CN111960308B - Rope control method and device, force instrument equipment and storage medium - Google Patents
Rope control method and device, force instrument equipment and storage medium Download PDFInfo
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- CN111960308B CN111960308B CN202010866458.0A CN202010866458A CN111960308B CN 111960308 B CN111960308 B CN 111960308B CN 202010866458 A CN202010866458 A CN 202010866458A CN 111960308 B CN111960308 B CN 111960308B
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- 230000003068 static effect Effects 0.000 claims description 46
- 230000005856 abnormality Effects 0.000 claims description 38
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- 230000002547 anomalous effect Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 description 11
- 238000012549 training Methods 0.000 description 8
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
Abstract
The invention discloses a rope control method and device, a strength instrument device and a storage medium. Wherein, the method comprises the following steps: acquiring an abnormal signal triggered by the force instrument equipment when the force instrument equipment is abnormal, wherein a rope of the force instrument equipment is in a stretching state when the force instrument equipment is abnormal; and controlling an elastic mechanism to pull the rope back to an initial position based on the abnormal signal, wherein the elastic mechanism is arranged in the power equipment and is connected with the rope. The invention solves the technical problem that the rope cannot be automatically retracted when the power equipment is abnormal.
Description
Technical Field
The invention relates to the field of control, in particular to a rope control method and device, a strength instrument device and a storage medium.
Background
Currently, strength apparatus devices often use motors as the load instead of the weight-bearing lead blocks required for training.
However, if the power tool apparatus is abnormal during the user's training, the motor stops outputting the torque, so that the rope in the stretched state cannot be automatically retracted.
Aiming at the technical problem that the rope cannot be automatically retracted when the power equipment is abnormal, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a rope control method and device, force apparatus equipment and a storage medium, and at least solves the technical problem that the rope cannot be automatically retracted when the force apparatus equipment is abnormal.
According to an aspect of an embodiment of the present invention, there is provided a control method of a rope. The method can comprise the following steps: acquiring an abnormal signal triggered by the force instrument equipment when the force instrument equipment is abnormal, wherein a rope of the force instrument equipment is in a stretching state when the force instrument equipment is abnormal; and controlling an elastic mechanism to pull the rope back to an initial position based on the abnormal signal, wherein the elastic mechanism is arranged in the power equipment and is connected with the rope.
Optionally, acquiring an abnormality signal triggered by the power instrument device when an abnormality occurs, includes: and acquiring an abnormal signal triggered by the motor and/or the driver of the power instrument when abnormality occurs, wherein the elastic mechanism is arranged on the motor.
Optionally, before acquiring the abnormal signal triggered by the power apparatus when the abnormality occurs, the method further comprises: and controlling the motor to simulate the constant torque output by the force instrument according to the target distance and the torque output by the elastic mechanism, wherein the target distance is the extending distance of the rope in the stretching state.
Optionally, after controlling the elastic mechanism to pull the rope back to the initial position based on the abnormal signal, the method further comprises: and determining the sum of the static friction moment of a motor shaft of the motor and the static friction moment of the rope as the torque output by the elastic mechanism.
Alternatively, the torque output by the elastic mechanism is obtained by pre-deformation of the elastic mechanism.
Alternatively, the torque output by the motor varies with the angular travel of the resilient mechanism.
Optionally, before acquiring an abnormality signal triggered by the power instrument device when the abnormality occurs, the method further comprises: acquiring a constant torque output by a power apparatus; acquiring the difference between the constant torque and the static friction torque of a motor shaft of the motor, the static friction torque of the rope and the torque output by the elastic mechanism, wherein the torque output by the elastic mechanism is determined by the angular travel; the difference is determined as the torque output by the motor.
Optionally, controlling the elastic mechanism to pull the rope back to the initial position comprises: and controlling the elastic mechanism to pull the rope back to the initial position according to the torque output by the elastic mechanism.
Alternatively, the abnormality signal is a signal that the motor of the power instrument device stops outputting the torque.
Optionally, the resilient mechanism comprises a coil spring.
According to another aspect of an embodiment of the present invention, there is also provided a power apparatus. The power instrument apparatus includes: the motor is used for triggering an abnormal signal when the power instrument equipment is abnormal; a rope for being in a stretched state when abnormality occurs in the power apparatus device; and the elastic mechanism is arranged on the motor, is connected with the rope and is used for pulling the rope back to the initial position based on the abnormal signal.
Optionally, the resilient mechanism is disposed on a motor shaft of the motor.
Alternatively, the elastic mechanism is provided on the motor shaft of the motor by screwing or riveting.
According to another aspect of the embodiments of the present invention, there is also provided a control device of a rope. The apparatus may include: the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring an abnormal signal triggered by the power equipment when the power equipment is abnormal, and a rope of the power equipment is in a stretching state when the power equipment is abnormal; and the pull-back unit is used for controlling the elastic mechanism to pull back the rope to the initial position based on the abnormal signal, wherein the elastic mechanism is arranged in the power equipment and is connected with the rope.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium. The computer-readable storage medium includes a stored program, wherein the apparatus in which the computer-readable storage medium is located is controlled to execute the rope control method of the embodiment of the present invention when the program is executed by a processor.
According to another aspect of the embodiments of the present invention, there is also provided a processor. The processor is configured to execute a program, wherein the program executes the control method of the rope according to the embodiment of the present invention.
In the embodiment of the invention, an abnormal signal triggered by the force instrument equipment when the force instrument equipment is abnormal is obtained, wherein a rope of the force instrument equipment is in a stretching state when the force instrument equipment is abnormal; and controlling an elastic mechanism to pull the rope back to an initial position based on the abnormal signal, wherein the elastic mechanism is arranged in the power equipment and is connected with the rope. That is to say, this application when power apparatus device appears unusually, can utilize the elastic mechanism who sets up in power apparatus device to pull back the rope to initial position to avoid being twined the user easily by the rope that draws out, arouse the incident, solved power apparatus device and can't be with the automatic technical problem who withdraws of rope when appearing unusually, and then reached power apparatus device and automatic technical effect who withdraws the rope when appearing unusually.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic illustration of a power tool apparatus according to an embodiment of the present invention;
fig. 2 is a flow chart of a method of controlling a rope according to an embodiment of the invention;
FIG. 3 is a schematic illustration of another power instrument apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the output torque of a motor varying in accordance with angular travel according to an embodiment of the present invention; and
fig. 5 presents a schematic view of a control device of the rope according to an embodiment of the invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, 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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
The present application provides a power instrument apparatus.
Fig. 1 is a schematic view of a power tool apparatus according to an embodiment of the present invention. As shown in fig. 1, the power instrument device 10 may include: a motor 11, a rope 12 and an elastic mechanism 13.
And the motor 11 is used for triggering an abnormal signal when the power instrument equipment is abnormal.
In this embodiment, the strength device may be a domestic strength device for use by a user during training. In order to make the power apparatus lightweight and space-saving, the motor 11 can be provided in the power apparatus, i.e., the embodiment employs the motor 11 as a load for the power apparatus, which can replace a weight-bearing lead required for user training.
When an abnormality occurs in the power tool apparatus, for example, when the motor 11 of the power tool apparatus is powered off or fails, or when the driver of the power tool apparatus is powered off or fails, an abnormality signal, which may be a signal that the motor 11 of the power tool apparatus stops outputting the torque, is triggered.
A rope 12 for being placed in a stretched state when abnormality occurs in the power tool apparatus.
This embodiment is configured such that when an abnormality occurs in the power apparatus device during use, the rope 12 (rope mechanism, pull rope) of the power apparatus device is pulled out, so that the rope 12 of the power apparatus device is in a stretched state, and in this case, the rope 12 in the stretched state is easily entangled to a user using the power apparatus device, thereby causing a safety accident.
And an elastic mechanism 13 disposed on the motor 11 and connected to the rope 12 for pulling the rope back to an initial position based on the abnormal signal.
In this embodiment, the motor 11 may include a motor shaft, and the elastic mechanism 13 may be disposed on the motor shaft of the motor 11, and may be disposed on the motor shaft of the motor by screwing or riveting.
The abnormal signal of this embodiment can trigger the elastic mechanism 13, so that the elastic mechanism 13 utilizes the pulling force to pull the rope 12 connected with the elastic mechanism to the initial position, thereby realizing the automatic retraction of the rope and avoiding the rope in the stretching state from easily winding on the user.
In this embodiment, the elastic mechanism 13 is provided in the power tool device, has a telescopic characteristic, and may be a spring mechanism, for example, a coil spring mechanism, which is connected to the rope 12, and under the above-mentioned characteristic of the elastic mechanism 13, the rope can be pulled back to the initial position by a pulling force when the elastic mechanism 13 is abnormal.
In this embodiment, the user can set a predetermined exercise torque Tref for the power tool apparatus, which is a torque output by the system in accordance with the preset demand of the user, corresponding to the number of kilograms of the load, for achieving the exercise effect of a constant load.
The motor shaft part of the embodiment is provided with the elastic mechanism, and the output torque of the elastic mechanism can be calculated according to the following calculation formula: ts = ks θ s, where Ts is used to represent the torque output by the spring mechanism, ks is used to represent the spring rate of the spring mechanism, and θ s is used to represent the angular travel of the spring mechanism.
When the rope is in the initial position, the rope is pulled out for a distance of 0, and the elastic mechanism has a moment Ts0 provided by the pre-deformation θ 1, which should be exactly equal to the sum of the static friction moment Tf0 of the rope and the static friction moment Tm0 of the motor shaft, i.e., ts0= Tm0+ Tf0.
Along with the increase of the angular travel thetas of the elastic mechanism, the moment of the elastic mechanism also increases, and in order to simulate the exercise effect of constant load, the moment output by the motor changes according to the change of the angular travel thetas, and the following formula can be satisfied:
Tm＝Tref-Tf0-Tm0-ksθs
the system comprises a motor, a Tref, a Tf0, a Tm0 and a ks theta s, wherein Tm is used for representing the torque output by the motor, tref is used for representing the kilogram number of the torque or the load output by a system required by a user in a preset mode, tf0 is used for representing the static friction torque of a rope, tm0 is used for representing the static friction torque of a rotating shaft of the motor, and ks theta s is used for representing the torque output by an elastic mechanism.
This embodiment allows the elastic mechanism to retract the pull-out cord in the event of a power failure or malfunction of the power apparatus; when the power equipment is in a power-off condition or a fault condition, the motor stops outputting the torque, the elastic mechanism retracts the rope according to the torque output by the elastic mechanism, and when the power equipment returns to the initial position, the sum of the static friction force of the motor rotating shaft and the static friction force of the rope mechanism is exactly consistent with the tension torque of the elastic mechanism.
The motor of the power apparatus of this embodiment triggers an abnormal signal when the power apparatus is abnormal, the rope is in a stretched state when the power apparatus is abnormal, and the elastic mechanism is provided on the motor and connected to the rope, and can pull the rope back to the initial position based on the abnormal signal. That is to say, when power apparatus equipment appearance is unusual, can utilize the elastic mechanism who sets up in power apparatus equipment to pull back the rope to initial position to the rope of avoiding being pulled out twines the user easily, arouses the incident, has solved power apparatus equipment and can't withdraw the technical problem of rope automation when appearing unusually, and then has reached power apparatus equipment and has withdrawed the technical effect of rope automation when appearing unusually.
Example 2
According to an embodiment of the present invention, there is provided an embodiment of a rope control method, it should be noted that the rope control method of this embodiment may be performed by a rope control system of an embodiment of the present invention, the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different from that herein.
Fig. 2 is a flow chart of a method of controlling a rope according to an embodiment of the invention. As shown in fig. 2, the method may include the steps of:
step S202, acquiring an abnormal signal triggered by the power equipment when the power equipment is abnormal, wherein a rope of the power equipment is in a stretching state when the power equipment is abnormal.
In the technical solution provided by step S202 of the present invention, the strength device may be a household strength device, and is used for user training. During the operation of the power apparatus, if an abnormality occurs, for example, the motor of the power apparatus is powered off or fails, or the driver of the power apparatus is powered off or fails, an abnormality signal is obtained, which may be a signal that the motor of the power apparatus stops outputting the torque.
This embodiment is configured such that when an abnormality occurs in the power apparatus during use, the rope (rope mechanism, pull rope) of the power apparatus is pulled out, so that the rope of the power apparatus is placed in a stretched state, and in this case, the rope placed in the stretched state is easily entangled with a user using the power apparatus, thereby causing a safety accident.
And S204, controlling an elastic mechanism to pull the rope back to an initial position based on the abnormal signal, wherein the elastic mechanism is arranged in the power equipment and is connected with the rope.
In the technical scheme provided by the step S204 of the present invention, after the abnormal signal triggered when the power apparatus is abnormal is obtained, the elastic mechanism may be triggered through the abnormal signal, so that the rope is pulled back to the initial position by using the pulling force, thereby realizing automatic retraction of the rope, and avoiding the safety accident caused by the fact that the rope in the stretching state is easily entangled to the user.
In this embodiment, the elastic means is provided in the power tool device with a telescopic characteristic, and may be a spring means, e.g. a coil spring means, connected to the cord, so that the cord may be pulled back to the initial position by the pulling force.
Through the steps S202 to S204, an abnormal signal triggered when the power equipment is abnormal is obtained, wherein a rope of the power equipment is in a stretched state when the power equipment is abnormal; and controlling an elastic mechanism to pull the rope back to an initial position based on the abnormal signal, wherein the elastic mechanism is arranged in the power equipment and is connected with the rope. That is to say, this embodiment can utilize the elastic mechanism who sets up in the power apparatus equipment to pull back the rope to initial position when power apparatus equipment appears unusually to avoid the rope that is pulled out to twine the user easily, arouse the incident, solved power apparatus equipment and can't get back the technical problem of rope automation when unusual, and then reached the technical effect that power apparatus equipment took back the rope automation when appearing unusually.
The above-described method of this embodiment is further described below.
As an alternative embodiment, step S202, acquiring an abnormal signal triggered by the power instrument device when an abnormality occurs, includes: acquiring an abnormal signal triggered by the motor and/or the driver of the power instrument when the abnormality occurs, wherein the elastic mechanism is arranged on the motor.
In this embodiment, when the abnormal signal triggered by the power apparatus when the abnormality occurs is implemented, the abnormal signal triggered by the abnormality of the motor of the power apparatus may be, for example, the abnormal signal triggered when the power of the motor is cut off or fails, or the abnormal signal triggered when the power of the driver of the power apparatus is cut off or fails, so as to obtain the abnormal signal triggered by the abnormality of the motor and/or the driver.
In this embodiment, the motor provided in the power unit is a load of the power unit, and replaces a negative weight required for training, thereby making the power unit lightweight and space-saving. The elastic mechanism of this embodiment may be provided on the motor of the power tool apparatus, for example, on a motor shaft of the power tool apparatus, which may also be referred to as a rotating shaft of the motor, and alternatively, the motor shaft of this embodiment may be added to the elastic mechanism by a screw-on manner or a rivet-on manner, and the number of the elastic mechanisms may be one.
As an optional embodiment, before acquiring the abnormal signal triggered by the power apparatus when the abnormality occurs in step S202, the method further includes: and the control motor simulates constant torque output by the power apparatus according to a target distance and the torque output by the elastic mechanism, wherein the target distance is the extending distance of the rope in a stretching state.
In this embodiment, before acquiring an abnormal signal triggered when the power apparatus is abnormal, the power apparatus is in a normal working state, a distance that the rope stretches out when the rope is in a rope pulling state is a target distance, and the motor provides a torque according to the target distance and the torque output by the elastic structure, so that the motor can be used for simulating a constant torque output by a weight block of the power apparatus, that is, simulating a working condition of constant tension output by the weight block, and simulating a constant-load exercise effect of the power apparatus.
In this embodiment, the user can set a predetermined exercise torque Tref for the power tool apparatus, which outputs a constant torque in the case where the power tool apparatus is in a normal operating state. The output torque of the elastic mechanism of this embodiment can be calculated according to the following calculation formula: ts = ks θ s, where Ts is used to represent the torque output by the resilient mechanism, ks is used to represent the spring rate of the resilient structure, and θ s is used to represent the angular travel of the resilient mechanism.
In this embodiment, in the case where the power tool apparatus is in the normal operating state, the distance that the rope is pulled out when the rope is in the initial position may be 0, and the moment Ts0 provided by the pre-deformation θ 1 of the elastic mechanism may be exactly equal to the sum of the static friction moment Tf0 of the rope and the static friction moment Tm0 of the motor rotation shaft, that is, ts0= Tm0+ Tf0.
As an alternative embodiment, after controlling the elastic mechanism to pull the rope back to the initial position based on the abnormal signal at step S204, the method further includes: and determining the sum of the static friction moment of a motor shaft of the motor and the static friction moment of the rope as the torque output by the elastic mechanism.
In this embodiment, after controlling the elastic mechanism to pull the rope back to the initial position based on the abnormality signal, the sum of the static friction moment of the motor shaft of the motor and the static friction moment of the rope may be determined as the torque output by the elastic mechanism, that is, the torque (tensile moment) output by the elastic mechanism is exactly equal to the sum of the static friction moment Tm0 of the motor shaft of the motor and the static friction moment Tf0 of the rope.
As an alternative embodiment, the torque output by the elastic mechanism is obtained by pre-deformation of the elastic mechanism.
In this embodiment, after controlling the elastic mechanism to pull the rope back to the initial position based on the abnormal signal, the extending distance of the rope may be 0, and the elastic mechanism may have a pre-deformation θ 1, so that the torque output by the elastic mechanism is provided by the pre-deformation θ 1 of the elastic mechanism.
As an alternative embodiment, the torque output by the motor varies as the angular travel of the elastic mechanism varies.
In this embodiment, as the angular stroke θ s of the elastic mechanism increases during the normal operation of the power apparatus, the torque of the elastic mechanism also increases, and in order to simulate the exercise effect of the constant load of the power apparatus, the torque output by the motor varies according to the variation of the angular stroke θ s of the elastic mechanism.
As an alternative embodiment, before acquiring the abnormality signal triggered by the power instrument device when the abnormality occurs, the method further includes: acquiring a constant torque output by a power apparatus; acquiring the difference between the constant torque and the static friction torque of a motor shaft of the motor, the static friction torque of the rope and the torque output by the elastic mechanism, wherein the torque output by the elastic mechanism is determined by the angular travel; the difference is determined as the torque output by the motor.
In this embodiment, before acquiring the abnormality signal triggered by the power equipment when the abnormality occurs, the constant torque Tref output by the power equipment, which may refer to the number of kilograms of output torque or load that meets the preset demand of the user, may be acquired on a line, and then the difference between the constant torque Tref and the static friction torque Tm0 of the motor shaft of the motor, the static friction torque Tf0 of the rope, and the torque ks θ s output by the elastic mechanism is acquired and determined as the torque Tm output by the motor, that is, tm = Tref-Tf0-Tm0-ks θ s.
As an alternative embodiment, step S204, controlling the elastic mechanism to pull the rope back to the initial position includes: and controlling the elastic mechanism to pull the rope back to the initial position according to the torque output by the elastic mechanism.
In this embodiment, when controlling the elastic mechanism to pull the rope back to the initial position is implemented, the torque output by the elastic mechanism may be determined, and then the elastic mechanism is controlled to provide a pulling force according to the torque output by the elastic mechanism, so that the rope is pulled back to the initial position by the pulling force.
In the embodiment, an elastic mechanism is added in the power instrument equipment based on the motor, the motor provides torque according to the extending distance of the pull rope and the torque output by the spring, and the working condition of constant tension output of the negative weight block is simulated; the motor simulates constant torque output by the power equipment according to the extending distance of the rope in the stretching state and the torque output by the elastic mechanism; after the elastic mechanism pulls the rope back to the initial position, the sum of the static friction moment of the motor shaft of the motor and the static friction moment of the rope is exactly equal to the torque output by the elastic mechanism, so that the problem that the pulled rope is easily wound on a user to cause safety accidents is solved, the technical problem that the rope cannot be automatically withdrawn when the abnormality occurs in the strength instrument equipment is solved, and the technical effect that the rope is automatically withdrawn when the abnormality occurs in the strength instrument equipment is further achieved.
Example 3
The above technical solutions of the embodiments of the present invention are further described below with reference to preferred embodiments.
In order to achieve lightness and space saving, the power apparatus equipment adopts a motor as a load to replace a load-bearing lead block required by a user during training. However, if the power apparatus stops outputting torque due to power failure or malfunction during training, the rope in the stretched state cannot be automatically retracted, and the pulled rope is easily wound around the user, which causes safety accidents.
FIG. 3 is a schematic view of another power instrument apparatus according to an embodiment of the present invention. As shown in fig. 3, the power tool apparatus includes a motor 1 having a motor shaft 2, and this embodiment incorporates a coil spring mechanism 3 at the motor shaft 2 by screwing or riveting, and when the power tool apparatus motor 1 and the driver are powered off, the coil spring 3 provides a pulling force to pull the rope back to the original position.
In this embodiment, the user can set the exercise torque Tref with the power tool device in a normal operating state, the power tool device outputting a constant torque.
In this embodiment, a coil spring is installed on the rotating shaft part of the motor, and the output torque of the coil spring can be calculated as formula (1):
Ts＝ksθs (1)
where Ts is used to represent the torque output by the coil spring, ks is used to represent the spring rate of the coil spring, and θ s is used to represent the angular travel of the coil spring.
When the rope is in the initial position, the rope is pulled out for a distance of 0, the spring has a moment Ts0 provided by the pre-deformation theta 1, which is exactly equal to the sum of the static friction moment Tf0 of the rope and the static friction moment Tm0 of the rotating shaft of the motor, and the formula (2):
Ts0＝Tm0+Tf0 (2)
as the angular stroke θ s of the coil spring increases, the torque of the spring also increases, and in order to simulate the exercise effect of a constant load, the output of the torque of the motor is changed according to the change of the angular stroke θ s of the coil spring, for example, formula (3):
Tm＝Tref-Tf0-Tm0-ksθs (3)
the motor comprises a motor, a motor shaft, a motor, a Tf (static friction torque) and a Tf (kilo-kilogram) number, wherein Tm is used for expressing the torque output by the motor, tref is used for expressing the torque output by meeting the preset requirement of a user or the kilogram number of load, tf0 is used for expressing the static friction torque of a rope, tm0 is used for expressing the static friction torque of the motor shaft, and ks theta s is used for expressing the torque output by the elastic mechanism.
Fig. 4 is a schematic diagram illustrating the variation of the output torque of a motor according to the embodiment of the present invention according to the variation of the angular stroke. As shown in fig. 4, when the rope is in the initial position, the spring will have a moment Ts0 provided by the pre-deformation θ 1, which should be exactly equal to the sum (Tf 0+ Tm 0) of the static friction moment Tf0 of the rope and the static friction moment Tm0 of the motor shaft. Along with the increase of the angular travel theta s of the spring, the torque Ts of the spring is also increased, the torque Tm output by the motor is reduced, and the torque or the kilogram Tref of the load, which meets the preset requirement of a user, is unchanged.
In this embodiment, the coil spring can retract the pulled out cord in the event of a power failure or malfunction of the power instrument device. When the power equipment is in power failure or fault, the motor stops outputting torque, the coil spring withdraws the rope according to the torque of the torque Ts output by the coil spring, and when the power equipment returns to the initial position, the sum of the static friction force of the motor rotating shaft and the static friction force of the rope mechanism is exactly consistent with the tension torque of the coil spring.
This embodiment adds a coil spring to the motor-based power apparatus; the motor provides torque according to the extending distance of the pull rope and the torque output by the coil spring, and can be used for simulating the working condition of constant tension output of the negative weight block; when the stay cord is in the initial position, the torque that the coil spring provided just in time equals with motor shaft's static friction and rope mechanism's static friction sum to the rope of avoiding being pulled out twines the user easily, arouses the incident, has solved strength apparatus equipment and can't withdraw the technical problem of rope automation when appearing unusually, and then has reached the power apparatus equipment and has withdrawed the technical effect of rope automation when appearing unusually.
Example 4
The embodiment of the invention also provides a control device of the rope. It should be noted that the control device of the rope of this embodiment can be used to execute the control method of the rope of the embodiment of the present invention.
Fig. 5 presents a schematic view of a control device of the rope according to an embodiment of the invention. As shown in fig. 5, the control device 50 of the rope may include: an acquisition unit 51 and a pull-back unit 52.
An acquisition unit 51 configured to acquire an abnormality signal triggered by the power apparatus device when an abnormality occurs in which the rope of the power apparatus device is in a stretched state.
And a pull-back unit 52 for controlling an elastic mechanism to pull back the rope to an original position based on the abnormal signal, wherein the elastic mechanism is provided in the power instrument device and connected to the rope.
In the control device of the rope of the embodiment, when the power apparatus equipment is abnormal, the rope can be pulled back to the initial position by utilizing the elastic mechanism arranged in the power apparatus equipment, so that the situation that the pulled rope is easily wound on a user to cause safety accidents is avoided, the technical problem that the rope cannot be automatically retracted when the power apparatus equipment is abnormal is solved, and the technical effect that the rope is automatically retracted when the power apparatus equipment is abnormal is further achieved.
Example 5
According to an embodiment of the present invention, there is also provided a computer-readable storage medium. The computer-readable storage medium includes a stored program, wherein the program, when executed by a processor, controls an apparatus in which the computer-readable storage medium is located to perform a control method of a rope according to an embodiment of the present invention.
Example 6
According to an embodiment of the present invention, there is also provided a processor for executing a program, wherein the program executes the control method of the rope described in embodiment 1 when running.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other manners. The above-described apparatus embodiments are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or models, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is substantially or partly contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (14)
1. A method of controlling a rope, comprising:
acquiring an abnormal signal triggered by a power apparatus when abnormality occurs, wherein a rope of the power apparatus is in a stretching state when the abnormality occurs in the power apparatus;
controlling an elastic mechanism to pull the rope back to an initial position based on the abnormal signal, wherein the elastic mechanism is arranged in the power instrument device and is connected with the rope;
wherein the static friction torque of the rope is used for determining the torque output by the elastic mechanism;
wherein, obtain the abnormal signal that strength apparatus equipment triggered when appearing unusually, include: acquiring an abnormal signal triggered when the power failure occurs to a motor and/or a driver of the strength instrument equipment, wherein the elastic mechanism is arranged on the motor;
wherein after controlling an elastic mechanism to pull the rope back to an initial position based on the anomaly signal, the method further comprises: determining a sum of a static friction torque of a motor shaft of the motor and a static friction torque of the rope as a torque of the elastic mechanism, wherein the torque of the elastic mechanism is used to avoid the rope from being entangled to a user using the power instrument device.
2. The method of claim 1, wherein prior to obtaining an anomaly signal that triggers the power tool apparatus when the anomaly occurs, the method further comprises:
and controlling the motor to simulate the constant torque output by the power apparatus according to a target distance and the torque output by the elastic mechanism, wherein the target distance is the extending distance of the rope in the stretching state.
3. The method of claim 1, wherein the torque output by the resilient mechanism is derived from a pre-deformation of the resilient mechanism.
4. The method of claim 1, wherein the torque output by the motor varies as the angular travel of the resilient mechanism varies.
5. The method of claim 4, wherein prior to acquiring the anomaly signal that triggers the power tool apparatus upon the occurrence of the anomaly, the method further comprises:
acquiring a constant torque output by the power apparatus;
acquiring a difference between the constant torque and a static friction torque of a motor shaft of the motor, a static friction torque of the rope, and a torque output by the elastic mechanism, wherein the torque output by the elastic mechanism is determined by the angular stroke;
determining the difference as the torque output by the motor.
6. The method of any one of claims 1 to 5, wherein controlling an elastic mechanism to pull the cord back to an initial position comprises:
and controlling the elastic mechanism to pull the rope back to the initial position according to the torque output by the elastic mechanism.
7. The method according to any one of claims 1 to 5, wherein the abnormality signal is a signal that a motor of the power instrument device stops outputting a torque.
8. The method of any one of claims 1 to 5, wherein the resilient mechanism comprises a coil spring.
9. A power instrument apparatus, comprising:
the motor is used for triggering an abnormal signal when the power instrument equipment is abnormal;
a rope for being in a stretched state when abnormality occurs in the power instrument device;
the elastic mechanism is arranged on the motor, is connected with the rope and is used for pulling the rope back to an initial position based on the abnormal signal;
wherein the static friction torque of the rope is used for determining the torque output by the elastic mechanism;
wherein the motor is further configured to trigger an anomaly signal when the power tool apparatus is anomalous by: triggering an abnormal signal when a motor and/or a driver of the strength instrument device is powered off, wherein the elastic mechanism is arranged on the motor;
wherein the power instrument device is configured to determine a sum of a static friction moment of a motor shaft of the motor and a static friction moment of the rope as a torque of the elastic mechanism after controlling the elastic mechanism to pull the rope back to an initial position based on the abnormality signal, wherein the torque of the elastic mechanism is configured to prevent the rope from being entangled with a user using the power instrument device.
10. The power instrument device of claim 9, wherein the resilient mechanism is disposed on a motor shaft of the motor.
11. The power apparatus according to claim 9, wherein the elastic mechanism is provided on a motor shaft of the motor by screwing or riveting.
12. A control device for a rope, comprising:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring an abnormal signal triggered by the power equipment when the power equipment is abnormal, and a rope of the power equipment is in a stretching state when the power equipment is abnormal;
a pull-back unit for controlling an elastic mechanism to pull back the rope to an initial position based on the abnormal signal, wherein the elastic mechanism is provided in the power instrument device and connected with the rope;
wherein the static friction torque of the rope is used for determining the torque output by the elastic mechanism;
wherein the acquisition unit is further configured to acquire an abnormality signal triggered by the power instrument device when an abnormality occurs, by: acquiring an abnormal signal triggered when the power failure occurs to a motor and/or a driver of the strength instrument equipment, wherein the elastic mechanism is arranged on the motor;
wherein the control device of the rope is configured to determine a sum of a static friction moment of a motor shaft of the motor and a static friction moment of the rope as a torque of the elastic mechanism after controlling the elastic mechanism to pull the rope back to an initial position based on the abnormality signal, wherein the torque of the elastic mechanism is configured to prevent the rope from being entangled with a user using the power instrument apparatus.
13. A computer-readable storage medium, comprising a stored program, wherein the program, when executed by a processor, controls an apparatus in which the computer-readable storage medium is located to perform the method of any of claims 1-8.
14. A processor configured to run a program, wherein the program when executed performs the method of any one of claims 1 to 8.
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| CN202010866458.0A CN111960308B (en) | 2020-08-25 | 2020-08-25 | Rope control method and device, force instrument equipment and storage medium |
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| US6811520B2 (en) * | 2001-08-13 | 2004-11-02 | Peter Wu | Magnetic control multifunctional exercise apparatus with double cable sheave |
| CN101007205A (en) * | 2006-01-27 | 2007-08-01 | 明根股份有限公司 | Programmable controlling drag device for body-building equipment and method thereof |
| CN205182074U (en) * | 2015-11-06 | 2016-04-27 | 伟业健康科技（龙南）有限公司 | Magnetic damping pulling force fitness equipment |
| CN205699083U (en) * | 2016-04-09 | 2016-11-23 | 山东天展健身器材有限公司 | A kind of strength fitness equipment |
| CN106964104B (en) * | 2017-04-26 | 2020-04-28 | 青岛英派斯健康科技股份有限公司 | Numerical control damping source control method, device and system and fitness equipment |
| CN108905048A (en) * | 2018-08-27 | 2018-11-30 | 夏擎华 | A kind of resistance output device and exercise rehabilitation training equipment |
| CN109381834A (en) * | 2018-11-13 | 2019-02-26 | 德尔康(上海)运动用品有限公司 | Flywheel resistance regulation system |
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