CN106964104B - Numerical control damping source control method, device and system and fitness equipment - Google Patents
Numerical control damping source control method, device and system and fitness equipment Download PDFInfo
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- CN106964104B CN106964104B CN201710282728.1A CN201710282728A CN106964104B CN 106964104 B CN106964104 B CN 106964104B CN 201710282728 A CN201710282728 A CN 201710282728A CN 106964104 B CN106964104 B CN 106964104B
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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
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
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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
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
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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
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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Abstract
The invention discloses a numerical control damping source control method, which comprises the following steps: receiving a resistance parameter selection instruction input by a user; determining target resistance curve information by using a resistance parameter selection instruction; controlling a servo motor to output different torques at different rotor angles according to the target resistance curve information; wherein the torque output at the same rotor angle increases with increasing resistance parameter. Therefore, the corresponding resistance curve is determined according to the resistance parameter selected by the user, the servo motor is controlled to output different moments at different positions through the resistance curve, so that simulation of various loads is realized, the moments can change along with the change of the positions and change along with the change of the speed, and the problems of large inertia, incapability of changing the movement speed too fast, poor explosive force exercise effect and the like in the existing electric control are solved; the invention also discloses a numerical control damping source control device, a system and a body-building apparatus, which can also realize the technical effects.
Description
Technical Field
The invention relates to the technical field of numerical control damping sources, in particular to a method, a device and a system for controlling a numerical control damping source and body-building equipment.
Background
The existing fitness equipment adopts electric control, for example, a torque motor is used as a resistance source, but the inertia of the torque motor is large, the movement speed cannot be changed too fast, the explosive force exercise effect is poor, and the existing fitness equipment is easy to be injured, so that the force cannot be controlled, and the existing fitness equipment can only be used in a slow environment and is limited in use. In addition, when the resistance is selected through the fitness equipment, different resistances need to be selected manually, and the operation is complicated.
Therefore, how to solve the problems of large inertia, not too fast movement speed change, poor explosive force exercise effect and the like in the existing electric control, and the technical personnel in the field need to solve the problems.
Disclosure of Invention
The invention aims to provide a numerical control damping source control method, a numerical control damping source control device, a numerical control damping source control system and a body-building apparatus, and aims to solve the problems that the existing electric control is large in inertia, cannot change the movement speed too fast, and is poor in explosive force exercise effect.
In order to achieve the above purpose, the embodiment of the present invention provides the following technical solutions:
a method of numerically controlled damping source control, comprising:
receiving a resistance parameter selection instruction input by a user;
determining target resistance curve information by using the resistance parameter selection instruction; the torque in the target resistance curve information changes along with the change of the angle of the rotor of the servo motor;
controlling a servo motor to output different torques at different rotor angles according to the target resistance curve information; wherein the torque output at the same rotor angle increases with increasing resistance parameter.
Wherein, before receiving the resistance parameter selection instruction input by the user, the method further comprises:
receiving an exercise mode selection instruction input by a user; wherein, the target resistance curve information under different exercise modes corresponding to the same resistance parameter is different.
Wherein, the exercise mode selection instruction input by the user comprises: an adaptive mode selection command or a conventional force mode selection command.
Wherein before determining the target resistance curve information using the resistance parameter selection instruction, the method further comprises:
receiving identity information input by a user;
searching whether the exclusive resistance curve information corresponding to the identity information exists or not;
and if the target resistance curve information exists, taking the exclusive resistance curve information as the target resistance curve information.
A digitally controlled damping source control device comprising:
the resistance parameter instruction receiving module is used for receiving a resistance parameter selection instruction input by a user;
the resistance curve determining module is used for determining target resistance curve information by utilizing the resistance parameter selection instruction; the torque in the target resistance curve information changes along with the change of the angle of the rotor of the servo motor;
the control module is used for controlling the servo motor to output different torques at different rotor angles according to the target resistance curve information; wherein the torque output at the same rotor angle increases with increasing resistance parameter.
Wherein, this scheme still includes:
the exercise mode instruction receiving module is used for receiving an exercise mode selection instruction input by a user; wherein, the target resistance curve information under different exercise modes corresponding to the same resistance parameter is different.
Wherein, this scheme still includes:
the identity information acquisition module is used for receiving identity information input by a user;
the resistance curve determining module is used for searching whether the special resistance curve information corresponding to the identity information exists or not; and if the target resistance curve information exists, taking the exclusive resistance curve information as the target resistance curve information.
A numerical control damping source control system comprises a display device, a servo controller and a servo motor;
the display device is used for receiving a resistance parameter selection instruction input by a user;
the servo controller is used for determining target resistance curve information by using the resistance parameter selection instruction; controlling the servo motor to output different torques at different rotor angles according to the target resistance curve information; and the torque in the target resistance curve information changes along with the change of the rotor angle of the servo motor, and the torque output under the same rotor angle increases along with the increase of the resistance parameter.
The servo motor comprises a servo motor, a sensor and a controller, wherein the servo motor is used for driving the servo motor to rotate, and the sensor is also used for determining the origin position of the servo motor.
A body-building apparatus comprises the numerical control damping source control system.
According to the scheme, the numerical control damping source control method provided by the embodiment of the invention comprises the following steps: receiving a resistance parameter selection instruction input by a user; determining target resistance curve information by using the resistance parameter selection instruction; the torque in the target resistance curve information changes along with the change of the angle of the rotor of the servo motor; controlling a servo motor to output different torques at different rotor angles according to the target resistance curve information; wherein the torque output at the same rotor angle increases with increasing resistance parameter.
Therefore, in the scheme, the corresponding resistance curve can be determined according to the resistance parameter selected by the user, the servo motor is controlled to output different moments at different positions through the resistance curve, so that simulation of various loads is realized, the moment can change along with the change of the position and change along with the change of the speed, and the problems of large inertia, incapability of changing the movement speed too fast, poor explosive force exercise effect and the like in the existing electric control are solved; the invention also discloses a numerical control damping source control device, a system and a body-building apparatus, which can also realize the technical effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method for controlling a numerical control damping source according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a front kicking machine according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of resistance curves for different resistance parameters according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a numerical control damping source control device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a numerical control damping source control system disclosed in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a numerical control damping source control method, a numerical control damping source control device, a numerical control damping source control system and a body-building apparatus, and aims to solve the problems of large inertia, incapability of changing movement speed too fast, poor explosive force exercise effect and the like in the existing electric control.
Referring to fig. 1, a method for controlling a numerical control damping source provided in an embodiment of the present invention includes:
s101, receiving a resistance parameter selection instruction input by a user;
specifically, in this embodiment, the resistance parameters of different gears can be displayed on the display device of the fitness apparatus, and the user can trigger the resistance parameter selection instruction of different gears through the display device, for example: the resistance parameters of different grades are selected by a user, so that manual replacement is not needed, and the operation of the user is simplified.
S102, determining target resistance curve information by using the resistance parameter selection instruction; the torque in the target resistance curve information changes along with the change of the angle of the rotor of the servo motor;
s103, controlling a servo motor to output different torques at different rotor angles according to the target resistance curve information; wherein the torque output at the same rotor angle increases with increasing resistance parameter.
Specifically, in this embodiment, resistance curves corresponding to different fitness apparatuses can be set according to characteristics of the different fitness apparatuses, so that when a user uses the fitness apparatuses, the resistance curves of the fitness apparatuses can be determined by inputting resistance parameters on the fitness apparatuses; it should be noted that, in each resistance curve, the torque thereof changes with the change of the rotor angle of the servo motor, and the whole resistance curve translates along the torque axis with the difference of the resistance parameter, that is, under the same rotor angle, with the increase of the resistance parameter, the output torque thereof also correspondingly increases. Compared with the prior art in which a torque motor is used as a resistance source, the scheme adopts a servo motor with low inertia, adopts dsp digital control, provides an efficient numerical control load system, and overcomes the problems of large inertia, incapability of changing the movement speed too fast, poor explosive force exercise effect and the like in the prior art.
Based on the above embodiment, before receiving the resistance parameter selection instruction input by the user, the method further includes:
receiving an exercise mode selection instruction input by a user; the target resistance curve information under different exercise modes corresponding to the same resistance parameter is different; an exercise mode selection instruction input by a user, comprising: an adaptive mode selection command or a conventional force mode selection command.
Specifically, in the present embodiment, different resistance curves corresponding to different modes may be set, referring to fig. 2, in the present embodiment, a numerical control resistance source is applied to a front kicking machine for description; referring to fig. 2, the front kicker in the present embodiment includes: the controller stores resistance curves corresponding to different resistance parameters in different modes, and after a user determines a target resistance curve through the display equipment, the controller controls the servo motor to output corresponding torque by using the target resistance curve.
Specifically, for the former kicking leg machine as an example, the servo motor drives 2-stage speed reduction through a synchronous belt, the output shaft of the speed reducer is directly connected with the kicking leg FOAM frame of the former kicking leg, an origin sensor is arranged at the output shaft, and the system is mainly used for power-on reset. The system is powered on, the front kicking leg FOAM frame slowly returns under the drive of the servo motor, when the origin sensor is conducted, the system records the position of the front kicking leg FOAM frame at the moment, then the system automatically returns to the initial position, and the initial position is convenient for a user to get on and off the fitness equipment. In the present embodiment, two exercise modes are provided, namely: a normal power mode and an adaptive mode, wherein when the user is in position on the exercise apparatus, the user can select from the two exercise modes on the display device, and the system is powered on and defaults to the adaptive mode.
Specifically, in this embodiment, the adaptive mode is that the controller controls the servo motor to operate according to a set resistance curve, so that the servo motor swings back and forth at a set speed and within a set movement range, and at this time, the exerciser passively moves along with the kicking FOAM of the front kicking leg; it should be noted that, in this mode, the servo motor is in a speed control mode, and when the actual speed is different from the set speed, the system increases the torque, keeps the actual speed moving within a range with a small difference in the set speed, and can also display the magnitude of the actual force in real time through the display device. When the exerciser selects the conventional strength mode, the user presses a 'start' key, the controller slowly controls the torque of the servo motor according to the resistance curve, the servo motor always applies force to rotate towards one direction, when the exerciser kicks legs forwards, the servo motor passively moves along with the exerciser, but when the exerciser returns, the servo motor pulls the exerciser to move, and the torque curves of the front kicking legs and the returning legs can be controlled respectively.
Referring to fig. 3, a resistance curve diagram of different resistance parameters in a conventional force mode provided in this embodiment shows that the torque of the servo motor is different according to the position, increase and decrease of the resistance parameter may cause the entire resistance curve to translate along the torque axis, and increase of the specific resistance parameter may cause the resistance curve to translate along the torque axis; in addition, the resistance curve forms of different fitness equipment in the scheme are different, and the resistance curve forms are written in the servo controller through setting, so that the equipment does not need to change the radius of the rope wheel, the mechanical structure is simple, and the existing load mode is well replaced.
Based on the above embodiment, before determining the target resistance curve information by using the resistance parameter selection instruction, the method further includes:
receiving identity information input by a user;
searching whether the exclusive resistance curve information corresponding to the identity information exists or not;
and if the target resistance curve information exists, taking the exclusive resistance curve information as the target resistance curve information.
Specifically, in this embodiment, the user can customize the resistance curve of the sports apparatus after registering; when the user uses the sports equipment again, firstly, the identity information of the user is input, and if the user has a specific resistance curve set by the user before, the specific resistance curve set by the user can be used as the resistance curve used for the exercise; if the user does not set a specific resistance curve, the default resistance curve is used as the resistance curve used at this time.
In the following, the numerical control damping source control device provided by the embodiment of the present invention is introduced, and the numerical control damping source control device described below and the numerical control damping source control method described above may be referred to each other.
Referring to fig. 4, an embodiment of the present invention provides a numerical control damping source control apparatus, including:
a resistance parameter instruction receiving module 110, configured to receive a resistance parameter selection instruction input by a user;
a resistance curve determination module 120 for determining target resistance curve information using the resistance parameter selection instruction; the torque in the target resistance curve information changes along with the change of the angle of the rotor of the servo motor;
the control module 130 is used for controlling the servo motor to output different torques at different rotor angles according to the target resistance curve information; wherein the torque output at the same rotor angle increases with increasing resistance parameter.
Based on the above embodiment, the scheme further includes:
the exercise mode instruction receiving module is used for receiving an exercise mode selection instruction input by a user; wherein, the target resistance curve information under different exercise modes corresponding to the same resistance parameter is different.
Based on the above embodiment, the scheme further includes:
the identity information acquisition module is used for receiving identity information input by a user;
the resistance curve determining module is used for searching whether the special resistance curve information corresponding to the identity information exists or not; and if the target resistance curve information exists, taking the exclusive resistance curve information as the target resistance curve information.
Referring to fig. 5, a numerical control damping source control system provided in an embodiment of the present invention includes a display device 210, a servo controller 220, and a servo motor 230;
the display device is used for receiving a resistance parameter selection instruction input by a user;
the servo controller is used for determining target resistance curve information by using the resistance parameter selection instruction; controlling the servo motor to output different torques at different rotor angles according to the target resistance curve information; and the torque in the target resistance curve information changes along with the change of the rotor angle of the servo motor, and the torque output under the same rotor angle increases along with the increase of the resistance parameter.
Based on the above embodiments, the present embodiment further includes a sensor 240 for determining the origin position of the servo motor.
The embodiment of the invention also provides fitness equipment which comprises the numerical control damping source control system in the embodiment.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A numerical control damping source control method is characterized in that a servo motor with low inertia is adopted, dsp digital control is adopted, and the numerical control damping source control method comprises the following steps:
receiving a resistance parameter selection instruction input by a user; wherein the resistance parameter selection instruction is: after the resistance parameters of different gears are displayed on the display equipment of the fitness equipment, a user selects an instruction through the resistance parameters of different gears triggered by the display equipment;
determining target resistance curve information by using the resistance parameter selection instruction; the torque in the target resistance curve information changes along with the change of the angle of the rotor of the servo motor;
controlling a servo motor to output different torques at different rotor angles according to the target resistance curve information; wherein, the torque output under the same rotor angle is increased along with the increase of the resistance parameter;
wherein, before receiving the resistance parameter selection instruction input by the user, the method further comprises: receiving an exercise mode selection instruction input by a user; the target resistance curve information under different exercise modes corresponding to the same resistance parameter is different; the exercise mode includes a normal power mode and an adaptive mode.
2. The digitally controlled damping source control method of claim 1, wherein prior to determining target resistance curve information using said resistance parameter selection command, further comprising:
receiving identity information input by a user;
searching whether the exclusive resistance curve information corresponding to the identity information exists or not;
and if the target resistance curve information exists, taking the exclusive resistance curve information as the target resistance curve information.
3. A numerical control damping source control device is characterized in that a servo motor with low inertia is adopted, dsp digital control is adopted, and the numerical control damping source control device comprises:
the resistance parameter instruction receiving module is used for receiving a resistance parameter selection instruction input by a user; wherein the resistance parameter selection instruction is: after the resistance parameters of different gears are displayed on the display equipment of the fitness equipment, a user selects an instruction through the resistance parameters of different gears triggered by the display equipment;
the resistance curve determining module is used for determining target resistance curve information by utilizing the resistance parameter selection instruction; the torque in the target resistance curve information changes along with the change of the angle of the rotor of the servo motor;
the control module is used for controlling the servo motor to output different torques at different rotor angles according to the target resistance curve information; wherein, the torque output under the same rotor angle is increased along with the increase of the resistance parameter;
the exercise mode instruction receiving module is used for receiving an exercise mode selection instruction input by a user; the target resistance curve information under different exercise modes corresponding to the same resistance parameter is different; the exercise mode includes a normal power mode and an adaptive mode.
4. The digitally controlled damping source control device of claim 3, further comprising:
the identity information acquisition module is used for receiving identity information input by a user;
the resistance curve determining module is used for searching whether the special resistance curve information corresponding to the identity information exists or not; and if the target resistance curve information exists, taking the exclusive resistance curve information as the target resistance curve information.
5. A numerical control damping source control system is characterized by comprising a display device, a servo controller and a servo motor; the servo motor is a low-inertia servo motor and is digitally controlled by a dsp;
the display device is used for receiving a resistance parameter selection instruction input by a user; wherein the resistance parameter selection instruction is: after the resistance parameters of different gears are displayed on the display equipment of the fitness equipment, a user selects an instruction through the resistance parameters of different gears triggered by the display equipment;
the servo controller is used for determining target resistance curve information by using the resistance parameter selection instruction; controlling the servo motor to output different torques at different rotor angles according to the target resistance curve information; the torque in the target resistance curve information changes along with the change of the rotor angle of the servo motor, and the torque output under the same rotor angle increases along with the increase of the resistance parameter; the exercise mode selection device is also used for receiving an exercise mode selection instruction input by a user; the target resistance curve information under different exercise modes corresponding to the same resistance parameter is different; the exercise mode includes a normal power mode and an adaptive mode.
6. The digitally controlled damping source control system according to claim 5, further comprising a sensor for determining a position of origin of said servo motor.
7. An exercise apparatus comprising a digitally controlled damping source control system according to claim 5 or 6.
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| CN108322132A (en) * | 2018-04-03 | 2018-07-24 | 夏擎华 | A kind of servo motor torque control system in exercise rehabilitation equipment and control method |
| CN110270048A (en) * | 2019-01-22 | 2019-09-24 | 深圳市若腾科技有限公司 | Novel body building load model and its body-building load device |
| CN111960308B (en) * | 2020-08-25 | 2022-11-08 | 广州视源电子科技股份有限公司 | Rope control method and device, force instrument equipment and storage medium |
| CN112044018A (en) * | 2020-09-11 | 2020-12-08 | 成都拟合未来科技有限公司 | Motor-based strength training equipment adjusting method and device |
| CN112057795A (en) * | 2020-09-11 | 2020-12-11 | 成都拟合未来科技有限公司 | Novel strength training apparatus |
| CN113750445A (en) * | 2021-09-08 | 2021-12-07 | 中国科学院理化技术研究所 | Counterweight control method, control device and counterweight device |
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| CN1883730B (en) * | 2005-06-24 | 2010-06-23 | 上海科技馆 | Resistance adjustment device of bicycle simulated equipment and method thereof |
| TWI458521B (en) * | 2012-10-19 | 2014-11-01 | Ind Tech Res Inst | Smart bike and operation method thereof |
| CN103706078B (en) * | 2013-12-20 | 2015-10-28 | 武汉体育学院 | A kind of body-building apparatus magnetic powder power twister special for resistance source |
| CN205234877U (en) * | 2015-12-03 | 2016-05-18 | 重庆优乃特医疗器械有限责任公司 | Intelligence limbs trainer |
| CN205730166U (en) * | 2016-03-16 | 2016-11-30 | 李鸿 | A kind of body-building equipment |
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