CN115177926B - Digital body-building system with multiple safety protection for user - Google Patents
Digital body-building system with multiple safety protection for user Download PDFInfo
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- CN115177926B CN115177926B CN202210755880.8A CN202210755880A CN115177926B CN 115177926 B CN115177926 B CN 115177926B CN 202210755880 A CN202210755880 A CN 202210755880A CN 115177926 B CN115177926 B CN 115177926B
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- 239000003990 capacitor Substances 0.000 claims abstract description 68
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- HEZMWWAKWCSUCB-PHDIDXHHSA-N (3R,4R)-3,4-dihydroxycyclohexa-1,5-diene-1-carboxylic acid Chemical compound O[C@@H]1C=CC(C(O)=O)=C[C@H]1O HEZMWWAKWCSUCB-PHDIDXHHSA-N 0.000 claims abstract description 18
- 238000006243 chemical reaction Methods 0.000 claims abstract description 17
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 16
- 238000013016 damping Methods 0.000 claims description 85
- 238000005070 sampling Methods 0.000 claims description 39
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- 238000012549 training Methods 0.000 description 26
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- 208000027418 Wounds and injury Diseases 0.000 description 4
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- 210000003205 muscle Anatomy 0.000 description 4
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- 210000003489 abdominal muscle Anatomy 0.000 description 1
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- 210000000852 deltoid muscle Anatomy 0.000 description 1
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Classifications
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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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- 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
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/0054—Features for injury prevention on an apparatus, e.g. shock absorbers
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/32—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from a charging set comprising a non-electric prime mover rotating at constant speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
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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
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/0054—Features for injury prevention on an apparatus, e.g. shock absorbers
- A63B2071/0072—Limiting the applied force, torque, movement or speed
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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
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/20—Miscellaneous features of sport apparatus, devices or equipment with means for remote communication, e.g. internet or the like
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J2207/50—Charging of capacitors, supercapacitors, ultra-capacitors or double layer capacitors
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention relates to the technical field of body building, in particular to a digital body building system with multiple safety protection for users. The novel mechanical and electrical combined type electric power machine comprises a motor and a pull rope, wherein a winding shaft is arranged on a rotating shaft of the motor, the pull rope is arranged on the winding shaft, one end of the pull rope is fixed on the winding shaft, the other end of the pull rope is connected with a handle, and the novel mechanical and electrical combined type electric power machine further comprises an FOC controller and an electromechanical actuating mechanism for body building, wherein the motor is arranged on the motor. The energy recovery system consists of the FOC controller, the super capacitor and the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module. The energy recovery system realizes self-circulation operation separated from a high-voltage commercial power grid, and simultaneously the FOC controller controls the maximum voltage output to the super capacitor to be not more than 36V which is the range of human body safety voltage by utilizing a limited output voltage algorithm. Namely, the electric leakage is caused inside or the user accidentally touches the part of the internal electricity, so that the damage is not caused, and the safety of the user in the aspect of electric shock is ensured.
Description
Technical Field
The invention relates to the technical field of body building, in particular to a digital body building system with multiple safety protection for users.
Background
The strength trainer pulls the pull ropes in different directions, and the pull ropes can set different resistance values, so that the strength trainer can assist a user to train muscle groups of a plurality of parts such as pectoral large muscle, deltoid muscle, abdominal muscle group, lumbar muscle group and the like, and is deeply favored by fitness enthusiasts.
However, the traditional strength trainer has low safety performance, and is specifically shown in the following aspects:
1. The traditional strength trainer is connected with 220V civil voltage, and if electric leakage or short circuit occurs, safety accidents are easily caused.
2. The traditional strength trainer is not provided with electric damping or mechanical damping, if the situation that the pull-up resistance suddenly disappears or the physical weakness exists, the muscle of the person who is training is pulled or falls down or is injured by the body-building apparatus; in addition, when the physical strength of the trained person is not sufficient, after the hands are suddenly loosened, the exercise equipment can rebound or fall, and the exercise equipment is damaged, and meanwhile, the exercise equipment is also very likely to be hurt.
In view of the above, the present application provides an intelligent digital energy self-circulation body-building system and method.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a digital body-building system with multiple safety protection for users.
In order to solve the technical problems, the following technical scheme is adopted:
the utility model provides a digital body-building system with to multiple safety protection of user, includes motor and stay cord, be equipped with the spool in the pivot of motor, be equipped with the stay cord on the spool, the one end of stay cord is fixed on the spool, the other end of stay cord is connected with the handle, still includes
FOC controller: the FOC controller is used for converting mechanical energy generated by pulling the pull rope by a user and driving the motor to rotate into pulse electric energy;
wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module: the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module is used for receiving the pulse electric energy and storing the pulse electric energy in a super capacitor in a charge mode;
the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module is also used for converting pulse electric energy stored by the super capacitor into fixed voltage and supplying the fixed voltage to the touch display device and other auxiliary electric equipment;
The pulse electric energy is intermittent discontinuous pulse energy, and has instant high power;
Super capacitor: the super capacitor is used for storing pulse electric energy converted by the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module;
the FOC controller comprises a Farad capacitor module, a booster circuit module and a grid driving circuit module, wherein the Farad capacitor module is respectively and electrically connected with the booster circuit module and the grid driving circuit module,
The Farad capacitor module is used for switching on a high level for the grid driving circuit module after the FOC controller is powered off, so that the FOC controller is kept continuously on, the motor phase line is short-circuited, and damping force is generated;
the voltage boosting circuit module is used for forcibly pushing the motor to rotate to generate electric energy after the Faraday capacitor module loses electric energy, charging the Faraday capacitor module, and leading the grid driving circuit module to be high-level, so that the FOC controller is kept continuously on, the phase line of the motor is short-circuited, and damping force is generated;
the speed limiting damper comprises a main shaft and a fixed pulley, the fixed pulley is rotatably arranged on the main shaft, a centrifugal damping mechanism is arranged at one end of the main shaft, and a spring reset mechanism is arranged at the other end of the main shaft.
Further, the farad capacitor module comprises a farad capacitor, a PMOS type switch tube K2, a diode D3 and a resistor R2, wherein one end of the farad capacitor is electrically connected with the PMOS type switch tube K2, the PMOS type switch tube K2 is electrically connected with the diode D3, the diode D3 is electrically connected with the resistor R2, the resistor R2 is connected with the gate driving circuit module, the other end of the farad capacitor is electrically connected with a resistor R1 and a diode D7, the other ends of the resistor R1 and the diode D7 are connected with the PMOS type switch tube K2, and the electricity of the farad capacitor is supplied with power to the gate driving circuit module through the PMOS type switch tube K2, the diode D3 and the resistor R2 and maintains a high level.
Further, the BOOST circuit module comprises a BOOST control chip, an inductor L1, a diode D8 and a mos tube T1, wherein the BOOST control chip is connected with the mos tube T1, one end of the mos tube T1 is electrically connected with the inductor L1 and the diode D8, the inductor L1 is electrically connected with a USB voltage VBUS, the diode D8 is connected with the PMOS type switch tube K2, the other end of the mos tube T1 is electrically connected with the ground, and the mos tube T1 is connected with a capacitor C1 in parallel.
Further, the gate driving circuit module comprises a half-bridge power tube Q2, and the half-bridge power tube Q2 is connected with the Faraday capacitor module and the gate driver.
Further, the gate driving circuit module further comprises an NMOS type switching tube K1, one end of the NMOS type switching tube K1 is connected with a half-bridge power tube Q2, and the other end of the NMOS type switching tube K1 is connected with a gate driver.
Further, the centrifugal damping mechanism comprises damping materials, a damping disc and a clutch piece, wherein the clutch piece is rotatably arranged at one end of the main shaft, the clutch piece is connected with the damping disc in a meshed mode, and the damping materials are arranged outside the damping disc.
Further, the spring return mechanism comprises a return elastic piece and a limiting block, one end of the return elastic piece is installed at the end part of the main shaft, and the other end of the return elastic piece cannot be separated from a limiting area of the spring return mechanism through the limiting block.
Further, the clutch piece comprises a connecting piece and a clutch cam, the middle part of the connecting piece is fixedly connected with the main shaft, and two ends of the connecting piece are connected with the clutch cam; the clutch cam is characterized in that clutch meshing teeth are arranged on the outer portion of the clutch cam, damping tooth grooves are formed in the damping disc, and the clutch meshing teeth are matched with the damping tooth grooves.
Further, the FOC controller also comprises a sampling resistor module,
The sampling resistor module comprises a sampling resistor formed by m parallel connection, wherein m is an integer greater than 1, and the sampling resistor module dynamically adjusts the amplification factor of the phase current sampling according to the requirement;
The sampling resistor module further comprises a gate driving unit and a plurality of mos tubes, one end of the gate driving unit is connected with the motor control module, the other end of the gate driving unit is connected with the mos tubes in series, the mos tubes correspond to gate driving circuits of one gate driving unit, and the sampling resistor is connected with the corresponding mos tubes.
Further, the FOC controller also comprises a programmable PGA array module,
The programmable PGA array module comprises a programmable gain amplifier formed by n parallel connection, wherein n is an integer greater than 1, and the programmable PGA array module dynamically adjusts the amplification factor of the phase current sampling according to the requirement;
the programmable PGA array module further comprises a plurality of electronic switches, one ends of the electronic switches are connected with the sampling resistor, and the other ends of the electronic switches are connected with the programmable gain amplifier.
Due to the adoption of the technical scheme, the method has the following beneficial effects:
The invention relates to a digital body-building system with multiple safety protection for users, which comprises an electromechanical actuating mechanism for body building, wherein the FOC controller and a motor are used for forming an FOC vector control algorithm, and the FOC controller is provided with a position ring, a speed ring and a current ring. The sampling resistor module and the programmable PGA array module of the FOC controller are dynamically adjusted in operation according to specific requirements, so that the signal output by current sampling is always in the optimal range of amplitude and signal-to-noise ratio. The method not only realizes large-scale high-precision phase current detection and ensures that the FOC motor has higher torque control precision, but also has better phase current feedback current loop SNR (signal to noise ratio). The motor changes direction, the moment is adjusted continuously and smoothly, the maximum change upper limit value of the motor movement is set in the system, the sudden change of the motor is detected through the system moment, and stopping measures are taken timely. Compared with the traditional uncontrollable body building modes of utilizing metal gravity or spring tension, the device can not be mechanically damaged due to the loss of hands of a user.
According to the invention, when a user overcomes the resistance movement of the pull rope through the body-building system, the resistance of force training is generated by using two motors, the user pulls the pull rope and drives the mechanical energy generated by the rotation of the motors to be converted into pulse electric energy, and the pulse electric energy is stored and collected through the super capacitor. The invention stores the energy of the explosive force trained by the user by utilizing the characteristic that the super capacitor can absorb high power instantaneously. The wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module is used for converting pulse electric energy stored by the super capacitor into fixed voltage and supplying the fixed voltage to a system main board, a touch display device and other auxiliary electric equipment. Thus, the whole body-building system forms a self-circulation, and the self-running of the system can be realized without depending on an external storage battery and a power grid. The energy recovery system realizes self-circulation operation separated from a high-voltage commercial power grid, and simultaneously the FOC controller controls the maximum voltage output to the super capacitor to be not more than 36V which is the range of human body safety voltage by utilizing a limited output voltage algorithm. Namely, the electric leakage is caused inside or the user accidentally touches the part of the internal electricity, so that the damage is not caused, and the safety of the user in the aspect of electric shock is ensured.
According to the invention, the speed limiting damper is arranged on the pull rope type body-building equipment, when the pull of the training pull rope drives the fixed pulley to rotate, and when the speed of the training pull rope in any direction exceeds the safety speed, the centrifugal damping mechanism in the fixed pulley is triggered to work. The centrifugal damping mechanism is characterized in that damping materials, a damping disc and a clutch piece are arranged, when a training pull rope drives a fixed pulley to rotate, if the speed of the training pull rope in any direction exceeds a safe speed, the clutch piece is clamped in the damping disc, and under the action of the damping materials, a reverse force is generated, a damping effect is generated, the resistance of the rope is increased, and the maximum speed of the rope is limited. When the training pull rope is in a condition that the pull-up resistance suddenly disappears or the physical strength is not sufficient, the training personnel can have a reaction time to adjust the training pull rope, so that the injury of the training personnel or the damage of the body-building equipment is avoided. Under the condition of maintaining original use and functions unchanged, the body-building equipment is safer, and the abrupt run-out and increase of the tension of the training pull rope are prevented.
Drawings
The invention is further described below with reference to the accompanying drawings:
fig. 1 is a schematic perspective view of a digital exercise system with multiple safety protection for a user according to the present invention.
FIG. 2 is a schematic diagram of the internal architecture of a digital exercise system with multiple safeguards against the user according to the present invention.
Fig. 3 is a schematic diagram of the front structure of a digital exercise system with multiple safety protection for a user according to the present invention.
Fig. 4 is a schematic diagram of the circuit control of the energy recovery system of the present invention.
Fig. 5 is a schematic diagram of the circuit control of the electromechanical actuator of the present invention.
FIG. 6 is a schematic diagram of a programmable PGA array module and structure according to the present invention.
FIG. 7 is a schematic diagram of a programmable PGA array module according to the present invention.
Fig. 8 is a schematic structural diagram of a sampling resistor module according to the present invention.
Fig. 9 is a schematic structural view of the speed limiting damper of the present invention.
FIG. 10 is a schematic view of the structure of FIG. 9 in the direction A according to the present invention;
Fig. 11 is a schematic diagram of the B-direction structure of fig. 9 according to the present invention.
1-A first motor in the figure; 2-a second motor; 3-a first spool; 4-a second spool; 5-a first pull rope; 6-a second pull rope; 7-a first motor controller; 8-a second motor controller; 9-a first magnetic encoder; 10-a second magnetic encoder; 11-wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module; 12-super capacitor; 13-an embedded display input drive board; 14-touch display screen.
100-Main shaft; 200-fixed pulleys; 300-centrifugal damping mechanism; 400-spring return mechanism; 500-stay cords.
31-Damping material; 32-a damping disk; 33-clutch; 34-a first fixing seat; 35-a first bearing seat.
331-A connector; 332-clutch cam; 3321—clutched teeth; 321-damping tooth slot.
41-A return spring; 42-limiting blocks; 43-a second fixing seat; 44-a second bearing seat.
Detailed Description
The present invention will be further described in detail below as a further explanation of the present invention by means of the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
Referring to fig. 1-4, a digital fitness system with multiple safety protection for a user comprises a motor and a pull rope, wherein a winding shaft is arranged on a rotating shaft of the motor, the pull rope is arranged on the winding shaft, one end of the pull rope is fixed on the winding shaft, and the other end of the pull rope is connected with a handle.
As a further explanation of the embodiment of the present invention, the motors are flat, and the motors are a first motor 1 and a second motor 2; the winding shafts are a first winding shaft 3 connected with the first motor 1 and a second winding shaft 4 connected with the second motor 2 respectively; the two pull ropes are a first pull rope 5 and a second pull rope 6, the first pull rope 5 is wound on the first winding shaft 3, and the second pull rope 6 is wound on the second winding shaft 4. The body-building system further comprises two magnetic-type sensors, namely a first magnetic-type sensor 9 and a second magnetic-type sensor 10, wherein the first magnetic-type sensor 9 is connected with the first motor 1, and the second magnetic-type sensor 10 is connected with the second motor 2. When the user performs training, the user overcomes the resistance motion of the pull rope through the body-building system, and the two motors are utilized to generate the resistance of strength training. In the training process, the angular speed of the motor is measured through two magnetic-encoded sensors respectively, and the FOC algorithm of the FOC controller is matched to provide a fine damping force without setbacks. The arms move independently, so that mutual interference and misplacement are avoided, the body-building effect is improved, and the user experience is improved.
As a further illustration of an embodiment of the present invention, the exercise system further includes a FOC controller, a wide voltage full bridge DCDC power conversion voltage stabilization module 11, a super capacitor 12, and a touch display device.
As a further explanation of the embodiment of the present invention, the FOC controller is provided with a first FOC controller 7 and a second FOC controller 8, and the first FOC controller 7 and the second FOC controller 8 control the first motor 1 and the second motor 2, respectively. The FOC controller is used for converting mechanical energy generated by pulling the pull rope by a user and driving the motor to rotate into pulse electric energy.
As a further explanation of the embodiment of the present invention, the wide-voltage full-bridge DCDC power conversion voltage stabilizing module 11: the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module 11 is used for receiving pulse electric energy of the motor and storing the pulse electric energy in a super capacitor in a charge mode.
As a further explanation of the embodiment of the present invention, the wide-voltage full-bridge DCDC power conversion voltage stabilizing module 11 is further configured to convert the pulse power stored by the super capacitor 12 into a fixed voltage, and supply the fixed voltage to the touch display device and other auxiliary electric devices.
As a further illustration of an embodiment of the present invention, the pulsed electrical energy is intermittent discontinuous pulsed energy and the pulsed electrical energy has instantaneous high power.
As a further illustration of the embodiment of the present invention, the super capacitor 12 is configured to store the pulse electric energy converted by the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module.
As a further explanation of the embodiment of the present invention, the touch display device includes an embedded display input driving board 13 and a touch display screen 14, one end of the embedded display input driving board 13 is electrically connected to the FOC controller, and the other end of the embedded display input driving board 13 is electrically connected to the touch display screen 14. The embedded display input driving board 13 is used for controlling the display data output of the fitness system, and inputting the touch data of the touch display screen 14 into the fitness system to control the work of the fitness system.
According to the invention, when a user overcomes the resistance movement of the pull rope through the body-building system, the resistance of force training is generated by using two motors, the user pulls the pull rope and drives the mechanical energy generated by the rotation of the motors to be converted into pulse electric energy, and the pulse electric energy is stored and collected through the super capacitor. The invention stores the energy of the explosive force trained by the user by utilizing the characteristic that the super capacitor can absorb high power instantaneously. The wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module is used for converting pulse electric energy stored by the super capacitor into fixed voltage and supplying the fixed voltage to a system main board, a touch display device and other auxiliary electric equipment. Thus, the whole body-building system forms a self-circulation, and the self-running of the system can be realized without depending on an external storage battery and a power grid. The energy recovery system realizes self-circulation operation separated from a high-voltage commercial power grid, and simultaneously the FOC controller controls the maximum voltage output to the super capacitor to be not more than 36V which is the range of human body safety voltage by utilizing a limited output voltage algorithm. Namely, the electric leakage is caused inside or the user accidentally touches the part of the internal electricity, so that the damage is not caused, and the safety of the user in the aspect of electric shock is ensured.
The FOC controller also comprises a Farad capacitance module, a booster circuit module and a grid driving circuit module, wherein the Farad capacitance module is respectively and electrically connected with the booster circuit module and the grid driving circuit module,
The Farad capacitor module is used for switching on a high level for the grid driving circuit module after the FOC controller is powered off, so that the FOC controller is kept continuously on, the motor phase line is short-circuited, and damping force is generated;
The voltage boosting circuit module is used for forcibly pushing the motor to rotate to generate electric energy after the Faraday capacitor module loses electric energy, charging the Faraday capacitor module, and leading the grid driving circuit module to be high-level, so that the FOC controller is kept continuously on, the phase line short circuit of the motor is realized, and damping force is generated.
As a further explanation of this embodiment, the faraday capacitor module includes a faraday capacitor, a PMOS type switch tube K2, a diode D3 and a resistor R2, one end of the faraday capacitor is electrically connected with the PMOS type switch tube K2, the PMOS type switch tube K2 is electrically connected with the diode D3, the diode D3 is electrically connected with the resistor R2, the resistor R2 is connected with a first gate driving Drive unit of the gate driving circuit module, the other end of the faraday capacitor is electrically connected with a resistor R1 and a diode D7, the other ends of the resistor R1 and the diode D7 are connected with the PMOS type switch tube K2, and the power of the faraday capacitor is supplied to the gate driving circuit module through the PMOS type switch tube K2, the diode D3 and the resistor R2 and maintains a high level. The faraday capacitor can also be replaced by a button cell. The PMOS type switching tube K2 is a PMOS type switching tube, when the controller is normally energized and there is a voltage of 24V applied to the G pole of the PMOS type switching tube K2, the G pole voltage of the PMOS type switching tube K2 is greater than the voltage of the S pole of the PMOS type switching tube K2 (24V-12 v=12v), the PMOS type switching tube K2 is turned off, and the output of the faraday capacitor is turned off. When 24V electricity disappears, the resistor R1 enables the Faraday capacitor to be conducted, the electricity of the Faraday capacitor supplies power to the grid driving circuit module through the PMOS type switch tube K2, the diode D3 and the resistor R2 and maintains a high level, so that the high level is conducted to the grid driving circuit module, the FOC controller is kept continuously on, the phase line short circuit of the motor is realized, and damping force is generated. Wherein D3 is anti-reverse charging, and R2 is a current limiting resistor.
As a further explanation of this embodiment, the magnitude of the faraday capacitor is selected according to the type of the PMOS type switching tube K2, and as an example, the faraday capacitor with 15V and 1F capacity can normally maintain the conduction of the PMOS type switching tube K2 when the voltage is set from 12V to 7V, the discharge voltage difference is 5V, the discharge time is calculated as 1F (farad) ×5v (volt) =5c (coulomb), and the discharge time is 5C (coulomb)/1 uA (microamper) =5000000S (second)/3600=1380 h (hour), and the time is about 50 days.
As a further explanation of this embodiment, the BOOST circuit module includes a BOOST control chip, an inductor L1, a diode D8 and a mos tube T1, where the BOOST control chip is connected with the mos tube T1, one end of the mos tube T1 is electrically connected with the inductor L1 and the diode D8, the inductor L1 is electrically connected with a USB voltage VBUS, the diode D8 is connected with the PMOS type switch tube K2, the other end of the mos tube T1 is electrically connected with the ground, and the mos tube T1 is connected with a capacitor C1 in parallel. If the motor is controlled to rotate or forced to push, the generated back electromotive force voltage exceeds 0.5V, a BOOST circuit module consisting of an inductor L1, a diode D8, a capacitor C1 and a BOOST control chip charges the Faraday capacitor. Therefore, after the Faraday capacitor module is charged and full, a high level is conducted on the grid driving circuit module, so that the FOC controller is kept continuously on, the phase line of the motor is short-circuited, and damping force is generated. If the booster circuit module is not used, three 80mAH button cells of 3.6V can be connected in series to reach the voltage of 10.2V, and the maintenance time can reach 80mA/1 uA=8ten thousand hours=about 3300 days, and the maintenance time is about 10 years, so that the maintenance time reaches the service life cycle of one controller product.
In this embodiment, the two gate drivers Drive, the half-bridge power transistor Q1, the half-bridge power transistor Q2, the resistor R5, the diode D1 and the diode D5 in the gate driving circuit module are all constituent elements of the original FOC controller, and the specific structural arrangement thereof can be seen in fig. 1.
In the above-described scheme, the gate driver at this time is of a low leakage type specifically tailored, and thus the NMOS switching transistor K1 does not need to be provided.
As a further explanation of the present embodiment, the gate driving circuit module further includes an NMOS type switching tube K1, one end of the NMOS type switching tube K1 is connected with a half-bridge power tube Q2, and the other end of the NMOS type switching tube K1 is connected with a gate driver. Q2 is a power tube of one half bridge of a common controller, and NMOS switch tube K1 is an NMOS switch tube for disconnecting the connection between the half bridge power tube Q2 and the grid driver.
In this embodiment, the gate driving circuit module includes two gate drivers Drive, a half-bridge power transistor Q1, a half-bridge power transistor Q2, a resistor R5, a diode D1, and a diode D5. One end of a first gate driver Drive is electrically connected with the motor pwm control output unit, the other end of the first gate driver Drive is connected with the NMOS type switch tube K1, the NMOS type switch tube K1 is connected with the half-bridge power tube Q2, one end of the half-bridge power tube Q2 is connected with the half-bridge power tube Q1, and the other end of the half-bridge power tube Q2 is connected with the ground; one end of the second gate driver Drive is electrically connected with the motor pwm control output unit, and the other end of the second gate driver Drive unit is connected with the half-bridge power tube Q1. The half-bridge power tubes Q1 and Q2 are power tubes of one half-bridge of a common controller respectively.
In this embodiment, the NMOS type switching transistor K1 is an NMOS type switching transistor that disconnects the half-bridge power transistor Q2 from the first gate driver Drive. When the FOC controller is powered off, the 24V voltage of the FOC controller also disappears, the resistor R5 turns K1 off, the electric leakage of the driver is reduced, and when the FOC controller is powered off, the 24V voltage of the FOC controller turns on the NMOS switch tube K1. The driving circuit works normally.
The invention adopts the characteristic that the existing MOS power tube grid electrode of the original motor controller is capacitive, the resistance is very large and is as high as 10G ohm, when the current is charged to a high level, the consumed current and tiny current are consumed, the grid electrode leakage of a power type MOS tube of 30V 100A is only 0.1uA, when the power supply of the controller is disconnected, the upper high level of a lower three-way grid electrode driving circuit module of three half-bridges in the figure 1 is conducted, the lower three-way grid electrode driving circuit module is kept to be continuously turned on, the phase line short circuit of the motor is realized, and the damping force is generated. The electric energy for keeping the lower bridge three-way grid electrode driving circuit module of the FOC controller on is only less than 1uA, and the electric energy stored in a small miniature Faraday capacitor can last for a plurality of months, and a button cell can last for a plurality of years and can be immediately replenished after the controller is electrified. Even if no electric energy is generated on a button cell or a miniature Faraday capacitor, the invention also uses an ultra-low voltage DCDC boosting module, and only the electric energy which is slightly rotated to generate voltage larger than 0.3V can be raised to more than 12V, and the lower three-way grid driving circuit module of the half bridge is rapidly conducted, so that the motor is in a damping braking state, and the reliability is further improved. When the controller is electrified, the power supply of the Faraday capacitor is disconnected, and the driver works normally.
In this embodiment, the FOC controller further includes a sampling resistor module, where the sampling resistor module includes a sampling resistor formed by m parallel connection, and m is an integer greater than 1, and the sampling resistor module dynamically adjusts the amplification factor of the phase current sampling according to the requirement;
In this embodiment, the sampling resistor module further includes a gate driving unit and a plurality of mos tubes, one end of the gate driving unit is connected to the motor control module, the other end of the gate driving unit is connected in series to the plurality of mos tubes, the mos tubes correspond to a gate driving circuit of one gate driving unit, and the sampling resistor is connected to the corresponding mos tubes.
In this embodiment, three sampling resistors are provided, where r1=1, r2 and R3 are respectively, r3=10 times r2=100deg.r1, R1, R2 and R3 are respectively correspondingly connected to a mos transistor Q1, a mos transistor Q2 and a mos transistor Q3, the mos transistor Q1, the mos transistor Q2 and the mos transistor Q3 are all connected to a gate driving circuit of the gate driving unit, and the mos transistor Q1, the mos transistor Q2 and the mos transistor Q3 are all connected to a mos transistor Q4, and the mos transistor Q4 is connected to a pwm control output unit of the motor control module. By setting R1, R2 and R3, the amplification relation of the two is 10 times, and one path can be communicated according to the requirement. The specific selection is determined according to the current reference value Iset set by the user. For example, the current reference value Iset set by the user, a maximum value imax=k×iset is calculated, and K takes a value of 1.5-2. Then according to the motor control module, calculating the phase current (R.times.G) max=3.3/Imax controlled by the motor control module; the most common 3.3V motor control module system is selected for use herein. Then, r1=1 is selected if (r×g) max is equal to or less than 8, r2=10 if (r×g) max is >8, and r3=100 if (r×g) max is > 80.
In this embodiment, the FOC controller further includes a programmable PGA array module, where the programmable PGA array module includes a programmable gain amplifier formed by n parallel connection, an integer n >1, and the programmable PGA array module dynamically adjusts the amplification factor of the phase current sample according to the requirement;
In this embodiment, the programmable PGA array module further includes a plurality of electronic switches, one end of each of which is connected to the sampling resistor, and the other end of each of which is connected to the programmable gain amplifier.
In this embodiment, since three sampling resistors are provided, respectively, there are three corresponding electronic switches, one end of each of which is correspondingly connected to each of the sampling resistors R1, R2 and R3, and the other end of each of which is connected to a plurality of groups of programmable gain amplifiers.
Corresponding to the phase current (R.times.G) max=3.3/Imax controlled by the motor control module, and judging (R.times.G) max/R <2 according to the optimal signal-to-noise ratio principle when G is the minimum, wherein G=1; 2 < R x G) max/R <4 then g=2; 4 + (R x G) max/R <8 then g=4; (R x G) max/R > 8 then g=8. And then the calculated resistance R of the programmable sampling resistor is sent to a sampling resistor module through an IO_OUT unit, and the electronic switch of the CMOS is controlled to switch the programmable sampling resistor array to a set resistance. And then the calculated gain value G of the programmable operational amplifier is sent to the programmable PGA array module through the SPI communication unit, and the programmable PGA array module is switched to the set gain value. Then, the actual maximum current value Itmax =3.3/(r×g) is calculated by the actually set R, G. The maximum output value of the PID regulator is then calculated by the actual maximum current value Itmax. The last following FOC calculation is a well-known technique and will not be described here.
In the implementation of FOC motor control, all algorithms and feedback adjustment are developed around the phase current of the motor, and the two coordinate transformation formulas CLAK and PARK at the foremost core of the FOC are used for solving the feedback phase current value of a circuit, feeding back a current PID (proportion integration differentiation) adjusting program, referring to the fed back phase current, adding and subtracting the width of PWM (pulse width modulation) control to reach the target value of the phase current. The utility model adopts the programmable PGA array module and sampling resistor module array combination, and the circuit device is dynamically adjusted according to specific requirements in operation, so that the signal output by current sampling is always in the optimal range of amplitude and signal-to-noise ratio. The method not only realizes large-scale high-precision phase current detection, so that the FOC motor is higher in torque control precision, but also is better in phase current feedback current loop SNR (signal to noise ratio), lower in noise and finer in torque control.
The invention forms an electromechanical actuating mechanism for body building through the FOC controller and the motor, and the FOC controller is provided with a position ring, a speed ring and a current ring by using an FOC vector control algorithm. The sampling resistor module and the programmable PGA array module of the FOC controller are dynamically adjusted in operation according to specific requirements, so that the signal output by current sampling is always in the optimal range of amplitude and signal-to-noise ratio. The method not only realizes large-scale high-precision phase current detection and ensures that the FOC motor has higher torque control precision, but also has better phase current feedback current loop SNR (signal to noise ratio). The motor changes direction, the moment is adjusted continuously and smoothly, the maximum change upper limit value of the motor movement is set in the system, the sudden change of the motor is detected through the system moment, and stopping measures are taken timely. Compared with the traditional uncontrollable body building modes of utilizing metal gravity or spring tension, the device can not be mechanically damaged due to the loss of hands of a user.
The FOC controller provided by the invention can enable the motor to enter a damping braking state under the condition of power failure, can prevent a user from sliding on a wheelchair, can prevent the user from suddenly powering off and losing resistance to blow down when being used on fitness equipment, and can prevent the user from being injured.
The invention directly utilizes the method that the MOS power tube under the three-way half bridge of the original controller is continuously turned on after power failure to replace the existing method that the normally closed relay short-circuits the phase line of the motor, compared with the original common controller without damping work, almost does not increase the cost, realizes the contactless damping function, has higher safety characteristic, does not generate sparks, does not have harmful electromagnetic radiation and does not have the risk of igniting combustible substances, and does not limit the using times of the contacts of the relay.
As a further explanation of this embodiment, the pull rope 500 is connected with a speed limiting damper, the speed limiting damper includes a main shaft 100 and a fixed pulley 200, the fixed pulley 200 is rotatably mounted on the main shaft 100, one end of the main shaft 100 is provided with a centrifugal damping mechanism 300, and the other end of the main shaft 100 is provided with a spring return mechanism 400.
As a further explanation of this embodiment, the centrifugal damping mechanism includes a damping material 31, a damping disc 32, and a clutch member 33, where the clutch member 33 is rotatably mounted on one end of the spindle 100, the clutch member 33 is engaged with and connected to the damping disc 32, and the damping material 31 is disposed outside the damping disc 32. When the fixed pulley 200 is driven to rotate by the pull rope 5, if the speed of the pull rope 5 in any direction exceeds the safety speed, the clutch piece 33 is clamped in the damping disc 32, and a reverse force is generated under the action of the damping material 31, so that a damping effect is generated, the resistance of the rope is increased, and the maximum speed of the rope is limited. When the pull rope 5 is in a condition that the pull-up resistance suddenly disappears or the physical force is not enough, a training person can have a reaction time to adjust the pull rope 5, so that the injury of the training person or the damage to the exercise equipment can be avoided. Under the condition of maintaining the original use and functions unchanged, the body-building equipment is safer, and the abrupt run-out and increase of the pulling force of the pulling rope 5 are prevented.
As a further explanation of the present embodiment, the spring return mechanism 400 includes a return elastic member 41 and a stopper 42, one end of the return elastic member 41 is mounted on the end of the spindle 100, and the other end of the return elastic member 41 is not separated from the limited area of the spring return mechanism 400 by the stopper 42. The reset elastic piece 41 is a reset spring of a spring piece, and after the centrifugal damping mechanism completes damping work, the reset work is carried out through the reset elastic piece 41, so that the whole adjustable speed limit damper works again. The inner end of the elastic member 41 is fixed at the end of the spindle 100, or the inner end of the elastic member is fixed on the spindle 100 by sleeving a connecting member at the end of the spindle 100, and the other end of the elastic member 41 is not separated from the limited area of the spring return mechanism 400 by the limiting block 42.
As a further explanation of this embodiment, the fixed pulley 200 is provided with a pull rope 500, and the fixed pulley 200 is driven to rotate by the pull rope 500. The stay cord 500 movably sets up on fixed pulley 200, and when training personnel pulled stay cord 500 and train, fixed pulley 200 also follows the rotation, drives centrifugal damping mechanism and spring return mechanism 400 through main shaft 100 simultaneously and follows the rotation, and when stay cord 500 drove fixed pulley 200 pivoted speed can not surpass safe speed, clutch 33 can not block in damping dish 32, and this exercise machine normally supplies training personnel to train. If the speed of the pull rope 500 in any direction exceeds the safe speed, the clutch member 33 is clamped in the damping disc 32, and generates a reverse force under the action of the damping material 31, so that a damping effect is generated, the resistance of the rope is increased, and the maximum speed of the rope is limited. When the pull rope 500 is in a condition that the pull-up resistance suddenly disappears or the exercise is not sufficient, the training personnel can have a reaction time to adjust the pull rope 500, so that the injury of the training personnel or the damage to the exercise equipment can be avoided.
As a further explanation of the present embodiment, a first fixing seat 34 is provided on one side of the spindle 100, and the centrifugal damping mechanism 300 is installed in the first fixing seat 34. By arranging the first fixing seat 34, the parts of the centrifugal damping mechanism 300 are arranged in the first fixing seat 34, and the centrifugal damping mechanism 300 of the whole damper is arranged in a reasonable space.
As a further explanation of the present embodiment, the first fixing seat 34 is provided with a first bearing seat 35. By providing the first bearing seat 35, the main shaft 100 is facilitated to drive the clutch member 33 to move.
As a further explanation of the present embodiment, a second fixing seat 43 is disposed on the other side of the spindle 100, and the spring return mechanism 400 is installed in the second fixing seat 43. By providing the second fixing base 43, the parts of the spring return mechanism 400 are installed in the second fixing base 43, so that the spring return mechanism 400 of the whole damper is arranged in a reasonable space.
As a further explanation of the present embodiment, a second bearing seat 44 is disposed in the second fixing seat 43. By providing the second bearing 44, the spindle 100 is facilitated to drive the reset elastic member 41 to move.
As a further explanation of the present embodiment, the clutch member 33 includes a connecting member 331 and a clutch cam 332, the middle portion of the connecting member 331 is fixedly connected to the spindle 100, and both ends of the connecting member 331 are connected to the clutch cam 332. The clutch cam 332 is provided with clutch teeth 3321 on the outside, the damping disk 32 is provided with damping tooth slots 321 on the inside, and the clutch teeth 3321 are matched with the damping tooth slots 321. By providing the clutch cam 332 with the clutch engagement teeth 3321 matching with the damping tooth slots 321, the clutch member 33 can be conveniently clamped in the damping disk 32 when the speed of the fixed pulley 200 driven by the pull rope 500 exceeds the safe speed.
As a further explanation of the present embodiment, the damping material 31 is a rubber material, a damping oil material, a damping magnetic powder, or a friction block. By arranging the rubber material, damping oil material, damping magnetic powder or friction block and other damping materials 31, the damping disc 32 forms opposite damping force, generates damping effect, increases the resistance of the rope and limits the maximum speed of the rope.
When training personnel pulls the stay cord 500 to train, the fixed pulley 200 also rotates, and simultaneously drives the centrifugal damping mechanism and the spring reset mechanism 400 to rotate through the main shaft 100, when the speed of the stay cord 500 driving the fixed pulley 200 to rotate can not exceed the safe speed, the clutch piece 33 can not be blocked in the damping disc 32, and the exercise equipment is normally used for training the training personnel. If the speed of the pull rope 500 in any direction exceeds the safe speed, the clutch member 33 is clamped in the damping disc 32, and generates a reverse force under the action of the damping material 31, so that a damping effect is generated, the resistance of the rope is increased, and the maximum speed of the rope is limited. When the pull rope 500 is in a condition that the pull-up resistance suddenly disappears or the exercise is not sufficient, the training personnel can have a reaction time to adjust the pull rope 500, so that the injury of the training personnel or the damage to the exercise equipment can be avoided. Under the condition of maintaining the original use and functions unchanged, the body-building equipment is safer, and the abrupt run-out and increase of the pulling force of the pulling rope 500 are prevented.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the substantially same technical problems and achieve the substantially same technical effects are encompassed within the scope of the present invention.
Claims (4)
1. The utility model provides a digital body-building system with to multiple safety protection of user, includes motor and stay cord, be equipped with the spool in the pivot of motor, be equipped with the stay cord on the spool, the one end of stay cord is fixed on the spool, the other end of stay cord is connected with handle, its characterized in that: and also comprises
FOC controller: the FOC controller is used for converting mechanical energy generated by pulling the pull rope by a user and driving the motor to rotate into pulse electric energy;
wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module: the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module is used for receiving the pulse electric energy and storing the pulse electric energy in a super capacitor in a charge mode;
the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module is also used for converting pulse electric energy stored by the super capacitor into fixed voltage and supplying the fixed voltage to the touch display device and other auxiliary electric equipment;
The pulse electric energy is intermittent discontinuous pulse energy, and has instant high power;
Super capacitor: the super capacitor is used for storing pulse electric energy converted by the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module;
the FOC controller comprises a Farad capacitor module, a booster circuit module and a grid driving circuit module, wherein the Farad capacitor module is respectively and electrically connected with the booster circuit module and the grid driving circuit module,
The Farad capacitor module is used for switching on a high level for the grid driving circuit module after the FOC controller is powered off, so that the FOC controller is kept continuously on, the motor phase line is short-circuited, and damping force is generated;
the voltage boosting circuit module is used for forcibly pushing the motor to rotate to generate electric energy after the Faraday capacitor module loses electric energy, charging the Faraday capacitor module, and leading the grid driving circuit module to be high-level, so that the FOC controller is kept continuously on, the phase line of the motor is short-circuited, and damping force is generated;
The speed limiting damper comprises a main shaft and a fixed pulley, the fixed pulley is rotatably arranged on the main shaft, one end of the main shaft is provided with a centrifugal damping mechanism, and the other end of the main shaft is provided with a spring reset mechanism;
the FOC controller further includes a sampling resistor module,
The sampling resistor module comprises a sampling resistor formed by m parallel connection, wherein m is an integer greater than 1, and the sampling resistor module dynamically adjusts the amplification factor of phase current sampling according to requirements;
The sampling resistor module further comprises a gate driving unit and a plurality of mos tubes, one end of the gate driving unit is connected with the motor control module, the other end of the gate driving unit is connected with the mos tubes in series, the mos tubes correspond to the gate driving circuit of one gate driving unit, and the sampling resistor is connected with the corresponding mos tubes;
the FOC controller also includes a programmable PGA array module,
The programmable PGA array module comprises a programmable gain amplifier formed by n parallel connection, wherein n is an integer greater than 1, and the programmable PGA array module dynamically adjusts the amplification factor of the phase current sampling according to the requirement;
The programmable PGA array module further comprises a plurality of electronic switches, one ends of the electronic switches are connected with the sampling resistor, and the other ends of the electronic switches are connected with the programmable gain amplifier;
The Farad capacitor module comprises a Farad capacitor, a PMOS type switch tube K2, a diode D3 and a resistor R2, wherein one end of the Farad capacitor is electrically connected with the PMOS type switch tube K2, the PMOS type switch tube K2 is electrically connected with the diode D3, the diode D3 is electrically connected with the resistor R2, the resistor R2 is connected with the grid driving circuit module, the other end of the Farad capacitor is electrically connected with a resistor R1 and a diode D7, the other ends of the resistor R1 and the diode D7 are connected with the PMOS type switch tube K2, and the power of the Farad capacitor is supplied to the grid driving circuit module through the PMOS type switch tube K2, the diode D3 and the resistor R2 and maintains a high level;
The BOOST circuit module comprises a BOOST control chip, an inductor L1, a diode D8 and a mos tube T1, wherein the BOOST control chip is connected with the mos tube T1, one end of the mos tube T1 is electrically connected with the inductor L1 and the diode D8, the inductor L1 is electrically connected with a USB voltage VBUS, the diode D8 is connected with the PMOS type switch tube K2, the other end of the mos tube T1 is electrically connected with the ground, and the mos tube T1 is connected with a capacitor C1 in parallel;
the grid driving circuit module comprises a half-bridge power tube Q2, and the half-bridge power tube Q2 is connected with the Faraday capacitor module and the grid driver;
The grid driving circuit module further comprises an NMOS type switch tube K1, one end of the NMOS type switch tube K1 is connected with a half-bridge power tube Q2, and the other end of the NMOS type switch tube K1 is connected with a grid driver.
2. A digital exercise system with multiple safeguards against a user as defined in claim 1, wherein: the centrifugal damping mechanism comprises damping materials, a damping disc and a clutch piece, wherein the clutch piece is rotatably arranged at one end of the main shaft, the clutch piece is connected with the damping disc in a meshed mode, and the damping materials are arranged outside the damping disc.
3. A digital exercise system with multiple safeguards against a user as defined in claim 1, wherein: the spring return mechanism comprises a return elastic piece and a limiting block, one end of the return elastic piece is installed at the end part of the main shaft, and the other end of the return elastic piece cannot be separated from a limiting area of the spring return mechanism through the limiting block.
4. A digital exercise system with multiple safeguards against a user as defined in claim 2, wherein: the clutch part comprises a connecting piece and a clutch cam, the middle part of the connecting piece is fixedly connected with the main shaft, and two ends of the connecting piece are connected with the clutch cam; the clutch cam is characterized in that clutch meshing teeth are arranged on the outer portion of the clutch cam, damping tooth grooves are formed in the damping disc, and the clutch meshing teeth are matched with the damping tooth grooves.
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| CN115177926A (en) | 2022-10-14 |
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