7 only works externally through the gear one 405. At this time, the gear two 406 is generated under the action of the gear one 405 as shown in Figure 6. Clockwise movement, the corresponding clockwise movement of the worm 401 coaxial with the gear 2 406, so that the pull rope 5 is pulled down and rewound. When the worm 401 winds the pull rope, the elastic guide wheel 407 provides a small amount of guiding force to the pull rope to guide the pull. The rope 5 falls into the spiral groove 408 accurately, and the elastic guide wheel 407 can be realized by setting a slotted guide wheel on the free end of the elastic telescopic rod fixedly installed on the inner wall of the gear box 4. Clockwise rotation in Fig. 6, the cone wheel 1 403 moves clockwise, because the one-way ratchet locking engagement direction of the cone wheel 2 404 is S2 direction, it will not transmit torque to the reversible motor 7 rotating shaft, this time by the worm gear The cone wheel one 403 driven by 402 coaxially rotates and the cone wheel two 404 driven by the reversible motor 7 does not interfere.

Referring to Fig. 4 and Fig. 5, in some embodiments, during core strength training, the user pulls the bar 2 to the top, and when the training needs to be stopped due to physical discomfort or other emergencies, the user can directly let go and stop the bar 2. The applied force of the bar 2, because the resistance is the magnetic moment from the reversible motor 7, and the one-way transmission of the worm wheel 402 and the worm 401 makes the inertia generated by the reversible motor 7 unable to be directly transmitted to the worm 401. The mechanical inertia of the motor 7 is injured. At this time, the mechanical inertia suffered by the user is only the elastic potential energy caused by the elastic deformation of the tension rope 5. Since the tension rope 5 is made of wear-resistant nylon material, it has good strength and poor elasticity. , so the elastic potential energy accumulated by the tension rope 5 can be ignored.

Referring to Fig. 4 and Fig. 5, in some embodiments, during core strength training, the user pulls the bar 2 to the top, and when the training needs to be stopped due to physical discomfort or other emergencies, the user can directly let go and stop the bar 2. The force exerted by the lever 2, and the one-way transmission between the worm wheel 402 and the worm screw 401 prevents the inertia generated by the reversible motor 7 from being directly transmitted to the worm screw 401. At this time, the user will not be injured by the mechanical inertia of the reversible motor 7, But at the same time, the horizontal bar 2, the bearing rotating block 201 and the angular contact ball bearing 202 will move downward under the action of gravity, which may crush the user. , the tension end of the constant force coil spring 3 and the top of the bearing rotating block 201 are connected by a safety rope 6, and the sum of the pulling forces of the two constant force coil springs 3 is equal to the sum of the gravity of the horizontal bar 2, the bearing rotating block 201 and the angular contact ball bearing 202, Now because the reversible motor 7 no longer produces pulling force to the pull rope 5, then the horizontal bar 2, the bearing rotating block 201 and the angular contact ball bearing 202 are only affected by their own gravity, so far the pulling force of the two constant force coil springs 3 will be the horizontal bar 2 , The bearing rotating block 201 and the angular contact ball bearing 202 hover at the position where the user stops applying force, and the horizontal bar 2, the bearing rotating block 201 and the angular contact ball bearing 202 will not fall and hurt the user.

The various specific technical features and various embodiments described in the specific implementation manners can be combined in any suitable manner if there is no contradiction. For example, different specific technical features/embodiments/implementations can be combined to form different In order to avoid unnecessary repetition, various possible combinations of specific technical features/embodiments/implementations in the present invention will not be further described.

Claims (8)

1. A body-building action detection and guidance robot, is characterized in that, comprises: frame (1), described frame (1) surrounds and is provided with the space that is used for carrying out body-building action, described frame (1) is vertically slidably installed with A horizontal bar (2), the bottom of the frame (1) is provided with a constant resistance unit connected to the horizontal bar (2) to increase the static load on the horizontal bar (2) by applying unidirectional rotational resistance, the constant resistance unit There is a reset device for pulling down the bar (2), the frame (1) is provided with a hovering unit for controlling the bar (2) to hover safely, and the frame (1) is provided with a constant resistance The data processing unit used to indirectly detect the time and range of force exerted by the weightlifting action matched with the unit. 2. A kind of body-building action detection guidance robot according to claim 1, is characterized in that: described constant resistance unit comprises two gear boxes (4) that are symmetrically installed on frame (1) bottom both sides, each described A group of reduction gears consisting of worm gears (402) and worms (401) are rotated inside the gearbox (4), and each worm (401) is wound with a tension rope fixedly connected with the horizontal bar (2). (5), the rotating shaft of the worm wheel (402) is connected with a reversible motor (7) through a force transmission mechanism, and the reversible motor (7) is electrically connected with the data processing unit, and the worm (401) is provided with a preventing worm (401) Mechanical speed limiter (8) for speed exceeding the set value. 3. A fitness action detection and guidance robot according to claim 2, characterized in that: the reset device includes a one-way meshing transmission mechanism arranged on the rotating shaft of the reversible motor (7), and the one-way meshing transmission mechanism simultaneously The reversible motor (7) is engaged with the worm gear (402) and the worm (401) to transmit torque in one direction. The reversible motor (7) and the worm gear (402) in the machine state do not directly generate torque transmission, the worm gear (402) and the worm (401) generate torque transmission, and the worm (401) and the reversible motor (7) in the generator state generate torque transmission; When the reversible motor (7) is switched to the motor state, the reversible motor (7) and the worm wheel (402) in the motor state now produce direct torque transmission, and the worm wheel (402) and the worm (401) generate torque transmission, and the worm (401) and The reversible motor (7) in the generator state does not transmit torque. 4. A kind of body-building action detection guidance robot according to claim 2, is characterized in that: described hovering unit comprises and is installed on frame (1) top and is fixedly connected by safety rope (6) and horizontal bar (2). The constant force coil spring (3), the tensile force of the constant force coil spring (3) is equal to the sum of the gravity of the bearing rotating block (201) and the horizontal bar (2). 5. A kind of body-building action detection guidance robot according to claim 2, is characterized in that: described mechanical speed limiter (8) comprises the shell (801) that is fixedly installed in the gear case (4), and described worm ( The rotating shaft of 401) passes through the casing (801), and the area of the worm (401) located in the casing (801) is evenly equipped with a plurality of telescopic claws (9) that are restricted from centrifugal movement by tension springs 1 (901). A speed-limiting ring gear (10) with the same tooth shape as the telescopic claw (9) is provided on the periphery of the telescopic claw (9), and multiple gears are arranged between the outer ring of the speed-limiting A set of concavo-convex mutually limited limit blocks, each set of limit blocks is provided with a tension spring two (802). 6. A fitness action detection and guidance robot according to claim 2, characterized in that: the vertical part of the frame (1) is provided with a C-shaped chute (101), and the horizontal bar (2) is a symmetrical crankshaft , the two ends of the crankshaft are rotated with a round pie-shaped bearing rotating block (201), the rotation angle of the horizontal bar (2) is 180° in the vertical direction, and the upper and lower ends of the bearing rotating block (201) are respectively connected to the safety The rope (6) is connected with the tension rope (5), and the bearing rotating block (201) is clamped in the C-shaped chute (101). 7. A kind of body-building movement detection guidance robot according to claim 6, is characterized in that: each described bearing rotating block (201) is provided with C-shaped chute ( 101) Angular contact ball bearings (202) that undergo relative rotation, the angular contact ball bearings (202) and the bar (2) are coaxially installed on the bearing rotating block (201), each of the angular contact The side of the ball bearing (202) away from the bearing rotating block (201) is provided with chamfers. 8. A kind of body-building action detection guidance robot according to claim 2, it is characterized in that: the surface of the rotating shaft of described worm (401) is provided with the helical groove (408) that cooperates with tension rope (5), every time Each of the gear boxes (4) is provided with an elastic guide wheel (407) that matches the direction of rotation of the groove, and the direction of the elastic force of the guide wheel is parallel to the axis of the worm (401) and points to the tension rope (5) to break away. Worm (401) direction.