CN116672649A - Robot for detecting and guiding body-building actions - Google Patents

Abstract

The invention relates to the technical field of fitness equipment, in particular to a fitness action detection guiding robot, which comprises a frame, wherein a space for performing fitness actions is enclosed by the frame, a cross bar is slidably arranged on the vertical direction of the frame, a constant resistance unit which is connected with the cross bar and is used for increasing static load to the cross bar through applying unidirectional rotation resistance is arranged at the bottom of the frame, a reset device for pulling down the cross bar is arranged in the constant resistance unit, a hovering unit for controlling the cross bar to hover safely is arranged on the frame, and a data processing unit for indirectly detecting the force time and the force amplitude of the weightlifting actions is arranged on the frame. According to the invention, the structure that linear motion is converted into rotary motion is arranged on the cross bar, and the constant resistance unit is arranged on the rotary motion structure, so that simulation of core strength training of body-building actions is realized, and the constant resistance unit only applies unidirectional static load to the cross bar, thereby avoiding risks of pulling or crushing a user of the cross bar.

Description

Robot for detecting and guiding body-building actions

Technical Field

The invention relates to the technical field of fitness equipment, in particular to a robot for detecting and guiding fitness actions.

Background

The body-building action detection guiding robot is body-building auxiliary equipment combining an intelligent sensor technology and a computer control technology, detects and corrects body-building actions of novice users through various sensors, computer algorithms and other technologies, can provide corresponding guidance and feedback, and can get rid of dependence on professional coaches so as to realize more scientific, accurate and convenient body-building training.

At present, the mainstream fitness action detection guidance robot mainly comprises the steps of fixing equipment such as an infrared camera, a gyroscope and an acceleration sensor on a user, detecting the movement state of limbs of the user, and combining the movement state frequency and amplitude data of the limbs obtained by the sensor with a computer algorithm to guide the fitness action of the user so as to enable the user to perform more scientific and targeted fitness training. Because the detection equipment such as the infrared camera, the gyroscope and the acceleration sensor can only detect the motion state of the limbs of the user, can not detect the force and the force time, is only suitable for light basic body-building training, and has limited guiding significance for core strength training.

Although the motion state of the limb can be used as a guide reference for core strength training such as weight lifting and lying pushing through an algorithm, the data of the force generation condition and the force generation time in the core strength training of a user cannot be fed back in real time, so that the training of the core strength in the body-building activity is limited in help. The other solution is to fix the gyroscope, the acceleration sensor and other devices on the body-building equipment such as the barbell and the constant force chest expander, through monitoring the motion state of the body-building equipment such as the position change parameters in real time, the motion state frequency and amplitude data of limbs obtained by the sensors are combined with a computer algorithm to guide the body-building action of a user, so that the improvement of the data accuracy can be realized to a certain extent, but the method has certain potential safety hazards, for example, if a new hand uses the equipment such as the barbell and the constant force chest expander to lift and push in a horizontal way, if the action is incorrect, the training amount is too large or the strength and the speed are incorrectly controlled, a plurality of cramps formed by the fact that the stress injury of skeletal muscles or the lactic acid accumulation caused by anaerobic movement is too much can exist, and the risk of the barbell is further increased to injure the user due to out-of control and smashing.

Therefore, the robot for detecting and guiding the body-building actions provided by the invention can be used for improving the accuracy of detecting the force of the body-building actions, reducing the risk of injury of a user and improving the safety of body-building core strength training.

Disclosure of Invention

The invention aims to provide a body-building action detection guiding robot, which is characterized in that a bar simulating vertical movement of lifting a barbell is arranged, a structure for converting linear movement into rotary movement is arranged on the bar, and a constant resistance unit for applying unidirectional static load to the bar is arranged on the structure for generating rotary movement, so that simulation of core strength training of body-building action is realized, the bar cannot be driven because the constant resistance unit only applies unidirectional static load to the bar, and meanwhile, the risk of a user of the bar is avoided from being strained or crushed by the constant resistance unit.

The invention provides the following specific scheme:

comprising the following steps: the frame, the frame encloses and is equipped with the space that is used for carrying out body-building action, slidable mounting has the whippletree in the vertical direction of frame, the frame bottom is equipped with the invariable resistance unit that increases static load to the whippletree through applying unidirectional rotation resistance that is connected with the whippletree, be equipped with the resetting means who pulls down the whippletree in the invariable resistance unit, be equipped with the unit of hovering that is used for controlling the whippletree safety on the frame, be equipped with on the frame with invariable resistance unit matched with be used for indirectly detecting weightlifting action time and the data processing unit of the amplitude of force.

The frame is used for supporting the whole structure and is made of high-strength hot forming steel materials so as to prevent the frame from deforming in the body-building training process. The invention aims to detect the force conditions of a user in the horizontal pushing and weight lifting actions, a bar is used as a holding part for the core force training, which is directly contacted with the user, in order to ensure the uniformity of training habit, the user is prevented from being injured, a lever in the barbell is simulated, the diameter of the bar is set to be 28 mm same as that of a standard lever, the material lines are completely the same as that of the conventional standard lever, a constant resistance unit is used for simulating the load of a barbell piece, therefore, compared with a non-constant resistance unit which is applied by a spring, an elastic tape and the like and is positively related to displacement stroke, the load of the barbell in the horizontal pushing and weight lifting actions can be simulated in a most simulated mode, the unidirectional force application of the constant resistance unit is that the user can drive the bar in a unidirectional way when simulating the horizontal pushing and weight lifting actions, the constant resistance unit only applies unidirectional static load to the bar, the bar cannot be driven, the constant resistance unit cannot apply force to the bar when the user stops to the bar, the user cannot hover, the constant resistance unit can not apply force to the bar, the user can not be further from the position of the bar when the user stops applying force to the constant resistance unit, and the user can be further injured when the user stops the user receives force from the bar, and the user can also can not hover when the user receives force from the user, and the user can be convenient to the user, and the user can not have the user to a position when the user can be suspended.

The data processing unit is used for recording data of the constant resistance unit, such as stress time, stress frequency and the like of the constant resistance unit, and guiding the exercise action of the user through algorithm processing of the background computing core so that the user can perform more scientific and targeted exercise training. The data processing unit further comprises signal input parts such as a microphone, a touch control screen, keys, and signal output devices such as a display, a sound box, an indicator light, etc. The digital hardware is the same as the existing exercise assisting device and will not be described in detail here.

The constant resistance unit comprises two gear boxes symmetrically arranged on two sides of the bottom of the frame, a group of reduction gears consisting of worm gears and worms are rotatably arranged in each gear box, tension ropes fixedly connected with a transverse bar are wound on each worm, a rotating shaft of each worm gear is connected with a reversible motor through a force transmission mechanism, the reversible motors are electrically connected with the data processing unit, and a mechanical rotation speed limiter for preventing the rotation speed of the worm from exceeding a set value is arranged on each worm.

Because the body-building action of horizontal pushing and weightlifting is characterized by low-speed heavy load and the body-building equipment does not occupy too much space, the characteristics of large single-stage transmission speed ratio, large torque, high overload bearing capacity, stable operation, low noise and the like of the worm gear and the worm are most suitable for torque transmission in the low-speed heavy load force training, and the reversible motor is used for providing rotational resistance to the worm so as to provide linear resistance to the linear displacement of the horizontal bar and simulate the load of the barbell in the horizontal pushing and weightlifting actions. The rotational resistance is easier to record than the linear resistance and the resistance force is better controlled and adjusted. The data processing unit only needs to record the resistance of the current reversible motor, and simultaneously detects the rotation speed and rotation time of the reversible motor, so that the force generating time and the force generating amplitude of the core force training of the current user under the current load can be calculated.

Compared with friction type rotating resistance sources such as friction plates, the reversible motor can be switched into a motor for external work by changing the connection matching relation of the stator and the rotor, and also can be switched into a generator for converting the torque of an external force to a rotating shaft into electric energy, meanwhile, the current value of a coil is changed to change the magnetic torque, so that the resistance of a rotating load can be adjusted, namely the upward pushing resistance of a transverse bar is adjusted. The output current of the generator is proportional to the load resistance and inversely proportional to the output voltage and magnetic flux. The output frequency of the generator is in direct proportion to the rotation speed and in inverse proportion to the magnetic field intensity, so that a set of sensor for detecting data can be saved, the force transmission mechanism can be in coupling connection or gear engagement, meanwhile, when the reversible motor is switched to the motor state, the reversible motor can be used as a driving source of a resetting device, an independent driving source of a set of resetting device can be saved, the space layout of equipment is optimized, and meanwhile, the cost of the equipment is reduced.

The reset device comprises a unidirectional meshing transmission mechanism arranged in the gear box, and the unidirectional meshing transmission mechanism simultaneously meshes the reversible motor with the worm wheel and the worm in unidirectional transmission torque.

The unidirectional meshing transmission mechanism can be realized through a mechanical ratchet wheel and electromagnetic control moment, and the specific ratchet wheel or electromagnetic force direction is set as follows: when the reversible motor is switched to a generator state, torque transmission is not directly generated between the reversible motor in the generator state and the worm wheel, torque transmission is generated between the worm wheel and the worm, and torque transmission is generated between the worm and the reversible motor in the generator state; when the reversible motor is switched to the motor state, direct torque transmission is generated between the reversible motor in the motor state and the worm wheel, torque transmission is generated between the worm wheel and the worm, and torque transmission is not generated between the reversible motor in the worm and the generator state. The resetting device can also be a structure for realizing worm reversal through the cooperation of a clutch and a planet wheel or an idler wheel, but the structure of gears and control needs to be added more, and the manufacturing cost is higher.

The hover unit comprises a constant force coil spring which is arranged at the top of the frame and is connected with the bearing rotating block through a safety rope, and the tension of the constant force coil spring is equal to the sum of the gravity applied by the bearing rotating block and the cross bar. When a user stops applying force to the cross bar, the constant force coil spring safely hovers the cross bar at the position where the user stops applying force to the cross bar, the cross bar cannot fall down by gravity to hurt the user, meanwhile, the last movement position of the user is convenient and accurate, meanwhile, the constant force coil spring continuously applies force to wind the safety rope upwards, interference caused by pressing when the safety rope is upwards moved by a bearing rotating block below can be avoided, stability of the cross bar when the cross bar is upwards pulled out can be ensured, load jump caused by interference of the safety rope is avoided, the hovering unit can also be an electric winch with a torque limiter, and when the electric winch is adopted, the limiting value of torque of the torque limiter is the sum of the gravity of the bearing rotating block and the torque of the cross bar to a winch rotating shaft.

The mechanical rotation speed limiter comprises a shell fixedly installed in a gear box, a worm rotating shaft penetrates through the shell, a plurality of telescopic claws which are limited by tension springs to perform centrifugal movement are uniformly distributed in the area, located in the shell, of the worm, speed limiting gear rings which are identical to the tooth shapes of the telescopic claws are arranged on the peripheries of the telescopic claws, a plurality of groups of concave-convex limiting blocks which are opposite to each other are arranged between the outer ring of the speed limiting gear rings and the inner wall of the shell, and tension springs are arranged between each group of limiting blocks.

The mechanical rotation speed limiter is used for preventing a user from generating sprain due to too fast force, in a set value of the rotation speed of the worm, due to the existence of the tension spring, the telescopic claw is pulled and limited to be not in contact with the speed-limiting gear ring, when the transverse bar drives the worm to rotate at too fast speed, the telescopic claw on the worm moves to one side of the worm under the centrifugal action, the telescopic claw contacts the speed-limiting gear ring and then is mutually meshed to realize locking, and then the speed-limiting gear ring is driven to rotate relative to the shell to overcome the tension force of the tension spring, meanwhile, the limiting blocks with the concave-convex opposite limit can be used for installing the tension spring, the rotation angle limitation of the speed-limiting gear ring relative to the shell can be realized, when the two adjacent limiting blocks are contacted, the rotation caused by the upward movement of the transverse bar can not be realized any more, and then the transverse bar is locked.

When the bar moves upwards too fast, the tension spring is used for applying force to the bar so as to realize deceleration early warning, and the limiting block realizes limiting locking, so that the situation that a user generates sprain due to too fast force is avoided.

The vertical portion of frame is equipped with C spout, the whipstock is the symmetry bent axle, cake shape bearing rotating block is installed through spacing pivot rotation in the bent axle both ends, the rotation angle of whipstock is 180 on the vertical direction, and both ends are connected with safety rope and pulling force rope respectively about the bearing rotating block, bearing rotating block joint is in C spout.

The C-shaped sliding groove can bear radial and axial loads and is matched with the circular cake-shaped bearing rotating block in a clamping manner, the circular cake-shaped bearing rotating block has the locking limiting performance naturally, the circular cake-shaped bearing rotating block can bear the axial and radial loads, compared with other sliding structures, the C-shaped sliding groove can keep reliable connection strength and stability in low-speed heavy-load strength training, the crank part of the crankshaft can be relatively clamped with the bearing rotating block in the C-shaped sliding groove to rotate relatively, on one hand, in order to further simulate the core strength training force action, a certain degree of activity is provided for the muscle and the joint which give force to a user in the strength training process, the user is prevented from being injured due to continuous force exertion of the fixing action, the rotating angle of the transverse bar is 180 degrees in the vertical direction, the phenomenon that the crank part of the crankshaft excessively rotates to be bent backwards to generate strain is avoided, and further simulation of the body-building action core strength training is realized.

Every all be equipped with on the side surface of bearing rotor block axial both sides and take place relative pivoted angular contact ball bearing with C type spout, angular contact ball bearing and the coaxial installation of position that the whipstock was installed on the bearing rotor block, every angular contact ball bearing deviates from one side of bearing rotor block and all is equipped with the chamfer. The angular contact ball bearing can bear axial load and radial load, when upward force is applied to the cross bar in strength training, the perpendicularity of the force cannot be guaranteed under the muscle movement characteristic of a human body, namely, the C-shaped sliding groove can frequently generate contact friction with the bearing rotating block in various aspects, and at the moment, the angular contact ball bearing on the outer surface of the side edge of the bearing rotating block can reduce friction between the C-shaped sliding groove and the bearing rotating block. The bearing has relatively smaller load bearing capacity, when the bearing is installed, the center lines of the inner ring and the outer ring of the bearing are required to be coincident with the axis, the occurrence of offset load is reduced, the service life of the bearing is prevented from being influenced, the chamfer can reduce the contact pressure between the edge of the bearing and the C-shaped chute on one hand, the stress concentration is prevented from damaging the inner wall of the bearing or the C-shaped chute, meanwhile, due to the design of the chamfer, the guide force is provided when the two sides of the transverse bar are unevenly stressed due to the fact that the angular contact ball bearing can bear the axial load as well as the radial load, the offset load on the transverse bar is quickly transmitted to the bearing diameter surface and the C-shaped chute, the offset load on the transverse bar is quickly leveled by rotating the bearing, the smoothness of the movement of the transverse bar in the C-shaped chute is improved, and muscle strain caused by stress blocking is avoided.

The surface of the rotating shaft of the worm is provided with spiral grooves matched with the tension ropes, each gear box is internally provided with an elastic guide wheel matched with the rotation direction of the groove, and the elastic direction of the guide wheel is parallel to the axis of the worm and points to the direction that the tension ropes are separated from the worm.

The elastic guide wheel can cooperate the spiral groove to realize that the pulling force rope is evenly wound and arranged along the spiral groove on the surface of the rotating shaft of the worm, the design of the elastic guide wheel aims at providing a small amount of guiding force when the worm winds the pulling force rope, the guiding pulling force rope accurately falls into the spiral groove, the pulling force rope is prevented from mutually extruding and rubbing when being wound, on the one hand, the service life of the pulling force rope is prolonged, on the other hand, since the pulling force rope cannot be mutually extruded and wound when being wound, the pulling force rope cannot be mutually extruded when the cross bar is pulled upwards, the cross bar can be kept stable when being pulled upwards, and load jump caused by friction extrusion is avoided.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the structure that the linear motion is converted into the rotary motion is arranged on the bar by arranging the bar simulating the vertical motion for lifting the barbell, and the constant resistance unit applying the unidirectional resistance load to the bar is arranged on the structure generating the rotary motion so as to replace the load of the barbell disc, so that the simulation of the core strength training of the body-building action is realized, the constant resistance unit only applies the unidirectional static load to the bar and can not drive the bar, the risk that the constant resistance unit hurts a bar user is avoided, and the safety of the body-building action is improved.

2. The resistance and the power are switched through the reversible motor, the magnetic moment is changed by controlling and adjusting the current value of the coil of the reversible motor in the state of the generator, the resistance of the rotating load can be adjusted, the setting of the pull resistance of the cross bar is realized, the automatic recovery of the extending cross bar is realized, the time and the amplitude of the force generated by the user in the strength training can be obtained through detecting the current, the voltage, the frequency and other parameters of the reversible motor in the state of the generator, the structural layout of the invention is optimized, and the use cost of the invention is reduced.

3. The suspension unit is arranged on the cross bar and matched with the adjustable constant resistance unit and the unidirectional meshing transmission mechanism, the constant resistance unit only applies unidirectional static force load to the cross bar so as not to drive the cross bar, the suspension unit continuously applies upward tension force equal to the gravity of the cross bar to the cross bar, when a user stops applying force to the cross bar, the constant force coil spring safely suspends the cross bar at the position where the user stops applying force to the cross bar, the cross bar cannot fall down by gravity so as to hurt the user, and the safety of body-building actions is further improved.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of the front connection of a bar to a bearing rotating block;

FIG. 3 is a schematic view of the back connection of a bar to a bearing rotor;

FIG. 4 is a block diagram of a cross bar, bearing rotor and angular contact ball bearing;

FIG. 5 is a diagram showing the internal motion of the gear box when pulling out the tensile cord;

FIG. 6 is a diagram showing the internal motion of the gear box when the tensile cord is retracted;

FIG. 7 is a diagram showing the non-locked state of the telescoping pawl and the speed limiting ring gear;

fig. 8 is a state diagram of locking of the telescopic claw and the speed-limiting gear ring.

In the figure: 1. a frame; 101. c-shaped sliding grooves; 2. a cross bar; 201. a bearing rotating block; 202. angular contact ball bearings; 3. a constant force coil spring; 4. a gear box; 401. a worm; 402. a worm wheel; 403. a cone pulley I; 404. cone pulley II; 405. a first gear; 406. a second gear; 407. an elastic guide wheel; 408. a spiral groove; 5. a tension rope; 6. a safety rope; 7. a reversible motor; 8. a mechanical rotational speed limiter; 801. a housing; 802. a tension spring II; 9. a telescopic claw; 901. a tension spring I; 10. speed limiting gear ring.

Detailed Description

The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the embodiments described below are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In some embodiments, referring to fig. 1 to 4, a frame 1, a C-shaped chute 101, a cross bar 2, a bearing rotating block 201, an angular contact ball bearing 202, a constant force coil spring 3, a safety rope 6, a tension rope 5 and a constant force coil spring 3 may be arranged, wherein the two sides of the frame 1 are provided with the C-shaped chute 101 made of Q345A with opposite openings, and the tops of the two sides of the frame 1 are provided with tension bars to ensure that the two sides of the C-shaped chute 101 keep vertical equidistant. The safety rope 6 and the tension rope 5 can be made of wear-resistant nylon materials so as to ensure silence and durability. The bearing rotating blocks 201 are arranged to be embedded in the C-shaped sliding grooves 101 in a cake shape, two ends of the crank-shaped cross bar 2 with the diameter of 28 mm are inserted into the opening parts of the C-shaped sliding grooves 101 and are respectively and rotatably connected with the bearing rotating blocks 201 arranged in the C-shaped sliding grooves 101 at two sides, angular contact ball bearings 202 are arranged at two axial sides of the bearing rotating blocks 201, and the diameter of each angular contact ball bearing 202 is larger than that of each bearing rotating block 201, so that a structure similar to a concave shape is formed. The top of both sides of the frame 1 is provided with a constant force coil spring 3, the tension end of the constant force coil spring 3 is connected with the top of the bearing rotating block 201 through a safety rope 6, and the sum of the tension of the two constant force coil springs 3 is equal to the sum of the weights of the cross bar 2, the bearing rotating block 201 and the angular contact ball bearing 202.

In some embodiments, referring to fig. 5 to 8, a gear box 4 and other components installed inside the gear box 4 may be provided, a worm 401 is rotatably installed in the gear box 4, a gear two 406 is coaxially installed on the worm 401, one end of the worm 401 is wound around the multi-turn tension rope 5, one end of the tension rope 5 is connected with the bottom of the bearing rotating block 201, a worm wheel 402 meshed with the worm 401 is rotatably installed on the gear box 4, a cone pulley one 403 is coaxially installed on the worm wheel 402, the gear box 4 is provided with a double-head reversible motor 7, a cone pulley two 404 meshed with the cone pulley one 403 is installed on one end rotating shaft of the reversible motor 7, and a gear one 405 meshed with the gear two 406 is installed on the other end rotating shaft of the reversible motor 7, wherein the gear one 405 and the cone pulley two 404 are unidirectional ratchet gears.

In some embodiments: when a user performs a core force weight lifting exercise, the lifted weight is input to the data processing unit, the data processing unit automatically sets current parameters of the reversible motor 7 according to the transmission ratio of the worm wheel 402 to the worm 401, the first cone pulley 403 and the second cone pulley 404, for example, the user sets the weight lifting load to be 100Kg, the transmission ratio of the worm 401 to the worm wheel 402 is 5 to 1, the transmission efficiency of the worm wheel 402 to the worm 401 is 60%, the transmission ratio of the first cone pulley 403 to the second cone pulley 404 is 1 to 2, the user inputs a load requirement of 100Kg through the signal input part, and an operation module in the data processing unit converts the rotation resistance of the reversible motor 7 to 100Kg 5/2 x 0.6=150 Kg.

In some embodiments: according to the exercise training of the set weight lifting load, the user needs to grip the bar 2 on the front of the two hands as the barbell, separate the feet and knees by at least one step of the wide shoulder or the quite wide front-back posture, incline the body or squat down, stretch out the chest and buttocks, start to exert force with the core muscle groups of the two hands and the trunk, as shown in fig. 1, gradually pull the bar 2 upwards, at this moment, the crank part of the crankshaft can be relatively clamped in the bearing rotating block 201 in the C-shaped chute 101, and relatively rotate, when the crankshaft receives the force in the non-vertical direction, the angular contact ball bearing 202 collides with the inner wall of the C-shaped chute 101 along with the force, and referring to fig. 4, because the angular contact ball bearing 202 can bear the axial load as well as the radial load, because the diameter of the angular contact ball bearing 202 is larger than the diameter of the bearing rotating block 201, at this moment, the angular contact ball bearing 202 can preferentially and smoothly guide various component forces in the non-vertical direction to the vertical direction as the resultant force, the clamping of the crankshaft and the C-shaped chute 101 can be reduced, the risk of the muscular force of the small arm to the human body can be kept stable and the human body can be reduced.

Referring to fig. 5, with the continuous force of the user, the safety rope 6 is gradually pulled upwards, at this time, the safety rope 6 drives the worm 401 to rotate anticlockwise as in fig. 5, the worm 401 drives the worm wheel 402 to rotate anticlockwise as in fig. 5, and then the first cone 403 rotates anticlockwise along with the worm wheel 402, at this time, because the parameters of the first cone motor 7 are preset, the second cone motor 7 provides resistance in the direction R1 as in fig. 5 to the second cone 404, along with the continuous force of the user, the second cone motor 7 moves in the direction S1, current is generated, torque is transmitted to the rotating shaft of the first cone motor 7 when the unidirectional ratchet locking engagement direction of the second cone motor 404 rotates in the direction S1, slip occurs when the unidirectional ratchet locking engagement direction of the first gear 405 rotates in the direction S1, torque is not transmitted to the rotating shaft of the first cone motor 7, at this time, torque transmission does not occur between the first gear 405 and the second cone motor 406, at this time, the second cone motor 406 which is driven by the worm 401 to rotate coaxially does not interfere with the first cone motor 405. Because the reversible motor 7 moves in the S1 direction to generate current, when the current, voltage, frequency and other data are transmitted to the operation module in the data processing unit, the operation module can calculate the force time and the force amplitude of the user in the strength training through the processing algorithm of the data processing unit, the exercise action guidance more in line with the user is formulated according to the data, when the transverse bar 2 moves upwards, the safety rope 6 length generates allowance, and the constant force coil spring 3 winds the redundant safety rope 6.

Referring to fig. 5 and 7, in some embodiments, to prevent the worm 401 from rotating too fast, a mechanical rotation speed limiter 8 is provided on the rotation axis of the worm 401, and in a specific embodiment, the mechanical rotation speed limiter is: the telescopic claw 9 with a plurality of moving directions being parallel to the radial direction of the worm 401 is uniformly distributed on the rotating shaft of the worm 401, the telescopic claw 9 can be made of round steel with pointed ends, the pointed ends are all pointed at the centrifugal direction of the worm 401, the telescopic claw 9 is slidably mounted in the radial direction of the worm 401, the speed limiting gear ring 10 can be made of a gear ring with a plurality of centripetal pointed ends, a tension spring 901 is arranged between the telescopic claw 9 and the worm 401 to lock the telescopic claw 9 to a position which is not contacted with the speed limiting gear ring 10, when the transverse bar 2 drives the worm 401 to rotate too fast, referring to fig. 8, the telescopic claw 9 on the worm 401 moves to one side of the worm 401 under the centrifugal action, the telescopic claw 9 is meshed with each other after contacting the speed limiting gear ring 10 to realize locking, and then the speed limiting gear ring 10 is driven to rotate against the tension of the tension spring two 802, meanwhile, a plurality of groups of mutually limited limiting stoppers which are opposite to each other can be used for mounting tension springs, the speed limiting gear ring 10 relative to the shell 801, and when two adjacent limiting stoppers are contacted, the worm 401, the speed limiting gear ring 10 and the shell 801 can not realize rotation caused by upward movement of the transverse bar 2, and further prevent the transverse bar 2 from being fast wound, so that the transverse bar 401 is prevented from being fast rotated.

Referring to fig. 6, in some embodiments, after the user pulls the bar 2 to the top to complete a lifting motion, the bar 2 at the high position needs to be reset downwards, at this time, when a downward reset instruction is input to the data processing unit, the reversible motor 7 is switched to a motor state, referring to fig. 6, at this time, the reversible motor 7 rotates in the S2 direction, at this time, torque transmission can occur between the first gear 405 and the second gear 406, torque is not transmitted to the rotating shaft of the reversible motor 7 when the unidirectional ratchet locking engagement direction of the second cone 404 rotates in the S2 direction, at this time, the reversible motor 7 only works outwards through the first gear 405, at this time, the second gear 406 moves clockwise as in fig. 6 under the action of the first gear 405, the worm 401 coaxial with the second gear 406 moves clockwise correspondingly, thereby pull back and roll the pulling force rope 5 downwards, the elastic guide pulley 407 provides a small amount of guiding force to the pulling force rope when the worm 401 rolls the pulling force rope, the pulling force rope 5 is guided to accurately fall into the spiral groove 408, the elastic guide pulley 407 can be realized by arranging a slotted guide pulley on the free end of an elastic telescopic rod fixedly arranged on the inner wall of the gear box 4, at the moment, the worm wheel 402 rotates clockwise as shown in fig. 6 under the action of the worm 401, the first cone pulley 403 moves clockwise, and because the unidirectional ratchet wheel locking engagement direction of the second cone pulley 404 rotates in the S2 direction, no torque is transmitted to the rotating shaft of the reversible motor 7, and at the moment, the first cone pulley 403 which is driven by the worm wheel 402 to rotate coaxially and the second cone pulley 404 which is driven by the reversible motor 7 do not interfere.

Referring to fig. 4 and 5, in some embodiments, during the core strength training, the user performs the process of pulling the bar 2 to the top, and because the physical discomfort or other emergency needs to stop training, the user can directly loosen his hand to stop the force applied to the bar 2, because the resistance is the magnetic moment from the reversible motor 7, and the inertia generated by the reversible motor 7 cannot be directly transmitted to the worm 401 due to the unidirectional transmissibility of the worm 401 of the worm wheel 402, at this time, the user cannot be injured due to the mechanical inertia of the reversible motor 7, at this time, the mechanical inertia of the user is only the elastic potential energy caused by the elastic deformation generated by the tension rope 5, and because the tension rope 5 is made of wear-resistant nylon, the strength is good and the elasticity is poor, and therefore the elastic potential energy accumulated by the tension rope 5 is negligible.

Referring to fig. 4 and 5, in some embodiments, during the core strength training, the user pulls the bar 2 to the top, because the body is uncomfortable or other emergency needs to stop training, the force applied to the bar 2 can be directly released by hands, and the inertia generated by the reversible motor 7 can not be directly transmitted to the worm 401 due to the unidirectional transmissibility between the worm wheel 402 and the worm 401, at this time, the user can not be injured by the mechanical inertia of the reversible motor 7, but at the same time, the bar 2, the bearing rotating block 201 and the angular contact ball bearing 202 can move downwards under the action of gravity, and possibly crush the user, because the constant force coil springs 3 are arranged at the tops of two sides of the frame 1, the tension ends of the constant force coil springs 3 and the tops of the bearing rotating block 201 are connected through the safety ropes 6, and the sum of the tension forces of the two constant force coil springs 3 is equal to the sum of the weight of the bar 2, the bearing rotating block 201 and the angular contact ball bearing 202, at this time, and the bar 2, the weight rotating block 201 and the angular contact ball bearing 202 can not be affected by the force applied by the reversible motor 7 to the bar 5, and the ball bearing 202 can not be suspended by the user when the bar 2 falls down to the two bearing blocks and the ball bearing 202.

The individual features and examples described in the specific embodiments can be combined in any suitable manner, without contradiction, for example, different embodiments can be formed by different combinations of the specific features/examples/embodiments, and various possible combinations of the individual features/examples/embodiments in the present invention are not described further in order to avoid unnecessary repetition.

Claims (8)

1. A fitness action detection guidance robot, comprising: the device comprises a frame (1), wherein a space for body building actions is surrounded by the frame (1), a cross bar (2) is slidably installed in the vertical direction of the frame (1), a constant resistance unit which is connected with the cross bar (2) and used for increasing static load to the cross bar (2) through applying unidirectional rotation resistance is arranged at the bottom of the frame (1), a reset device for pulling down the cross bar (2) is arranged in the constant resistance unit, a hovering unit for controlling the cross bar (2) to hover safely is arranged on the frame (1), and a data processing unit which is matched with the constant resistance unit and used for indirectly detecting the weight lifting action force generating time and force generating amplitude is arranged on the frame (1).

2. The exercise activity detection guidance robot of claim 1, wherein: the constant resistance unit comprises two gear boxes (4) symmetrically arranged on two sides of the bottom of the frame (1), a group of reduction gears consisting of worm wheels (402) and worms (401) are rotatably arranged in each gear box (4), each worm (401) is wound with a tension rope (5) fixedly connected with a transverse bar (2), a rotating shaft of each worm wheel (402) is connected with a reversible motor (7) through a force transmission mechanism, the reversible motors (7) are electrically connected with the data processing unit, and a mechanical rotation speed limiter (8) for preventing the rotation speed of each worm (401) from exceeding a set value is arranged on each worm (401).

3. The exercise activity detection guidance robot of claim 2, wherein: the resetting device comprises a unidirectional meshing transmission mechanism arranged on a rotating shaft of the reversible motor (7), the unidirectional meshing transmission mechanism simultaneously transmits torque to the reversible motor (7), a worm wheel (402) and a worm (401) in a unidirectional meshing mode, and the transmission direction of the unidirectional meshing transmission mechanism is as follows: when the reversible motor (7) is switched to a generator state, torque transmission is not directly generated between the reversible motor (7) in the generator state and the worm wheel (402), torque transmission is generated between the worm wheel (402) and the worm (401), and torque transmission is generated between the worm (401) and the reversible motor (7) in the generator state; when the reversible motor (7) is switched to the motor state, direct torque transmission is generated between the reversible motor (7) in the motor state and the worm wheel (402), torque transmission is generated between the worm wheel (402) and the worm (401), and torque transmission is not generated between the worm (401) and the reversible motor (7) in the generator state.

4. The exercise activity detection guidance robot of claim 2, wherein: the hovering unit comprises a constant force coil spring (3) which is arranged at the top of the frame (1) and fixedly connected with the cross bar (2) through a safety rope (6), wherein the tension of the constant force coil spring (3) is equal to the sum of the weight force borne by the bearing rotating block (201) and the cross bar (2).

5. The exercise activity detection guidance robot of claim 2, wherein: the mechanical rotation speed limiter (8) comprises a shell (801) fixedly installed in a gear box (4), a rotating shaft of a worm (401) penetrates through the shell (801), a plurality of telescopic claws (9) which are used for limiting centrifugal movement by tension springs I (901) are uniformly distributed in the area of the worm (401) located in the shell (801), speed limiting gear rings (10) with the same tooth shape as the telescopic claws (9) are arranged on the peripheries of the telescopic claws (9), a plurality of groups of concave-convex mutually-limiting blocks are arranged between the outer ring of the speed limiting gear rings (10) and the inner wall of the shell (801), and tension springs II (802) are arranged between each group of limiting blocks.

6. The exercise activity detection guidance robot of claim 2, wherein: the vertical portion of frame (1) is equipped with C spout (101), bar (2) are the symmetry bent axle, cake-shaped bearing rotating block (201) are installed in the rotation of bent axle both ends, the rotation angle of bar (2) is 180 on the vertical direction, and both ends are connected with safety rope (6) and pulling force rope (5) respectively about bearing rotating block (201), bearing rotating block (201) joint is in C spout (101).

7. The exercise activity detection guidance robot of claim 6, wherein: every all be equipped with on the side surface of axial both sides of bearing rotating block (201) can take place relative pivoted angular contact ball bearing (202) with C spout (101), angular contact ball bearing (202) and horizontal bar (2) are installed on the position coaxial of bearing rotating block (201) installation, every angular contact ball bearing (202) deviate from one side of bearing rotating block (201) all is equipped with the chamfer.

8. The exercise activity detection guidance robot of claim 2, wherein: the spiral grooves (408) matched with the tension ropes (5) are formed in the surface of a rotating shaft of the worm (401), elastic guide wheels (407) matched with the rotation directions of the grooves are arranged in each gear case (4), and the elastic directions of the guide wheels are parallel to the axis of the worm (401) and point to the directions of the tension ropes (5) separated from the worm (401).