CN210436147U - Body-building robot - Google Patents

Abstract

The utility model relates to a fitness robot, it includes the truck, set up the two degree of freedom necks on the truck, the head of setting on the two degree of freedom necks, the rotatory waist of setting on the truck, the hip of setting at rotatory waist lower extreme, by the motor drive swing and set up the thigh in hip lower extreme both sides, by the motor drive swing and set up the shank at the thigh lower extreme, by the rotatory foot that just sets up at the shank lower extreme of motor drive, by the motor drive rotation and set up in foot bottom and with the universal caster of ground contact, the gyroscope of setting on the truck, by the motor drive swing and set up the big arm on the truck, by the motor drive swing and set up the little arm on big arm and set up finger portion on the hand. The utility model relates to a rationally, compact structure and convenient to use.

Description

Body-building robot

Technical Field

The utility model relates to a body-building robot.

Background

In modern life, fitness has always been an activity that is well received by young people. Most fitness enthusiasts choose to exercise at home due to the restriction of living conditions and time limitation in life, but professional guidance and companions of other people are lacked in the exercise at home. Therefore, the utility model discloses on the theme of family's body-building, design a section can intelligent plan, intelligent guide and intelligent body-building robot of accompanying and attending to.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a fitness robot is provided overall.

In order to solve the above problems, the utility model adopts the following technical proposal:

the utility model provides a fitness robot, including the truck, set up the two degree of freedom naps on the truck, the head of setting on the two degree of freedom naps, the rotatory waist of setting on the truck, the hip of setting at rotatory waist lower extreme, the thigh by motor drive swing and setting in hip lower extreme both sides, the shank by motor drive swing and setting at the thigh lower extreme, the foot by motor drive rotation and setting at the shank lower extreme, rotatory and setting in foot bottom and with ground contact's universal castor by motor drive, the gyroscope of setting on the truck, the big arm by motor drive swing and setting on the truck, the forearm that swings and set up on big arm by motor drive, set up the hand on forearm, and set up the finger on the hand.

As a further improvement of the above technical solution:

the two-degree-of-freedom neck comprises a rotating motor arranged on the trunk and a swinging motor arranged on the rotating motor; the output shaft of the swing motor is connected with the lower end of the head;

the waist rotation part is a rotation shaft of a rotation motor arranged on the trunk.

The head is respectively provided with a camera, an expression display screen, a sound box and a microphone;

and/or an article storage cabinet is arranged on the trunk;

and/or a control center is arranged on the hip.

The finger root part is hinged on the finger part, the finger end part is hinged on the finger root part,

the back of the finger root is hinged with an active push rod, the hinged shaft of the finger root and the end part of the finger is hinged with an n-shaped hinged seat, the active push rod is hinged with one end of the n-shaped hinged seat, the other end of the n-shaped hinged seat is hinged with an auxiliary push rod, the auxiliary push rod is connected with an L-shaped connecting frame, and the other end of the L-shaped connecting frame is connected to the back of the end part of the finger.

The trunk is provided with an open cavity for accommodating a cabinet body part of the article storage cabinet, the cabinet body part is detachably connected in the open cavity through a cabinet connecting bolt or a buckle, an inner cabinet rail is arranged on the inner side wall of the open cavity, and an outer cabinet guide rail sliding on the inner cabinet rail is arranged on the outer side wall of the cabinet body part; the outer end of the inner track of the cabinet is provided with a clamping block, the outer side wall of the cabinet body component is provided with a cabinet process opening, and the front side of the cabinet body component is hinged with a cabinet door plate.

The main electric control board of the control center is provided with a raspberry pie.

The head, the trunk, the hips, the thighs, the calves and/or the feet are respectively provided with a corresponding temperature sensor, an illuminance sensor and/or a human body infrared induction electronic sensor.

Wearing an Athos smart garment on the head, torso, hips, thighs, calves, and/or feet;

the Athos smart garment contains an Athos Core chiplet and a plurality of sensors;

the raspberry group communication connection is connected with a mobile terminal.

The advantageous effects of the present invention are described in more detail in the detailed description of the invention.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural view of the finger of the present invention.

Fig. 3 is a schematic structural diagram of the cabinet body of the present invention.

Fig. 4 is a control schematic diagram of the present invention.

Fig. 5 is an exercise plan execution table of the present invention.

Fig. 6 is the heart rate detection flow chart of the present invention.

Wherein: 1. a head portion; 2.a torso; 3. a hip; 4. a thigh; 5. a lower leg; 6. a foot portion; 7. a neck with two degrees of freedom; 8. rotating the waist; 9. a gyroscope; 10. a universal caster; 11. a large arm portion; 12. a small arm part; 13. a hand portion; 14. a finger portion; 15. a camera; 16. an expression display screen; 17. sounding; 18. a microphone; 19. an article storage cabinet; 20. a control hub; 21. an active push rod; 22. an n-type hinge mount; 23. an auxiliary push rod; 24. an L-shaped connecting frame; 25. the inner side wall of the cabinet; 26. a rail inside the cabinet; 27. a cabinet member; 28. a cabinet door panel; 29. a cabinet outer guide rail; 30. a cabinet process opening; 31. a cabinet connecting bolt.

Detailed Description

As shown in fig. 1, the fitness robot of the present embodiment, the multifunctional waist-neck massager comprises a body 2, a two-degree-of-freedom neck 7 arranged on the body 2, a head 1 arranged on the two-degree-of-freedom neck 7, a rotating waist 8 arranged on the body 2, a hip 3 arranged at the lower end of the rotating waist 8, thighs 4 which are driven by a motor to swing and are arranged on two sides of the lower end of the hip 3, lower legs 5 which are driven by the motor to swing and are arranged at the lower ends of the thighs 4, feet 6 which are driven by the motor to rotate and are arranged at the lower ends of the lower legs 5, universal casters 10 which are driven by the motor to rotate and are arranged at the bottoms of the feet 6 and are in contact with the ground, a gyroscope 9 arranged on the body 2, a big arm part 11 which is driven by the motor to swing and is arranged on the body 2, a small arm part 12 which is driven by the motor to swing.

As a specific embodiment, the two-degree-of-freedom neck 7 includes a rotating motor provided on the trunk 2, and a swing motor provided on the rotating motor; the output shaft of the swing motor is connected with the lower end of the head part 1;

the rotation waist portion 8 is a rotation shaft of a rotation motor provided on the trunk 2.

Preferably, the head 1 is provided with a camera 15, an expression display screen 16, a sound box 17, and a microphone 18;

and/or an article storage compartment 19 is provided on the trunk 2;

and/or a control hub 20 is provided on hip 3.

As a drive, a finger base is hinged to the finger 14, a finger tip is hinged to the finger base,

an active push rod 21 is hinged to the back of the finger root, an n-shaped hinge seat 22 is hinged to a hinge shaft of the finger root and the finger end, the active push rod 21 is hinged to one end of the n-shaped hinge seat 22, an auxiliary push rod 23 is hinged to the other end of the n-shaped hinge seat 22, the auxiliary push rod 23 is connected with an L-shaped connecting frame 24, and the other end of the L-shaped connecting frame 24 is connected to the back of the finger end. Therefore, linkage control is realized, and the defect of small action amplitude of transmission linkage control is avoided through the L-shaped connecting frame 24 and the auxiliary push rod 23, so that action dead points do not exist, the action is smoother, and the taking is more stable and firm.

As an improvement of the cabinet body, an open cavity for accommodating a cabinet body part 27 of the article storage cabinet 19 is arranged on the trunk 2, the cabinet body part 27 is detachably connected in the open cavity through a cabinet connecting bolt 31 or a buckle, an inner cabinet rail 26 is arranged on the inner cabinet side wall 25 of the open cavity, and an outer cabinet guide rail 29 sliding on the inner cabinet rail 26 is arranged on the outer side wall of the cabinet body part 27; the outer end of the inner cabinet rail 26 is provided with a clamping block, the outer side wall of the cabinet body part 27 is provided with a cabinet process opening 30, and the front surface of the cabinet body part 27 is hinged with a cabinet door plate 28.

The cabinet body has both working methods through ingenious design, can be connected the cabinet body with cabinet connecting bolt 31 as an organic whole with the inner chamber, can only realize the opening through the door plant, also can realize the whole push-and-pull to the cabinet body through dismantling the bolt to more convenient article of taking has expanded the angle of the thing of taking through the technology opening, alleviates cabinet body weight, and the guide rail realizes the guide effect.

As an improvement to the control, the main electronic control board of the control center 20 is mounted with a raspberry pie.

The head 1, the trunk 2, the hips 3, the thighs 4, the calves 5 and/or the feet 6 are respectively provided with a corresponding temperature sensor, an illuminance sensor and/or a human body infrared induction electronic sensor.

An Athos smart garment is worn on the head 1, torso 2, hips 3, thighs 4, calves 5, and/or feet 6;

as an improvement to control, the Athos smart garment contains an Athos Core chiplet and a plurality of sensors;

the raspberry group communication connection is connected with a mobile terminal.

The control method of the fitness robot of the embodiment is based on the fitness robot and comprises the following steps

Firstly, registering a user through a mobile terminal and logging in a system; then, the sensor detects the ambient environment condition, and meanwhile, the raspberry group provides historical motion data and analyzes pre-stored information of the user; secondly, generating or calling a motion recommendation plan stored in a cloud according to the environment, historical motion data and user personal signals by the raspberry group; thirdly, the user confirms;

step two, when the user starts to move, the Athos intelligent garment feeds back limb action data and physiological data to the raspberry pi in real time, the raspberry analyzes the feedback data, gives an instruction through the sound 17 to perform voice guidance on the user, gives an instruction through the control center 20, and controls the motor to perform simulation guidance;

and step three, after the user finishes the exercise, summarizing the information fed back by the sensor in the exercise by the raspberry, generating a report, finishing body building and card punching by the user, and uploading the report to a website.

In a further improvement, as shown in the figure, the fitness robot is divided into three parts, namely a mechanical system, a control system and a sensor group. The mechanical system comprises a motor, four limbs, a display screen, a connecting piece, a sound production device and the like; the control system comprises a raspberry group, a circuit control board, a data transmission system, a reminding system and the like; the sensor group comprises a temperature sensor, an illumination sensor, a human body infrared induction electronic sensor and an Athos intelligent garment. Among all the elements, the Athos intelligent garment is a Core part for realizing functions (the Athos Core small chip and a plurality of sensors are contained in the Athos intelligent garment), and can measure various physiological indexes and limb behaviors (such as movement amplitude, arm and trunk distance and the like) of a human body.

Through the Athos intelligent clothing, the following functions are mainly realized:

1. intelligent exercise plan 2, intelligent health monitoring 3, intelligent action guidance 4, love exercise fitness community

With respect to the components:

1. camera, robot body corresponds component: the robot body is photographed or recorded and is configured.

2.A raspberry display screen (7inch HDMI LCD (C)) which provides an operation and display screen and scrolls and displays human body parameters or robot voice content in real time for visualization.

3. The direct current motor and the sound generating device provide a power source for the swinging movement of the robot, provide the robot to combine the central pivot information, play the pre-recorded voice, form the sound and help body building.

4. An electric power system: lithium battery (48V 18Ah)

1. Raspberry pie (PI 3+) which collects data from various sensors, analyzes and processes intrinsic relationships, signals mechanical parts, and gives voice and robot action instructions.

2. And the main electronic control board (IMRobot Arduino) is a processor control circuit, and the robot receives the data sent by the raspberry group and makes a corresponding answer.

The utility model adopts a sensor group with

1. Temperature sensor, illuminance sensor, human infrared induction electronic sensor (HC-SR501 RD-624): external factors such as external temperature, safety distance from people and the like are detected, and information of the external factors is transmitted to the processing center.

Athos smart garment (containing an Athos Core chiplet and sensors) can measure physiological parameters of the human body (such as blood pressure, respiration, heart rate, etc.) and body behaviors (such as range of motion, arm torso distance, etc.) and transmit this information to the processing hub.

Function one: intelligent exercise program

1. Intelligent recommendation of exercise plan and amount

The raspberry group executes the environment detection module, then obtains data collected by sensors such as temperature and illumination, performs comprehensive analysis by combining historical data and information (such as sex, age, favorite sports and the like) of the user, and finally recommends a set of sports plan suitable for the user. The user needs to make a confirmation plan on the intelligent screen, and if the user does not confirm the time is overtime, the user is determined as default confirmation.

For historical exercise data, for example, if the user fails to meet the basic requirements of the predetermined exercise plan in the last exercise, the exercise plan will enhance the exercise amount appropriately. The following is an example of a specific user movement plan:

the basic requirements of the movement plan are as follows: (1) running speed is 5km, running time is 24 minutes (2), rope skipping amount is 1000/4, push-up 80/3 is 3, and dumbbell 80/4 is 5. Strengthening exercise amount: (1) running amount is 6 km, running time is 28 minutes (2), rope skipping amount is 1200/4 groups (3), push-up 100/3 group (5) dumbbell 100/4 group

After each individual athletic event is completed, a voice prompt may be presented. For example, when running for 5km is finished, it can be said that: "the owner has finished with your running program, please click the continuation of training in the screen to continue to complete the next exercise. "

2. Intelligently sorting each sport item in blocks, and carrying out a plurality of sports alternately

And (3) sorting the total amount of the sports of each sports item in blocks, then naming and sorting the modules, and forming an integral execution plan according to the fitness sequence of the fitness user. And finally, playing the plan content voice by using a raspberry group and voice system, and scrolling and playing the plan text content on the intelligent screen.

As shown in fig. 5 (skipping ropes are divided into four groups, running is divided into 2 groups, push-ups are divided into 3 groups, and the exercises are staggered and the half-time is set therein).

And a second function: intelligent health monitoring

A large number of sensors are arranged in the Athos intelligent clothes, the sensors can detect physiological data of a host, such as heart rate, respiratory rate, body temperature, blood pressure and the like, then the physiological data can be transmitted to an internal raspberry group, the raspberry group processes and analyzes the data, compares the processed and analyzed data with standard ranges of various internal indexes, and finally makes corresponding reactions, wherein the reactions are various voices, tone, actions and expressions which are set by the user.

The whole process is described in detail by taking the heart rate index of the sporter as an example, four intervals of the heart rate index value are set in a database:

the motion load is low (0, 80); normal motion [80,120); the motion load is higher [120, 150); the motion load is ultra high [150, + ∞). We illustrate a flow chart with a low heart rate exercise load, as shown in fig. 6:

when the heart rate index value collected by the Athos intelligent clothes is detected to be less than 80 times/minute, the exercise load of the owner is judged to be low, then the duration time of the state is detected, and corresponding reaction is made according to the duration time. (in the figure, code V1 indicates that the user has no enough exercise and is accelerated-; A1 indicates that the user has no stop waving the right hand from bottom to top and is accelerated, E2 indicates a lovely expression, and M2 indicates a harsh tone.)

And function III: intelligent motion guidance

The multiple sensors built in the Athos can monitor various data of the body of the sporter, and can also obtain position information of various parts of the body of the sporter, such as movement amplitude, trunk distance and the like, and after the various data transmitted by the Athos are collected, the various data are compared with internal action judgment standards to judge whether the movement posture of the owner is standard or not.

Taking a dumbbell exercise as an example, we set three criteria for dumbbell evaluation internally:

(1) the upper arm is fixed, the left-right swing amplitude is less than 20 ℃ (the detection time is 1 s);

(2) the lower arm lifts the dumbbell up to be level with the shoulders, the approach angle is less than 30 ℃ (detection time: 6 s);

(3) the lower arm swings the dumbbell down until 90 ℃ from the ground, and the left-right swing amplitude is less than 10 ℃ (detection time 6 s).

The detection time here means how often s the standard of the user must be reached, otherwise the action is regarded as not reaching the standard, and the corresponding reaction is made as the last functional module. If the amplitude of the left-right swing of the right upper arm of the owner within 1s is greater than 20 ℃ when the data transmitted from the Athos intelligent clothes are analyzed, the action of the owner is judged not to reach the standard, then the right hand palm is moved forwards, the right arm is kept horizontal (the action indicates that the action of the owner is wrong), severe expressions appear in the screen, and the expression is expressed in severe language: ' the left-right swing amplitude of the upper arm of the owner is more than 20 ℃, the action does not reach the standard, and is not satisfied! "

In addition, can also instruct owner with limbs, if when carrying out the push-up, can the voice broadcast: please bend the arms open and bend the elbows to keep the torso straight and straight, and at the same time, do a similar motion, which gives the user a sense of a fitness trainer accompanying and instructing himself.

Fourth, movement

1. Voice broadcast and motion report form: after the daily plan is finished, a sports report is generated, voice is played, and then the sports report is displayed on a display screen. Meanwhile, background data of the exercise report form can be stored every time, and a user can know the plan completion condition and the detailed exercise data of the user.

2. Fitness card punching and network fitness community: a network fitness community is created, users can share fitness experience and perform card punching ranking, the community supports voice and video online movement, interactivity and interestingness are added to the tedious fitness process of the users, and the users can move happily and move happily.

3. Diet recommendation and determination of next exercise time: after the user finishes the exercise plan of the day, the exercise condition of the user of the day and the recommendation of diet and drinking water are comprehensively analyzed, and the next exercise is reminded.

The utility model relates to a rationally, low cost, durable, safe and reliable, easy operation, labour saving and time saving, saving fund, compact structure and convenient to use.

The present invention has been fully described for a clear disclosure, and is not to be construed as an exemplification of the prior art.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; it is obvious to those skilled in the art that a plurality of embodiments of the present invention may be combined. Such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention.

Claims (5)

1. A fitness robot, comprising: comprises a trunk (2), a big arm part (11) driven by a motor to swing and arranged on the trunk (2), a small arm part (12) driven by the motor to swing and arranged on the big arm part (11), a hand part (13) arranged on the small arm part (12), and a finger part (14) arranged on the hand part (13);

an article storage cabinet (19) is arranged on the trunk (2).

2. The fitness robot according to claim 1, further comprising a two-degree-of-freedom neck (7) arranged on the trunk (2), a head (1) arranged on the two-degree-of-freedom neck (7), a rotating waist (8) arranged on the trunk (2), a hip (3) arranged at the lower end of the rotating waist (8), thighs (4) driven by a motor to swing and arranged at two sides of the lower end of the hip (3), crus (5) driven by the motor to swing and arranged at the lower end of the thighs (4), feet (6) driven by the motor to rotate and arranged at the lower end of the crus (5), universal casters (10) driven by the motor to rotate and arranged at the bottoms of the feet (6) and in contact with the ground, and a gyroscope (9) arranged on the trunk (2).

3. The fitness robot according to claim 2, wherein the two-degree-of-freedom neck (7) comprises a rotating motor arranged on the trunk (2) and a swing motor arranged on the rotating motor; the output shaft of the swing motor is connected with the lower end of the head part (1);

the rotating waist part (8) is a rotating shaft of a rotating motor arranged on the trunk (2).

4. The fitness robot according to claim 3, wherein a finger base is articulated to the finger portion (14), a finger tip is articulated to the finger base,

an active push rod (21) is hinged to the back of the finger root, an n-shaped hinge seat (22) is hinged to a hinge shaft of the finger root and the end portion of the finger, the active push rod (21) is hinged to one end of the n-shaped hinge seat (22), an auxiliary push rod (23) is hinged to the other end of the n-shaped hinge seat (22), the auxiliary push rod (23) is connected with an L-shaped connecting frame (24), and the other end of the L-shaped connecting frame (24) is connected to the back of the end portion of the finger.

5. The fitness robot according to claim 1, wherein an open cavity for accommodating a cabinet body part (27) of the article storage cabinet (19) is arranged on the trunk (2), the cabinet body part (27) is detachably connected in the open cavity through a cabinet connecting bolt (31) or a buckle, an inner cabinet rail (26) is arranged on the inner cabinet side wall (25) of the open cavity, and an outer cabinet guide rail (29) sliding on the inner cabinet rail (26) is arranged on the outer cabinet side wall of the cabinet body part (27); the outer end of the inner track (26) of the cabinet is provided with a clamping block, the outer side wall of the cabinet body part (27) is provided with a cabinet process notch (30), and the front surface of the cabinet body part (27) is hinged with a cabinet door plate (28).

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