DE10319406A1 - Exercise apparatus has electro-or magnetorheological fluid controlled by valve to adjust resistance to piston movement caused by exercise - Google Patents

Abstract

The exercise apparatus has a variable damper (1) providing resistance for the exercise movement. The damper controls a pivoting movement of a lever and has a cylinder (7) with a sliding piston defining two working chambers (9,10). The chambers are filled with an electro-or magneto-rheological fluid. A control valve (3) uses an electrode-coil arrangement connected to the chambers to control, the fluid flow when the piston is moved by the lever.

Description

The invention relates to a resistance sensor to generate a variably adjustable damping one about an axis of rotation pivotably mounted element.

Training devices include resistance transmitters, the as elastic elements, weights, magnetic or electromagnetic Brakes (ergometer) or hydraulic elements can. With training equipment which are equipped with weights to generate the resistance, can only be worked in one direction during training, so that to train both the agonist and the antagonist two devices in a muscle group needed become. In the case of resistance transmitters, they are magnetic or electromagnetic Brakes are designed for power consumption / energy consumption very high. training equipment in which a hydraulic resistance sensor is integrated, the Resistance over hydraulic throttles can be adjusted by the built-in hydraulic elements a variety of moving parts that are subject to wear are. Furthermore, the control for setting a targeted Resistance consuming.

Object of the present invention it is a resistance transmitter of the type mentioned above to further develop that generated by means of the resistance sensor Resistance or damping can be adjusted continuously, in particular a variable damping adjustable depending on stroke and / or speed is.

This object is achieved in the claim 1 specified features solved.

The resistance transmitter includes a piston / cylinder arrangement and a valve based on electrorheological / magnetorheological Liquids. By using a magnetorheological and / or electrorheological liquid a fast response time can be achieved in the resistance transmitter because e.g. the electrorheological effect in the millisecond range expires and is reversible. The system shows little wear, because the valve can be realized without moving parts.

The invention takes advantage of the properties of electrorheological or magnetorheological liquids out. With such liquids are usually suspensions, i.e. in a carrier medium suspended solid particles that over the electric or magnetic field can be polarized. By An electrical field or magnetic field can act the viscosity of electrorheological or magnetorheological fluids can be set very quickly and reversibly over a wide range. With electrorheological fluids will do this an electrical control voltage for generation on electrode arrangements an electric field. In the resistance sensor according to the invention The resistance to be generated or the damping to be achieved can thus be achieved change the rheological properties of the fluid are variably adjusted become. about an electronic control unit can be the desired resistors or damping pretend and they can adjusted depending on stroke / speed / direction become. When using the resistance sensor in training devices the muscular strength of the exercising person e.g. via lever in the resistance transmitter initiated, or worked against the respectively acting resistance.

The resistance or damping can continuously adjustable in both directions. this will achieved by a mechatronic system consisting of a mechanical-hydraulic Rotary displacer, over the a moment is immediately initiated by means of a wave. The displaced electrorheological fluids (ERF) flows then through valve gaps formed in an electrorheological valve. About one Power supply, the valve is supplied with the electrical voltage, the for the freely adjustable "resistance" is desired.

The resistance transmitter according to the invention can also for targeted movement damping for swiveling stored elements such as doors, Flaps or the like can be used. Here is a compact one Construction achievable because the resistance sensor in the pivot point or Axis of rotation can be arranged. There are therefore no further elements for transmission the rotational movement on the elements to be pivoted.

The invention is described below of embodiments explained in more detail:

1 shows a sectional view of a resistance sensor 1 based on electrorheological fluids and / or magnetorheological fluids. The resistance giver 1 includes a rotary displacer 2 as well as an electrorheological valve 3 , The rotary displacer 2 consists of a rotary lobe 4 that one as a rotating shaft 5 formed middle part with a radially projecting wing 6 has, which is rotatable about the axis of rotation D in a housing 7 is stored. The rotating shaft 5 is at least one-sided for introducing a torque from the housing 7 led out liquid-tight. Instead of the rotating shaft, the introduction of the torque can also be implemented via driver flanges. The housing 7 points to the rotary piston 4 a cylindrical bore through a radially inwardly projecting housing web 8th (Locking rib) is interrupted.

Between rotary lobes 4 and housing 7 are two volume-variable working chambers through the arrangement described above 9 . 10 formed, which are referred to as the first and second working chamber. The working chambers 9 . 10 are each with an electrorheological fluid and / or magnetorheological fluid as the working fluid filled and each have a through hole made in the housing wall 11 . 12 for the working fluid. The hole 11 . 12 the first and the second working chamber 9 . 10 stand above the electrorheological valve 3 in connection with each other.

Valves for electrorheological fluids are, for example, from the DE-A 3808521 are known and are usually formed from coaxially arranged cylinder electrodes or from arrangements of parallel plates, between which the electrorheological fluid flows. The viscosity of the electrorheological fluid located between the electrodes and thus the flow resistance through the valve gap can be controlled by electrical voltage applied to the electrodes.

That with the in 1 resistance transmitter shown 1 used electrorheological valve 3 is designed as a double ring gap valve and consists of two concentrically arranged sleeves 13 . 14 by a tubular housing section connected to the housing 15 are surrounded. Between the inner surface of the housing section 15 and the outer surface of the outer sleeve 13 , A first annular gap R1 is formed, which extends over the entire axial length of the housing section, the delimiting lateral surfaces forming the electrode surfaces. Between the inner surface of the outer sleeve 13 and the outer surface of the inner sleeve 14 a second annular space R2 is formed, which extends over the entire axial length of the housing section, the lateral surfaces delimiting the second annular gap being designed as electrode surfaces. The inner surface of the inner sleeve 14 delimits a cylindrical space 16 , The outer sleeve 13 is designed as an electrically controllable electrode and has an electrical connection 17 , which is led out of the housing.

As can be seen from the sectional view, it is in the first working chamber 10 drilled hole 12 with the first and second annular gap R1, R2 in connection. The second working chamber 9 stands over the hole 11 with the cylindrical space 16 in connection. The ring gaps R1, R2 and the cylindrical space 16 are also filled with electrorheological fluid or magnetorheological fluid.

By introducing a torque via the rotating shaft r clockwise, the working fluid is turned by means of the rotary piston 4 from the second working chamber 9 through the hole 11 in the central cylindrical room 16 displaced and is then over in the lower end of the first and second sleeve 13 . 14 radial through holes 18 . 19 displaced into the first and second annular spaces R1, R2. The working fluid then flows through the annular spaces R1, R2 over the bore 12 in the first working chamber 10 , The above-described flow path of the working fluid when torque is applied clockwise is shown schematically by the arrows 20 shown. In the opposite direction of rotation, the working fluid is correspondingly from the first working chamber 10 through the ring gaps R1, R2, the cylindrical space 16 , in the second working chamber 9 repressed.

As already described above, the flow resistance of the electrorheological fluids and thus the pressure drop across the valve can be controlled continuously, so that the valve 3 represents an electrically adjustable choke.

It goes without saying that when using magnetorheological fluids instead of electrode arrangements coil arrangements for generating a magnetic field must be provided.

2 schematically shows one as an operating element 21 trained controller, a power supply connected to the controller 22 as well as the resistance generator 1 , On the rotating shaft led out of the housing there is an element which can be pivoted about the rotating axis D. 23 shown schematically. The element 23 can for example be designed as a door, flap, boom of a construction crane, or as a handle of a training device. When using the resistance sensor according to the invention in a training device, the exercising person can use the control element 21 Specify desired load targets. These are then used as setpoints for the power supply 22 fed and converted into signals via a connecting line 17 the electrode of the valve 3 controlled with the appropriate control energy for setting the electrical or magnetic field. About the application of the valve 3 With a predeterminable electrical voltage, variable resistances can now be set and thus a stepless variation (characteristic map) of mechanical power can be removed. The map width can be structurally determined via the valve length, which is then also a measure of the required electrical power of the power supply 22 is.

When using the resistance sensor in a training device, a resistance preset by the person training, which also depends on the speed or depending on the stroke can be variable, overcome during training by using muscle strength become.

When using the resistance sensor at the pivot point of doors, flaps and the like to be pivoted, can about a targeted control of the electrorheological / magnetorheological Valve an infinitely adjustable movement damping can be achieved.

The resistance giver 1 is equipped with sensors, whereby sensors for measuring kinetic and / or kinematic quantities can be used. In the example above, Signa le regarding direction of rotation and speed of the rotary displacer 2 are determined, these signals and the voltage applied to the valve gap R1, R2, as actual values of the control unit 21 to be led back.

Claims (1)

Resistance sensor ( 1 ) to generate a variably adjustable damping of an element which is mounted pivotably about an axis of rotation (D) ( 23 ), the resistance sensor ( 1 ) one in a cylinder housing ( 7 ) guided piston ( 4 ), the piston ( 4 ) in the cylinder housing ( 7 ) two variable working chambers ( 9 . 10 ) which are filled with electrorheological and / or magnetorheological fluid and which have a valve arrangement (via an electrically controllable electrode / coil arrangement) ( 3 ) are connected, whereby upon initiation of a rotary movement about the axis of rotation (D) a relative movement between piston ( 4 ) and cylinder ( 7 ) is effected and the pressure medium the valve arrangement ( 3 ) flows through.