CN114904207A - Force training instrument control method and device and force training instrument - Google Patents

Force training instrument control method and device and force training instrument Download PDF

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Publication number
CN114904207A
CN114904207A CN202110181090.9A CN202110181090A CN114904207A CN 114904207 A CN114904207 A CN 114904207A CN 202110181090 A CN202110181090 A CN 202110181090A CN 114904207 A CN114904207 A CN 114904207A
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China
Prior art keywords
motor
strength training
tension assembly
rotating speed
tension
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Granted
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CN202110181090.9A
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Chinese (zh)
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CN114904207B (en
Inventor
高孝君
孟子杰
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Guangzhou Yuandong Smart Sports Technology Co Ltd
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Guangzhou Yuandong Smart Sports Technology Co Ltd
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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
    • A63B21/0058—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 using motors
    • 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
    • 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
    • A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention relates to a strength training apparatus control method, a device and a strength training apparatus, wherein whether a user starts to exercise or not is judged by monitoring whether a tension assembly has tension, when the user starts to exercise, a target torque of a motor is calculated by acquiring a real-time rotating speed of the motor and according to a difference value between a first rotating speed and the real-time rotating speed, and the motor is enabled to rotate at a preset first rotating speed all the time by adjusting an output torque of the motor, so that the strength training apparatus can realize constant-speed muscle contraction training and improve a training effect.

Description

Method and device for controlling strength training instrument and strength training instrument
Technical Field
The invention relates to the field of strength training instruments, in particular to a strength training instrument control method and device and a strength training instrument.
Background
Along with the continuous progress of society, the living standard of people is greatly improved, and people pay more and more attention to sports and fitness. When the strength training machine is used, the output torque of the control motor is used as the load force recovered by the traction tension component, and a user pulls the tension component on the transmission mechanism to generate tension opposite to the load force, so that strength training is realized.
The traditional strength training apparatus can only train the isotonic contraction of muscles generally, and the training effect is poor.
Disclosure of Invention
The embodiment of the application provides a strength training instrument control method and device and a strength training instrument, and can achieve constant-speed muscle contraction training and improve the training effect.
In a first aspect, an embodiment of the present application provides a method for controlling a strength training apparatus, where the strength training apparatus includes a tension assembly and a motor, and the motor outputs torque through the tension assembly;
the strength training apparatus control method comprises the following steps:
monitoring whether the tension assembly has tension, and if so, acquiring the real-time rotating speed of the motor;
acquiring a target torque of the motor according to a difference value between a preset first rotating speed and the real-time rotating speed;
and adjusting the output torque of the motor to the target torque, so that the motor rotates at a preset first rotating speed.
Optionally, the step of obtaining the target torque of the motor includes:
the target torque of the motor is calculated in the following manner:
T 1 ＝k(v 1 -v 2 )
wherein, T 1 Is the target moment of the motor, v 1 At a first rotational speed, v 2 And k is a moment calculation coefficient.
Optionally, the step of adjusting the output torque of the motor to the target torque includes:
if the first rotating speed is greater than the real-time rotating speed, adjusting the output torque of the motor to the target torque in the same direction as the pulling force;
and if the first rotating speed is lower than the real-time rotating speed, adjusting the output torque of the motor to the target torque opposite to the pulling force direction.
Optionally, the method further comprises the following steps:
acquiring the pulled-out length of the tension assembly; wherein the pulled-out length is a distance of a free end of the tension assembly relative to an initial position;
and when the pulled length is greater than a set threshold value and the tension assembly is monitored to have no tension, adjusting the output torque of the motor to be a rewinding torque.
Optionally, the rollback torque is a torque value obtained by dividing an accumulated value of the output torque at each time after the first time by the rollback time; the first moment is the moment when the pulled-out length of the tension assembly exceeds a set threshold, and the rewinding time is the time difference from the first moment to the moment of stopping pulling.
Optionally, the strength training apparatus further comprises a base;
the motor comprises a first motor and a second motor, and the first motor and the second motor are symmetrically fixed at two ends of the base;
the tension assembly comprises a first tension assembly and a second tension assembly, the first end of the first tension assembly is connected with the rotating shaft of the first motor, and the first end of the second tension assembly is connected with the rotating shaft of the second motor.
Optionally, the strength training apparatus comprises a grip; the gripping piece is connected with one end of the pulling force component.
Optionally, the second end of the first pulling force assembly is connected to the first end of the grip, and the second end of the second pulling force assembly is connected to the second end of the grip.
Optionally, the grip includes a first grip and a second grip, the first grip is connected to the second end of the first tension assembly, and the second grip is connected to the second end of the second tension assembly.
In a second aspect, embodiments of the present application provide a strength training apparatus control device, where the strength training apparatus includes a tension assembly and a motor, and the motor outputs torque through the tension assembly;
the strength training apparatus control device comprises:
the tension monitoring module is used for monitoring whether tension exists in the tension assembly or not, and if yes, the real-time rotating speed of the motor is obtained;
the target torque acquisition module is used for acquiring the target torque of the motor according to the difference value between the preset first rotating speed and the real-time rotating speed;
and the motor control module is used for adjusting the output torque of the motor to the target torque so that the motor rotates at a preset first rotating speed.
In a third aspect, embodiments of the present application provide a strength training apparatus, including: the tension assembly, the motor and the motor driver; the motor driver is used for driving the motor to output torque to the tension assembly;
the motor driver includes a processor and a memory;
the memory is used for storing one or more programs;
when executed by the one or more processors, cause the processors to implement a strength training apparatus control method as in any one of the above.
Optionally, the system further comprises an interaction device;
the interactive device is used for acquiring training parameters input by a user.
In this application embodiment, through monitoring whether there is the pulling force in the pulling force subassembly, judge whether the user begins to take exercise, when the user begins to take exercise, through the real-time rotational speed that obtains the motor, according to the difference of first rotational speed and real-time rotational speed, the target moment of calculation motor and through the output torque of adjustment motor for the motor rotates according to predetermined first rotational speed all the time, thereby makes strength training apparatus can realize the training of muscle constant speed shrink, improves the training effect.
For a better understanding and practice, the present invention is described in detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is an application scenario of a strength training apparatus control method according to an exemplary embodiment of the present invention;
FIG. 2 is a flow chart of a method of controlling a strength training apparatus in an exemplary embodiment of the invention;
FIG. 3 is a schematic diagram of a strength training apparatus control in accordance with an exemplary embodiment of the present invention;
FIG. 4 is a schematic diagram of a strength training apparatus according to an exemplary embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
It should be understood that the embodiments described are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.
The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the present application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the appended claims. In the description of the present application, it is to be understood that the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not necessarily used to describe a particular order or sequence, nor are they to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The method and the device for controlling the strength training instrument according to the embodiment of the application can be applied to the strength training instrument shown in fig. 1. The strength training instrument comprises a tension assembly 10, a motor (not shown), a holding piece 20 and a base 30, wherein one end of the tension assembly 10 is connected with a rotating shaft of the motor, the other end (free end) of the tension assembly 10 is connected with the holding piece 20, the motor is arranged inside the base 30, and when the motor rotates, torque is output through the tension assembly 10. The force generated by the torque output by the motor when the motor rotates on the tension assembly 10 is used as a training load, and the direction of the tension is opposite to that of the tension applied to the free end of the tension assembly 10 by a user, so that the aim of exercising muscles is fulfilled.
In one embodiment, the grip 20 is a cross bar, and the motor includes a first motor and a second motor, which are symmetrically fixed at two ends of the base 30; the tension assembly 10 comprises a first tension assembly and a second tension assembly, one end of the first tension assembly is connected with a rotating shaft of the first motor, and the other end of the first tension assembly is connected with the first end of the cross rod. The first end of the second tension assembly is connected with the rotating shaft of the second motor, and the second end of the second tension assembly is connected with the second end of the cross rod.
In another embodiment, the grip 20 is a handle, and the strength training apparatus comprises a first handle and a second handle, wherein the motor comprises a first motor and a second motor, and the first motor and the second motor are symmetrically fixed at two ends of the base 30; the pulling force assembly 10 comprises a first pulling force assembly and a second pulling force assembly, one end of the first pulling force assembly is connected with a rotating shaft of the first motor, and the other end of the first pulling force assembly is connected with the first handle; the first end of the second pulling force component is connected with the rotating shaft of the second motor, and the second end of the second pulling force component is connected with the second handle.
As shown in fig. 2, an embodiment of the present application provides a method for controlling a strength training apparatus, including the following steps:
step S1: monitoring whether the tension assembly has tension, and if so, acquiring the real-time rotating speed of the motor;
the tension assembly is a component of the strength training apparatus for a user to apply an external force and generate a certain displacement. In one embodiment, the tension assembly may be a tension band or a pull cord.
The monitoring whether the tension assembly is subjected to tension can be obtained through a torque sensor or other tension detection equipment arranged at one end of the tension assembly; when the tension assembly does not detect tension, the motor is in a closed state, and the rotating speed is zero; when the tension assembly is monitored to have tension, the fact that the user starts to exercise is judged, and at the moment, the real-time rotating speed of the motor is obtained.
The real-time rotating speed of the motor can be obtained through a rotating speed detection device arranged on the motor. The rotating speed detection device can be a rotating speed sensor, a rotating speed measuring circuit or other instruments or equipment which can be used for detecting the rotating speed of the motor. In the embodiment of the application, the real-time rotating speed of the motor is detected through an encoder arranged on the motor.
Step S2: acquiring a target torque of the motor according to a difference value between a preset first rotating speed and the real-time rotating speed;
the first rotating speed can be a speed value preset by the user, and the specific value can be determined according to the actual exercise condition and the training scheme of the user. In one embodiment, the first rotation speed is set to 0, and at this time, the user pulls the pulling force assembly with more effort, and the movement speed of the rope is almost 0; in another embodiment, the first rotational speed is set to 1, where the user pulls the pulling force assembly with little effort. Different first rotating speeds are set according to the exercise preference of the user so as to obtain different training experiences.
The isokinetic training refers to that when muscles are in contraction training, a resistance source dynamically adjusts the resistance of a machine according to the force of a user, so that the user can keep the movement speed at a constant speed no matter how much force is used, and the isokinetic training is considered to be a good muscle strength training method in the field of exercise rehabilitation. However, in the actual exercise process, because the pulling force that the user applyed the pulling force subassembly probably changes for motor speed changes, rotates according to first rotating speed for the guarantee motor all the time, can carry out corresponding adjustment to the output torque of motor according to the pulling force that the user applyed, makes the user remain constant speed mode all the time and tempers, improves the training effect.
The target torque is a target adjustment value of the motor output torque calculated according to the difference value of the first rotating speed and the real-time rotating speed of the motor.
Step S3: adjusting the output torque of the motor to the target torque, and enabling the motor to rotate at a preset first rotating speed;
when the real-time rotating speed of the motor is smaller than the preset first rotating speed, the rotating speed of the motor can be increased by enabling the motor to output the target torque consistent with the pulling force direction to the pulling force assembly, and when the real-time rotating speed of the motor is larger than the preset first rotating speed, the rotating speed of the motor can be reduced by enabling the motor to output the target torque opposite to the pulling force direction to the pulling force assembly, so that the motor can rotate at the preset first rotating speed all the time.
In this application embodiment, through monitoring whether there is the pulling force in the pulling force subassembly, judge whether the user begins to take exercise, when the user begins to take exercise, through the real-time rotational speed that obtains the motor, according to the difference of first rotational speed and real-time rotational speed, the target moment of calculation motor and through the output torque of adjustment motor for the motor rotates according to predetermined first rotational speed all the time, thereby makes strength training apparatus can realize the training of muscle constant speed shrink, improves the training effect.
When the user stops to have a rest in the exercise process, at the moment, the strength training instrument often outputs the rollback moment to recover the tension assembly when detecting that the tension assembly does not have tension, and the user has to continuously exert an action on the tension assembly to resist the rollback moment, so that the physical strength of the user is consumed. Therefore, in response to the above problem, in one embodiment, the strength training apparatus control method further comprises the steps of:
acquiring the pulled-out length of the tension assembly;
when the pulled length is larger than a set threshold value and the tension of the tension assembly is monitored to be absent, adjusting the output torque of the motor to be a rewinding torque;
the pulled-out length is the distance between the free end of the tension assembly and the initial position; the initial position of the free end is the position of the tension assembly when the tension assembly is not acted by external force.
In one embodiment, the pulled-out length may be obtained by integrating the rotation speed of the motor for the period of time; in another embodiment, the pulled-out length may be obtained by providing a position sensor at one end of the tension assembly, by acquiring the position of the tension assembly detected by the position sensor.
The set threshold is used to determine whether the user exercises beyond a preset stroke, and may be determined according to the actual exercise condition of the user or a corresponding exercise item. In one embodiment, the set threshold may be 10 centimeters. And determining the exercise state of the user according to whether the exercise of the user exceeds the preset stroke and the tension condition of the tension assembly.
Specifically, when the pulled-out length of the tension assembly is larger than a set threshold value and the tension assembly is monitored to be free of tension, the tension assembly is judged to belong to a release stage of user exercise at present (namely, the tension assembly is in a recovery state), and due to different physical qualities of different users, the bearable strength is different.
When the pulled length of the tension assembly is greater than the set threshold value, but tension of the tension assembly is monitored, the user is judged not to finish exercise, and at the moment, steps S1-S3 are executed, and the strength training machine is controlled to keep running in a constant speed mode.
When the pulled-out length of the tension assembly is smaller than a set threshold value, judging that the user does not finish exercising; at the moment, when the tension assembly is monitored to have tension, the steps S1-S3 are directly executed, the strength training instrument is controlled to keep running in a constant speed mode, and the training effect is guaranteed; when the situation that the tension assembly does not have tension is monitored, the situation that the user is in a half-way rest state is judged, and at the moment, the motor is controlled to stop outputting the torque, so that the tension assembly keeps the current state still.
The rewinding moment is used for realizing slow recovery of the tension assembly and can be determined according to the stretching condition of the current tension assembly and the real-time rotating speed of the motor.
In one embodiment, the rollback moment is a moment value obtained by dividing an accumulated value of the output moment at each moment after the first moment by the rollback time; the first moment is the moment when the pulled-out length of the tension assembly exceeds a set threshold, and the rewinding time is the time difference from the first moment to the moment of stopping pulling.
The rewinding moment is determined according to the tension conditions of different users, so that the rewinding moment output by the motor is ensured to be the force which can be borne by the user, and the user is prevented from being injured in the training process.
Through the length of being pulled out of real-time supervision pulling force subassembly, be greater than the settlement threshold value at the length of being pulled out of pulling force subassembly, and monitor when the pulling force does not exist in the pulling force subassembly, judge that the release stage that belongs to the user and take exercise at present (namely pulling force subassembly is in the recovery state), confirm the backrush moment according to different users' pulling force condition to guarantee that the backrush moment of motor output is the power that this user can bear, avoid causing the injury to the user at the training in-process, through control motor output backrush moment, realize the automation of pulling force subassembly and retrieve.
In one embodiment, the step of adjusting the output torque of the motor to the target torque includes:
if the first rotating speed is greater than the real-time rotating speed, adjusting the output torque of the motor to the target torque in the same direction as the pulling force;
and if the first rotating speed is lower than the real-time rotating speed, adjusting the output torque of the motor to the target torque opposite to the pulling force direction.
The target torque of the motor is calculated according to the following mode:
T 1 ＝k(v 1 -v 2 )
wherein, T 1 Is the target moment of the motor, v 1 At a first rotational speed v 2 And k is a torque calculation coefficient.
The torque calculation coefficient converts the rotating speed into a calculation coefficient of the output torque, and can be determined according to the specific performance and the actual running condition of the motor.
Through the real-time rotating speed of the real-time monitoring motor and the dynamic adjustment of the output torque of the motor according to the difference value of the real-time rotating speed and the first rotating speed, the strength training instrument is guaranteed to work in a constant speed mode all the time, and the training effect is improved.
In one embodiment, after the step of adjusting the output torque of the motor to the rewinding torque, the method further includes:
judging whether the free end of the tension assembly returns to the initial position or not according to the pulled-out length of the tension assembly;
and if so, controlling the motor to stop outputting the torque.
When the free end of the tension assembly returns to the initial position, the force training device is judged to be reset, the motor is controlled to stop outputting the torque, and electric energy is saved.
As shown in fig. 3, the present application further provides a control device for a strength training apparatus, wherein the strength training apparatus comprises a tension assembly and a motor, and the motor outputs torque through the tension assembly;
the strength training apparatus control device comprises:
the tension monitoring module 1 is used for monitoring whether tension exists in the tension assembly, and if yes, the real-time rotating speed of the motor is obtained;
the target torque acquisition module 2 is used for acquiring a target torque of the motor according to a difference value between a preset first rotating speed and the real-time rotating speed;
and the motor control module 3 is used for adjusting the output torque of the motor to the target torque so as to enable the motor to rotate at a preset first rotating speed.
It should be noted that, when the strength training apparatus control device provided in the above embodiment executes the strength training apparatus control method, only the division of the above functional modules is taken as an example, and in practical applications, the functions may be distributed to different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the functions described above. In addition, the strength training apparatus control device and the strength training apparatus control method provided by the above embodiments belong to the same concept, and the detailed implementation process thereof is shown in the method embodiments and will not be described herein again.
As shown in fig. 4, the present application further provides a strength training apparatus, including: a tension assembly 100, a motor 200, and a motor driver 300;
the motor driver 300 includes a memory 301 and a processor 302;
a memory 301 for storing one or more programs;
when executed by the processor 302, the one or more programs cause the processor 302 to implement the strength training apparatus control method as described in any of the above.
Specifically, the first end of the tension assembly 100 is connected to the rotating shaft of the motor 200, the motor driver 300 drives the motor 200 to rotate to output a torque to the tension assembly 100, and a force generated by the torque output by the motor 200 when rotating on the tension assembly 100 is a training load opposite to the tension direction applied to the free end of the tension assembly 100 by the user, so that the purpose of muscle exercise is achieved.
In one embodiment, the strength training apparatus further comprises a grip, a base, and an interaction device, wherein the grip is connected to one end of the tension assembly, the motor 200 comprises a first motor and a second motor, the first motor and the second motor are symmetrically fixed to two ends of the base, and the interaction device is configured to obtain training parameters input by a user.
In one embodiment, the grip is a cross bar, and the pulling assembly 100 includes a first pulling assembly and a second pulling assembly, the first pulling assembly having one end connected to the rotating shaft of the first motor and the other end connected to a first end of the cross bar. The first end of the second tension assembly is connected with the rotating shaft of the second motor, and the second end of the second tension assembly is connected with the second end of the cross rod.
In another embodiment, the grip comprises a first grip and a second grip, the pulling force assembly 100 comprises a first pulling force assembly and a second pulling force assembly, one end of the first pulling force assembly is connected with the rotating shaft of the first motor, and the other end of the first pulling force assembly is connected with the first grip; the first end of the second pulling force component is connected with the rotating shaft of the second motor, and the second end of the second pulling force component is connected with the second handle.
Specifically, the tension assembly may be a tension belt or a pull rope, and the interaction device may be a touch screen, or may be other instrument or device with an interaction function controlled by a key or app.
The embodiment of the application discloses strength training apparatus control method, device and strength training apparatus, through using the motor as resistance source, can realize the adjustment of strength training apparatus output resistance through the output torque of adjustment motor, need not frequently to change the balancing weight, and is lighter, and strength training apparatus compares traditional constant speed training equipment, and the cost is lower, has higher economic benefits.
The present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are intended to be included within the scope of the claims and the equivalent technology of the present invention if they do not depart from the spirit and scope of the present invention.

Claims (12)

1. The strength training instrument control method is characterized in that the strength training instrument comprises a tension assembly and a motor, and the motor outputs torque through the tension assembly;
the strength training apparatus control method comprises the following steps:
monitoring whether the tension assembly has tension, and if so, acquiring the real-time rotating speed of the motor;
acquiring a target torque of the motor according to a difference value between a preset first rotating speed and the real-time rotating speed;
and adjusting the output torque of the motor to the target torque, so that the motor rotates at a preset first rotating speed.
2. The strength training apparatus control method of claim 1, wherein the step of obtaining the target torque of the motor comprises:
the target torque of the motor is calculated in the following manner:
T 1 ＝k(v 1 -v 2 )
wherein, T 1 Is the target moment of the motor, v 1 At a first rotational speed, v 2 And k is a moment calculation coefficient.
3. The strength training machine control method of claim 1, wherein the step of adjusting the output torque of the motor to the target torque comprises:
if the first rotating speed is greater than the real-time rotating speed, adjusting the output torque of the motor to the target torque in the same direction as the pulling force;
and if the first rotating speed is lower than the real-time rotating speed, adjusting the output torque of the motor to the target torque opposite to the pulling force direction.
4. The strength training apparatus control method according to any one of claims 1 to 3, further comprising the steps of:
acquiring the pulled-out length of the tension assembly; wherein the pulled-out length is a distance of a free end of the tension assembly relative to an initial position;
and when the pulled length is greater than a set threshold value and the tension assembly is monitored to have no tension, adjusting the output torque of the motor to be a rewinding torque.
5. The strength training instrument control method according to claim 4, wherein the rewinding torque is a torque value obtained by dividing an accumulated value of the output torque at each time after the first time by the rewinding time; the first moment is the moment when the pulled-out length of the tension assembly exceeds a set threshold, and the rewinding time is the time difference from the first moment to the moment of stopping pulling.
6. The strength training apparatus control method of claim 1, wherein the strength training apparatus further comprises a base;
the motor comprises a first motor and a second motor, and the first motor and the second motor are symmetrically fixed at two ends of the base;
the tension assembly comprises a first tension assembly and a second tension assembly, the first end of the first tension assembly is connected with the rotating shaft of the first motor, and the first end of the second tension assembly is connected with the rotating shaft of the second motor.
7. The strength training instrument control method of claim 6, wherein the strength training instrument comprises a grip; the gripping piece is connected with one end of the pulling force component.
8. The strength training apparatus control method of claim 7, wherein the second end of the first pulling force assembly is coupled to the first end of the grip and the second end of the second pulling force assembly is coupled to the second end of the grip.
9. The strength training instrument control method of claim 7, wherein the grip comprises a first grip and a second grip, the first grip being coupled to the second end of the first tension assembly, the second grip being coupled to the second end of the second tension assembly.
10. The strength training instrument control device is characterized by comprising a tension assembly and a motor, wherein the motor outputs torque through the tension assembly;
the strength training apparatus control device comprises:
the tension monitoring module is used for monitoring whether tension exists in the tension assembly, and if yes, the real-time rotating speed of the motor is obtained;
the target torque acquisition module is used for acquiring the target torque of the motor according to the difference value between a preset first rotating speed and the real-time rotating speed;
and the motor control module is used for adjusting the output torque of the motor to the target torque so as to enable the motor to rotate at a preset first rotating speed.
11. A strength training apparatus, comprising: the tension assembly, the motor and the motor driver; the motor driver is used for driving the motor to output torque to the tension assembly;
the motor driver includes a processor and a memory;
the memory is used for storing one or more programs;
when executed by the one or more processors, cause the processors to implement the strength training apparatus control method of any of claims 1-9.
12. The strength training instrument of claim 11 further comprising an interactive device;
the interactive device is used for acquiring training parameters input by a user.
CN202110181090.9A 2021-02-10 2021-02-10 Control method and device for strength training instrument and strength training instrument Active CN114904207B (en)

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