TWI838286B - Intelligent tensile simulation device - Google Patents

Abstract

An intelligent tension simulation device includes: a bracket; an axle, which is straddled in the bracket; a reel, which is equipped with a reel cover and is arranged on the axle, a pull wire is wound around the reel, and a reel rotary encoder is arranged relative to the reel; an outer flywheel, which is equipped with a flywheel cover and is arranged on the axle and is located inside the reel, and a magnetic conductive sheet and a magnet are arranged to couple the reel and the outer flywheel, and an outer flywheel rotary encoder is arranged relative to the outer flywheel; an inner flywheel, which is arranged on the axle and is located inside the outer flywheel The inner flywheel and the outer flywheel have a power transmission relationship, and a field magnet is arranged inside the inner flywheel; a winding assembly is provided with a coil fixing frame on the axis and located inside the inner flywheel, and an armature coil is provided on the coil fixing frame, and the armature coil is coupled with the field magnet of the inner flywheel, and the armature coil is matched with a current regulator; and a control system receives the winding wheel rotation data of the winding wheel rotation encoder and the outer flywheel rotation data of the outer flywheel rotation encoder, and sends the armature current control data to the current regulator. In this way, an intelligent tension simulation device is provided, and has the effect of intelligently simulating motion resistance by controlling the armature current.

Description

Intelligent tension simulation device

The present invention relates to an intelligent tension simulation device, and more particularly to a device that utilizes a double-rotor non-contact torque transmission structure to control armature current to intelligently simulate motion resistance.

As shown in FIG1 , a conventional muscle training machine 10 utilizes an iron block 11 as a load resistance, and allows a user to pull up the iron block 11 through a handle 12 and a cable 13 to shape healthy muscles, promote physiological functions, and maintain physical health; however, the conventional muscle training machine has the following shortcomings: 1. The iron block 11 is large in size and occupies space, and it is time-consuming and laborious to adjust the movement resistance; 2. When the iron block 11 is pulled up and then put down by the cable 13, a very loud impact noise is generated; 3. It is impossible to set a movement curve to change the movement resistance, which limits its movement function.

Next, TWM697670/US11173343 discloses a "muscle strength training machine" that combines a winding wheel with the output shaft of a speed reduction mechanism, so that the torque generated by the motor is directly transmitted to the winding wheel. This is a "contact torque transmission structure" design, but this design has the following shortcomings: 1. A higher-horsepower motor must be used to provide sufficient motion resistance, and 2. The motion resistance cannot be linearly adjusted by adjusting the motor speed.

The main purpose of the present invention is to provide an intelligent tension simulation device that has the effect of intelligently simulating motion resistance by controlling the armature current.

To achieve the above-mentioned effects, the technical features of the present invention include: a bracket; an axle, which is straddled in the bracket; a reel, which is equipped with a reel cover and is arranged on the axle to form an accommodation space inside, a pull wire is wound around the reel, and a reel rotary encoder is arranged relative to the reel; an outer flywheel, which is equipped with a flywheel cover and is arranged on the axle to form an accommodation space inside, the outer flywheel and the flywheel cover are located inside the reel, and the reel and the outer flywheel are coupled with magnetic conductive sheets and magnets, and an outer flywheel rotary encoder is arranged relative to the outer flywheel; an inner flywheel, which is arranged on the axle A accommodating space is formed inside, the inner flywheel is located inside the outer flywheel, the inner flywheel and the outer flywheel have a power transmission relationship, and a field magnet is arranged inside the inner flywheel; a winding assembly, a coil fixing frame is arranged on the axis and located inside the inner flywheel, and an armature coil is arranged on the coil fixing frame, and the armature coil is coupled with the field magnet of the inner flywheel, and the armature coil is equipped with a current regulator; and a control system receives the winding wheel rotation data of the winding wheel rotation encoder and the outer flywheel rotation data of the outer flywheel rotation encoder, and sends the armature current control data to the current regulator.

In addition, the control system has a torque data analyzer, a motion data analyzer, a resistance demand setting unit, a torque demand calculation unit, a torque control calculation unit and an armature current calculation unit; the torque data analyzer receives the outer flywheel rotation data of the outer flywheel rotation encoder and analyzes the outer flywheel speed data; the motion data analyzer receives the reel rotation data of the reel rotation encoder and analyzes the reel rotation direction data, reel speed data and wire pulling length data; the torque demand calculation unit receives the outer flywheel speed data of the torque data analyzer, the reel speed data of the motion data analyzer and analyzes the reel rotation direction data, the reel speed data and the wire pulling length data. The torque demand data is calculated by adding the resistance demand data input by the resistance demand setting unit to the data of the winding wheel rotation direction of the motion data analyzer and the torque demand data of the torque demand calculation unit to calculate the target current data; the armature current calculation unit receives the winding wheel rotation speed data of the motion data analyzer and adds the target current data of the torque control calculation unit to calculate the armature current data; the current regulator receives the armature current data of the armature current calculation unit and converts it into armature current control data for controlling the current of the armature coil.

Furthermore, the power transmission relationship between the inner flywheel and the outer flywheel is achieved through a planetary gear set, and an annular gear is arranged inside the outer flywheel, and a sun gear is arranged outside the inner flywheel, and a number of planetary gears are arranged between the annular gear and the sun gear; or, the power transmission relationship between the inner flywheel and the outer flywheel is achieved through the close fit of the inner flywheel and the outer flywheel.

In addition, the bracket is combined with two side plates and a cover plate, the cover plate is provided with a wire hole, the wire hole is provided with a wire shaft sleeve, the pull wire passes through the wire hole and the wire shaft sleeve and is combined with a pull ring, and the magnetic conductive sheet is a copper sheet.

Furthermore, the winding wheel rotary encoder is provided with a winding wheel rotary encoding magnet on the winding wheel, and a winding wheel rotary encoding Hall element is provided on the side plate of the bracket opposite to the winding wheel rotary encoding magnet; the outer flywheel rotary encoder is provided with an outer flywheel rotary encoding magnet on the flywheel cover, and an outer flywheel rotary encoding Hall element is provided on the armature coil of the winding assembly opposite to the outer flywheel rotary encoding magnet.

First, please refer to Figures 2 to 7. The first embodiment of the present invention includes: a bracket 20, which uses a positioning member 24 to combine two side plates 21, 22 and a cover plate 23, and the cover plate 23 is provided with a wire hole 231, and the wire hole 231 is provided with a wire sleeve 232; an axle 30 is straddled in the bracket 20 and fixed by the positioning member 31; a reel 40, which is matched with a reel cover 41 and is arranged on the axle 30 to form an accommodating space inside, and the reel 40 is wound with a pull wire 42, and the pull wire 42 passes through the wire hole 231 and the wire sleeve 232 and is combined with a pull ring 43, and the reel 40 and the reel cover 41 are arranged on the bearing 45. The axis 30 is provided with a winding wheel rotary encoder 46 relative to the winding wheel 40. The winding wheel rotary encoder 46 is provided with a winding wheel rotary encoding magnet 461 on the winding wheel 40, and a winding wheel rotary encoding Hall element 462 is provided on the side plate 21 of the bracket 20 relative to the winding wheel rotary encoding magnet 461; The outer flywheel 50 is equipped with a flywheel cover 51 and is disposed on the axle 30 to form a receiving space inside. The outer flywheel 50 and the flywheel cover 51 are located inside the winding wheel 40, and the winding wheel 40 and the outer flywheel 50 are coupled to each other and are provided with a magnetic conductive sheet 44 and a magnet 52. The magnetic conductive sheet 44 can be a copper sheet. The wheel cover 51 is arranged on the axis 30 by means of a bearing 53, and an outer flywheel rotary encoder 54 is arranged relative to the outer flywheel 50, and the outer flywheel rotary encoder 54 is arranged on the flywheel cover 51. An inner flywheel 60 is arranged on the axis 30 by means of a bearing 62 so that a receiving space is formed inside. The inner flywheel 60 is located inside the outer flywheel 50, and a field magnet 61 is arranged inside the inner flywheel 60. A winding assembly 70 is arranged with a coil fixing frame 71 on the axis 30 and located inside the inner flywheel 60, and an armature coil 72 is arranged on the coil fixing frame 71, and the armature coil 72 and the field magnet 61 of the inner flywheel 60 are connected. The armature coil 72 is coupled with a current regulator 73, the armature coil 72 of the winding assembly 70 is provided with an outer flywheel rotation encoding Hall element 542 relative to the outer flywheel rotation encoding magnet 541; a planetary gear assembly 80, an annular gear 81 is provided inside the outer flywheel 50, and a sun gear 82 is provided outside the inner flywheel 60, and a number of planetary gears 83 are provided between the annular gear 81 and the sun gear 82; and a control system 90, which receives the winding wheel rotation data of the winding wheel rotation encoder 46 and the outer flywheel rotation data of the outer flywheel rotation encoder 54, and sends the armature current control data to the current regulator 73.

In addition, please refer to FIG. 8 , the difference between the second embodiment of the present invention and the first embodiment is that the second embodiment does not have a speed reduction unit 80, and the outer flywheel 50 and the inner flywheel 60 are tightly matched to transmit torque.

Next, please refer to FIG. 9 , the control system 90 has a torque data analyzer 91, a motion data analyzer 92, a resistance demand setting unit 93, a torque demand calculation unit 94, a torque control calculation unit 95 and an armature current calculation unit 96; the torque data analyzer 91 receives the outer flywheel rotation data of the outer flywheel rotation encoder 54 and analyzes the outer flywheel speed data ωm; the motion data analyzer 92 receives the reel rotation data of the reel rotation encoder 46 and analyzes the reel rotation direction data Du, the reel speed data ωu and the wire pulling length data Lu; the torque demand calculation unit 94 receives the outer flywheel speed data ωm of the torque data analyzer 91, the reel speed data ωu of the motion data analyzer 92 and the wire pulling length data Lu. The rotation speed data ωu and the wire pulling length data Lu are added to the resistance demand data Fr input by the resistance demand setting unit 93 to calculate the torque demand data Tr; the torque control calculation unit 95 receives the winding wheel rotation direction data Du of the motion data analyzer 92, and adds the torque demand data Tr of the torque demand calculation unit 94 to calculate the target current data Ct; the armature current calculation unit 96 receives the winding wheel rotation speed data ωu of the motion data analyzer 92, and adds the target current data Ct of the torque control calculation unit 95 to calculate the armature current data Cr; the current regulator 73 receives the armature current data Ct of the armature current calculation unit 96 and converts it into armature current control data, which is used to control the current of the armature coil 72.

Based on such a structure, the present invention utilizes the winding assembly 70 and the inner flywheel 60 to cause the outer flywheel 50 to generate torque. When the pull wire 42 wound around the reel 40 is pulled outward, the torque can be transmitted from the outer flywheel 50 to the reel 40 through the coupled magnetic conductive sheet 44 and the magnet 52, thereby simulating a motion resistance. Therefore, the motion resistance can be adjusted by controlling the current of the electric armature coil 72. As shown in FIG. 7 , the outer flywheel 50 and the reel 40 form a double-rotor non-contact torque transmission structure. When the reel 40 When the wire 42 wound around the reel 40 is pulled outward, the outer flywheel 50 and the reel 40 rotate in opposite directions, and the outer flywheel 50 forms a motion resistance to the reel 40 through the coupled magnetic conductive sheet 44 and the magnet 52. When no external force is applied to the wire 42 wound around the reel 40, the outer flywheel 50 drives the reel 40 to rotate in the same direction through the coupled magnetic conductive sheet 44 and the magnet 52, thereby rewinding the wire 42 wound around the reel 40; therefore, the present invention has the effect of utilizing the control of the armature current to intelligently simulate the motion resistance.

In summary, the technical means disclosed in this invention do meet the patent requirements of invention such as "novelty", "progressiveness" and "availability for industrial application". We pray that the Bureau of Justice will grant us a patent to encourage inventions, without any sense of gratitude.

However, the above disclosed drawings and descriptions are only preferred embodiments of the present invention. Any modifications or equivalent changes made by those skilled in the art within the spirit and scope of the present invention should still be included in the scope of the patent application of the present invention.

10: Muscle training machine 11: Iron block 12: Grip 13: Cable 20: Bracket 21, 22: Side plate 23: Cover plate 231: Wire hole 232: Wire sleeve 24: Positioning piece 30: Axis 31: Positioning piece 40: Reel 41: Reel cover 42: Pull wire 43: Pull ring 44: Magnetic sheet 45: Bearing 46: Reel rotary encoder 461: Reel rotary encoding magnet 462: Reel rotary encoding Hall element 50: Outer flywheel 51: Flywheel cover 52: Magnet 53: Bearing 54: External flywheel rotary encoder 541: External flywheel rotary encoder magnet 542: External flywheel rotary encoder Hall element 60: Internal flywheel 61: Field magnet 62: Bearing 70: Winding assembly 71: Coil holder 72: Armature coil 73: Current regulator 80: Planetary gear assembly 81: Ring gear 82: Sun gear 83: Planetary gear 90: Control system 91: Torque data analyzer 92: Motion data analyzer 93: Resistance demand setting unit 94: Torque demand calculation unit 95: Torque control calculation unit 96: Armature current calculation unit

Figure 1 is a structural stereogram of a traditional muscle training machine. Figure 2 is a structural exploded diagram of the first embodiment of the present invention. Figure 3 is a structural stereogram of the first embodiment of the present invention. Figure 4 is a structural stereogram of the winding wheel and the planetary gear set of the first embodiment of the present invention. Figure 5 is a structural stereogram of the winding set, the inner flywheel and the flywheel cover of the first embodiment of the present invention. Figure 6 is a structural cross-sectional diagram of the first embodiment of the present invention. Figure 7 is a cross-sectional diagram of the section 7-7 in Figure 6. Figure 8 is a structural cross-sectional diagram of the second embodiment of the present invention. Figure 9 is a block diagram of the control system of the present invention.

22: Side panels

23: Cover plate

30: Axis

40: Reel

42: Pull the wire

44: Magnetic sheet

50: Outer flywheel

52: Magnet

60: Inner flywheel

61: Field magnet

71: Coil fixing bracket

72:Armature coil

Claims (5)

A smart tension simulation device includes: a bracket; an axle, straddling the bracket; a reel, equipped with a reel cover and arranged on the axle to form an accommodation space inside, the reel is wound with a pull wire, and a reel rotary encoder is arranged relative to the reel; an outer flywheel, equipped with a flywheel cover and arranged on the axle to form an accommodation space inside, the outer flywheel and the flywheel cover are located inside the reel, and the reel and the outer flywheel are coupled relative to each other with a magnetic conductive sheet and a magnet, and an outer flywheel rotary encoder is arranged relative to the outer flywheel; An inner flywheel is arranged on the axis so that a containing space is formed inside. The inner flywheel is located inside the outer flywheel. The inner flywheel and the outer flywheel have a power transmission relationship. A field magnet is arranged inside the inner flywheel; A winding assembly is arranged with a coil fixing frame on the axis and located inside the inner flywheel, and an armature coil is arranged on the coil fixing frame, and the armature coil is coupled with the field magnet of the inner flywheel. The armature coil is equipped with a current regulator; and A control system receives the reel rotation data of the reel rotation encoder and the outer flywheel rotation data of the outer flywheel rotation encoder, and sends the armature current control data to the current regulator. An intelligent tension simulation device as described in claim 1, wherein the control system has a torque data analyzer, a motion data analyzer, a resistance demand setting unit, a torque demand calculation unit, a torque control calculation unit and an armature current calculation unit; the torque data analyzer receives the outer flywheel rotation data of the outer flywheel rotation encoder and parses out the outer flywheel speed data; the motion data analyzer receives the reel rotation data of the reel rotation encoder and parses out the reel steering data, reel speed data and wire pulling length data; the torque demand calculation unit receives the outer flywheel speed data of the torque data analyzer, the motion data analyzer, the resistance demand setting unit, a torque demand calculation unit, a torque control calculation unit and an armature current calculation unit; the torque data analyzer receives the outer flywheel rotation data of the outer flywheel rotation encoder and parses out the outer flywheel speed data; the motion data analyzer receives the reel rotation data of the reel rotation encoder and parses out the reel steering data, the reel speed data and the wire pulling length data; the torque demand calculation unit receives the outer flywheel speed data of the torque data analyzer, the motion data analyzer, the The torque demand data is calculated by adding the winding wheel rotation speed data and the wire pulling length data of the motion data analyzer and the resistance demand data input by the resistance demand setting unit; the torque control calculation unit receives the winding wheel rotation direction data of the motion data analyzer and adds the torque demand data of the torque demand calculation unit to calculate the target current data; the armature current calculation unit receives the winding wheel rotation speed data of the motion data analyzer and adds the target current data of the torque control calculation unit to calculate the armature current data; the current regulator receives the armature current data of the armature current calculation unit and converts it into armature current control data for controlling the current of the armature coil. An intelligent tension simulation device as described in claim 1 or 2, wherein the power transmission relationship between the inner flywheel and the outer flywheel is achieved through a planetary gear set, and an annular gear is arranged inside the outer flywheel, and a sun gear is arranged outside the inner flywheel, and a number of planetary gears are arranged between the annular gear and the sun gear; or, the power transmission relationship between the inner flywheel and the outer flywheel is achieved through the tight fit of the inner flywheel and the outer flywheel. As described in claim 3, the intelligent tension simulation device, wherein the bracket is combined with two side plates and a cover plate, the cover plate is provided with a wire hole, the wire hole is provided with a wire shaft sleeve, the pull wire passes through the wire hole and the wire shaft sleeve to be combined with a pull ring, and the magnetic conductive sheet is a copper sheet. An intelligent tension simulation device as described in claim 4, wherein the winding wheel rotation encoder is provided with a winding wheel rotation encoding magnet on the winding wheel, and a winding wheel rotation encoding Hall element is provided on the side plate of the bracket opposite to the winding wheel rotation encoding magnet; the outer flywheel rotation encoder is provided with an outer flywheel rotation encoding magnet on the flywheel cover, and the armature coil of the winding assembly is provided with an outer flywheel rotation encoding Hall element opposite to the outer flywheel rotation encoding magnet.