CN110812777A - Intelligent fitness system and adjustable constant-resistance output device - Google Patents
Intelligent fitness system and adjustable constant-resistance output device Download PDFInfo
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- CN110812777A CN110812777A CN201911305282.5A CN201911305282A CN110812777A CN 110812777 A CN110812777 A CN 110812777A CN 201911305282 A CN201911305282 A CN 201911305282A CN 110812777 A CN110812777 A CN 110812777A
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- 230000005540 biological transmission Effects 0.000 claims description 103
- 230000007246 mechanism Effects 0.000 claims description 53
- 238000006073 displacement reaction Methods 0.000 claims description 39
- 230000002093 peripheral effect Effects 0.000 claims description 11
- 238000012546 transfer Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 3
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- 238000005299 abrasion Methods 0.000 description 1
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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 fitness system and an adjustable constant-resistance output device, and belongs to the technical field of fitness equipment. The intelligent fitness 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 adjusting device to adjust the pre-tightening pressure based on the tension detection signal and the control instruction until the constant-resistance output wheel outputs a target resistance torque; and 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 the preset pressure threshold value. The constant-resistance output device can provide continuous and adjustable constant-resistance output, has high force control frequency response and simple control algorithm, is safe to use, and can be widely applied to the field of manufacturing of fitness 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 a common body-building device, a constant force output device generally provides a force source required by stretching, a traditional constant force output device generally comprises a balancing weight, a pulley and a guide rail, the constant force output provided by the traditional constant force output device is generally in direct proportion to the mass of the balancing weight, in the using process, the specification or the number of the balancing weight needs to be manually changed to achieve the purpose of changing the output constant force, the purpose of continuously adjusting the output constant force cannot be achieved, and the purpose of continuously adjusting the output constant force can only be achieved in a stepped mode.
Along with the increase of the body-building requirement and the improvement of the living standard, the constant force output device can automatically adjust the output constant force required by the equipment function requirement, and the control precision requirement of the training force is higher.
In order to solve the above technical problems, a patent document with publication number CN104707294A discloses an air pressure stepless adjustable constant resistance damper for fitness equipment, which changes the ratio of the main and auxiliary force arms through an eccentric movable pulley to correct the pressure change generated by the volume change in the enclosed cavity with variable volume to output constant resistance; however, the constant force is not a real constant force, and there is a large error that varies with the training retraining stroke and the current gas pressure, and when the reciprocating training stroke is large, the eccentricity required to offset the pressure generated by the gas compression is larger, which makes it more difficult to design and manufacture.
Patent document No. CN205850085U discloses a damping cylinder for fitness equipment, which adjusts the size of a valve port of a hydraulic circuit through a damping adjusting valve, can realize the adjustment of the size of hydraulic damping, and has a simple and practical structure; but has the following disadvantages: the hydraulic viscosity coefficient is easily influenced by temperature and the like, the resistance is not linear with a valve port, and the more important point is that the resistance is related to the speed, and when the speed is zero, the hydraulic cylinder can not provide force, so the resistance is only suitable for occasions with speed during training such as running and outbreak, and is not suitable for the training of slow upper limb stretching, weight lifting and the like which need static holding force.
In addition, the prior art also provides an adjustable resistance output based on electromagnetic resistance, which is divided into passive and active. The passive method is characterized in that a magnetic induction principle is utilized, a flywheel is placed in a magnetic field, the flywheel cuts the magnetic field to generate eddy current at a certain speed, and the eddy current generates resistance in the magnetic field; such passive methods cannot quantitatively adjust the resistance, and the resistance is different at different speeds, so that it is difficult to achieve constant resistance output and to determine the actual effect of training. In the active method, a load torque is provided by a motor, for example, in a damping motor structure disclosed in patent document CN109011332A, the motor operates in a low-speed operating state during the stretching training, the back electromotive force is almost 0, the heat generation is serious, a cooling device is required, and inconvenience is brought to use and maintenance.
Disclosure of Invention
The invention mainly aims to provide an intelligent fitness system, so that a constant resistance output device can provide continuously adjustable constant resistance output, 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 above-described intelligent fitness system.
In order to achieve the main purpose, the intelligent fitness 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 pre-tightening pressure between the friction surface of the friction piece and the wheel peripheral surface 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 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 one, and dynamic friction force is generated between the friction wheel and the friction piece; the other outputs a rotating torque based on the dynamic friction force to the constant-resistance output wheel through the transmission mechanism; the control unit controls the pressure adjusting device to adjust the pre-tightening pressure based on the tension detection signal and the control instruction until the constant-resistance output wheel outputs a target resistance torque; and 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 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-tightening pressure 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-tightening pressure, the force control frequency response is effectively improved, and the control algorithm is simple; the force can be well and continuously adjusted, so that the constant-resistance output device can be subjected to stepless regulation and control; in addition, because the rotational speed of rotary driving device can not cause the influence to the output of this constant resistance, can carry out the rotational speed according to the work efficiency of the device and adjust, for example choose for use when the motor constructs rotary driving device to obtain higher work efficiency and ensure work safety. In addition, the control method is simple and convenient to realize, the tension force of the stretching belt during the tail process is effectively reduced, and the stretching belt and the tension sensor are prevented from being damaged.
The specific scheme is that the rotary driving device comprises a driving belt wheel and a rotary driving motor, wherein the driving belt wheel and a friction wheel form a group of belt wheel pairs; the friction piece is a transmission belt with a transmission mechanism formed by the friction piece and 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 the tensioning displacement of the tensioning wheel to the transmission belt.
The friction wheel is constructed by adopting the driven belt wheel in the belt transmission mechanism, and the friction piece is constructed by adopting the transmission belt, so that the pressure adjusting device can be constructed by utilizing the existing mechanism structure and the existing transmission belt tension adjusting mechanism, and the design difficulty and the manufacturing cost are reduced.
The transmission mechanism comprises a rotatable transmission wheel and more than one group of internal gear transmission mechanisms which are in serial transmission arrangement, wherein each internal gear transmission mechanism comprises an internal gear, an output gear which is coaxially arranged with the internal gear and a planet gear which is synchronously meshed with the internal gear and the output gear; the transmission wheel is coaxially and rotationally fixedly connected with the first-stage inner gear, and the final-stage output gear is coaxially and rotationally fixedly connected with the constant-resistance output wheel; the rotary driving device comprises a rotary driving motor for driving the friction wheel to rotate; the friction piece is a brake tile matched with the peripheral surface of the friction wheel, and the brake tile can be arranged on the wheel surface of the transfer wheel in a sliding manner along the radial direction of the transfer wheel; the pressure adjusting device is used for driving the brake tile to reciprocate along the radial direction relative to the transmission wheel.
The rotation driving device is at least used for driving one of the friction wheel and the friction piece to generate contact type displacement relative to the other when the external reverse force applied to the constant resistance force output member 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 force output by the constant resistance force output device.
The further scheme is that the rotary driving device is used for driving the constant-resistance output component to rotate based on the friction torque 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 invention provides an adjustable constant-resistance output device, which comprises a friction piece, a rotary driving device, a resistance output component, a pressure adjusting 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 one, and dynamic friction force is generated between the friction wheel and the friction surface of the friction piece; the other outputs a torque based on the kinetic 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-tightening pressure 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-tightening pressure, the force control frequency response is effectively improved, and the control algorithm is simple; the force can be well and continuously adjusted, so that the constant-resistance output device can be subjected to stepless regulation and control; in addition, because the rotational speed of rotary driving device can not cause the influence to the output of this constant resistance, can carry out the rotational speed according to the work efficiency of the device and adjust, for example choose for use when the motor constructs rotary driving device to obtain higher work efficiency and ensure work safety.
The friction surface of the friction wheel is the wheel peripheral surface.
The more specific scheme is that the rotary driving device comprises a driving belt wheel and rotary output equipment, wherein the driving belt wheel and a friction wheel form a group of belt wheel pairs; the friction piece is a transmission belt with a transmission mechanism formed by the friction piece and 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 the tensioning displacement of the tensioning wheel to the transmission belt.
The further scheme is that the constant resistance output member 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 member and the friction wheel; the constant-resistance output device comprises a holding mechanism for holding the transmission belt to the outside of the sleeved 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 matched with the peripheral surface of the friction wheel, and the brake tile can be arranged on the wheel surface of the transfer wheel in a sliding manner along the radial direction of the transfer wheel; the pressure adjusting device is used for driving the brake tile to reciprocate along the radial direction relative to the transmission wheel.
The transmission mechanism comprises more than one group of internal gear transmission mechanisms which are in serial transmission arrangement, and each internal gear transmission mechanism comprises an internal gear, an output gear which is coaxially arranged with the internal gear and a planet gear which is synchronously meshed with the internal gear and the output gear; the transmission wheel is coaxially and rotationally fixedly connected with the first-stage inner gear, and the final-stage output gear is coaxially and rotationally fixedly connected with the constant-resistance output member; the pressure adjusting device comprises a linear displacement output device, an arc-shaped sliding groove is formed in the peripheral face of the brake tile in the circumferential direction of the brake tile, and a rotor of the linear displacement output device can be sleeved in the arc-shaped sliding groove in a sliding mode along the arc-shaped sliding groove.
The preferable proposal is that the resistance output component is a rotatable resistance output wheel or a resistance output shaft; the rotary output of the rotary driving device is driven by a rotary driving motor, so that the working efficiency and the working safety of the rotary driving device can be better balanced; 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 tension band in embodiment 1 of the present invention;
FIG. 2 is a perspective view of the constant resistance force output device and the tension band of example 1 of the present invention, from a different perspective from that shown in the figure;
fig. 3 is an exploded view of the constant resistance output device and the tension band according to embodiment 1 of the present invention;
FIG. 4 is a perspective view of a constant resistance output device and a tension band in example 2 of the present invention;
FIG. 5 is a perspective view of a constant resistance output device and a tension band in a structure different from that shown in FIG. 4 according to example 2 of the present invention;
fig. 6 is an exploded view of the constant resistance output device and the tension band according to embodiment 2 of the present invention;
fig. 7 is a perspective view of a ring gear transmission mechanism in embodiment 2 of the present invention;
fig. 8 is an exploded view of the constant resistance output device and the tension band of embodiment 2 of the present invention, with the tension band, the constant resistance output wheel, and the first stage ring gear transmission omitted.
Detailed Description
The invention is further illustrated by the following examples and figures.
The present invention is mainly to improve 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 with reference to the structure of the existing product, for example, as disclosed in patent documents such as patent publication No. CN103830873A and patent publication No. CN 204352447U.
Example 1
Referring to fig. 1 to 3, the intelligent fitness system of the 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 external connection end portion of the tension belt 1 and the tension device, and is used for monitoring the tension of the tension belt 1 and outputting a tension detection signal to the control unit. The control unit comprises a processor and a memory, a computer program is stored in the memory, and when being executed by the processor, the computer program can control the action of the relevant units 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 steplessly adjusting the constant resistance according to requirements, and can retract the stretching belts according to a preset speed when the training personnel releases the stretching belts or reduces the stretching force to the stretching belts.
The constant resistance output device comprises a belt transmission mechanism, a rotary driving motor 20 and a pressure adjusting device 3. The belt transmission mechanism includes a driving pulley 40, a transmission belt 41 and a driven pulley 42, in this embodiment, the driving pulley 40 is sleeved on the rotor shaft 200 of the rotary driving motor 20 through a spline mechanism, or is in transmission connection through a speed reduction mechanism; the driven pulley 42 is rotatably fitted around the support shaft 24 via the bearing 23. In the present embodiment, the pulley 21 for winding the tensile belt 11 and the pulley 22 for winding the tensile belt 12 are formed integrally with the driving pulley 40 so as to be rotatable coaxially at a constant speed, i.e., 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 tensile belt 11 and the tensile belt 12 or to provide a winding action to the pulleys; in addition, the three parts can also be fixedly connected into an integrated structure which is coaxial and rotates at the same rotating speed through fixed connecting parts such as bolts and the like, and can also be sleeved on the same rotating shaft through a key groove structure to realize coaxial constant-speed rotation, namely the fixed connecting parts such as bolts and the key groove structure and the rotating shaft form a transmission mechanism in the embodiment, so that the torque received by the driven belt wheel 41 is transmitted to the belt wheel 21 and the belt wheel 22, and the output resistance of the stretching belt 11 and the stretching belt 12 or the winding action of the stretching belt 11 and the stretching belt 12 on the belt wheel.
The pressure adjusting device 3 comprises a tension wheel 30 and a displacement output device 31 for adjusting the tension displacement of the tension wheel 30 on the transmission belt 41, in this embodiment, the displacement output device is a linear displacement output device, and specifically comprises a rotary driving motor 32, a guide rod 33 and a screw-nut mechanism, and the rotary driving motor 32 is used for driving a screw 34 of the screw-nut mechanism to rotate; the lead screw nut 36 is fixedly connected with the rotating shaft 35 of the tension wheel 30 and is provided with a guide hole 360 matched with the guide rod 33, and the tension wheel 30 is rotatably sleeved on the rotating shaft 35 through a bearing.
During operation, the rotary drive motor 20 drives the transmission belt 41 to rotate via the driving pulley 40, as the tension of the tension belts 11, 12 is applied, the driven pulley 42 slips with the inner surface member of the transmission belt 41, i.e., there is a contact-type displacement, so that a dynamic friction force is generated therebetween, which is related only to the preload pressure between the transmission belt 41 and the driven pulley 42, irrespective of the relative rotational speeds thereof, therefore, on the premise that the pretightening force between the driving belt and the driven pulley is kept constant, the torque applied by the driving belt 41 to the driven pulley is also constant, that is, the pulleys 21, 22 output constant resistance to the two stretching belts 11, 12, and based on this, the constant resistance can be adjusted by adjusting the position of the tension pulley 30 in the axial direction of the guide rod 33 by the displacement output device 31, since the displacement can be adjusted steplessly, the constant resistance can also be adjusted steplessly. That is, the belt wheels 21 and 22 constitute the rotatable resistance output wheel in the embodiment, the stretching belts 11 and 12 are wound on the resistance output wheel, and the inner end parts are fixedly connected to the resistance output wheel; 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 surface facing the friction wheel; the pressure adjusting device is used for adjusting pre-tightening pressure between the friction surface of the friction piece and the wheel peripheral surface of the friction wheel; the rotary driving motor 20 and the driving pulley 40 form a rotary driving device in this embodiment, and are configured to drive one of the friction wheel and the friction member to generate a contact displacement relative to the other, so as to generate a dynamic friction force between the friction wheel and the friction member, specifically, to drive the transmission belt to rotate relative to the driven pulley 42, and the driven pulley 42 outputs a rotation torque based on the dynamic friction force to the constant-resistance output wheel through the transmission mechanism, and the rotation torque is a constant rotation torque and can be adjusted steplessly.
As shown in fig. 1 to 3, in order to prevent the problem that the driving belt 41 is disengaged from the pulleys due to a change in tension during the driving, arc-shaped holding gussets 50 for holding the driving belt to the outside of the nested pulleys are respectively disposed at both sides of the two pulleys.
The moment control method of the intelligent fitness system in the training process comprises the following steps that when a processor of a control unit executes a computer program stored in a memory of the control unit, the following steps can be realized:
(1) the control unit controls the pressure adjusting device to adjust the pre-tightening pressure between the transmission belt 41 and the driven pulley 42 based on the tension detection signal and the control instruction output by the tension detection sensor until the constant-resistance output wheel outputs a target resistance torque; when the external reverse force applied to the constant-resistance force 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; wherein the preset threshold is that the external counter force enables the driven pulley to overcome the maximum static friction force between the driven pulley and the transmission belt, and the maximum static friction force is adjusted by the pressure adjusting device.
During the training, the trainer pulls the tension belts 11, 12 to provide a tension force F, when the tension force F is enough to overcome the maximum static friction force F between the driven pulley 42 and the transmission belt 41, relative sliding occurs between the transmission belt 41 and the pulleys, sliding starts from the small wrap angle, so that a dynamic friction force exists between the transmission belt and the driven pulley 42, the trainer starts the stretching movement, and the friction torque is constant because the friction coefficient between the pulleys and the belt is constant and the tension force is also constant during the movement. Further, the structure of the belt transmission mechanism may be improved so that the driving belt 41 and the driven pulley are kept stationary while there is contact-type displacement between the driving pulley 40 and the driving belt to generate a dynamic friction force.
(2) When the constant resistance output wheel winds the stretching belts 11 and 12 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-tightening pressure until the winding length is equal to the target value and is smaller than the preset pressure threshold value.
After the trainer withdraws the pulling force F, the dynamic friction force F does not disappear, the driving transmission and the belt wheel are driven to synchronously rotate within a short time, the restoring force opposite to the direction F is realized, the stretching belt is withdrawn, and at the moment, the static friction force exists between the belt wheel and the driving belt; namely, during stretching, the load moment is provided by the dynamic friction force, and the return moment is provided by the dynamic friction and the static friction, namely, in the embodiment, when the external force overcomes the maximum static friction between the friction wheel and the friction member, the friction wheel and the friction member generate relative movement displacement to store the 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 are kept static relatively, so that static friction exists, the static friction force also provides driving force for the drawing retraction, and the driving force is matched with the external force of the drawing belt 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 an acting force transmitted from the pulling force applied to the stretching belt to the pulley, and the direction of the acting force is opposite to the direction of the constant resistance output by the present invention.
In the process of recovering and winding the stretching belts 11 and 12, a stop piece is arranged at the outer end parts of the stretching belts, so that the maximum recovery length of the stretching belts is limited, namely the winding length has a target value, and in order to avoid damage to the stretching belts caused by too fast recovery, in the use process, when the constant-resistance output wheels wind the stretching belts 11 and 12 until the difference between the winding length and the target value is smaller than a preset threshold value, namely the residual length, the pressure regulating device is controlled to reduce the pre-tightening pressure until the winding length is equal to the target value and smaller than the preset pressure threshold value, so that the transmission belts can be always in a tensioning state, and simultaneously, a small resistance is provided for the stretching belts 11 and 12, and a trainer can have a basic resistance when pulling the stretching belts again.
The system carries out constant force output through the overload protection capacity of belt wheel transmission, and has the advantages that the motor works in a constant speed state, so that the working condition of the motor is good, and high temperature cannot be generated. Considering the total energy flow of the power supply, because the working condition of the motor is more excellent than that in a low-speed state and the efficiency is higher, the temperature generated by the friction resistance of the invention on the belt pulley is only a part of the heat productivity of the original low-speed running motor.
In the process of adjusting the output resistance, a required training torque target is set firstly, required training tension is calculated and compared with the training tension detected by the tension sensor, the error is used as a position control instruction of the servo motor to realize compensation of pre-tightening force, then the tension is adjusted, actual load torque is adjusted, closed-loop control is realized, and therefore accurate control of the training torque is better realized.
Further, after the recovery of the stretched belt, the abrasion can be reduced by adjusting the pretension pressure between the pulley and the transmission belt to 0; during the training process, the rotation of the rotary driving motor 20 is kept at a constant speed. When the training is suspended, the tension is controlled to be 0, and therefore meaningless friction consumption is prevented. When the system is shut down, the pre-tightening 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 comprise the following three aspects:
(1) when the motor is used for generating electromagnetic resistance training, the motor efficiency is low and the heat is serious;
(2) the upper limb training of the human body belongs to reciprocating motion, and the training equipment can provide torque in two reciprocating directions to realize automatic reset;
(3) the upper limbs of the human body need to provide stable training torque 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 this embodiment is constructed by using the brake pads 60, and the rotary driving motor 20 directly drives the friction wheel 61 to rotate, i.e. the friction member is the brake pads 60 adapted to the outer peripheral surface of the friction wheel; the pressure adjusting device is a linear displacement output device 63, specifically, a screw nut mechanism can be adopted to be matched with a rotary driving motor to output linear displacement, or a linear motor can be directly adopted to construct the pressure adjusting device, an arc-shaped sliding groove 62 arranged along the circumferential direction of the brake tile 60 is arranged on the outer circumferential surface of the brake tile, in the embodiment, the cross section of the arc-shaped sliding groove 62 is of a dovetail groove structure, and a rotor 630 of the linear displacement output device 63 is of a dovetail structure and can be slidably sleeved in the arc-shaped sliding groove 62 along the arc-shaped sliding groove 62.
The transmission mechanism arranged between the friction wheel 61 and the belt wheel 65 comprises a rotatable transmission wheel 66 and a first ring gear transmission mechanism 67 and a second ring 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 disposed coaxially with the internal gear 71, and planetary gears 73 synchronously meshing with both; the transmission wheel 66 is coaxially and rotationally fixedly connected with the first-stage internal gear, namely, the first-stage internal gear is coaxially and rotationally fixedly connected with the internal gear on the first internal gear transmission mechanism 67, the last-stage output gear is coaxially and rotationally fixedly connected with the belt wheel 65, and the output gear of the first internal gear transmission mechanism 67 is coaxially and rotationally fixedly connected with the internal gear of the second internal gear transmission mechanism 68 through the transmission shaft 71 and the rotary table 72; that is, the brake shoe 60 is coaxially and rotationally fixed to the output gear of the second internal gear transmission 68, so that the two-stage reduction transmission is performed, and when the pulley 65 rotates for a plurality of revolutions, the rotation angle of the transmission wheel 66 is small, so that the brake shoe 60 and the transmission wheel can be fixedly connected to rotate synchronously, specifically, the brake shoe 60 can be slidably mounted on the wheel surface of the transmission wheel 66 in the radial direction of the transmission wheel 66; the pressure adjustment device is adapted to urge the brake shoe 60 to reciprocate in the radial direction relative to the transfer wheel 66.
In this embodiment, when the tensile force applied to the tensile belt is greater than or equal to the predetermined threshold, the rotational driving device drives the friction wheel to rotate relative to the brake tile, so as to generate a dynamic friction force therebetween, and the dynamic friction force moment drives the pulley 65 to output a constant resistance force moment through the transmission mechanism; and when the tensile force applied to the tensile belt is smaller than the preset threshold value, the friction wheel can drive the belt wheel 65 to recover the tensile belt through the transmission mechanism.
The invention has the main conception that the adjustable constant resistance output device based on the friction force is arranged to provide continuous and stepless adjustable resistance, and the force control frequency response is high and the control algorithm is simple; according to the present concept, there are many obvious variations of the structure of the friction member, and the friction surface of the friction wheel is not limited to the circumferential surface thereof, but may be a wheel end surface, and the resistance output member may be a resistance output shaft, etc.; and a compression spring may be provided on the pressure adjusting device to set the pre-tightening pressure to the elastic pre-tightening pressure.
Claims (10)
1. An intelligent fitness 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 tension detection signals to the control unit, and the tension detection device 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 pre-tightening pressure between the friction surface of the friction piece and the wheel peripheral 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 relative to the other so as to generate dynamic friction force between the friction wheel and the friction piece; the other outputs a rotation torque based on the kinetic friction force to the constant-resistance output wheel through a transmission mechanism;
the control unit controls the pressure adjusting device to adjust the pre-tightening pressure based on the tension detection signal and the control instruction until the constant-resistance output wheel outputs a target resistance torque; and when the constant-resistance output wheel winds the stretching belt until the difference between the winding length and a target value is smaller than a preset threshold value, controlling the pressure adjusting device to reduce the pre-tightening pressure until the winding length is equal to the target value and is smaller than the preset pressure threshold value.
2. The intelligent fitness system of claim 1, wherein:
the rotary driving device comprises a driving belt wheel and a rotary driving motor, wherein the driving belt wheel and the friction wheel form a group of belt wheel pairs; the friction piece is a transmission belt with a transmission mechanism formed by the friction piece and 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 the tensioning displacement of the tensioning wheel to the transmission belt.
3. The intelligent fitness system of claim 1, wherein:
the transmission mechanism comprises a rotatable transmission wheel and more than one group of internal gear transmission mechanisms which are in serial transmission arrangement, and each internal gear transmission mechanism comprises an internal gear, an output gear which is coaxially arranged with the internal gear and a planet gear which is synchronously meshed with the internal gear and the output gear; the transmission wheel is coaxially and rotationally fixedly connected with the first-stage inner gear, and the final-stage output gear is coaxially and rotationally fixedly connected with the constant-resistance output wheel;
the rotary driving device comprises a rotary driving motor for driving the friction wheel to rotate; the friction piece is a brake tile matched with the outer peripheral surface of the friction wheel, and the brake tile can be installed on the wheel surface of the transmission wheel in a sliding manner along the radial direction of the transmission wheel; the pressure adjusting device is used for driving the brake tile to reciprocate along the radial direction relative to the transmission wheel.
4. An adjustable constant-resistance output device is characterized in that the constant-resistance output device comprises a friction piece, a rotary driving device, a constant-resistance output component, a pressure adjusting device and a rotatable friction wheel; the pressure adjusting device is used for adjusting 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 relative to the other one, so that a dynamic friction force is generated between the friction wheel and a friction surface of the friction piece; the other outputs a torque based on the kinetic friction force to the constant-resistance output member through a transmission mechanism.
5. The constant resistance output device according to claim 4, wherein:
the friction surface of the friction wheel is the circumferential surface of the friction wheel.
6. The constant resistance output device according to claim 5, wherein:
the rotary driving device comprises a driving belt wheel and rotary output equipment, wherein the driving belt wheel and the friction wheel form a group of belt wheel pairs; the friction piece is a transmission belt with a transmission mechanism formed by the friction piece and 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 the tensioning displacement of the tensioning wheel to the transmission belt.
7. The constant resistance output device according to claim 6, wherein:
the constant-resistance output member 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 member and the friction wheel;
the constant resistance output device comprises a retaining mechanism for retaining the transmission belt outside the pulley pair;
the displacement output device is a linear displacement output device.
8. The constant resistance output device according to claim 5, wherein:
the rotary driving device is used for driving the friction wheel to rotate;
the transfer mechanism comprises a rotatable transfer wheel;
the friction piece is a brake tile matched with the outer peripheral surface of the friction wheel, and the brake tile can be installed on the wheel surface of the transmission wheel in a sliding manner along the radial direction of the transmission wheel; the pressure adjusting device is used for driving the brake tile to reciprocate along the radial direction relative to the transmission wheel.
9. The constant resistance output device according to claim 8, wherein:
the transmission mechanism comprises more than one group of internal gear transmission mechanisms which are in serial transmission arrangement, and each internal gear transmission mechanism comprises an internal gear, an output gear which is coaxially arranged with the internal gear and a planet gear which is synchronously meshed with the internal gear and the output gear; the transmission wheel is coaxially and rotationally fixedly connected with the first-stage inner gear, and the final-stage output gear is coaxially and rotationally fixedly connected with the constant-resistance output member;
the pressure adjusting device comprises a linear displacement output device, an arc-shaped sliding groove is formed in the peripheral face of the brake tile in the circumferential direction of the brake tile, and a rotor of the linear displacement output device can be slidably sleeved in the arc-shaped sliding groove along the arc-shaped sliding groove.
10. A constant resistance output device according to any one of claims 4 to 9, 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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| CN201911305282.5A CN110812777A (en) | 2019-12-18 | 2019-12-18 | Intelligent fitness system and adjustable constant-resistance output device |
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| CN201911305282.5A CN110812777A (en) | 2019-12-18 | 2019-12-18 | Intelligent fitness system and adjustable constant-resistance output device |
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| CN113797478A (en) * | 2021-10-14 | 2021-12-17 | 成都拟合未来科技有限公司 | Output force calibration method of strength type intelligent fitness equipment |
| CN114904207A (en) * | 2021-02-10 | 2022-08-16 | 广州源动智慧体育科技有限公司 | Force training instrument control method and device and force training instrument |
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