KR102270313B1 - training apparatus and operation method thereof - Google Patents

Abstract

A training apparatus and a method of operating the same are disclosed. The training device includes a wire; a rotating part rotating in a first direction by an external force applied to the wire; a sensor for measuring the tension of the wire; a counter electromotive force generating unit coupled to one side of the rotating unit and generating a counter electromotive force according to the rotation of the rotating unit; and a control module for changing the resistance or impedance acting on the counter electromotive force generator according to the measured tension F of the wire or a preset tension.

Description

Training apparatus and operating method thereof

The present invention relates to a training apparatus and a method of operating the same.

Conventional strength exercise equipment generates a resistance force such as an exercise load to the user by using a weight, etc., and provides it to the user. On the other hand, recently, a strength exercise device that generates a resistance force through a motor based on electromagnetic force and provides it to a user has been developed. At this time, the conventional muscle strength exercise equipment using electromagnetic force generates a resistance force in a direction opposite to the direction in which the user applies the external force.

However, there is a problem in that the user feels a sense of heterogeneity due to the resistance force generated in the opposite direction to the conventional strength exercise equipment using electromagnetic force.

An object of the present invention is to provide a training apparatus capable of generating a desired back EMF profile during exercise by measuring a force interacting between a person exercising and a device and generating a resistance force, and an operating method thereof.

Another object of the present invention is to provide a training apparatus capable of preventing musculoskeletal injuries by controlling the back electromotive force regardless of a sudden speed change during exercise, and an operating method thereof.

According to an aspect of the present invention, there is provided a training apparatus capable of generating a desired back EMF profile during exercise by generating a back EMF by measuring a force interacting between an exercising person and a device.

According to an embodiment of the present invention, a wire; a rotating part rotating in a first direction by an external force applied to the wire; a sensor for measuring the tension of the wire; a counter electromotive force generating unit coupled to one side of the rotating unit and generating a counter electromotive force according to the rotation of the rotating unit; and a control module for changing the resistance or impedance acting on the counter electromotive force generator according to the measured tension (F) or a preset tension of the wire may be provided.

Doedoe coupled to the other side of the rotating part, when the external force applied to the wire is removed, it may further include a restoring part rotating in a second direction to wind the wire to the rotating part.

The rotating unit, the counter electromotive force generating unit, and the restoring unit may be shaft-coupled.

The control module may vary the resistance or the impedance so that the tension F is constantly maintained.

The rotating unit may further include an encoder, and the control module may vary a resistance or an impedance acting on the back electromotive force generating unit according to at least one of a speed and a distance measured by the encoder.

When the speed is before the limit speed, the control module changes the resistance or impedance to increase the wire tension F, and maintains the wire tension F when the speed exceeds the limit speed The resistance or the impedance can be varied.

The control module may adjust the resistance or the impedance so that the tension (F) of the wire varies according to the distance.

The control module may adjust the resistance or the impedance so that the tension (F) of the wire is constantly maintained regardless of the distance to which the wire is pulled.

According to another embodiment of the present invention, a rotating part rotating by an external force; a counter electromotive force generating unit generating a counter electromotive force according to the rotation of the rotating unit; and a control module for controlling the operation of the counter electromotive force generator, wherein the control module adjusts resistance or impedance acting on the counter electromotive force generator according to the rotation speed of the rotating part according to the external force. may be provided.

According to another embodiment of the present invention, the rotating part rotates by an external force; a counter electromotive force generating unit generating a counter electromotive force according to the rotation of the rotating unit; and a control module for controlling the operation of the back electromotive force generator, wherein the control module adjusts resistance or impedance acting on the back electromotive force generator according to the rotation distance of the rotating part according to the external force. may be provided.

According to another aspect of the present invention, there is provided a method of operating a training apparatus capable of generating a desired back EMF profile during exercise by generating a back EMF by measuring a force interacting between an exercising person and a device.

According to an embodiment of the present invention, in the operating method of the training apparatus, the step of rotating the rotating unit in a first direction by an external force applied to the wire; generating a counter electromotive force according to the rotation of the rotating part; measuring the tension (F) of the wire; and adjusting the resistance or impedance acting on the counter electromotive force generation according to the measured tension (F) or a preset tension of the wire.

Further comprising the step of measuring at least one of the rotational speed and the moving distance of the wire of the rotating part, the step of adjusting the resistance or impedance, so that the tension (F) of the wire is changed according to the change in the rotational speed The resistance or impedance may be adjusted.

The adjusting of the resistance or impedance may include adjusting the resistance or impedance so that the tension (F) of the wire is changed according to the distance.

By providing a training apparatus and an operating method thereof according to an embodiment of the present invention, it is possible to generate a desired back EMF profile during exercise by generating a back EMF by measuring a force interacting between an exercising person and an instrument.

In addition, the present invention can prevent musculoskeletal injuries because it is possible to control the back electromotive force regardless of a sudden speed change during exercise.

1 is a block diagram schematically showing an internal configuration of a training apparatus according to an embodiment of the present invention.
Figure 2 is a view showing a training apparatus according to an embodiment of the present invention.
Figure 3 is a view showing a partial cross-sectional view of the training apparatus according to an embodiment of the present invention.
4 is a diagram showing the configuration of a control module according to an embodiment of the present invention.
5 is a flowchart illustrating an operation process of a training apparatus according to an embodiment of the present invention.

As used herein, the singular expression includes the plural expression unless the context clearly dictates otherwise. In this specification, terms such as “consisting of” or “comprising” should not be construed as necessarily including all of the various components or various steps described in the specification, some of which components or some steps are It should be construed that it may not include, or may further include additional components or steps. In addition, terms such as "...unit" and "module" described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software. .

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram schematically illustrating an internal configuration of a training apparatus according to an embodiment of the present invention, FIG. 2 is a diagram illustrating a training apparatus according to an embodiment of the present invention, and FIG. 3 is a diagram of the present invention It is a view showing a partial cross-sectional view of a training apparatus according to an embodiment, and FIG. 4 is a diagram showing the configuration of a control module according to an embodiment of the present invention.

1 and 2 , the training apparatus 100 according to an embodiment of the present invention includes a wire 101 , a restoration unit 110 , a rotation unit 120 , a counter electromotive force generator 130 , and a force sensor 140 . and a control module 150 .

One end of the wire 101 is wound around the rotating part 120 and protrudes to the outside. In more detail, one end of the wire 101 may be output to the outside by passing through the sensor 140 after being wound around the rotating unit 120 . Accordingly, a person can rotate the rotating part 120 by applying an external force to the wire 101 and pulling it. At this time, the tension F applied to the wire 101 by the sensor 140 through which the wire 101 passes may be measured.

The wire 101 output from the rotating unit 120 may be output to the outside through a plurality of pulley members. The sensor 140 may be implemented in the form of a load cell or the like under the pulley member.

In more detail, the wire 101 output from the rotating unit 120 may pass through the first pulley 141 , the second pulley 142 , and the third pulley 143 to be output to the outside. The first pulley 141 and the third pulley 143 may be disposed on both sides of the second pulley 142 .

The sensor 140 may measure the force applied from the upper side by the support member. Accordingly, the support member may be connected to the upper portion of the sensor 140 to press the sensor 140 . The first pulley 141 and the third pulley 143 are disposed on both sides of the second pulley 142 , and the wire 101 passes through the second pulley 142 to measure the force pressed by the wire 101 . ) plays a role in maintaining the bent state at a certain angle. The wire output from the rotating unit 120 is coupled to the second pulley 142 in a state bent at a predetermined angle by the first pulley 141, and the wire 101 passing through the second pulley 142 is the third pulley ( 143), it is again output in a bent state at a certain angle. For this reason, when a person pulls the wire 101 by applying an external force, the external force applied to the wire 101 may be measured by the sensor 140 .

The restoration unit 110 may be located at one side of the rotating unit 120 , and the counter electromotive force generator 130 may be located at the other side of the rotating unit 120 . Here, the rotation unit 120 , the restoration unit 110 , and the counter electromotive force generator 130 may be shaft-coupled.

Accordingly, when the rotating unit rotates as an external force is applied to the wire 101 , the restoring unit 110 and the counter electromotive force generator 130 may also operate together. That is, in response to the rotation of the rotating unit 120, the restoring unit 110 may be operated to maintain the force in the opposite direction, and to restore the rotating unit 120 to its original state.

For example, when the rotating unit 120 rotates in the first direction as an external force is applied to the wire 101, the restoring unit 110 has a restoring force in the second direction opposite to the first direction. , when the external force applied to the wire 101 is removed, the rotating part 120 may be rotated in the second direction by the restoring force. For this reason, as an external force is applied to the wire 101 , the wire 101 is wound around the rotating unit 120 by the restoring unit 110 as much as the length unwound from the rotating unit 120 .

The restoration unit 110 may be implemented as, for example, a rewinding spring. Accordingly, the rewind spring is wound in the opposite direction to the rotation direction in which the rotating part 120 rotates by the external force applied to the wire 101 by a person. The rewinding spring is released by the restoring force when the external force is removed from the wire 101 (ie, when a person does not apply force to the wire 101). Since the restoring unit (ie, the rewinding spring) and the rotating unit 120 are shaft-coupled, the rotating unit 120 is rotated in the opposite direction to the rotating direction of the rotating unit 120 as the rewinding spring is released by the restoring force, and this causes the wire 101 is wound around the rotating part 120 again.

A counter electromotive force generator 130 is coupled to the other side of the rotating unit 120 . The counter electromotive force generator 130 generates a counter electromotive force based on the rotational motion of the rotating unit 120 .

3 shows the configuration of the back electromotive force generator 130 . As shown in FIG. 3 , the counter electromotive force generator 130 includes a rotor 310 , a magnet 320 , a coil 330 , and a stator 340 .

When the rotating unit 120 rotates as an external force is applied to the wire 101, the magnet 320 is rotated at an angular velocity w according to the rotation of the rotor 310 of the shaft-coupled counter electromotive force generator 130. Accordingly, counter electromotive force and current are generated in the coil 330 .

)은 회전부(120)의 회전 속도 또는 와이어(101)를 당기는 속도에 비례하여 발생된다. This back electromotive force (

) is generated in proportion to the rotational speed of the rotating unit 120 or the pulling speed of the wire 101 .

If this is expressed as an equation, it is the same as in Equation 1.

는 회전부의 반지름을 나타내며,

는 사람이 줄을 당기는 속도를 나타낸다. here,

represents the radius of the rotating part,

represents the speed at which a person pulls the string.

In addition, the current i can be calculated as in Equation 2 when the resistance acting on the counter electromotive force generator 130 is R.

In addition, the external force (F) applied by a person to the wire 101 - that is, the tension (F) of the wire 101 - is the radius of the rotating part 120 is r, and the magnetic flux density of the counter electromotive force generator 130 is B. And, when the total length of the coil is L, it can be calculated as in Equation 3.

By substituting Equation 2 into Equation 3, Equation 3 can be expressed as Equation 4 again.

), 와이어를 당기는 속도(

)에 비례하며, 저항(R)에 반비례하는 것을 알 수 있다. 이를 수학식으로 다시 정리하면, 수학식 5와 같다. As a result, the tension (F) of the wire depends on the rotation speed (

), the speed at which the wire is pulled (

) and inversely proportional to the resistance (R). If this is rearranged into Equation, Equation 5 is obtained.

Accordingly, the training apparatus 100 according to an embodiment of the present invention may generate a desired back EMF profile by varying the resistance R acting on the back EMF generator 130 according to the tension F of the wire 101 . . Here, the tension F of the wire 101 may be a predetermined tension or may be a tension F measured by the sensor 140 . Even if there is no separate description in this specification, the tension of the wire will have to be interpreted as a predetermined tension or a measured tension.

In addition, the current i generated by the counter electromotive force generator 130 may be stored. The generated current i may be supplied as a power source of some of the internal components of the training apparatus 100 .

The control module 150 is for controlling internal components (eg, the rotating unit 120 , the sensor 140 , the counter electromotive force generator 130 , etc.) of the training apparatus 100 according to an embodiment of the present invention. is a means

The control module 150 may acquire at least one of a rotation speed and a distance corresponding to an external force applied to the wire 101 from the rotation unit 120 .

That is, the rotating unit 120 may include an encoder (not shown), and the rotation speed of the rotating unit 120 and the distance of the wire 101 may be measured through the encoder, respectively. In one embodiment of the present invention, it is assumed that the encoder is provided in the rotating part 120 and will be mainly described. However, the encoder may be provided in the second pulley.

The control module 150 may adjust the resistance or impedance acting on the counter electromotive force generator 130 according to the tension F of the wire.

To this end, the control module 150 may include an active current consuming element 410 and a control unit 420 as shown in FIG. 4 . The active current consuming element 410 includes a switching amplifier 411 and a resistor (R) 413 . As the on/off time of the switching amplifier 411 is adjusted, the equivalent resistance R may be varied. Accordingly, the control module 150 may change the equivalent resistance (R) by adjusting the on/off time of the switching amplifier 411 according to the tension (F) of the wire.

In one embodiment of the present invention, it is assumed that the equivalent resistance (R) is varied by adjusting the on/off time of the switching amplifier 411, but it is of course embodied as a digital resistor.

For example, the control module 150 may adjust the resistance or impedance acting on the counter electromotive force generator 130 so that the tension F of the wire is constantly maintained. That is, the counter electromotive force generated by the counter electromotive force generator 130 may change according to the tension F of the wire. Therefore, in order to keep the tension (F) of the wire constant, the control module 150 controls the tension (F) of the wire to be kept constant by changing the equivalent resistance (R) acting on the counter electromotive force generator (130). can

As another example, the control module 150 may vary the equivalent resistance according to a change in the speed of the wire.

For example, the control module 150 may vary the equivalent resistance acting on the counter electromotive force generator 130 according to a speed change obtained in real time from the encoder provided in the rotating unit 120 or the second pulley 142 . When resistance and tension (F) are simultaneously increased in an exercise in which the exerciser rapidly increases the speed, a strain is applied to the musculoskeletal system of the human body, which increases the possibility of injury.

That is, the training apparatus 100 according to an embodiment of the present invention can adjust the back electromotive force generated by the back electromotive force generator 130 irrespective of a sudden change in speed, thereby preventing musculoskeletal injuries.

As another example, the control module 150 uses the speed obtained through the encoder to adjust the wire tension F to increase until the limit speed is reached, and then after reaching the limit speed, the wire tension F ) may be adjusted to keep the equivalent resistance (R) constant.

For another example, since the control module 150 may obtain the distance at which the wire 101 is pulled through the encoder, the wire tension F may be varied according to the distance.

For example, when the wire 101 is pulled within the first reference length, the control module 150 may adjust the wire tension F to increase. However, when the first reference length is exceeded, the control module 150 may adjust the wire tension F not to increase.

Through this, the control module 150 causes the wire tension (F) to increase when the athlete pulls the wire within a certain length, and maintains the wire tension (F) to protect the athlete's body when the athlete pulls the wire over a certain length. Alternatively, the wire tension (F) may be adjusted to decrease slightly.

Of course, it is natural that the control module 150 may vary the equivalent resistance or impedance to keep the wire tension F constant regardless of the length to which the wire is pulled.

That is, the training apparatus 100 according to an embodiment of the present invention may provide a different counter electromotive force according to the operation position of the wire that changes every moment. Through this, it is also possible to enable intensive training of an operation position that requires improvement of the exerciser.

In addition, although not shown separately in FIG. 1 , the training apparatus 100 may further include a separate input interface for receiving an exercise level or the like. It is natural that the control module 150 may vary the equivalent resistance or impedance so as to keep the wire tension F constant in accordance with the set exercise level.

5 is a flowchart illustrating an operation process of a training apparatus according to an embodiment of the present invention.

In step 510, the training apparatus 100 generates a counter electromotive force according to an external force applied to the wire.

In step 515, the training device 100 measures a speed or a distance corresponding to an external force applied to the wire.

In step 520, the training device 100 changes the wire tension (F) according to the speed or distance.

The training device 100 changes the tension (F) of the wire according to the speed or distance applied to the wire, and when it exceeds a certain speed or a certain distance, the resistance or impedance is varied so that the wire tension (F) is kept constant. can do it

The apparatus and method according to an embodiment of the present invention may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the computer readable medium may be specially designed and configured for the present invention or may be known and available to those skilled in the computer software field. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floppy disks. - Includes magneto-optical media and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like.

The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

So far, the present invention has been looked at focusing on the embodiments thereof. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention can be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is indicated in the claims rather than the foregoing description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

100: training device
101: wire
110: restoration unit
120: rotating part
130: back electromotive force generator
140: sensor
150: control module

Claims (13)

wire;
a rotating unit rotating in a first direction by an external force applied to the wire-the rotating unit includes an encoder;
a sensor for measuring the tension of the wire;
a counter electromotive force generating unit coupled to one side of the rotating unit and generating counter electromotive force according to the rotation of the rotating unit; and
A control module for changing the resistance or impedance acting on the counter electromotive force generator according to the speed and distance measured by the encoder, and the measured tension (F) of the wire,
The control module is
If the speed is before the limit speed and the distance is within the reference distance, the resistance or impedance acting on the back electromotive force generator is varied to increase the wire tension (F), the speed exceeds the limit speed and the distance is When the reference distance is exceeded, the training device, characterized in that for varying the resistance or impedance acting on the counter electromotive force generating unit to maintain the tension (F) of the wire.
According to claim 1,
Doedoe coupled to the other side of the rotating unit, training apparatus further comprising a restoration unit rotating in a second direction to wind the wire to the rotating unit when the external force applied to the wire is removed.
3. The method of claim 2,
The rotating unit, the back electromotive force generating unit and the restoration unit are shaft-coupled training apparatus.
According to claim 1,
The control module is
Training apparatus, characterized in that for varying the resistance or the impedance so that the tension (F) is maintained constant.
delete delete According to claim 1,
The control module is a training device, characterized in that for adjusting the resistance or the impedance so that the tension (F) of the wire varies according to the distance or the speed.
delete delete delete In the method of operating a training device,
rotating the rotating unit in a first direction by an external force applied to the wire;
measuring the rotational speed of the rotating part and the moving distance of the wire;
generating a counter electromotive force according to the rotation of the rotating part;
measuring the tension (F) of the wire; and
Comprising the step of adjusting the resistance or impedance acting on the counter electromotive force generation according to the measured speed, distance, and the tension (F) of the wire,
The step of adjusting the resistance or impedance comprises:
If the speed is before the limit speed and the distance is within a reference distance, the resistance or impedance is varied to increase the wire tension (F), and if the speed exceeds the limit speed and the distance exceeds the reference distance, the Method of operating a training device, characterized in that for varying the resistance or impedance to maintain the tension (F) of the wire.

delete delete

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