CN112755463A - Body-building apparatus - Google Patents
Body-building apparatus Download PDFInfo
- Publication number
- CN112755463A CN112755463A CN202110089145.3A CN202110089145A CN112755463A CN 112755463 A CN112755463 A CN 112755463A CN 202110089145 A CN202110089145 A CN 202110089145A CN 112755463 A CN112755463 A CN 112755463A
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- China
- Prior art keywords
- power arm
- sliding part
- driving module
- articulated
- connecting rod
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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
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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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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention belongs to the technical field of mechanical exoskeleton application, and particularly relates to a fitness device which comprises a fixed seat, a first power arm and a second power arm, wherein one end of the first power arm is connected with the fixed seat through a first joint component, the other end of the first power arm is connected with the second power arm through a second joint component, and one end, far away from the second joint component, of the second power arm is provided with a human-computer interaction mechanical structure matched with a human limb; the first power arm is provided with a first sliding portion and a second sliding portion which are arranged in a sliding mode along the length direction of the first power arm, and a first driving module and a second driving module which are used for driving the first sliding portion and the second sliding portion to slide respectively. The invention can simulate the movement tracks of the limbs of a person in various different exercise modes, and further generate resistance to the limbs of the person along the specific movement tracks so as to achieve the exercise effect; in addition, the invention can actively correct and guide the movement of limbs, thereby improving the exercise effect.
Description
Technical Field
The invention belongs to the technical field of design and manufacture of fitness equipment, and particularly relates to fitness equipment.
Background
The exoskeleton system structure is from bionics research of insects, is wearable equipment, is used for providing protection and additional power for people, and is mainly applied to the fields of medical rehabilitation, military affairs, transportation and the like. The exoskeleton technology can detect and judge the movement intention of a human body by means of feedback means such as a sensor, accurately control the strength of the assistance force and the position of the tail end of the actuator, and keep the consistent movement of the exoskeleton and the human body. Based on the characteristics, the limbs of the user can be ensured to move to the designated positions along a certain direction under the control of the preset assistance force (or resistance). The existing exoskeleton is complex in structure and large in appearance structure and is only generally used for power-assisted scenes.
The existing fitness equipment generally uses a mechanical transmission or pulley mechanism to convert the gravity of a negative weight block into the resistance borne by a user for exercising designated muscle tissues. In the process of using the existing fitness equipment, the resistance and the direction can not be adjusted in a follow-up manner, so that the exercise action can not be corrected in real time. Although the mechanical system of the exoskeleton structure can fill the gap of the exoskeleton structure, the application of the exoskeleton structure in the field of fitness is still to be developed.
Disclosure of Invention
The invention aims to provide a novel electric control mechanical type fitness system aiming at the field of household fitness and applying the mechanical and electronic control technology of exoskeleton, which has simple structure and small occupied area, can customize a control curve and a track stroke of resistance according to the body state characteristics of a user, and can simulate various traditional aerobic and anaerobic fitness exercise modes.
The technical scheme adopted by the invention is as follows:
a body-building apparatus comprises a fixed seat, a first power arm and a second power arm, wherein one end of the first power arm is connected with the fixed seat through a first joint component, the other end of the first power arm is connected with the second power arm through a second joint component, and one end, away from the second joint component, of the second power arm is provided with a human-computer interaction mechanical structure matched with limbs of a person; the first power arm is provided with a first sliding part and a second sliding part which are arranged in a sliding manner along the length direction of the first power arm, and a first driving module and a second driving module which are used for driving the first sliding part and the second sliding part to slide respectively, and the first joint component is assembled to convert the linear motion of the first sliding part into the relative rotation between the first power arm and the fixed seat; the second joint assembly is assembled to convert linear motion of the second sliding portion into relative rotation between the first power arm and the second power arm.
First power arm is articulated with the fixing base, first joint subassembly includes first connecting rod, and the one end and the first sliding part of first connecting rod are articulated, and the other end is articulated with the fixing base, and the articulated shaft between first connecting rod and the fixing base and the articulated shaft disalignment between first power arm and the fixing base.
The first driving module is configured to drive the first sliding part to perform a linear motion with controllable acceleration.
The first power arm is hinged to the second power arm, the second joint component comprises a second connecting rod, one end of the second connecting rod is hinged to the second sliding portion, the other end of the second connecting rod is hinged to the second power arm, and a hinged shaft between the second connecting rod and the second power arm is not coaxial with a hinged shaft between the first power arm and the second power arm.
The second driving module is configured to drive the second sliding part to perform a linear motion with controllable acceleration.
And a force measuring module is arranged at one end of the second power arm far away from the second joint component.
The first power arm is provided with a main controller, the detection signal output end of the force measurement module is electrically connected with the signal input end of the main controller, and the control signal output end of the main controller is electrically connected with the signal input ends of the first driving module and the second driving module.
The fixing seat is installed on a vertical or horizontal working surface.
The invention has the technical effects that: the human-computer interaction end multi-degree-of-freedom motion is realized by utilizing the superposition motion of the first power arm and the second power arm based on the mechanical assistance exoskeleton principle, the motion tracks of human limbs under various different exercise modes can be simulated, and then resistance is generated on the human limbs along a specific motion track, so that the exercise effect is achieved; in addition, the invention can accurately control the motion track of the human-computer interaction end, so that the motion action of the limbs can be actively corrected and guided, and the exercise effect is improved.
Drawings
Figure 1 is a perspective view of an exercise apparatus provided by an embodiment of the present invention;
fig. 2 is a perspective view of a first driving module provided in an embodiment of the present invention;
FIG. 3 is a side view of a first joint assembly provided by an embodiment of the present invention;
fig. 4 is a schematic diagram of embodiment 1 of the present invention;
fig. 5 is a schematic diagram of embodiment 2 of the present invention;
FIG. 6 is a schematic diagram of embodiment 3 of the present invention;
FIG. 7 is a schematic diagram of embodiment 4 of the present invention;
FIG. 8 is a schematic diagram of embodiment 5 of the present invention;
fig. 9 is a schematic diagram of embodiment 6 of the present invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the following description is given in conjunction with the accompanying examples. It is to be understood that the following text is merely illustrative of one or more specific embodiments of the invention and does not strictly limit the scope of the invention as specifically claimed.
As shown in fig. 1, an exercise machine comprises a fixed seat 1, a first power arm 2 and a second power arm 3, wherein one end of the first power arm 2 is connected with the fixed seat 1 through a first joint component, the other end of the first power arm is connected with the second power arm 3 through a second joint component, and one end of the second power arm 3, which is far away from the second joint component, is provided with a human-computer interaction mechanical structure matched with a human limb; the first power arm 2 is provided with a first sliding part 4 and a second sliding part 9 which are arranged in a sliding manner along the length direction of the first power arm 2, and a first driving module and a second driving module which are respectively used for driving the first sliding part 4 and the second sliding part 9 to slide, and the first joint component is assembled to convert the linear motion of the first sliding part 4 into the relative rotation between the first power arm 2 and the fixed seat 1; the second joint assembly is fitted so as to be able to convert the linear motion of the second sliding portion 9 into a relative rotation between the first power arm 2 and the second power arm 3. Based on a mechanical assistance exoskeleton principle, the multi-degree-of-freedom motion of a human-computer interaction end is realized by utilizing the superposed motion of the first power arm 2 and the second power arm 3, the motion tracks of human limbs under various different exercise modes can be simulated, and then resistance is generated on the human limbs along a specific motion track, so that the exercise effect is achieved; in addition, the invention can accurately control the motion track of the human-computer interaction end, so that the motion action of the limbs can be actively corrected and guided, and the exercise effect is improved.
Preferably, first power arm 2 is articulated with fixing base 1, first joint subassembly includes first connecting rod 5, and first connecting rod 5's one end is articulated with first sliding part 4, and the other end is articulated with fixing base 1, and the articulated shaft between first connecting rod 5 and the fixing base 1 and the articulated shaft disalignment between first power arm 2 and the fixing base 1. First power arm 2 is articulated with second power arm 3, the second joint subassembly includes second connecting rod 10, and the one end and the second sliding part 9 of second connecting rod 10 are articulated, and the other end is articulated with second power arm 3, and the articulated shaft between second connecting rod 10 and the second power arm 3 is not coaxial with the articulated shaft between first power arm 2 and the second power arm 3.
As shown in fig. 1 and 2, as one implementation manner of the present invention, the first driving module includes a first lead screw 6 rotatably connected to the first power arm 2 along a direction parallel to a length direction of the first power arm 2, the first lead screw 6 is rotatably connected to a main shaft of a first driving motor 8 synchronously by a first coupling 7, and the first driving motor 8 is fixed on the first power arm 2 by a motor bracket; the first sliding part 4 and the first screw rod 6 form thread transmission fit. The second driving module comprises a second lead screw 11 which is in rotary connection with the first power arm 2 along the length direction parallel to the first power arm 2, the second lead screw 11 is in synchronous rotary connection with a main shaft of a second driving motor through a second coupling 12, and the second driving motor is fixed on the first power arm 2 through a motor bracket; the second sliding part 9 and the second lead screw form thread transmission fit.
As another implementation manner of the present invention, the first driving module includes a first piston cylinder disposed in a direction parallel to the length direction of the first power arm 2, a cylinder body of the first piston cylinder is fixedly connected to the first power arm 2, and a piston rod of the first piston cylinder is fixedly connected to the first sliding portion 4. The second driving module comprises a second piston cylinder arranged in the length direction parallel to the first power arm 2, the cylinder body of the second piston cylinder is fixedly connected with the first power arm 2, and the piston rod of the second piston cylinder is fixedly connected with the second sliding part 9.
Specifically, as shown in fig. 1 and 3, in order to further meet the use requirements of light weight and miniaturization, the first connecting rod 5 and the second connecting rod 10 are arranged in an L shape, the first connecting rod 5 and the second connecting rod 10 are made to be more fit with the fixed seat 1 and the appearances of the first power arm 2 and the second power arm 3, an aluminum section is used as the main body parts of the first power arm 2 and the second power arm 3, the two ends of the first power arm 2 are respectively provided with a hinged joint 201, and the hinged joint 201 is connected with the main body part of the first power arm 2 through a bolt; in addition, a hinged plate 101 is arranged on the fixed seat 1, the hinged plate 101 is fixedly connected with the fixed seat 1 through a bolt, and the hinged joint 201 and the first connecting rod 5 are respectively hinged with the hinged plate 101.
Furthermore, a force measuring module is arranged at one end, far away from the second joint assembly, of the second power arm 3, a main controller is arranged on the first power arm 2, a detection signal output end of the force measuring module is electrically connected with a signal input end of the main controller, and a control signal output end of the main controller is electrically connected with signal input ends of the first driving module and the second driving module. The force measuring module can detect the external force acting on the apparatus during exercise, and the main controller can adjust the current of the first driving module and the second driving module according to the detection data so as to control the output torque of the first driving module and the second driving module, thereby achieving the real-time control and adjustment of the resistance of the body-building apparatus.
Example 1
Free movement in horizontal track
In the embodiment, the first driving module and the second driving module are used for controlling the angles of the first power arm 2 and the second power arm 3, the geometric length of the power arms is constant, so that the position point at the tail end of the second power arm 3 becomes a controllable position point P, the main controller controls the combination of the angles of the connecting rods through an algorithm, the vertical coordinate of the tail end position point P is kept at a fixed value, namely the displacement of the tail end position point P in the vertical direction is limited, and the embodiment can ensure that the tail end position point can move freely in a horizontal track.
Example 2
Free movement in vertical track
In the embodiment, the first driving module and the second driving module are used for controlling the angles of the first power arm 2 and the second power arm 3, the geometric length of the power arms is constant, so that the position point of the tail end of the second power arm 3 becomes a controllable position point P, and the main controller controls the combination of the angles of the connecting rods through an algorithm to keep the horizontal coordinate of the tail end position point P at a fixed value, namely, the displacement of the tail end position point P in the horizontal direction is limited. This embodiment ensures that the end position point is free to move within the vertical track.
Example 3
The first connecting rod 5 and the second connecting rod 10 move freely in the plane
In the embodiment, the first driving module and the second driving module are used for controlling the angles of the first power arm 2 and the second power arm 3, the geometric length of the power arms is constant, so that the position point of the tail end of the second power arm 3 becomes a controllable position point P, the main controller controls the combination of the angles of the connecting rods through an algorithm, and in combination with the superposition of the horizontal direction position control and the vertical direction position control in the embodiment 1 and the embodiment 2, the coordinates of the tail end position point P in a plane coordinate system of the first power arm 2 and the second power arm 3 are defined, namely, the position and the movement of the point P in the coordinate system are controlled. The embodiment can ensure the motion state of the end position point P in the plane coordinate system and feed back the motion position.
Example 4
Fixed power/resistance movement in horizontal direction
In this embodiment, the first driving module and the second driving module are used to provide two torques, the rotating shafts of the two torques are respectively located at the joint centers of the first joint assembly and the second joint assembly, the main controller controls the values and the torque directions of the two torques through an algorithm, an equivalent unidirectional force F is generated when the unidirectional force F is superimposed on the position point P of the end of the second power arm 3, and the unidirectional force F is controlled to be in a horizontal direction, that is, a resistance force F in a horizontal opposite direction is applied when a user applies a force to the point P. This embodiment ensures that the user is subjected to a constant resistance force F in the horizontal direction when applying a force to the end point P.
Example 5
Vertical direction fixed assist/resistance motion
The embodiment can provide two torques by using the first driving module and the second driving module, the rotating shaft positions of the two torques are respectively arranged at the joint centers of the first joint component and the second joint component, the main controller controls the numerical values and the torque directions of the two torques through an algorithm, an equivalent unidirectional force F is superposed on a position point P at the tail end of the second power arm 3, the unidirectional force F is controlled to be in a vertical direction, namely, a resistance F in a vertical opposite direction is received when a user applies a force to the point P, and the embodiment can ensure that the user receives a constant resistance F in the vertical direction when applying the force to the tail end position point.
Example 6
The first connecting rod 5 and the second connecting rod 10 exert a constant value of boosting/resisting movement in the plane
In the embodiment, two torques can be provided by using the first driving module and the second driving module, the rotating shaft positions of the two torques are respectively in the joint centers of the first joint component and the second joint component, the main controller controls the numerical values and the torque directions of the two torques through an algorithm, an equivalent unidirectional force F is generated by being superposed on the position point P at the tail end of the second power arm 3, and the fixed-value resistance force F in a constant direction can be applied to the position point P at the tail end by superposing the horizontal component force in the embodiment 4 and the vertical component force in the embodiment 5, so that the embodiment can ensure that the position point at the tail end can be constantly applied with the fixed-value fixed-direction resistance force or the assistance force in the plane coordinate system of the first power arm 2 and the second power arm 3.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.
Claims (9)
1. An exercise machine characterized by: the device comprises a fixed seat (1), a first power arm (2) and a second power arm (3), wherein one end of the first power arm (2) is connected with the fixed seat (1) through a first joint component, the other end of the first power arm is connected with the second power arm (3) through a second joint component, and one end, away from the second joint component, of the second power arm (3) is provided with a human-computer interaction mechanical structure matched with limbs of a person; the first power arm (2) is provided with a first sliding part (4) and a second sliding part (9) which are arranged in a sliding manner along the length direction of the first power arm (2), and a first driving module and a second driving module which are used for driving the first sliding part (4) and the second sliding part (9) to slide respectively, and the first joint component is assembled to convert the linear motion of the first sliding part (4) into the relative rotation between the first power arm (2) and the fixed seat (1); the second joint assembly is assembled to be able to convert the linear motion of the second sliding part (9) into a relative rotation between the first power arm (2) and the second power arm (3).
2. The exercise apparatus of claim 1, wherein: first power arm (2) are articulated with fixing base (1), first joint subassembly includes first connecting rod (5), and the one end and the first sliding part (4) of first connecting rod (5) are articulated, and the other end is articulated with fixing base (1), and the articulated shaft between first connecting rod (5) and fixing base (1) and the articulated shaft disalignment between first power arm (2) and fixing base (1).
3. The exercise apparatus of claim 1, wherein: the first driving module is configured to drive the first sliding part to perform a linear motion with controllable acceleration.
4. The exercise apparatus of claim 1, wherein: first power arm (2) are articulated with second power arm (3), the second joint subassembly includes second connecting rod (10), and the one end and the second sliding part (9) of second connecting rod (10) are articulated, and the other end is articulated with second power arm (3), and the articulated shaft between second connecting rod (10) and second power arm (3) and the articulated shaft disalignment between first power arm (2) and second power arm (3).
5. The exercise apparatus of claim 1, wherein: the second driving module is configured to drive the second sliding part to perform a linear motion with controllable acceleration.
6. The exercise apparatus of claim 1, wherein: the second driving module comprises a second piston cylinder arranged in the length direction parallel to the first power arm (2), the cylinder body of the second piston cylinder is fixedly connected with the first power arm (2), and the piston rod of the second piston cylinder is fixedly connected with the second sliding part (9).
7. The exercise apparatus of claim 1, wherein: and a force measuring module is arranged at one end of the second power arm (3) far away from the second joint component.
8. An exercise machine according to claim 8 wherein: the power arm is characterized in that a main controller is arranged on the first power arm (2), the detection signal output end of the force measurement module is electrically connected with the signal input end of the main controller, and the control signal output end of the main controller is electrically connected with the signal input ends of the first driving module and the second driving module.
9. The exercise apparatus of claim 1, wherein: the fixed seat (1) is installed on a vertical or horizontal working surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110089145.3A CN112755463A (en) | 2021-01-22 | 2021-01-22 | Body-building apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110089145.3A CN112755463A (en) | 2021-01-22 | 2021-01-22 | Body-building apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112755463A true CN112755463A (en) | 2021-05-07 |
Family
ID=75706673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110089145.3A Pending CN112755463A (en) | 2021-01-22 | 2021-01-22 | Body-building apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112755463A (en) |
-
2021
- 2021-01-22 CN CN202110089145.3A patent/CN112755463A/en active Pending
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