WO2011088537A1 - Resistive robot - Google Patents

Resistive robot Download PDF

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Publication number
WO2011088537A1
WO2011088537A1 PCT/BR2011/000024 BR2011000024W WO2011088537A1 WO 2011088537 A1 WO2011088537 A1 WO 2011088537A1 BR 2011000024 W BR2011000024 W BR 2011000024W WO 2011088537 A1 WO2011088537 A1 WO 2011088537A1
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WO
WIPO (PCT)
Prior art keywords
robot
resistive
joints
segments
fact
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Application number
PCT/BR2011/000024
Other languages
French (fr)
Portuguese (pt)
Inventor
Takashi Nishimura
Original Assignee
Takashi Nishimura
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Publication date
Application filed by Takashi Nishimura filed Critical Takashi Nishimura
Publication of WO2011088537A1 publication Critical patent/WO2011088537A1/en

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Classifications

    • 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
    • A63B21/008—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters
    • A63B21/0083—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters of the piston-cylinder type
    • 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
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4023—Interfaces with the user related to strength training; Details thereof the user operating the resistance directly, without additional interface
    • A63B21/4025—Resistance devices worn on the user's body

Definitions

  • resistive robot refers to fitness equipment for individual use, more specifically, resistive equipment, hereafter referred to as resistive robot.
  • cardiovascular training equipment such as treadmills, ellipticals and bicycles, and muscle mass gain equipment such as weight training stations.
  • each bodybuilding station is designed to work on specific muscles, and pairs of homologous upper limb, lower limb, and trunk muscles. Under these conditions, more complete gyms should have over twenty different weight training stations. It is almost impossible to exercise more than one muscle group simultaneously.
  • Cardiovascular devices may require physical exertion by braking lower limb movements such as bicycles and ellipticals.
  • a gym is then characterized by a large amount of equipment, in which, sequentially, the user must spend certain times, with certain loads, for a complete fitness.
  • Another object of the present invention is to provide a resistive robot that allows the user to perform physical exercises on their muscles and / or pairs of homologous muscles of the upper limbs, lower limbs and trunk, being in a single apparatus.
  • Another object of the present invention is to provide a resistive robot that eliminates wasted time waiting in front of a fitness station until all users at that time perform their physical sequencing.
  • Another object of the present invention is to provide a resistive robot that allows the modification of the entire design of a gym and its bodybuilding and cardiovascular equipment.
  • Another object of the present invention is to provide a resistive robot that keeps the gym hall free from floor standing machines and may be available for parties and receptions.
  • a resistive robot comprising a horizontally articulated rectangular structure with end joints, said structure. with dimensions of height and width approximately proportional to the stature of an average man; whereas in said upper joints, median articulated segments are pivoted to characterize the shape and dimensions of a forearm and arm of a man of medium height; whereas in said lower joints, median articulated segments are pivoted to characterize the shape and dimensions compatible with those of the thighs and legs of a man of medium height; In each joint the structure and each segment are stabilized with hydraulic cylinders and their respective rods that control the entire movement of the robot articulations.
  • Figure 1 is a front view of the resistive robot in question
  • Figure 2 is a side view of the resistive robot in question
  • Figure 3 is a perspective view of the robot with a user installed in it;
  • Figure 4 is an enlarged detail of a robot joint, in this case equivalent to a shoulder.
  • Figure 5 schematically represents the hydraulic control circuit.
  • the resistive robot object of the present invention is comprised of a rectangular structure 1 with four spherical joints 2 at its ends.
  • the approximate dimensions The height and width of this structure is equivalent to that of a man of medium height.
  • segment 3 In the upper joints 2 are pivoted two segments 3, the ends of which have spherical joints 4, which in turn pivot extensions 5.
  • This set formed by segment 3 and extension 5 have respectively the forearm and arm dimensions of a man of medium height.
  • segments 6 are pivoted at the ends of which extensions 7 are articulated.
  • This set formed by segment 6 and extension 7 has the dimensions compatible with those of a thigh and leg of a man of medium height.
  • the rectangular structure 1 further has a pair of horizontal joints 8, which allows the upper and lower parts of this structure to be coplanar or angle to one another.
  • each joint 2 and 4 of structure 1 and each segment 3 and 6 and extensions 5 and 7 are stabilized with each other by means of hydraulic cylinders 9 and their respective rods 10.
  • the two cylinders 9 and their rods they are at an angle of 90 ° to each other, and their selective action encompasses any segment 3 or 6 movement at this joint.
  • the pair of horizontal joints 8 of frame 1 use a cylinder 9 and its rod 10, see detail in figure 4.
  • the frame 1 receives on the front face a soft recess 13 which can be recessed as illustrated in figure 3, and belts 14 or arms to accommodate and secure a user's trunk shown in figure 3.
  • Segments 3 and 6 have belts 15 or sockets to accommodate the user's forearms and thighs. While extensions 5 and 7, it has belts 16 or snaps to accommodate the user's arms and legs. Belts in upper parts of frame 1 hold the user's shoulders, and belts 17 and 18 hold the user's abdomen and hip in the middle and lower parts of frame 1.
  • a basic hydraulic circuit has been created to cater for robot operation.
  • the hydraulic cylinders 9 have at their ends connected to them corresponding flexible hoses 19 for conducting hydraulic fluid.
  • the movements of the rods 10, connected to internal pistons in the cylinders, determine the direction of fluid travel in the tubes 19.
  • the cylinders pump fluid into a valve block 20, which always directs the fluid in a single direction regardless of the actuation of each cylinder.
  • the fluid from the cylinders passes through an adjustable flow valve 21, and goes into a reservoir 22.
  • the fluid from reservoir 22 reaches the cylinders 9 through the valve block 20.
  • the flow valve 21 has its regulation within the user's reach, and its greater or lesser restriction to the fluid passage causes reaction in the cylinders 9, through its rods 10, resisting the movement that the user wants to print to the segments and extensions of the robot.
  • restriction control is performed by flow valve 21.
  • an adjustable relief valve 22 can be added to the circuit.
  • Valve 22 maintains the pressurized discharge line of cylinders 9 at a user-regulated level so that any movement at any speed requires a certain physical effort.
  • Flow relief and pressure relief valves 21 may be used alone or in combination for a special isotonic / isokinetic exercise.
  • the hydraulic circuit can measure the forces in the cylinders proportional to the muscles they represent, by differences in areas or by various lever arms in each position.
  • the hydraulic circuit can still be fractionated, catering to various muscle groups.
  • the Valve blocks 20 may be provided with proportional electro-valves, transferring control to an electronic module, which controls individual flow rates and pressures, and utilizing flow and pressure data to calculate power, and thus calculate the calories consumed by the valve. user at a given time and exercise level.
  • This equipment presented here meets all possible movements of the trunk, upper and lower limbs.
  • the user will be able to move still or go for a walk, with exercises that will require an extra and adjustable effort dosage, dramatically shortening the time that simple walking or treadmill walking requires.
  • the user can perform all bodybuilding exercises in one gym.
  • the robot is presented in its simplest form, to facilitate understanding of the basic idea of this equipment.
  • the spherical joints 2 are presented in the conventional form, but represent multidirectional joints, which can be made by universal joints or by two non-coplanar joints.
  • the number of cylinders in each joint may be greater than two, when the musculature of the human body in the joint in question may exert limb movements three-dimensionally.
  • the connection between the cylinders and the frame, or segments, or extensions shown in Directly drawing, for better understanding, may require intermediate mechanical elements such as racks, levers, wire ropes, chains, to increase range of motion and to add variations necessary to obtain programmed forces proportional to the muscles that are associated with the cylinders. .
  • the hydraulic circuit is designed to obtain positive fluid flow at the branch that goes to control valves 21 and 22, regardless of the range and directions of action of all cylinders.
  • Valves 21 and 22 establish the resistance system imposed on the cylinders and can define if the gymnastics will be cardiovascular or intended to gain muscle mass, or even show hybrid behavior.
  • valve 23 is mounted in a location prior to the arrival of valves 21 and 22. This valve may be open or closed and its control is remote by a button 24 in the extension. 5, within reach of the user's hand (see figure 3).
  • Valve 23 is normally closed. The user can open it, and suddenly relieve the load on all cylinders, as fluid will no longer flow through valves 21 and 22.
  • valve 23 The user actuates valve 23 if he is losing balance with the robot and needs sudden movement to restore it. You can use valve 23 in other situations where you do not want resistance to your movements. When shut off, valve 23 closes the fluid passage and the robot returns to previous loading conditions.

Abstract

Resistive robot, which comprises a rectangular structure (1) that is horizontally articulated (8) with articulations (2) at the ends, said structure (1) having height and breadth dimensions approximately proportional to the stature of an average person; segments (3, 5) that are articulated centrally (4) are pivotably mounted at said upper articulations (2) in order to have the form and dimensions of the forearm and arm of a person of average stature; similarly segments (6, 7) that are centrally articulated (4) are pivotably mounted at said lower articulations (2) in order to have the form and dimensions that are compatible with the thighs and legs of a person of average stature; and, at each articulation (2), the structure (1) and each segment (3, 5, 6, 7) being mutually stabilized by means of hydraulic cylinders (9) and the respective rods (10) thereof, which control all the movement of the robot's articulations.

Description

"ROBÔ RESISTIVO".  "RESISTIVE ROBOT".
Refere-se o presente relatório a um equipamento para condicionamento fisico de uso individual, mais especificamente, a um equipamento resistivo denominado doravante de robô resistivo.  This report refers to fitness equipment for individual use, more specifically, resistive equipment, hereafter referred to as resistive robot.
Como é de conhecimento dos técnicos no assunto, as academias de ginástica possuem equipamentos para treinamento cardiovascular, como esteiras ergométricas, elipticos e bicicletas e equipamentos para ganho de massa muscular, como as estações de musculação.  As is well known to those skilled in the art, fitness centers have cardiovascular training equipment such as treadmills, ellipticals and bicycles, and muscle mass gain equipment such as weight training stations.
De uma forma geral, cada estação de musculação é concebida para atuar em músculos determinados, e pares de músculos homólogos de membros superiores, membros inferiores e tronco. Nestas condições, academias mais completas devem possuir mais de vinte estações diferentes de musculação. É quase impossível exercitar-se mais que um grupo muscular simultaneamente .  Generally speaking, each bodybuilding station is designed to work on specific muscles, and pairs of homologous upper limb, lower limb, and trunk muscles. Under these conditions, more complete gyms should have over twenty different weight training stations. It is almost impossible to exercise more than one muscle group simultaneously.
Os aparelhos cardiovasculares podem exigir esforço físico por meio de frenagem nos movimentos dos membros inferiores, como nas bicicletas e nos elípticos.  Cardiovascular devices may require physical exertion by braking lower limb movements such as bicycles and ellipticals.
Uma academia de ginástica então se caracteriza por uma grande quantidade de equipamentos, nos quais, sequencialmente, o usuário deve passar tempos determinados, com cargas determinadas, para um preparo físico completo.  A gym is then characterized by a large amount of equipment, in which, sequentially, the user must spend certain times, with certain loads, for a complete fitness.
Assim sendo, os usuários dessas academias devem aguardar sua vez em cada estação ou aparelho cardiovascular. A perda de tempo de espera deve-se ao sequenciamento aleatório de todos os usuários daquele horário, e muitas vezes o aquecimento ou alongamento é perdido, prejudicando o desenvolvimento apropriado do exercicio. Therefore, users of these gyms should wait their turn at each station or cardiovascular device. The loss of waiting time is due to the random sequencing of all users at that time, and often warming up or stretching is lost, impairing the proper development of the exercise.
É um dos objetivos da presente invenção prover um robô resistivo que não exija das academias um número excessivo de estações diferentes de musculação, as quais não permitem ao usuário exercitar-se em mais que um grupo muscular simultaneamente.  It is an object of the present invention to provide a resistive robot that does not require from the gym an excessive number of different bodybuilding stations, which do not allow the user to exercise in more than one muscle group simultaneously.
Outro objetivo da presente invenção é prover um robô resistivo que permita ao usuário a realização de exercícios físicos em seus músculos e/ou pares de músculos homólogos de membros superiores, membros inferiores e tronco, estando em um único aparelho.  Another object of the present invention is to provide a resistive robot that allows the user to perform physical exercises on their muscles and / or pairs of homologous muscles of the upper limbs, lower limbs and trunk, being in a single apparatus.
Outro objetivo da presente invenção é prover um robô resistivo que elimine a perda de tempo na espera diante de uma estação de condicionamento físico até que todos os usuários daquele horário realizem seu sequenciamento físico.  Another object of the present invention is to provide a resistive robot that eliminates wasted time waiting in front of a fitness station until all users at that time perform their physical sequencing.
Outro objetivo da presente invenção é prover um robô resistivo que permita a alteração de todo o projeto de uma academia e de seus equipamentos de musculação e cardiovasculares.  Another object of the present invention is to provide a resistive robot that allows the modification of the entire design of a gym and its bodybuilding and cardiovascular equipment.
Outro objetivo da presente invenção é prover um robô resistivo que mantenha o salão da academia sem máquinas fixas no piso, podendo o mesmo, estar disponível para festas e recepções.  Another object of the present invention is to provide a resistive robot that keeps the gym hall free from floor standing machines and may be available for parties and receptions.
Esses e outros objetivos e vantagens da presente invenção são alcançados com um robô resistivo que compreende uma estrutura retangular horizontalmente articulada com articulações nas extremidades, dita estrutura com dimensões de altura e largura aproximadamente proporcional a estatura de um homem médio; sendo que em ditas articulações superiores são pivotados segmentos medianamente articulados para caracterizarem a forma e dimensões de um antebraço e braço de homem de média estatura; sendo que da mesma forma em ditas articulações inferiores são pivotados segmentos medianamente articulados para caracterizarem a forma e dimensões compatíveis com os das coxas e pernas de um homem de estatura mediana; sendo que em cada articulação a estrutura e cada segmento estão estabilizados entre si por meio de cilindros hidráulicos e suas respectivas hastes que comandam todo o movimento das articulações do robô. These and other objects and advantages of the present invention are achieved with a resistive robot comprising a horizontally articulated rectangular structure with end joints, said structure. with dimensions of height and width approximately proportional to the stature of an average man; whereas in said upper joints, median articulated segments are pivoted to characterize the shape and dimensions of a forearm and arm of a man of medium height; whereas in said lower joints, median articulated segments are pivoted to characterize the shape and dimensions compatible with those of the thighs and legs of a man of medium height; In each joint the structure and each segment are stabilized with hydraulic cylinders and their respective rods that control the entire movement of the robot articulations.
A seguir a presente invenção será descrita com referência aos desenhos anexos, nos quais:  In the following the present invention will be described with reference to the accompanying drawings in which:
A figura 1 representa uma vista frontal do robô resistivo em questão;  Figure 1 is a front view of the resistive robot in question;
A figura 2 representa uma vista lateral do robô resistivo em questão;  Figure 2 is a side view of the resistive robot in question;
A figura 3 representa uma vista em perspectiva do robô, com um usuário nele instalado;  Figure 3 is a perspective view of the robot with a user installed in it;
A figura 4 representa um detalhe ampliado de uma articulação do robô, no caso equivalente a um ombro; e  Figure 4 is an enlarged detail of a robot joint, in this case equivalent to a shoulder; and
A figura 5 representa esquematicamente o circuito hidráulico de controle.  Figure 5 schematically represents the hydraulic control circuit.
De acordo com essas ilustrações, o robô resistivo, objeto da presente invenção, é compreendido por uma estrutura retangular 1, com quatro articulações esféricas 2 nas suas extremidades. As dimensões aproximadas de altura e largura dessa estrutura são equivalente a de um homem de média estatura. According to these illustrations, the resistive robot object of the present invention is comprised of a rectangular structure 1 with four spherical joints 2 at its ends. The approximate dimensions The height and width of this structure is equivalent to that of a man of medium height.
Nas articulações 2 superiores estão pivotados dois segmentos 3, cujas extremidades possuem articulações esféricas 4, que por sua vez pivotam prolongamentos 5. Esse conjunto formado pelo segmento 3 e prolongamento 5 tem respectivamente as dimensões do antebraço e do braço de um homem de média estatura.  In the upper joints 2 are pivoted two segments 3, the ends of which have spherical joints 4, which in turn pivot extensions 5. This set formed by segment 3 and extension 5 have respectively the forearm and arm dimensions of a man of medium height.
Nas articulações esféricas 2 inferiores estão pivotados segmentos 6 em cujas extremidades articulam-se prolongamentos 7. Esse conjunto formado pelo segmento 6 e prolongamento 7 tem as dimensões compatíveis com as de uma coxa e perna de um homem de estatura mediana.  In the lower spherical joints 2, segments 6 are pivoted at the ends of which extensions 7 are articulated. This set formed by segment 6 and extension 7 has the dimensions compatible with those of a thigh and leg of a man of medium height.
A estrutura retangular 1 possui ainda um par articulações horizontais 8, que permite que as partes superior e inferior dessa estrutura possam ficar coplanares ou formar um ângulo entre si .  The rectangular structure 1 further has a pair of horizontal joints 8, which allows the upper and lower parts of this structure to be coplanar or angle to one another.
Em cada articulação 2, e 4 da estrutura 1 e cada segmento 3 e 6 e prolongamentos 5 e 7 estão estabilizados entre si por meio de cilindros hidráulicos 9 e suas respectivas hastes 10. Em cada articulação 2 e 4 os dois cilindros 9 e suas hastes estão a um ângulo de 90° entre si, e sua ação seletiva abrange qualquer movimento do segmento 3 ou 6 nessa articulação.  At each joint 2, and 4 of structure 1 and each segment 3 and 6 and extensions 5 and 7 are stabilized with each other by means of hydraulic cylinders 9 and their respective rods 10. At each joint 2 and 4 the two cylinders 9 and their rods they are at an angle of 90 ° to each other, and their selective action encompasses any segment 3 or 6 movement at this joint.
O par de articulações horizontais 8 da estrutura 1 usa um cilindro 9 e sua haste 10, vide detalhe na figura 4.  The pair of horizontal joints 8 of frame 1 use a cylinder 9 and its rod 10, see detail in figure 4.
Nas figuras 1 e 2 os cilindros hidráulicos 9 estão articulados pelas extremidades à estrutura 1 e suas hastes 10 em pontos dos segmentos 3 e 6. In figures 1 and 2 the hydraulic cylinders 9 are articulated at the ends to the frame 1 and their rods 10 at points of segments 3 and 6.
Da mesma forma, através de cilindros hidráulicos 9 articulados nos segmentos 3 e 6, suas hastes estão articuladas aos prolongamentos 5 e 7, de modo a que estando os cilindros 9 deslocados entre si de 90° em relação às respectivas articulações esféricas 2, os prolongamentos inferiores são estabilizados. Essas articulações entre segmentos 3 e 6 e prolongamentos 5 e 7 podem ser observadas nas figuras 1 e 2.  Likewise, by means of hydraulic cylinders 9 hinged to segments 3 and 6, their rods are articulated to extensions 5 and 7, so that cylinders 9 are offset 90 ° with respect to respective spherical joints 2, the extensions lower parts are stabilized. These joints between segments 3 and 6 and extensions 5 and 7 can be seen in figures 1 and 2.
A estrutura 1 recebe na face anterior um revestimento 13 macio, que pode ser reentrante como ilustrado na figura 3, e cintos 14 ou braços para acomodar e fixar o tronco de um usuário, representado nessa figura 3.  The frame 1 receives on the front face a soft recess 13 which can be recessed as illustrated in figure 3, and belts 14 or arms to accommodate and secure a user's trunk shown in figure 3.
Os segmentos 3 e 6 tem cintos 15 ou encaixes para acomodar ante-braços e coxas do usuário. Enquanto que os prolongamentos 5 e 7, tem cintos 16 ou encaixes para acomodar braços e pernas do usuário. Cintos nas partes superiores da estrutura 1 seguram os ombros do usuário, e cintos 17 e 18 seguram o abdômen e o quadril do usuário nas partes média e inferior da estrutura 1.  Segments 3 and 6 have belts 15 or sockets to accommodate the user's forearms and thighs. While extensions 5 and 7, it has belts 16 or snaps to accommodate the user's arms and legs. Belts in upper parts of frame 1 hold the user's shoulders, and belts 17 and 18 hold the user's abdomen and hip in the middle and lower parts of frame 1.
Conforme apresentado na figura 5, um circuito hidráulico básico foi criado para atender ao funcionamento do robô. Nessa figura pode ser visto que os cilindros hidráulicos 9 tem neles ligados, em suas extremidades, correspondentes tubos flexíveis 19 para condução de fluido hidráulico. Os movimentos das hastes 10, ligadas a pistões internos nos cilindros, determinam o sentido do percurso do fluido nos tubos 19. Os cilindros bombeiam o fluido para um bloco 20 de válvulas, que dirige sempre o fluido em um único sentido independentemente da atuação de cada cilindro. 0 fluido proveniente dos cilindros passa por uma válvula 21 de vazão regulável, e vai para um reservatório 22. O fluido do reservatório 22 chega aos cilindros 9 através do bloco 20 de válvulas. As shown in figure 5, a basic hydraulic circuit has been created to cater for robot operation. In this figure it can be seen that the hydraulic cylinders 9 have at their ends connected to them corresponding flexible hoses 19 for conducting hydraulic fluid. The movements of the rods 10, connected to internal pistons in the cylinders, determine the direction of fluid travel in the tubes 19. The cylinders pump fluid into a valve block 20, which always directs the fluid in a single direction regardless of the actuation of each cylinder. The fluid from the cylinders passes through an adjustable flow valve 21, and goes into a reservoir 22. The fluid from reservoir 22 reaches the cylinders 9 through the valve block 20.
A válvula 21 de vazão tem sua regulagem ao alcance do usuário, e sua restrição maior ou menor à passagem do fluido provoca reação nos cilindros 9, através de suas hastes 10, resistindo ao movimento que o usuário quer imprimir aos segmentos e prolongamentos do robô.  The flow valve 21 has its regulation within the user's reach, and its greater or lesser restriction to the fluid passage causes reaction in the cylinders 9, through its rods 10, resisting the movement that the user wants to print to the segments and extensions of the robot.
Para exercícios isocinéticos, que são os dependentes de velocidade, o controle de restrição é feito pela válvula 21 de vazão.  For isokinetic exercises, which are speed dependent, restriction control is performed by flow valve 21.
Para exercícios isotônicos, independente da velocidade (e da vazão do fluido) , pode ser acrescido ao circuito uma válvula de alívio 22 regulável.  For isotonic exercises, regardless of speed (and fluid flow), an adjustable relief valve 22 can be added to the circuit.
A válvula 22 mantém a linha de descarga dos cilindros 9 pressurizada a um nível regulado pelo usuário, de modo que qualquer movimento, a qualquer velocidade, exija um determinado esforço físico.  Valve 22 maintains the pressurized discharge line of cylinders 9 at a user-regulated level so that any movement at any speed requires a certain physical effort.
As válvulas 21 de vazão e 22 de alívio de pressão podem ser usadas isoladamente ou em conjunto, dosadas para um exercício isotônico/isocinético especial.  Flow relief and pressure relief valves 21 may be used alone or in combination for a special isotonic / isokinetic exercise.
O circuito hidráulico pode dosar as forças nos cilindros proporcionais aos músculos que representam, pelas diferenças de áreas ou por braços diversos de alavanca em cada posição.  The hydraulic circuit can measure the forces in the cylinders proportional to the muscles they represent, by differences in areas or by various lever arms in each position.
O circuito hidráulico ainda pode ser fracionado, atendendo a grupos musculares diversos. Os blocos de válvulas 20 podem ser providos de eletro-válvulas proporcionais, transferindo o controle para um módulo eletrônico, o qual controla vazões e pressões individuais, além de utilizar os dados de vazão e de pressão para calcular potência, e assim calcular as calorias consumidas pelo usuário em um determinado tempo e nível de exercício. The hydraulic circuit can still be fractionated, catering to various muscle groups. The Valve blocks 20 may be provided with proportional electro-valves, transferring control to an electronic module, which controls individual flow rates and pressures, and utilizing flow and pressure data to calculate power, and thus calculate the calories consumed by the valve. user at a given time and exercise level.
Esse equipamento ora apresentado atende a todas as movimentações possíveis de tronco, membros superiores e inferiores. O usuário se movimentará parado ou poderá fazer uma caminhada, com exercícios que exigirão uma dosagem extra e regulável de esforços, encurtando drasticamente o tempo que a caminhada simples, ou sobre esteira ergométrica exige. Da mesma forma, o usuário consegue realizar todos os exercícios de musculação da academia em um só aparelho.  This equipment presented here meets all possible movements of the trunk, upper and lower limbs. The user will be able to move still or go for a walk, with exercises that will require an extra and adjustable effort dosage, dramatically shortening the time that simple walking or treadmill walking requires. In the same way, the user can perform all bodybuilding exercises in one gym.
À academia basta ter uma quantidade de robôs que atendam sua clientela no horário, um salão vazio, ou um pátio externo adequado a caminhadas.  Just go to the gym with enough robots to serve your customers on time, an empty lounge, or an outdoor patio suitable for walking.
O robô está apresentado em sua forma mais simples, para facilitar a compreensão da idéia básica deste equipamento. As articulações esféricas 2 estão apresentadas na forma convencional, mas representam articulações multidirecionais, que podem ser realizadas por juntas universais ou por articulações de dois eixos não coplanares. 0 número de cilindros em cada articulação pode ser maior que dois, quando a musculatura do corpo humano, na articulação em evidência, pode exercer movimentos do membro tridimensionalmente. A conexão entre os cilindros e a estrutura, ou segmentos, ou prolongamentos, apresentada nos desenhos de forma direta, para melhor compreensão, pode exigir elementos mecânicos intermediários, como cremalheiras, alavancas, cabos de aço, correntes, para aumentar a amplitude do movimento e acrescentar variações necessárias para a obtenção de forças programadas proporcionais aos músculos que estão associados aos cilindros . The robot is presented in its simplest form, to facilitate understanding of the basic idea of this equipment. The spherical joints 2 are presented in the conventional form, but represent multidirectional joints, which can be made by universal joints or by two non-coplanar joints. The number of cylinders in each joint may be greater than two, when the musculature of the human body in the joint in question may exert limb movements three-dimensionally. The connection between the cylinders and the frame, or segments, or extensions shown in Directly drawing, for better understanding, may require intermediate mechanical elements such as racks, levers, wire ropes, chains, to increase range of motion and to add variations necessary to obtain programmed forces proportional to the muscles that are associated with the cylinders. .
O circuito hidráulico foi idealizado para obtenção de vazão de fluido positiva no ramal que vai às válvulas de controle 21 e 22, quaisquer que sejam as amplitudes e sentidos de ação de todos os cilindros.  The hydraulic circuit is designed to obtain positive fluid flow at the branch that goes to control valves 21 and 22, regardless of the range and directions of action of all cylinders.
As válvulas 21 e 22 estabelecem o sistema de resistência imposta aos cilindros e podem definir se a ginástica será cardiovascular ou destinada a ganho de massa muscular, ou ainda apresentar comportamento híbrido.  Valves 21 and 22 establish the resistance system imposed on the cylinders and can define if the gymnastics will be cardiovascular or intended to gain muscle mass, or even show hybrid behavior.
Entre as linhas de aspiração dos cilindros e as linhas de recalque, está montada uma válvula 23, em local que antecede a chegada às válvulas 21 e 22. Esta válvula pode estar aberta ou fechada e seu controle é remoto, por um botão 24 no prolongamento 5, ao alcance da mão do usuário (ver na figura 3) .  Between the cylinder suction lines and the discharge lines, a valve 23 is mounted in a location prior to the arrival of valves 21 and 22. This valve may be open or closed and its control is remote by a button 24 in the extension. 5, within reach of the user's hand (see figure 3).
A válvula 23 está normalmente fechada. 0 usuário pode abri-la, e repentinamente aliviar a carga de todos os cilindros, pois o fluido não passará mais pelas válvulas 21 e 22.  Valve 23 is normally closed. The user can open it, and suddenly relieve the load on all cylinders, as fluid will no longer flow through valves 21 and 22.
O usuário aciona a válvula 23 se estiver perdendo o equilíbrio com o robô e necessita de movimento brusco para restabelecê-lo. Pode usar a válvula 23 em outras situações em que não deseja resistência a seus movimentos. Desligada, a válvula 23 fecha a passagem de fluido e o robô retorna às eondições de carga anteriores. The user actuates valve 23 if he is losing balance with the robot and needs sudden movement to restore it. You can use valve 23 in other situations where you do not want resistance to your movements. When shut off, valve 23 closes the fluid passage and the robot returns to previous loading conditions.

Claims

REIVINDICAÇÕES
1- "ROBÔ RESISTIVO", caracterizado pelo fato de ser compreendido por uma estrutura retangular (1) horizontalmente articulada (8) com articulações (2) nas extremidades, dita estrutura (1) com dimensões de altura e largura aproximadamente proporcional a estatura de um homem médio; sendo que em ditas articulações superiores (2) são pivotados segmentos (3, 5) medianamente articulados (4) para caracterizarem a forma e dimensões de um antebraço e braço de homem de média estatura; sendo que da mesma forma em ditas articulações inferiores (2) são pivotados segmentos (6, 7) medianamente articulados (4) para caracterizarem a forma e dimensões compatíveis com os das coxas e pernas de um homem de estatura mediana; sendo que em cada articulação (2) a estrutura (1) e cada segmento (3, 5, 6, 7) estão estabilizados entre si por meio de cilindros hidráulicos (9) e suas respectivas hastes (10) que comandam todo o movimento das articulações do robô. 1- "RESISTIVE ROBOT", characterized by the fact that it is comprised of a rectangular structure (1) horizontally articulated (8) with joints (2) at the ends, said structure (1) with height and width dimensions approximately proportional to the height of a average man; and in said upper joints (2) segments (3, 5) that are medially articulated (4) are pivoted to characterize the shape and dimensions of a forearm and upper arm of a man of medium height; and in the same way in said lower joints (2) segments (6, 7) that are medially articulated (4) are pivoted to characterize the shape and dimensions compatible with those of the thighs and legs of a man of average height; and in each joint (2) the structure (1) and each segment (3, 5, 6, 7) are stabilized together by means of hydraulic cylinders (9) and their respective rods (10) that control all the movement of the robot joints.
2- "ROBÔ RESISTIVO", de acordo com a reivindicação 1, caracterizado pelo fato da estrutura (1) ser provida de um revestimento interno macio (13) que acomoda o tronco do usuário, preso ao mesmo por cintos (14, 17 e 18), estando montados nas articulações (2) superiores dois segmentos (3) , que nas extremidades possuem articulações esféricas (4) que pivotam prolongamentos (5) ; sendo que as articulações esféricas inferiores (4) recebem segmentos (6) em cujas extremidades articulam-se prolongamentos (7); sendo que cada articulação tem tantos cilindros (9) quantos necessários para abranger os movimentos nos planos diversos de atuação, possuindo cada cilindro (9) próximo dele blocos de válvulas (20) de retenção, cujo circuito faz com que o fluido hidráulico, proveniente dos cilindros, através de dois tubos flexíveis (19), siga em um único sentido até uma válvula (21) de vazão regulável e uma válvula (22) de alívio regulável, de onde vai a um reservatório (22) r de onde possa sair em direção aos blocos de válvulas (20) . 2- "RESISTANT ROBOT", according to claim 1, characterized by the fact that the structure (1) is provided with a soft internal lining (13) that accommodates the user's torso, secured to it by belts (14, 17 and 18 ), with two segments (3) being mounted on the upper joints (2), which at the ends have spherical joints (4) that pivot extensions (5); with the lower spherical joints (4) receiving segments (6) at whose ends extensions (7) are articulated; each joint has as many cylinders (9) as necessary to cover the movements in different planes of action, with each cylinder (9) having blocks of retention valves (20) close to it, whose circuit causes the hydraulic fluid, coming from the cylinders, through two flexible tubes (19), to flow in a single towards an adjustable flow valve (21) and an adjustable relief valve (22), from where it goes to a reservoir (22 ) where it can exit towards the valve blocks (20).
3- "ROBÔ RESISTIVO", de acordo com a reivindicação 1, caracterizado pelo fato das articulações 3- "RESISTIVE ROBOT", according to claim 1, characterized by the fact that the joints
(2) poderem ser feitas através de juntas universais, com eixos coplanares ou deslocados entre si. (2) they can be made through universal joints, with coplanar axes or offset from each other.
4- "ROBÔ RESISTIVO", de acordo com a reivindicação 1, caracterizado pelo fato dos segmentos (3 e 6) e os prolongamentos (5 e 7) possuírem cintas (15 e 16) para fixarem os membros superiores e inferiores do usuário. 4- "RESISTIVE ROBOT", according to claim 1, characterized by the fact that the segments (3 and 6) and the extensions (5 and 7) have straps (15 and 16) to fix the user's upper and lower limbs.
5- "ROBÔ RESISTIVO", de acordo com a reivindicação 1 ou 2 ou 3, caracterizado pelo fato do usuário ter o seu tronco fixado à estrutura (1) e seus membros aos segmentos (3 e 6), e prolongamentos (5 e 7), através de encaixes envolventes ergonómicos. 5- "RESISTIVE ROBOT", according to claim 1 or 2 or 3, characterized by the fact that the user has his torso fixed to the structure (1) and his limbs to the segments (3 and 6), and extensions (5 and 7 ), through ergonomic wraparound fittings.
6- "ROBÔ RESISTIVO", de acordo com a reivindicação 1, caracterizado pelo fato dos cilindros hidráulicos (9) serem acionados através de cremalheiras nas hastes e engrenagem para receber movimento na articulação. 6- "RESISTIVE ROBOT", according to claim 1, characterized by the fact that the hydraulic cylinders (9) are driven through racks on the rods and gear to receive movement in the joint.
7- "ROBÔ RESISTIVO", de acordo com a reivindicação 1, caracterizado pelo fato do movimento das hastes (10) nos cilindros (9) ser realizado fora da articulação, através de polias, cabos de aço, correntes, como elementos intermediários. 7- "RESISTIVE ROBOT", according to claim 1, characterized by the fact that the movement of the rods (10) in the cylinders (9) is carried out outside the articulation, through pulleys, steel cables, chains, as intermediate elements.
8- "ROBÔ RESISTIVO", de acordo com a reivindicação 1, caracterizado pelo fato de uma válvula (23) de duas vias, normalmente fechada, ser situada entre os cilindros hidráulicos (9) , por meio da linha de pressão proveniente dos blocos de válvulas (20) e a linha de retorno ligada ao reservatório, sendo essa válvula (23) acionada, por ação de um botão (24) situado no prolongamento (5) ao alcance da mão do usuário. 8- "RESISTIVE ROBOT", according to claim 1, characterized by the fact that a two-way valve (23), normally closed, is located between the hydraulic cylinders (9), through the pressure line coming from the pressure blocks. valves (20) and the return line connected to the reservoir, this valve (23) being activated by the action of a button (24) located on the extension (5) within reach of the user's hand.
9- "ROBÔ RESISTIVO", de acordo com a reivindicação 1 ou 7, caracterizado pelo fato dos blocos de válvulas (20) incluírem válvulas proporcionais de vazão e de alivio controladas eletronicamente para programação e monitoração do exercício. 9- "RESISTIVE ROBOT", according to claim 1 or 7, characterized in that the valve blocks (20) include electronically controlled proportional flow and relief valves for programming and monitoring the exercise.
PCT/BR2011/000024 2010-01-20 2011-01-20 Resistive robot WO2011088537A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
BRPI1000238-3A BRPI1000238A2 (en) 2010-01-20 2010-01-20 resistive robot
BRPI1000238-3 2010-01-20

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WO2011088537A1 true WO2011088537A1 (en) 2011-07-28

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3976057A (en) * 1974-12-23 1976-08-24 Clarence F. Bates Joint flexing apparatus
US5472412A (en) * 1994-04-05 1995-12-05 Mauch Laboratories, Inc. Limb brace with adjustable hydraulic resistance unit
US5954621A (en) * 1993-07-09 1999-09-21 Kinetecs, Inc. Exercise apparatus and technique
US20020116741A1 (en) * 2001-02-23 2002-08-29 Young Trevor A. Air driven muscle toning garment

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3976057A (en) * 1974-12-23 1976-08-24 Clarence F. Bates Joint flexing apparatus
US5954621A (en) * 1993-07-09 1999-09-21 Kinetecs, Inc. Exercise apparatus and technique
US5472412A (en) * 1994-04-05 1995-12-05 Mauch Laboratories, Inc. Limb brace with adjustable hydraulic resistance unit
US20020116741A1 (en) * 2001-02-23 2002-08-29 Young Trevor A. Air driven muscle toning garment

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