WO2000007674A1

WO2000007674A1 - Physical exercise machine

Info

Publication number: WO2000007674A1
Application number: PCT/IB1999/001373
Authority: WO
Inventors: Antonio Dal Monte
Original assignee: Technogym S.R.L.
Priority date: 1998-08-05
Filing date: 1999-08-02
Publication date: 2000-02-17
Also published as: IT1304473B1; AU4795699A; ITBO980487A1

Abstract

The invention relates to a physical exercise machine (1) in which at least one upright (13) supports a load unit (20) which has an interface part (33) that can be used to perform an exercise. The load unit (20) has a jointed device (27) with a first and a second crank (22, 23) positioned alongside one another; at least one rotary motion actuator (28, 29) designed to exchange power with the first crank (22, 23). The first and second cranks respectively have a first and a second connecting portion, joined together by a connecting rod (26) in such a way that the distance between the first and second portions is adjustable; adjustment means (28, 29, 40) for adjusting the distance between the first and second portions being envisaged, to guide the interface part (33) on open and/or closed curved trajectories which can be selected as required and are separate from one another.

Description

PHYSICAL EXERCISE MACHINE

Technical Field

The present invention relates to a physical exercise machine .

Background Art

In the exercise machine sector, equipment often comprises a load unit and a mechanical device that are connected to one another and can be operated by a user to exercise a given muscle set. The mechanical device has a user interface part (a handle, pedal, rocker arm or similar) constrained in such a way that it moves along a particular trajectory. In order to allow users of different builds to use the same machine, the mechanical devices have linkages with adjustable extension. Therefore, each machine has a set of trajectories, based on a basic open or closed curve. Each mechanical device is made in such a way that the machine is adapted to perform a single movement.

In most cases, the load unit is of the gravity type and comprises a plurality of weights (normally metal plates) which, when grouped together, provide an adjustable load which is lifted by the user by means of the mechanical device. This type of machine allows the user to alternate concentric training (in which the force developed by the user is obtained by contracting the muscle fibres, that is to say, in which the force itself and the part operated by the user move in the same direction) and eccentric training (in which the force developed by the user is obtained by extending the muscle fibres, that is to say, in which the force itself and the part operated by the user move in opposite directions) .

Such machines have a first limitation which depends on the gravitational nature of the load. In particular, as the load moves constantly in a vertical downward direction, the user interface part moves forwards and backwards along the same curve on arcs with adjustable amplitude only, starting from a fixed origin.

Therefore, such machines are not suitable for users who require muscular and/or cardiovascular rehabilitation. They must perform cyclical movements, and are therefore operated by rotary actuators. If a user decided to exercise two or more parts of the body, he or she would have to use a plurality of dedicated machines .

In order to overcome the limitation caused by the gravitational nature of the load, some exercise machines have a corresponding unit fitted with a brake or rotary actuator, connected to an electronic control unit. In such cases, the load can be adjusted and, if necessary, inverted as required, to satisfy specific requirements.

However, this type of machine also has the disadvantage that the trajectories allowed are of the open or closed type, but a1ways homothetic .

Disclosure of the Invention

The aim of the present invention is to provide a physical exercise machine comprising a jointed load device, with an interface part which moves, as selected, on a collection of open or closed trajectories which are separate from one another.

Accordingly, the present invention provides a physical exercise machine comprising a frame, at least one training unit supported by the frame by an upright positioned between the two, and comprising a load unit with an interface part that can be used to perform a training exercise based on the exchange of power with the load unit; characterised in that the unit comprises a box- shaped body supported by the upright; a jointed device with a first and a second crank jointed to the box-shaped body; there being load means for exchanging power with the first crank; the first and second cranks respectively having a first and second connecting portion, jointed to one another by a connecting rod; the connecting rod and the second crank being connected to one another by a first guide - slide device in such a way that the distance between the first and second connecting portions can be adjusted as required; there being means for adjusting the distance between the first and second connecting portions, to guide the interface part on open and/or closed curved trajectories, geometrically separate from one another and selectable as required. The present invention also provides a method for performing exercises using a physical exercise machine which has at least an actuator and a jointed device which can be operated by the actuator. The jointed device comprises at least one user interface part, mobile on a given trajectory, whose shape depends on the geometry of the jointed device and the mode of operating the actuator. The method is characterised in that it comprises a first stage for activation of the machine, a second stage, in which the trajectory which can be covered by the interface part is learned, and a third, power, stage in which the user opposes the movement of the interface part, although following its movement.

The present invention is now described with reference to the accompanying drawings, which illustrate several embodiments without limiting the scope of application, and in which:

Figure 1 is a schematic side elevation view of a first preferred embodiment of a machine according to the present invention;

Figures 2a to 2d are scaled down schematic side elevation views of a second preferred embodiment of a machine according to the present invention, in a plurality of operating positions; Figure 3 is a schematic perspective view of a third preferred embodiment of the machine in Figure 1;

Figures 4a to 4c are scaled down schematic side elevation views of the machine in Figure 3 , in a plurality of operating positions; and Figure 5 is a scaled up schematic view of another embodiment of a detail taken from Figure 1.

In Figure 1, the numeral 10 indicates, as a whole, an exercise machine which can be used to perform a plurality of exercises, each designed to exercise a given muscle set. With reference to Figure 1, the machine 10 comprises a frame

11 with a foot-rest 12, and an upright 13 which is substantially vertical and is rigidly connected to the frame 11. The machine 10 also comprises a training unit with a load unit 20 which has a box-shaped body 21 supported by the upright 13 at its upper end 14 by a screw connection, so that it can be angled as required about a horizontal axis 51. The unit 20 comprises a first and a second flange 22 and 23, supported in such a way that they are free to move at an angle but axially fixed by the box-shaped body 21 at the respective first and second axes 24 and 25. In Figure 1, the axes 24 and 25 are positioned side-by-side and there is a lever 26 to mechanically connect the flanges 22 and 23 to one another. In particular, one end of the lever 26 is connected to the flange 22. The lever 26 also has an intermediate portion connected to the flange 23 in such a way that it is free to rotate and slide, as selected, through a guide - slide device 40, described in detail below. The lever 26 described above is, in operation, a connecting rod, and the box-shaped body 21 functions as a frame for a four- bar linkage 27 in which the flanges 22 and 23 constitute the cranks. The unit 20 comprises a rotary actuator 28 coaxial with the axis 24 and only schematically illustrated, being of the known type. The unit 20 also comprises a resistance device, designed to oppose the rotation of the flange 23 about the axis 25. For the purpose of clarity, the resistance device may be another rotary actuator 29, of the known type and only schematically illustrated, whose angular velocity can be controlled, or an energy dissipator such as a mechanical or electromagnetic brake. Obviously, the unit 20 may have only one actuator 28 which is coaxial with the axis 25, whilst the resistance device is coaxial with the axis 24.

The device 40 comprises a slot 41 made in the centre of the lever 26, and a pin 42, supported by the flange 23 and engaged in the slot 41 in such a way that it rotates freely and slides selectively within it. The position of the pin 42 inside the slot 41 may be adjusted along the axis of the lever 26 using a linear actuator part created simply by using a motor-powered worm-and-nut device 44, schematically illustrated in Figures 1 and 2, but labelled in detail only in Figure 1. The device 44, supported by the lever 26, is electrically connected to the device 30 and mechanically connected to the pin 42 by its rod, to adjust the distance between the points at which the flanges 22 and 23 are hinged to the lever 26 as required. Obviously, the adjustment of the distance between the hinge points of the flanges 22 and 23, adjusted using the device 44, influences the trajectory covered by a longitudinal portion 32 of the lever 26 with a grip 33. The unit 20 also comprises an electronic control device 30 (schematically illustrated as a block in Figure 1, where, for the purpose of clarity, it is located outside the body 21, although it can easily be housed inside it) , which is electrically connected to the actuators 28 and 29, the device 40 and the device 44, to obtain trajectories of various shapes for the grip 33. In accordance with the above description, depending on the distance set between the flanges 22 and 23 along the lever 26, the angular velocity of the flanges 22 and 23 and, therefore, the timing of the latter, the portion 32 may be guided on an open or closed trajectory, which can be covered in alternating or cyclical fashion. The trajectories which the portion 32 can cover cyclically include circular trajectories, obtained by simply rotating the flanges 22 at the same angular velocity and in such a way that they are synchronised. The circular movement may be obtained by means of a machine 10 in which the flanges 22 and 23 have the same radial extension, and the distance between the hinge points of the flanges 22 and 23 to the lever 26 is substantially identical to the distance between the axes 24 and 25. In this case, the unit 20 could be greatly simplified by installing only the actuator 28 (29) of the flange 22 (23) , and a parallel axis drive (belt, chain, gear or similar) positioned between the axes 24 and 25 to transmit power to the flange 23 (22) .

The subject of the adjustment of the speed of the two actuators 28 and 29 and the device 44 in order to obtain given trajectories has deliberately been avoided. It is more important to point out that the machine 10 is structured in such a way that it allows special trajectories to be obtained, which can be selected according to user requirements. Trajectories of a different type, figure of eight shaped or elliptical (as illustrated in Figure 2b) , may be obtained with various combinations of the speed of rotation of the flanges 22 and 23 and activation of the adjustment device 44.

In practice, the portion 32 may be used by a user to perform an exercise by exchanging power with the actuators 28 and 29 through the four-bar linkage 27 and, therefore, with the load unit 20.

Obviously, the actuators 28 and 29 may be electric or fluid driven, without in any way influencing the shape of the trajectories of the portion 32. It is the method of operation of the actuators 28 and 29 which defines the method of power exchange between the user and the machine 10. If, during use, at least one of the actuators 28 and 29 is used to control the operation of the lever 26, and the other is used simply to control the trajectory of the end of the lever 26, the user holding the portion 32 is forced to follow the movements of the portion 32. To do this, he or she may conveniently set the maximum frequency for repetition of the exercise. This frequency value will act as the threshold value which will distinguish between a following exercise designed to warm up muscles, and an exercise designed to strengthen muscles.

Again with reference to Figure 1, for each of the actuators 28 and 29, the unit 20 has a torquemeter 45 of the known type, coaxial with the axis 24/25. For the purpose of clarity, each torquemeter 45 is illustrated only in Figure 1, where it is schematically illustrated as a circle, since the physical characteristics of the torquemeter 45 are not relevant to the understanding of the present text. The two torquemeters 45 are connected to the control device 30 and are designed to detect the torque acting upon the driving shaft of the two actuators 28 and 29, in order to recognise, moment by moment, the training mode followed by the user (that is to say, whether the user is training with the active or passive mode, pushing or following) . Once the threshold value between the two modes has been set, the device 30 allows real time switching between the two training modes, depending on the ability of the user to develop power.

If the compliance to the movement of the lever 26 is zero, the thrust exerted by the user would not modify the speed envisaged for the lever 26, thus the user would be performing isokinetic exercises. The exercise would be performed in an isometric fashion if the lever 26 remained fixed.

Finally, it is clear that the machine 10 described and illustrated herein may be subject to modifications and variations without thereby departing from the scope of the inventive concept. For example, Figure 2 illustrates a machine 10 with two uprights 13 hinged to the frame 11 on opposite sides of the foot- rest 12, in such a way that they tilt relative to a shared horizontal axis transversal to the foot-rest 12. Each of the uprights 13 is connected to the frame 11 by at least one lever 50 with adjustable length, designed to keep the corresponding upright 13 locked in a given position relative to the frame 11. For the purpose of clarity, the rod 50 in the accompanying drawings is represented by a double-action linear actuator electrically connected to the device 30, for controlling the angle of the corresponding upright 13. At its free upper end, each upright 13 supports a unit 20 whose body 21 is mounted so that it can be set at an angle to the axis 51, parallel with the axis of rotation of the upright 13 itself. Each body 21 has a service hole for a screw 53 coaxial with the axis 51, and designed to create a screw connection by friction between the relative body 21 and the upright 13.

In this case, in practice, the user of the machine 10 thus modified has two levers 26 available to him/her, which can be operated independently of one another or, as required, synchronised. In accordance with the above description, the height and angle of the respective box-shaped bodies 21 of the unit 20 can be adjusted relative to the foot-rest 12. Therefore, the portions 32 can be reached by users of different heights and/or for training different areas of the body.

The presence of two units 20 and the respective portions 32 means that the control device 30 must be fitted with a timing circuit (of the known type and not illustrated, since it is an integral part of the device 30) to define, as required, the laws of motion which regulate the phase difference between the two portions 32. The type of exercise to be performed will depend on this. In accordance with the above description, each portion 32 may be gripped directly, thus acting as a grip, or may be fitted with a pedal (Figure 2b) parallel with the axis 51 and, therefore, transversal to the lever 26, allowing a user to use the machine 10 as a sort of fixed bicycle (Figure 2b) in which the pedals can be turned at different speeds on looped or open trajectories. In this case, the bodies 21 have the two axes 24 and 25 positioned one above the other, so that the straight line indicating the minimum distance between the two is substantially vertical. Figures 4a - 4c illustrate other configurations which may be attributed to the machine 10 thanks to the device 30.

As can be seen, a single machine 10 structured in this way allows a plurality of physical exercises to be performed, each dedicated to specific muscle sets (torso: Figures 2c - 2d; legs: Figure 2b) , by simply varying the angle of the box-shaped bodies 21. For example, in Figure 2d, in which the timing between the two levers 26 is constantly zero, the control device 30 may not even include said timing circuit, of the known type and not illustrated, provided that a mechanical timing device is included, created simply using a rod 57 mounted between the portions 32 of the two levers 26, and which is labelled only in Figure 2d. In this case the grips 33 of the portions 32 would be substituted with a pair of coaxial grips, set side by side and defined by longitudinal portions of the rod. With reference to Figures 3 and 4, the machine 10 described with reference to Figure 1 may be modified using two uprights 63 with adjustable angle and a rod 64 supported in such a way that it can rotate freely and is axially fixed between the uprights 63 by radial bearings, of the known type and not illustrated, housed inside the upper ends of the uprights 63. The rod 64 rigidly supports a single load unit 20, positioned centrally between the uprights 63. The rod 64 is connected to each upright 63 in such a way that it may rotate freely. The presence of at least one screw fixing part 65 for each of the two uprights 63, coaxial with the rod 64, allows the rod 64 to be fixed rigidly to the uprights 63, and therefore allows the box-shaped body 21 of the load unit 20 to be angled in a variety of positions, according to requirements. Alternatively, the rod may be fixed to the uprights using a diametrical pin, engaged in a hole in a ring of radial holes made at the ends of the rod 64.

The substitution of the lever 26 with a bar 66, which may be T-shaped, allows the user to exercise both arms or legs together, depending on the angle of the uprights 63, determined by the rods 50.

To vary the distance of the grip 33 along the portion 32, simply modify the portion 32, as illustrated in Figure 5, so that it is axially mobile. This result may be obtained using a telescopic end, or using another guide - slide device 34, comprising a guide 35 and a slide 36 fitted with the grip 33, and an adjustment part 37, designed to vary the position of the slide 36 relative to the guide 35. As shown in Figure 5, in which the adjustment part 37 is a double-action linear actuator 37, the guide 35 is integral with the body of the lever 26 and the slide 36 is pris atically connected to the guide 35 in such a way that it can slide freely under the thrust of the actuator 37. By connecting the shaft 38 of the actuator 37 to the lever 26 and the respective rod 39 to the slide 36, the longitudinal position of the grip 33 can be controlled even while performing an exercise.

To adjust the distance of the connecting portion between the flange 22 and the corresponding axis 24, the unit 20 is modified so that it comprises a guide - slide device identical to the device 34, comprising a guide which is integral with the flange 22, a slide which is integral with the end of the lever 26 opposite the portion 32, and an actuator which is integral with the flange 22. Obviously, the same applies if flange 23 is preferred instead of flange 22. it should be noticed that the four-bar linkages 27 of the machines 10 illustrated up to this point are of the flat type, therefore comprising parts which are connected to one another using turning pairs, and the respective portions 32 are constrained in such a way that they move on vertical planes, thus the curves traced by the portions 32 have a simple curvature. To obtain portions 32 mobile on trajectories with double curvature, at least one of the body 21 - flange 22, body 21 - flange 23 connections and at least one lever 26 - flange 22, lever 26 - flange 23 connection must be substituted with a ball joint. The substitution of the flat connections with a ball joint allows the ends 32 to be moved according to movements which are selectively flat and/or round.

To obtain freer trajectory shapes for the ends 32, the actuators 28 and 29 should be fitted on the respective body 21 with ball joints, so that, in practice, each axis 24 and 25 is inside a cone.

Claims

1. An exercise machine (1) comprising a frame (11), at least one load unit (20) supported by the frame (11) by inserting an upright (13) between the two, and having an interface part (33) which can be used to perform an exercise based on the exchange of power with the load unit (20) ; the machine being characterised in that the load unit (20) comprises a box-shaped body (21) supported by the upright (13); a jointed device (27) with a first and a second crank (22, 23) jointed to the box-shaped body (21); there being load means (28) (29) for exchanging power with the first crank (23) (22); the first and second cranks (22, 23) respectively having a first and a second connecting portion, joined together by a connecting rod (26) ; the connecting rod (26) and the second crank (23) (22) being connected to one another by a first guide - slide device (40) in such a way that the distance between the first and second connecting portions can be adjusted as required; adjustment means (29) (28) for adjusting the distance between the first and second connecting portions being envisaged to guide the interface part (33) on open and/or closed curved trajectories which are geometrically separate and may be selected as required.

2. The machine according to claim 1, characterised in that the first and second cranks (22, 23) are jointed to the box-shaped body (21) at the respective first and second axes (24) (25) , which are positioned side by side.

3. The machine according to claim 2, characterised in that the load means (28) (29) comprise a first actuator (28) (29) , being coaxial with the first axis (24) (25) and designed to exchange power with the first crank (23) (22).

4. The machine according to claim 2 or 3 , characterised in that the load unit (20) comprises a control device (29) (28) for controlling the rotation of the second crank (23) (22).

5. The machine according to any of the foregoing claims, characterised in that the device (29) (28) for controlling the rotation of the second crank (23) (22) comprises a second rotary motion actuator (29) (28) , being coaxial with the second axis (25)

(24) .

6. The machine according to claim 5, characterised in that the first and second axes (24) (25) are substantially parallel with one another .

7. The machine according to claim 5, characterised in that the first and second axes (24) (25) are inside a cone.

8. The machine according to any of the foregoing claims, characterised in that the first actuator (28) (29) is an electric rotary motor, being designed to move the first crank (23) (22) with a rotary motion about the relative first axis (24) (25) .

9. The machine according to any of the foregoing claims from 1 to 6, characterised in that the first actuator (28) (29) is a fluid driven, rotary motor, being designed to move the first crank (23) (22) with a rotary motion about the relative first axis (24) (25) .

10. The machine according to claim 8 or 9, characterised in that the first or second actuator (29) (28) can be selectively activated with a driving and resistance function, so that it can be used alternatively in exercises in which the user follows and/or pushes the interface part (33) .

11. The machine according to any of the foregoing claims from 1 to 10, characterised in that the connecting rod (26) is connected to the first and second cranks (22, 23) by the insertion of a first and a second turning pair.

12. The machine according to any of the foregoing claims from 1 to 11, characterised in that the connecting rod (26) is connected to the first and second cranks (22, 23) by the insertion of a first and a second ball joint.

13. The machine according to any of the foregoing claims, characterised in that the first crank (22) (23) is a flange (22)

(23), being coaxial with the first axis (24) (25).

14. The machine according to claim 3 , characterised in that the load unit (20) comprises a drive device, being positioned between the first and second axes (24) (25) and mechanically connected to the first actuator (28) (29), in such a way that the second crank (23) (22) is moved by the first actuator (28) (29) .

15. The machine according to any of the foregoing claims, characterised in that it comprises at least two load units (20) , each having respective connecting rods (26) which can be operated independently of one another.

16. The machine according to claim 15, characterised in that it comprises at least two load units (20) , each having respective connecting rods (26); there being timing means (30) (57) for adjusting the timing of the connecting rods (26) .

17. The machine according to claim 15, characterised in that the timing means (57) comprise a bar (57) with connecting portions, the latter being rigidly connected to the connecting rods (26) , in such a way as to synchronise the movements of the connecting rods (26) .

18. The machine according to claim 17, characterised in that the bar (57) has a first and a second interface part (33), being side by side and between the uprights (13) .

19. The machine according to claim 15, characterised in that it comprises a pair of uprights (13), being on opposite sides of the box-shaped body (21) ; the box-shaped body (21) being supported by a rod (64) supported by the uprights (13) and angled in a given direction; there being means for fixing the box-shaped body (21) to the uprights (13) which allow the connecting rods (26) to be angled as required relative to the uprights (13) then locked at a given angle.

20. The machine according to claim 19, characterised in that the rod (64) is substantially perpendicular to the uprights (13) .

21. The machine according to any of the foregoing claims, characterised in that the upright (13) is supported by the frame

(11) in such a way that the height of the box-shaped body (21) can be adjusted relative to the frame (11) .

22. The machine according to any of the foregoing claims, characterised in that the load unit (20) comprises first sensor means (45) for detecting the value of the torque applied by a user to the first actuator (28) (29) by means of the interface part (33) .

23. The machine according to any of the foregoing claims, characterised in that the load unit (20) comprises second sensor means (45) for detecting the value of the torque applied by a user to the second actuator (28) (29) by means of the interface part (33) .

24. The machine according to any of the foregoing claims, characterised in that the interface part (33) is connected to the connecting rod (26) by the insertion of a second guide - slide device (34) between them.

25. The machine according to claim 16, characterised in that the guide - slide device (34) is adjustable and can be fixed, as selected, in such a way that it allows the extension of the connecting rod (26) to be adjusted as required.

26. The exercise machine, as described and illustrated with reference to the accompanying drawings.

27. A method for performing exercises using an exercise machine (1) which has at least an actuator (28) (29) and a jointed device (27), the latter being operated by the actuator (28) (29); the jointed device (27) comprising at least one interface part (33) , being mobile on a given trajectory, its shape depending on the geometry of the jointed device (27) and the mode of operating the actuator (28) (29); the method being characterised in that it comprises a first stage in which the machine (1) is activated; a second stage in which the trajectory which can be covered by the interface part (33) is learned; and a third, power, stage in which the user opposes the movement of the interface unit (33), although following its movement.

28. The method according to claim 27, characterised in that the second and third stages are alternated each time the power exerted by the user on the interface part (33), and angled point-by-point against the power supplied by the actuator (28) (29) , exceeds the latter, and vice versa.