KR20220021969A - Weight Machine of Robot Arm Joint Structure - Google Patents

Weight Machine of Robot Arm Joint Structure Download PDF

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KR20220021969A
KR20220021969A KR1020200102099A KR20200102099A KR20220021969A KR 20220021969 A KR20220021969 A KR 20220021969A KR 1020200102099 A KR1020200102099 A KR 1020200102099A KR 20200102099 A KR20200102099 A KR 20200102099A KR 20220021969 A KR20220021969 A KR 20220021969A
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movement
exercise
user
robot arm
exercise equipment
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Korean (ko)
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조상필
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조상필
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
    • A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0075—Means for generating exercise programs or schemes, e.g. computerized virtual trainer, e.g. using expert databases
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0084—Exercising apparatus with means for competitions, e.g. virtual races
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/0054—Features for injury prevention on an apparatus, e.g. shock absorbers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0075—Means for generating exercise programs or schemes, e.g. computerized virtual trainer, e.g. using expert databases
    • A63B2024/0081—Coaching or training aspects related to a group of users
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/009—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled in synchronism with visualising systems, e.g. hill slope
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/0054—Features for injury prevention on an apparatus, e.g. shock absorbers
    • A63B2071/0081—Stopping the operation of the apparatus
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A63B2071/0625—Emitting sound, noise or music
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B2071/0675—Input for modifying training controls during workout
    • A63B2071/0683—Input by handheld remote control
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/30—Speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/803—Motion sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/806—Video cameras
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/808—Microphones

Abstract

The present invention relates to an exercise apparatus including a joint part functioning as a robot arm to reduce risk of adverse effects or injuries and an operation method thereof. According to the present invention, the exercise apparatus comprises a robot arm joint unit having a constant movement radius, a servo motor, an electronic brake, a controller for determining the position, movement speed, torque, and the like of the joint through an encoder, and a main body having a power control and measurement unit according to a determination result embedded therein. A motion control unit of the robot arm joint unit controls the direction and force in which a user moves the apparatus according to an exercise mode selected by the user to allow movement in the direction suitable for the designated exercise and provides a movement load (resistance) to provide the effect of weight training. The measurement unit in the main body measures the moving speed or torque of the apparatus in real-time to monitor the allowable range of the movement direction and detect an accident prediction situation due to sudden movement. The apparatus is connected to the Internet to provide an exercise program and an exercise mode with game effects applied through upgrading firmware, settings, and software by a main server and is connected to the Internet through the main server to receive real-time training teaching from other users using this equipment or play one-on-one or team sports games together.

Description

로봇팔 관절 구조의 운동기구 {Weight Machine of Robot Arm Joint Structure}{Weight Machine of Robot Arm Joint Structure}

본 발명은 운동기구에 관한 것으로, 더욱 상세하게는 로봇팔 관절 구조로 이루어진 운동 기구 장치에 관한 것이다.The present invention relates to an exercise device, and more particularly, to an exercise device having a joint structure of a robot arm.

기성의 운동 기구로는 하나의 운동 기구로 제한된 종류의 운동만 가능하였다. 그렇기 때문에 다양한 부위를 단련 시키기 위해서는 여러종류의 운동 기구를 보유해야 하는 어려움이 있다.With the existing exercise equipment, only a limited kind of exercise was possible with one exercise equipment. Therefore, there is a difficulty in having several types of exercise equipment in order to train various parts.

와이어 연결을 사용한 방식의 운동 기구의 경우 좀 더 다양한 자세의 운동이 가능하다고 하지만 사용자가 운동 중 의도한 운동 방향에서 벗어나도 기구에서 통제를 해주지 못하기 때문에 잘못된 운동 자세로 인한 부작용이 발생하거나 사고로 인한 상해가 발생하게 될 수도 있다. In the case of exercise equipment that uses wire connection, it is possible to exercise in more various postures. Injuries may occur as a result.

운동 무게 조정을 위해 무게추를 가감하는 방식으로 조절하는 방식의 기성의 운동 기구는 매번 무게 조정 때마다 사용자가 운동을 멈추고 무게추를 수동으로 가감해줘야 하는 번걸움이 있다. Existing exercise equipment that adjusts the weight by adding or subtracting weights for adjusting the exercise weight has the hassle of having to manually add or subtract the weights after the user stops the exercise every time the weight is adjusted.

또한, 벤치프레스와 같은 중량물의 운동 기구의 경우 무게를 조정하는데 올바른 요령이 없으면 큰 부상으로까지 이어질 수도 있다.In addition, in the case of heavy exercise equipment such as the bench press, if you do not have the correct method to adjust the weight, it may lead to a serious injury.

본 발명의 출원자 역시 무게 조정 요령 부족으로 받침대에 걸쳐져 있는 역기의 무게를 바꾸다 한쪽 무게 불균형으로 기울어진 기구에 눈을 부딪쳐 크게 다친 적이 있는데 이렇게 수동으로 무게를 조정하는 운동기구는 안전사고 유발 가능성이 있다.The applicant of the present invention also changed the weight of a barbell placed on a pedestal due to lack of weight adjustment skills and hit an eye with an instrument that was tilted with an imbalance of weight on one side and was seriously injured. .

기성의 운동 기구는 실시간으로 다른 사람의 도움을 받거나 함께 운동을 하기 위해서는 대면방식으로만 가능하다.With ready-made exercise equipment, it is possible only in a face-to-face manner to get help from others in real time or to exercise together.

대면 방식을 통해 운동의 도움을 받거나 동기를 부여하는 방식은 사회적 거리가 필요한 시대나 대인관계에 어려움이 있는 사람의 경우 제약이 큰 방식이다.The face-to-face method of getting help or motivating the movement is a very restrictive method in times when social distancing is required or for people who have difficulties in interpersonal relationships.

본 발명의 제 1 목적은 로봇팔 관절 구조의 운동 기구를 통해 움직임 속도, 운동 부하 그리고 방향 통제를 제공하므로 하나의 운동 기구로 다양한 부위의 운동을 정확한 자세로 편리하게 운동 무게 조절이 가능한 운동 기구 및 운동 방법을 제공하는 것이다.A first object of the present invention is to provide movement speed, exercise load, and direction control through an exercise mechanism of a robot arm joint structure, so that the movement of various parts can be conveniently performed with a single exercise apparatus in an accurate posture. It provides a way to exercise.

본 발명의 제 2 목적은 사용자의 요령 부족이나 실수로 잘못된 자세로 운동하여 발생할 수 있는 역효과나 부상 사고의 위험을 줄여주는 운동 기구 및 이를 구현하는 방법을 제공하는 것이다.A second object of the present invention is to provide an exercise device and a method for implementing the same, which reduce the risk of adverse effects or injuries that may occur due to a user's lack of skill or mistakenly exercising in an incorrect posture.

본 발명의 제 3 목적은 사용자가 다른 사용자와 실시간 커뮤니케이션 및 운동 기구 움직임과 토크를 실시간으로 피드백 받아 수치적 표시나 운동 기구 움직임 재현 방식으로 반영할 수 있으므로 비대면 방식의 트레이닝이나 함께 협력, 경쟁하는 방식으로 운동을 할 수 있는 운동 기구 및 이를 구현하는 방법을 제공하는 것이다.A third object of the present invention is that a user can receive real-time communication with other users and feedback on the movement and torque of the exercise equipment in real time and reflect it in a numerical display or a method of reproducing the movement of the exercise equipment, so that non-face-to-face training or cooperation and competition with other users is possible. An object of the present invention is to provide an exercise device capable of exercising in this manner and a method for implementing the same.

상기와 같은 목적을 달성하기 위한 본 발명의 기술적 사상에 의한 운동 기구는 로보팔 관절부와 로봇팔의 제어를 지원하는 구동 제어부, 측정부, 컨트롤러, 마이크로 컴퓨터, 멀티 미디어 디바이스를 포함한다.The exercise device according to the technical idea of the present invention for achieving the above object includes a robot arm joint part and a driving control unit supporting the control of the robot arm, a measuring unit, a controller, a microcomputer, and a multimedia device.

로봇팔 관절부는 서보 모터와 엔코더가 내장되어 기구 본체 동력부와 상호 보완하며 운동 방향과 운동 부하에 관여한다.The robot arm joint has a built-in servo motor and encoder, so it complements the power part of the main body and is involved in the motion direction and motion load.

기구 본체는 서보 모터와 전자식 브레이크를 통해 움직임을 위한 동력 공급과 움직임을 제어하는 제어부 가지고 있고, 엔코더를 통해 움직임의 속도와 관절의 위치를 파악하여 컨트롤러에게 데이터를 보내고 컨트롤러는 움직임 보상 정도나 저항의 정도를 판단하여 제어부에 명령을 내린다.The body of the mechanism has a control unit that supplies power for movement and controls the movement through a servo motor and an electromagnetic brake, and sends data to the controller by grasping the speed of movement and the position of the joint through the encoder, and the controller determines the degree of motion compensation or resistance. It judges the degree and gives a command to the control unit.

사용자가 설정한 무게와 실제 사용자의 운동 능력의 적절성을 판단하기 위해 상기의 운동 기구는 사용자가 기구의 움직임을 버티도록 안내한 후 로봇팔에 가벼운 힘에서 점진적으로 사용자가 설정한 무게에 해당하는 수준의 힘까지 증가 시키며 사용자가 어느 수준의 힘까지 로봇팔의 움직이는 힘을 버틸 수 있는지 측정한다. 사용자가 설정한 무게에 해당하는 수준의 힘까지 도달하기 전에 로봇팔의 움직임이 감지되면 사용자가 로봇팔의 힘을 감당하지 못한 것으로 간주, 로봇팔의 움직임을 즉시 멈추고 로봇팔의 움직임이 감지된 시점의 힘을 기준으로 운동 무게 설정을 자동으로 조정한다.In order to determine the appropriateness of the user's set weight and the actual user's exercise capacity, the above exercise equipment guides the user to withstand the movement of the equipment, and then gradually changes from a light force to the weight set by the user on the robot arm. It increases the force of the robot and measures to what level the user can withstand the moving force of the robot arm. If the movement of the robot arm is detected before reaching the level of force corresponding to the weight set by the user, it is considered that the user cannot handle the force of the robot arm, and the movement of the robot arm is immediately stopped and the time when the movement of the robot arm is detected Automatically adjusts the exercise weight setting based on the force of

사용자가 선택할 수 있는 운동 종류마다 움직일 수 있는 허용 방향과 각도가 각각의 운동 종류에 맞게 제한되어 있고, 사용자가 운동 기구를 사용하는 방향이 선택된 운동 종류의 허용 방향과 각도에 벗어날 경우 제어부에서 개입하여 허용치를 벗어난 움직임에 부하를 줌으로 사용자는 운동 자세에 맞는 방향과 각도로 올바른 자세로 운동을 하게 된다. 예를 들어 상하 방향으로 움직여야 하는 운동 종류를 선택한 후 사용자의 근력 부족이나 잘못된 습관으로 인해 부지 중에 앞뒤로 방향이 기울어지며 상하운동을 하는 경향이 있는 경우 운동 기구는 기울어지는 방향이 허용 한계치에 가까워질수록 기울어지는 방향에 부하를 걸어 사용자가 잘못된 방향으로 움직이는 것을 막아준다.For each exercise type that the user can select, the permitted direction and angle of movement are limited for each type of exercise. By applying a load to the movement out of the allowable value, the user will exercise in the correct posture in the direction and angle suitable for the exercise posture. For example, after selecting the type of exercise that requires moving up and down, if the user's lack of muscle strength or bad habits causes the user to tilt back and forth unintentionally and tend to move up and down, the exercise equipment will increase as the tilting direction approaches the allowable limit. It prevents the user from moving in the wrong direction by applying a load to the inclined direction.

마이크로 컴퓨터는 스피커가 내장된 디스플레이를 통해 사용자의 운동 기구 기능 선택과 설정을 위한 화면 그리고 각 운동 종류별 컨텐츠와 운동 성과 등을 보여주고, 마이크로 컴퓨터는 인터넷과 연결을 사용하여 서버와 연결되어 다중 사용자 기능을 제공하므로 비대면 방식의 트레이닝이나 다른 사용자들과의 협력, 경쟁 방식으로 함께하는 운동이 가능하다.The microcomputer shows a screen for selecting and setting the user's exercise equipment function through a display with a built-in speaker, as well as the contents and exercise performance for each exercise type. It provides non-face-to-face training, collaboration with other users, and competition with other users.

서버와 연결된 마이크로 컴퓨터는 다른 사용자의 운동 기구의 움직임을 실시간으로 피드백 받아 사용자의 운동 기구에 동일한 움직임과 힘을 재현할 수 있으므로 숙력된 운동자가 상기의 운동 기구를 사용하여 동일한 운동 기구를 사용하는 다른 사용의 운동 상황을 모니터링하며 구두 및 실제 움직임 재현을 통해 피드백 해줄 수 있다.The microcomputer connected to the server receives real-time feedback on the movement of other users' exercise equipment and reproduces the same movement and force on the user's exercise equipment. It monitors the movement situation of use and can provide feedback through verbal and actual movement reproduction.

본 발명에 따른 로봇팔 관절 구조의 운동 기구 및 이를 구동하는 방법은 다양한 종류의 움직임이 가능한 구조로 다양한 종류의 운동을 제공하는 동시에 각 운동 종류에 맞는 움직임만 가능하도록 유도하므로 정확한 자세로 할 수 있는 장점이 있다.The exercise mechanism of the robot arm joint structure and the method of driving the same according to the present invention provide various types of movements with a structure capable of various types of movements, and at the same time induce only movements suitable for each type of movement, so that the correct posture can be achieved. There are advantages.

또한, 본 발명에 따른 관절 구조의 운동 기구는 운동 무게 조절을 물리적 중량 가감을 통하지 않고 서보 모터의 정밀한 운동속도와 토크 그리고 전자식 브레이크를 통한 부하 저항을 통하므로 편리하게 조절 가능하고, 로봇팔 관절부 손잡이 부분에 달려있는 사용자의 긴급 정지 버튼을 통한 긴급 동작 정지가 가능하고, 마이크로 컴퓨터에 사전 설정된 움직임 범위와 속도를 초과할 경우나 평상 시 사용자의 운동 기록을 통해 학습된 사용자 운동 패턴과 실시간 움직임 현황 비교를 통해 위험 상황을 인식하고 자동으로 정지를 하는 기능을 통한 안전사고 예방 효과 장점이 있다.In addition, the exercise mechanism of the joint structure according to the present invention can be conveniently adjusted because the movement weight is controlled through the precise movement speed and torque of the servo motor and the load resistance through the electromagnetic brake, not through physical weight adjustment, and the handle of the joint part of the robot arm. Emergency operation stop is possible through the user's emergency stop button on the part, and when the movement range and speed preset in the microcomputer are exceeded, or in normal situations, the user's exercise pattern learned through the user's exercise record and the real-time movement status are compared It has the advantage of preventing safety accidents through the function of recognizing dangerous situations and automatically stopping.

그리고 온라인 연결과 상대방의 움직임을 나의 기구에 재현할 수 있는 기능을 통해 비대면 방식으로 다른 사용자와 협동, 경쟁이 가능하므로 장소와 시간으로부터 상대적으로 자유롭게 트레이닝과 다중 사용자 게임 방식으로 운동이 가능한 장점이 있다.In addition, through online connection and the ability to reproduce the opponent's movements on my device, cooperation and competition with other users is possible in a non-face-to-face manner. there is.

도 1은 본 발명인 관절 구조의 운동 기구의 일 실시예에 따른 구성을 나타내는 사시도이다. 1 is a perspective view showing a configuration according to an embodiment of the present invention of the exercise mechanism of the joint structure.

도 1은 본 발명의 일 실시예에 따른 로봇팔 관절 구조의 운동 기구에 대한 사시도이다. 1 is a perspective view of an exercise mechanism of a robot arm joint structure according to an embodiment of the present invention.

도 1을 참조하면, 본 발명의 일 실시예에 따른 로봇팔 관절 구조의 운동기구는 기구 본체와(400)과, 사용자의 손잡이에서 기구 본체까지 연결되는 부분인 로봇판 관절 중 서보 모터 내장으로 자체적으로 움직임 동력을 공급,제어하는 로봇팔 관절부와(200) 기구 본체에서 동력을 제어하는 로봇팔 과절부(100) 그리고 사용자가 리모콘을 통해 조작하고 운동 종류별 프로그램과 멀티 플레이를 위한 디스플레이(400)로 구성된다.Referring to Figure 1, the exercise mechanism of the robot arm joint structure according to an embodiment of the present invention has its own built-in servo motor among the mechanism body 400 and the robot plate joint, which is a part connected from the user's handle to the mechanism body. The robot arm joint part 200 that supplies and controls movement power to the robot arm joint part 200 and the robot arm joint part 100 that controls the power in the instrument body, and the user operates it through the remote control, and a display 400 for each exercise type program and multiplayer is composed

100 : 기구 본체에서 동력을 제어하는 로봇팔 관절부
200 : 로봇팔 자체적으로 서보 모터가 내장되어 동력을 제어하는 관절부
300 : 기구 본체
400 : 디스플레이100: robot arm joint for controlling power in the instrument body
200: The robot arm itself has a built-in servo motor to control the power
300: instrument body
400: display

Claims (9)

로봇팔 관절부 :
사용자의 손잡이에서 부터 기구 본체까지 이어져 있는 로봇팔 관절부와
로봇팔 관절부 내부에 서보 모터와 엔코더를 지니고,
로봇팔 관절부에서 자체적으로 동력을 공급하는 로봇팔 관절부와 기구 본체와 체인, 샤프트, 기어를 통해 연결되어 기구 본체를 통해 동력을 공급받는 로봇팔 괄절부를 지니며,
사용자 손잡이 부분에 비상정지 버튼을 가지는 것을 특징으로 하는 운동 기구Robot arm joints:
The joint part of the robot arm that connects from the user's handle to the instrument body,
It has a servo motor and encoder inside the joint part of the robot arm,
It has a robot arm joint that supplies power by itself from the robot arm joint, and a robot arm joint that is connected to the instrument body through a chain, shaft, and gear and receives power through the instrument body,
Exercise equipment, characterized in that it has an emergency stop button on the user's handle portion 제1 항에 있어서 상기 로봇팔 관절부는 사용자가 잡고 있는 손잡이의 위치와 운동 속도 데이터를 기구 본체에 전달하고, 기구 본체의 피드백을 받아 움직이거나 사용자의 움직임에 부하를 거는 것을 특징으로 하는 운동 기구.According to claim 1, wherein the robot arm joint portion transmits the position and movement speed data of the handle held by the user to the main body of the instrument, the exercise device characterized in that the movement or a load applied to the user's movement by receiving feedback from the instrument body. 기구 본체 :
로봇팔 관절부의 움직임과 속도를 인식하는 측정부를 가지고 있으며,
기구 본체의 측정값과 로봇팔 관절부에서 전달한 측정값을 연산하고 사용자 선택 모드에 따라 동작 되도록 제어부에 피드백을 주는 컨트롤러를 지니며,
컨트롤러의 피드백에 따라 움직임에 부하나 동력을 부여하는 제어부를 지니며,
마이크로 컴퓨터를 내장하는 것을 특징으로 하는 운동 기구.Instrument body:
It has a measuring unit that recognizes the movement and speed of the joint part of the robot arm,
It has a controller that calculates the measured value of the instrument body and the measured value transmitted from the joint part of the robot arm, and gives feedback to the control unit to operate according to the user-selected mode,
It has a control unit that applies load or power to the movement according to the feedback of the controller,
An exercise device having a built-in microcomputer. 마이크로 컴퓨터 :
마이크로 컴퓨터는 모니터와 스피커, 카메라, 마이크, 조작 리모콘과 연결되어 사용자 조작 입력 및 사용자 운동 성과 그리고 운동 종류에 따른 컨텐츠를 제공하고,
내장된 운동 종류별 게임을 통해 사용자가 움직임을 따라하거나 운동량을 채우도록 유도하고,
네트워크 기능을 통해 인터넷으로 서버와 연결되어 동일 기종의 운동 기구를사용하는 타사용자와 커뮤니케이션이 가능하고,
상호 상대방의 운동 기구의 움직임 정보 데이터들을 주고 받으므로 타사용자의 운동 기구 움직임을 시각적인 방식과 움직임 재현 방식의 피드백을 통해 1대1 혹은 단체 코칭 그리고 협력과 경쟁 방식을 통한 비대면으로 함께하는 운동이 가능한 것을 특징으로 하는 운동 기구.Microcomputer:
The microcomputer is connected to the monitor, speaker, camera, microphone, and remote control to provide user manipulation input, user exercise performance, and content according to the type of exercise,
Built-in games for each type of exercise encourage the user to follow the movement or fill the amount of exercise,
It is connected to the server through the Internet through the network function, and communication with other users using the same type of exercise equipment is possible.
Because movement information data of each other's exercise equipment is exchanged with each other, one-on-one or group coaching through feedback of the movement of another user's exercise equipment in a visual and movement reproduction method, and non-face-to-face exercise through cooperation and competition Exercise equipment, characterized in that possible. 서버 :
서버는 운동 기구와 함께 제공되는 부속 파트는 아니지만 다중 사용자 환경의 운동 기구 기능을 제공하기 위해 인터넷으로 마이크로 컴퓨터와 연결되고,
마이크로 컴퓨터에 내장된 종류별 운동 소프트웨어나 운동 기구의 펌웨어 업그레이드를 서버에서 원격으로 지원하는 것을 특징으로 하는 운동 기구.server :
The server is not an accessory part provided with the exercise equipment, but is connected with a microcomputer through the Internet to provide the exercise equipment function in a multi-user environment,
Exercise equipment, characterized in that the server remotely supports the firmware upgrade of exercise software or exercise equipment by type built into the microcomputer. 제 1항에 있어서, 로봇팔 관절부는 사용자가 기구의 손잡이를 잡은 상태에서 상하,좌우,전후로의 움직임이 가능한 구조이고,
사용자 선택한 운동 모드에 설정된 운동 방향이나 범위를 벗어날 경우 로봇팔 관절부와 본체 관절부의 제어부가 움직임을 제한하고 정해진 방향으로만 움직이도록 유도하므로 움직이는 방향이 고정된 기성의 운동 기구들과 유사한 움직임을 제공하고,
선택한 운동 모드에 따라 하나의 움직임 사이클의 시작부터 종결부까지 동력 보상이나 운동 부하를 가변적으로 가감하므로 실제 운동 기구를 사용하여 움직이는 것과 유사한 중력과 관성을 느낌을 구현하는 것을 특징으로 하는 운동 기구.According to claim 1, wherein the robot arm joint part has a structure that allows the user to move up and down, left and right, back and forth while holding the handle of the instrument,
If the movement direction or range set in the user-selected movement mode is out of range, the control unit of the joint part of the robot arm and the body joint limits the movement and induces it to move only in the prescribed direction, providing movement similar to existing exercise equipment with a fixed movement direction. ,
Exercise equipment, characterized in that it realizes a feeling of gravity and inertia similar to moving using an actual exercise equipment by variably adding or subtracting power compensation or exercise load from the start to the end of one movement cycle according to the selected exercise mode. 제 3항에 있어서 기구 본체는 사용자가 선택한 운동 종류에 따라 로봇팔 관절부가 움직일 수 있는 움직임 방향과 각도를 모니터링 하고 선택된 운동 종류에 맞는 움직임과 각도를 벗어날 경우 운동 기구의 움직임을 통제하므로 하나의 기구 하나로 여러가지 부위와 종류의 운동을 올바른 자세로 가능하도록 유도하는 것을 특징으로 하는 운동 기구.According to claim 3, wherein the device body monitors the movement direction and angle that the robot arm joint can move according to the type of movement selected by the user, and controls the movement of the exercise device when it deviates from the movement and angle suitable for the selected type of movement. Exercise equipment characterized in that it induces various parts and types of exercise with one correct posture. 제 3항에 있어서, 기구 본체의 컨트롤러는 사용자에 의한 관절의 움직임 속도와 방향을 실시간으로 측정하고,
사용자의 움직임이 설정된 제한 속도를 벗어나거나 설정된 움직임 방향의 한계 범위를 벗어난 것을 인식한 경우 사용자가 기구 사용의 통제를 잃기 시작한 것으로 판단, 즉시 움직임을 멈추도록 제어부에 신호를 보내어 운동 기구의 움직임을움직임을 멈추게 하는 안전장치가 포함된 것을 특징으로 하는 운동 기구.The method of claim 3, wherein the controller of the instrument body measures the movement speed and direction of the joint by the user in real time,
When it is recognized that the user's movement is out of the set speed limit or out of the limit range of the set movement direction, it is judged that the user has started to lose control of the use of the equipment, and a signal is sent to the control unit to immediately stop the movement to move the movement of the exercise equipment. Exercise equipment, characterized in that it includes a safety device to stop the. 제1 항에 있어서, 사용자 손잡이 부분에 연결된 하중 센서를 통해서 사용자가 힘을 가하고 있는 방향과 힘의 정도를 기구 본체 측정부에 전달하여 사용자의 움직임 방향과 속도, 하중을 인식하는데 필요한 추가 정보를 제공하는 것을 특징으로 하는 운동 기구.The method of claim 1, wherein the direction and the degree of force the user is applying the force through the load sensor connected to the user's handle is transmitted to the instrument body measurement unit to provide additional information necessary for recognizing the user's movement direction, speed, and load. Exercise equipment, characterized in that.
KR1020200102099A 2020-08-13 2020-08-13 Weight Machine of Robot Arm Joint Structure KR20220021969A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024007936A1 (en) * 2022-07-04 2024-01-11 北京觅淘智联科技有限公司 Swing arm connection structure of fitness equipment, and fitness equipment having same

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024007936A1 (en) * 2022-07-04 2024-01-11 北京觅淘智联科技有限公司 Swing arm connection structure of fitness equipment, and fitness equipment having same

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