CN110947153A - Intelligent fitness rehabilitation equipment initialization and precision correction device and training method - Google Patents
Intelligent fitness rehabilitation equipment initialization and precision correction device and training method Download PDFInfo
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- CN110947153A CN110947153A CN201911091143.7A CN201911091143A CN110947153A CN 110947153 A CN110947153 A CN 110947153A CN 201911091143 A CN201911091143 A CN 201911091143A CN 110947153 A CN110947153 A CN 110947153A
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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 relates to an initialization and training device of a fitness rehabilitation apparatus, in particular to an initialization and precision correction device of an intelligent fitness rehabilitation apparatus, which comprises a tension sensor, a power source and a linkage piece connected between the tension sensor and the power source, wherein the tension sensor is in communication connection with a controller, one end of the tension sensor, which is far away from the linkage piece, is connected with a transmission slide block on a swing arm to be trained of the fitness rehabilitation apparatus, and the tension sensor acquires tension generated on the transmission slide block when a servo motor is loaded at different driving current values and a reverse total friction force when the transmission slide block moves at a constant speed under the no-load state of the servo motor. The invention has the advantages that the initialization and correction of the fitness rehabilitation equipment by workers are facilitated, the accurate load value of a user in the pulling and releasing process is ensured, and the user experience is improved.
Description
Technical Field
The invention relates to an initialization and training device of fitness rehabilitation equipment, in particular to an initialization and precision correction device and a training method of intelligent fitness rehabilitation equipment.
Background
Along with the improvement of living standard of people, more and more people begin to pay attention to the health, therefore, various fitness equipment are used for life, and the fitness equipment mainly helps people to do auxiliary exercise, thereby achieving the effect of building up the body.
Referring to fig. 1, the existing fitness rehabilitation apparatus includes a frame 1, swing arms 2 symmetrically and rotatably connected to the frame 1, and load devices 3 respectively disposed on the swing arms 2, where the load devices 3 include a servo motor 31, a driving gear 32, a driven gear 33, a toothed belt 34, a transmission slider 35, and a push-pull rod 36, where the servo motor 31 is installed on a side where the two swing arms 2 are separated from each other, an output shaft thereof passes through the swing arms 2, and the remaining components are installed on a side where the two swing arms 2 are opposite to each other; the driving gear 32 is fixedly connected to the output shaft of the servo motor 31; a pair of driven gears 33 are arranged and positioned at one side of the driving gear 32, and the two driven gears are respectively connected with the positions which are positioned above the driving gear 32 and have the same height on the swing arm 2 in a rotating way through a shaft; the toothed belt 34 is wound on the driving gear 32 and the driven gear 33 and is shaped like an isosceles triangle; the transmission slide block 35 is fixedly connected on the toothed belt 34 at a position between the two driven gears 33; the push-pull rod 36 is vertically and fixedly connected to one side of the transmission slide block 35 far away from the swing arm 2; according to the needs of the user, the swing arm 2 can be rotated to different angles so as to exercise muscles of different parts of the user.
When the exercise machine is in use, a user holds the push-pull rod 36 and applies a certain force to the push-pull rod 36, so that the push-pull rod 36 drives the transmission slide block 35 to horizontally reciprocate on the guide rail, and meanwhile, the servo motor 31 transmits power to the transmission slide block 35 through the driving gear 32 and the toothed belt 34, so that the load of the user during exercise is formed.
However, the fitness rehabilitation equipment has the following disadvantages: under the condition of no torque of the servo motor 31, the uniform motion of the transmission slide block 35 in any direction generates a total friction force including the rotation resistance of the servo motor 31 and the mechanical transmission friction force, which causes that the actual gravity load of a user is different in different stages of pulling and releasing the transmission slide block 35, and the time is different, thereby affecting the user experience.
Disclosure of Invention
The invention aims to provide an initialization and precision correction device for an intelligent fitness and rehabilitation apparatus, which is convenient for workers to initialize and correct the fitness and rehabilitation apparatus, ensures the accurate load value of a user in the pulling and releasing process, and improves the user experience.
The technical purpose of the invention is realized by the following technical scheme: the intelligent body-building rehabilitation equipment initialization and precision correction device comprises a tension sensor, a power source and a linkage piece connected between the tension sensor and the power source, wherein the tension sensor is in communication connection with a controller, one end, far away from the linkage piece, of the tension sensor is connected with a transmission slide block on a swing arm to be trained of the body-building rehabilitation equipment, the tension sensor collects tension generated on the transmission slide block when a servo motor is loaded at different driving current values and reverse total friction force when the transmission slide block moves at a constant speed under the no-load state of the servo motor.
By adopting the technical scheme, the correction device is convenient for workers to initialize and correct the fitness rehabilitation equipment, so that the accurate load value of a user in the pulling and releasing process is ensured, and the user experience is improved; during debugging, the linkage is locked, the servo motor on the swing arm to be tested is controlled to gradually and slowly increase the current of the servo motor from 0, and when each preset load value is reached, the current value I corresponding to each preset load value is collected and recorded through the tension sensorAt restThe data of the power source driving the transmission slide block on the swing arm to be debugged are collected by the tension sensor in the uniform motion process, and then the data and I are acquiredAt restCalculate each node IPulling the handleAnd IPut backThe accurate values are input into a system of the fitness rehabilitation equipment, and when the system is used, under different set load values, the system judges the motion state of the sliding block and outputs corresponding loads.
The invention is further configured to: the linkage piece is a rack, and one end of the linkage piece is fixedly connected with the tension sensor;
the power source comprises a base, a constant speed motor arranged on the base, a transmission gear fixedly connected to an output shaft of the constant speed motor, a support shaft fixedly connected to the base and positioned right above the constant speed motor, and a reduction gear rotatably connected to the support shaft and simultaneously meshed with the transmission gear and the rack.
By adopting the technical scheme, when the constant-speed motor is started, the constant-speed motor transmits power to the rack through the transmission gear and the reduction gear, so that the constant-speed motor drives the transmission slide block connected with the rack to move.
The invention is further configured to: the base is the inside cavity and one side is open box, constant velocity motor with the back shaft is all installed in the box, the position that corresponds on the box lateral wall the rack is seted up and is supplied the rack pass with reduction gear engaged with guiding hole.
Through adopting above-mentioned technical scheme, the setting of box for protect constant speed motor, drive gear and reduction gear.
The invention is further configured to: one side of the rack, which is far away from the teeth, is in sliding butt joint with the inner top wall of the guide hole.
Through adopting above-mentioned technical scheme, mutually supporting between reduction gear and the guiding hole realizes spacing and the direction to the rack meshes with reduction gear mutually all the time.
The invention is further configured to: the linkage piece is a steel cable, and one end of the linkage piece is detachably connected with the tension sensor;
the power source comprises a servo motor on the opposite side of the swing arm to be trained on the fitness rehabilitation equipment, a fixed plate fixedly connected to the two ends of the swing arm and extending towards the two swing arms, and a fixed pulley rotatably mounted on one side of the fixed plate far away from the swing arm, and one end of the steel cable far away from the tension sensor penetrates through the fixed pulleys on the top ends or the bottom ends of the two swing arms and is connected with a transmission slide block driven by the servo motor.
Through adopting above-mentioned technical scheme, when starting with the servo motor of waiting to call out the relative one side of teaching swing arm, it drives the transmission slider motion with this servo motor homonymy to make this transmission slider pass through cable wire and fixed pulley and drive the transmission slider motion on waiting to call out the teaching swing arm, through the servo motor on the recovered equipment of body-building as power, reduced the teaching cost.
The invention is further configured to: the two ends of the steel cable are respectively and fixedly connected with a metal hook, and the tension sensor and the transmission slide block are respectively and fixedly connected with a fixing ring for hooking the metal hook.
Through adopting above-mentioned technical scheme, because the linkage is flexible, consequently at the in-process of training, need make a round trip to adjust the installation orientation of cable wire to the power supply can drive the direction motion of transmission slider towards the difference, and the setting of metal hook and solid fixed ring makes things convenient for the staff to operate this.
The invention also aims to provide a training method implemented based on the intelligent fitness and rehabilitation equipment initialization and precision correction device, which comprises the following steps:
s1: locking a linkage to control a servo motor on the swing arm to be tested to gradually and slowly increase the current of the servo motor from 0;
s2: when each preset load value is reached, acquiring and recording a current value I corresponding to each preset load value through the tension sensorAt rest；
S3: the power source drives the transmission slide block on the swing arm to be debugged to move at a uniform speed, the tension sensor acquires data in the uniform speed movement process of the transmission slide block, and the data and I are acquiredAt restDirectly measuring or indirectly calculating each preset load node IPulling the handleAnd IPut backThe precise value of (d);
s4: i measured in step S3Pulling the handleAnd IPut backWhen the device is input into a system of the fitness rehabilitation equipment, the system judges the motion state of the sliding block and outputs corresponding load under different set load values.
The invention is further configured to: the step S3 further includes the steps of:
a1: the servo motor is powered off, the locking of the linkage part is removed, the power source and the linkage part drive the transmission slide block on the swing arm to be trained to move at a constant speed, and F is collected by the tension sensorTotal friction force；
A2: selecting different movement speeds to repeat the step A1, calculating FTotal friction forceAverage value of (d);
a3: through IAt restCalculating a linear constant value k in a load and current linear function F = kI + b;
a4: calculating the value of the compensating current ICompensation=FTotal friction force/k；
A5: calculating the precision value, IPulling the handle=IAt rest-ICompensation；IPut back=IAt rest+ICompensation。
The invention is further configured to: the step S3 further includes the steps of:
b1: setting I corresponding to any loadAt restThe transmission slide block on the swing arm to be debugged is pulled to move at a uniform speed through the power source and the linkage piece, and the I is gradually and slowly reducedAt restUntil the value collected by the tension sensor is IAt restCorresponding load value, recording current value I at the momentPulling the handleThe accurate value is obtained;
b2: resetting the load corresponding to I in step B1At restThe transmission slide block on the swing arm to be debugged is pulled to move at a constant speed and reset through the power source and the linkage piece, and the I is gradually and slowly increasedAt restUntil the value collected by the tension sensor is IAt restCorresponding load value, recording current value I at the momentPut backThe accurate value is obtained;
b3: repeating the steps B1 and B2 under different set loads, and recording corresponding IPulling the handleAnd IPut back。
In conclusion, the beneficial technical effects of the invention are as follows:
1. the correction device is arranged, so that a worker can conveniently correct the fitness rehabilitation equipment, the load precision value of a user in the pulling and releasing process is guaranteed, and the user experience is improved; during debugging, the linkage is locked, the servo motor on the swing arm to be tested is controlled to gradually and slowly increase the current of the servo motor from 0, and when each preset load value is reached, the current value I corresponding to each preset load value is collected and recorded through the tension sensorAt restThe data of the power source driving the transmission slide block on the swing arm to be debugged are collected by the tension sensor in the uniform motion process, and then the data and I are acquiredAt restCalculate each node IPulling the handleAnd IPut backWhen the system is used, under different set load values, the system judges the motion state of the sliding block and outputs corresponding loads;
2. the servo motor on the fitness rehabilitation equipment is used as power, so that the training cost is reduced.
Drawings
FIG. 1 is a schematic structural diagram of the background art of the present invention;
FIG. 2 is a schematic structural view of embodiment 1;
FIG. 3 is a schematic view showing the overall construction of a power source embodying embodiment 1;
FIG. 4 is a schematic structural diagram of a body-building rehabilitation apparatus;
FIG. 5 is a schematic structural view of example 2;
fig. 6 is a partially enlarged schematic view of a portion a in fig. 5.
Reference numeral, 1, a frame; 2. swinging arms; 3. a load device; 31. a servo motor; 32. a driving gear; 33. a driven gear; 34. a toothed belt; 35. a transmission slide block; 36. a push-pull rod; 4. a tension sensor; 5. a power source; 51. a base; 511. a guide hole; 52. a constant speed motor; 53. a transmission gear; 54. a support shaft; 55. a reduction gear; 56. a fixing plate; 57. a fixed pulley; 58. a metal hook; 59. a fixing ring; 6. a linkage member.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Example 1:
referring to fig. 2, the initialization and precision correction device for the intelligent fitness rehabilitation equipment disclosed by the invention comprises a tension sensor 4, a power source 5 and a linkage part 6 connected between the tension sensor 4 and the power source 5, wherein the tension sensor 4 is in communication connection with a controller and is used for displaying measured values. One end of the tension sensor 4, which is far away from the linkage 6, is connected with the transmission slide block 35 on the swing arm 2 to be taught of the fitness rehabilitation equipment, and is used for acquiring tension generated on the transmission slide block 35 when the servo motor 31 is loaded at different driving current values and reverse total friction force when the transmission slide block 35 moves at a constant speed under the no-load state of the servo motor 31.
Referring to fig. 2 and 3, the linkage member 6 is a rack, and one end of the rack is provided with a mounting hole for mounting the tension sensor 4; the power source 5 comprises a base 51, a constant speed motor 52 installed on the base 51, a transmission gear 53 fixedly connected to an output shaft of the constant speed motor 52, a support shaft 54 fixedly connected to the base 51 and located right above the constant speed motor 52, and a reduction gear 55 rotatably connected to the support shaft 54 and meshed with the transmission gear 53 and a rack, wherein the base 51 is a box body with a hollow interior and an open side, the constant speed motor 52 and the support shaft 54 are both installed in the box body, a guide hole 511 for the other end of the rack to pass through is formed in the side wall of the box body corresponding to the rack, the width of the guide hole 511 is matched with the width of the rack, the side of the rack far away from the rack is supported by the reduction gear 55 and is in sliding abutting joint with the inner top wall of the guide hole 511, the reduction gear 55 is matched with the guide hole 511, and the limitation and guidance.
When the constant speed motor 52 is started, it transmits power to the rack through the transmission gear 53 and the reduction gear 55, so that the transmission slide 35 connected with the rack is driven to move.
Referring to fig. 4, for ease of understanding, the exercise rehabilitation apparatus will be described herein. The fitness rehabilitation equipment comprises a rack 1, swing arms 2 which are symmetrically and rotatably connected to the rack 1 and load devices 3 which are respectively arranged on the swing arms 2, wherein each load device 3 comprises a servo motor 31, a driving gear 32, a driven gear 33, a toothed belt 34, a transmission slide block 35 and a push-pull rod 36, the servo motors 31 are arranged on the sides, away from each other, of the two swing arms 2, the output shafts of the servo motors penetrate through the swing arms 2, and the rest parts are arranged on the opposite sides of the two swing arms 2; the driving gear 32 is fixedly connected to the output shaft of the servo motor 31; a pair of driven gears 33 located on one side of the driving gear 32 and having two driven wheels rotatably connected to the swing arm 2 through shafts at equal heights; the toothed belt 34 is wound on the driving gear 32 and the driven gear 33 and is shaped like an isosceles triangle; the transmission slide block 35 is fixedly connected to the toothed belt 34 at a position between the two driven gears 33, and a threaded hole for mounting the tension sensor 4 is formed in the transmission slide block 35; the push-pull rod 36 is vertically and fixedly connected to one side of the transmission slide block 35 far away from the swing arm 2; according to the needs of the user, the swing arm 2 can be rotated to different angles so as to exercise muscles at different parts of the user, and when the servo motor 31 is started, the servo motor drives the transmission slide block 35 to move through the driving gear 32 and the toothed belt 34.
Referring to fig. 2, a first teaching method implemented based on the intelligent fitness and rehabilitation device initialization and precision correction device includes the following steps:
s1: locking the linkage 6, and controlling the servo motor 31 on the swing arm 2 to be tested to gradually and slowly increase the current of the servo motor 31 from 0;
s2: when the expected preset load value of 2.5KG, 5KG, 7.5KG … … 40KG is reached, the current value I corresponding to each preset load value is collected and recorded by the tension sensor 4At rest；
S3: the power source 5 drives the transmission slide block 35 on the swing arm 2 to be trained to move at a constant speed, the tension sensor 4 collects data of the transmission slide block 35 in the process of constant speed movement, and the data and I are acquiredAt restCalculate each node IPulling the handleAnd IPut backThe precise value of (d); the method specifically comprises the following steps:
a1: the servo motor 31 is powered off, the locking of the linkage piece 6 is removed, the power source 5 and the linkage piece 6 drive the transmission slide block 35 on the swing arm 2 to be trained to move at a constant speed, and the total friction force F is collected through the tension sensor 4;
a2: selecting different movement speeds, repeating the step A1, and calculating the average value of the total friction force F;
a3: through IAt restCalculating a linear constant value k in a load and current linear function F = kI + b;
a4: calculating the value of the compensating current ICompensation=FTotal friction force/k；
A5: calculating the precision value, IPulling the handle=IAt rest-ICompensation；IPut back=IAt rest+ICompensation；
S4: i measured in step S3Pulling the handleAnd IPut backWhen the device is input into a system of the fitness rehabilitation equipment, the system judges the motion state of the sliding block and outputs corresponding load under different set load values.
Referring to fig. 2, a second teaching method implemented based on the intelligent fitness and rehabilitation device initialization and precision correction device includes the following steps:
s1: locking the linkage 6, and controlling the servo motor 31 on the swing arm 2 to be tested to gradually and slowly increase the current of the servo motor 31 from 0;
s2: when 2.5KG, 5KG, 7.5KG … is reached… 40KG when a preset load value is expected to be used, the current value I corresponding to each preset load value is collected and recorded by the tension sensor 4At rest；
S3: the power source 5 drives the transmission slide block 35 on the swing arm 2 to be trained to move at a constant speed, the tension sensor 4 collects data of the transmission slide block 35 in the process of constant speed movement, and the data and I are acquiredAt restDirectly measuring or indirectly calculating each preset load node IPulling the handleAnd IPut backThe precise value of (d); the method specifically comprises the following steps:
b1: setting I corresponding to any loadAt restThe power source 5 and the linkage piece 6 pull the transmission slide block 35 on the swing arm 2 to be debugged to move at a uniform speed, and gradually and slowly reduce IAt restUntil the value collected by the tension sensor 4 is IAt restCorresponding load value, recording current value I at the momentPulling the handleThe accurate value is obtained;
b2: resetting the load corresponding to I in step B1At restThe power source 5 and the linkage piece 6 pull the transmission slide block 35 on the swing arm 2 to be debugged to move at a constant speed and reset, and gradually and slowly increase IAt restUntil the value collected by the tension sensor 4 is IAt restCorresponding load value, recording current value I at the momentPut backThe accurate value is obtained;
b3: repeating the steps B1 and B2 under different set loads, and recording corresponding IPulling the handleAnd IPut back；
S4: i measured in step S3Pulling the handleAnd IPut backWhen the device is input into a system of the fitness rehabilitation equipment, the system judges the motion state of the sliding block and outputs corresponding load under different set load values.
Aiming at the above training method, the staff can also improve the training precision by adjusting the motor steering direction, the force application direction and the orientation of the swing arm 2 and repeating the above steps.
Example 2:
referring to fig. 5, the initialization and precision correction device for an intelligent fitness rehabilitation apparatus disclosed by the invention is different from the embodiment 1 in that a linkage 6 is a steel cable, and one end of the linkage is detachably connected with a tension sensor 4; the power source 5 comprises a servo motor 31 on one side of the fitness rehabilitation equipment opposite to the swing arm 2 to be trained, a fixed plate 56 fixedly connected with two ends of the swing arm 2 and oppositely extending towards the two swing arms 2, a fixed pulley 57 rotatably arranged on one side of the fixed plate 56 far away from the swing arms 2, the other end of the steel cable simultaneously passes through the fixed pulleys 57 at the top ends or the bottom ends of the two swing arms 2 and is connected with a transmission slide block 35 driven by the servo motor 31, in order to facilitate the installation of the steel cable, a through hole for the steel cable to pass through is arranged on the fixed,
referring to fig. 5 and 6, the two ends of the steel cable are respectively and fixedly connected with a metal hook 58, and the tension sensor 4 and the transmission slider 35 are respectively and fixedly connected with a fixing ring 59 for hooking the metal hook 58.
Because the linkage 6 is flexible, therefore in the process of teaching, the installation direction of the steel cable needs to be adjusted back and forth, so that the power source 5 can drive the transmission slide block 35 to move towards different directions, and the arrangement of the metal hook 58 and the fixing ring 59 is convenient for the workers to operate.
The tuning method in embodiment 1 can also be realized by the correction device in this embodiment, during installation, the tension sensor 4 is fixed on the transmission slide block 35 of the swing arm 2 to be tested, then one end of the steel cable is hooked on the tension sensor 4, the other end of the steel cable passes through two pulleys at the same end of the two swing arms 2 and is hooked with the transmission slide block 35 on the other swing arm 2, the servo motor 31 at one side opposite to the swing arm 2 to be tuned drives the transmission slide block 35 at the same side as the servo motor 31 to move, so that the transmission slide block 35 drives the transmission slide block 35 on the swing arm 2 to be tuned to move towards one side at a uniform speed through the steel cable and the fixed pulley 57, and in the tuning process, the transmission slide block 35 on the swing arm 2 to be tuned is pulled and put back by adjusting the installation position of the steel cable.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (9)
1. The utility model provides an intelligence body-building rehabilitation apparatus initialization and precision correcting unit which characterized in that: the device comprises a tension sensor (4), a power source (5) and a linkage piece (6) connected between the tension sensor (4) and the power source, wherein the tension sensor (4) is in communication connection with a controller, one end, far away from the linkage piece (6), of the tension sensor (4) is connected with a transmission slide block (35) on a swing arm (2) of the fitness rehabilitation equipment to be trained, the tension sensor (4) collects tension generated on the transmission slide block (35) when the servo motor is loaded at different driving current values, and reverse total friction force generated when the transmission slide block (35) moves at a constant speed under the no-load state of the servo motor (31).
2. The intelligent fitness rehabilitation apparatus initialization and precision correction device according to claim 1, wherein: the linkage piece (6) is a rack, and one end of the linkage piece is fixedly connected with the tension sensor (4);
the power source (5) comprises a base (51), a constant speed motor (52) arranged on the base (51), a transmission gear (53) fixedly connected to an output shaft of the constant speed motor (52), a supporting shaft (54) fixedly connected to the base (51) and positioned right above the constant speed motor (52), and a reduction gear (55) rotatably connected to the supporting shaft (54) and meshed with the transmission gear (53) and the rack.
3. The intelligent fitness rehabilitation apparatus initialization and precision correction device according to claim 2, wherein: the base (51) is a box body with a hollow interior and an opening on one side, the constant-speed motor (52) and the supporting shaft (54) are both installed in the box body, and a guide hole (511) for the rack to penetrate through and to be meshed with the reduction gear (55) is formed in the side wall of the box body corresponding to the position of the rack.
4. The intelligent fitness rehabilitation apparatus initialization and accuracy correction device of claim 3, wherein: one side of the rack, which is far away from the teeth, is in sliding abutting joint with the inner top wall of the guide hole (511).
5. The intelligent fitness rehabilitation apparatus initialization and precision correction device according to claim 1, wherein: the linkage piece (6) is a steel cable, and one end of the linkage piece is detachably connected with the tension sensor (4);
power supply (5) including on the body-building recovered equipment with servo motor (31) of waiting to teach swing arm (2) relative one side, rigid coupling at swing arm (2) both ends and towards fixed plate (56), the rotation that two swing arms (2) extend relatively install fixed pulley (57) of swing arm (2) one side are kept away from in fixed plate (56), the cable wire is kept away from the one end of force sensor (4) passes fixed pulley (57) on two swing arm (2) tops or bottom simultaneously and with servo motor (31) driven transmission slider (35) are connected.
6. The intelligent fitness rehabilitation apparatus initialization and accuracy correction device of claim 5, wherein: and two ends of the steel cable are fixedly connected with metal hooks (58) respectively, and the tension sensor (4) and the transmission slide block (35) are fixedly connected with fixing rings (59) for hooking the metal hooks (58) respectively.
7. A training method implemented based on the intelligent fitness rehabilitation apparatus initialization and precision correction device according to any one of claims 1-6, and comprising the following steps:
s1: the locking linkage (6) controls a servo motor (31) on the swing arm (2) to be tested to gradually and slowly increase the current of the servo motor (31) from 0;
s2: when each preset load value is reached, acquiring and recording a current value I corresponding to each preset load value through the tension sensor (4)At rest；
S3: the power source (5) drives the transmission slide block (35) on the swing arm (2) to be trained to move at a constant speed, the tension sensor (4) collects data of the transmission slide block (35) in the process of constant speed movement, and the data and the I are acquiredAt restDirectly measuring or indirectly calculating each preset load node IPulling the handleAnd IPut backThe precise value of (d);
s4: i measured in step S3Pulling the handleAnd IPut backIn systems for inputting fitness rehabilitation equipment, in use, at different settingsUnder the load value, the system judges the motion state of the slide block and outputs corresponding load.
8. The teaching method of the intelligent fitness rehabilitation apparatus initialization and precision correction device according to claim 7, wherein: the step S3 further includes the steps of:
a1: the servo motor (31) is powered off, the locking of the linkage piece (6) is released, the power source (5) and the linkage piece (6) drive the transmission slide block (35) on the swing arm (2) to be trained to move at a constant speed, and the tension sensor (4) is used for collecting FTotal friction force；
A2: selecting different movement speeds to repeat the step A1, calculating FTotal friction forceAverage value of (d);
a3: through IAt restCalculating a linear constant value k in a load and current linear function F = kI + b;
a4: calculating the value of the compensating current ICompensation=FTotal friction force/k；
A5: calculating the precision value, IPulling the handle=IAt rest-ICompensation；IPut back=IAt rest+ICompensation。
9. The teaching method of the intelligent fitness rehabilitation apparatus initialization and precision correction device according to claim 7, wherein: the step S3 further includes the steps of:
b1: setting I corresponding to any loadAt restThe power source (5) and the linkage piece (6) pull the transmission slide block (35) on the swing arm (2) to be debugged to move at a uniform speed, and gradually and slowly reduce IAt restUntil the value collected by the tension sensor (4) is IAt restCorresponding load value, recording current value I at the momentPulling the handleThe accurate value is obtained;
b2: resetting the load corresponding to I in step B1At restThe power source (5) and the linkage piece (6) pull the transmission slide block (35) on the swing arm (2) to be debugged to move at a constant speed and reset, and gradually and slowly increase IAt restUntil the value collected by the tension sensor (4) is IAt restCorrespond toThe load value of (1), the current value I at that time is recordedPut backThe accurate value is obtained;
b3: repeating the steps B1 and B2 under different set loads, and recording corresponding IPulling the handleAnd IPut back。
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| Publication number | Priority date | Publication date | Assignee | Title |
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