WO2022156644A1

WO2022156644A1 - Fitness machine based on principle of flexible mechanical arms

Info

Publication number: WO2022156644A1
Application number: PCT/CN2022/072392
Authority: WO
Inventors: 周少阳; 张路通; 王屴; 孔家祺; 许舒翔
Original assignee: 景枢(上海)科技有限公司
Priority date: 2021-01-22
Filing date: 2022-01-17
Publication date: 2022-07-28
Also published as: CN112774085B; US20230390599A1; CN112774085A

Abstract

A fitness machine based on the principle of flexible mechanical arms, comprising a mechanical arm and a support part (4), the mechanical arm and the support part (4) being connected, and the tail end of the mechanical arm being provided with a mechanical interaction structure; also comprising a force feed joint, a motion control module, a force field control module, a human-machine interaction module, and a human body motion posture analysis module. Strength control without any counterweight can be implemented, and fitness training that in the past could only be implemented in a professional environment can be implemented in a limited environment; the present disclosure can simulate a variety of huge fitness devices and miniaturise and integrate the large-scale sport equipment in many gyms, such that strength training in a limited space becomes possible, and also enables the gym to save a large device footprint, greatly increasing operational efficiency.

Description

Fitness equipment based on the principle of flexible robotic arms

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the priority of the Chinese patent application filed on January 22, 2021 with the application number CN202110087892.3 and the invention titled “Exercise Equipment Based on the Principle of Flexible Robot Arms”, the entire contents of which are incorporated herein by reference middle.

technical field

The present disclosure belongs to the technical field of fitness equipment design and manufacture, and in particular relates to a fitness equipment based on the principle of a flexible mechanical arm.

Background technique

Strength training is an essential part of human participation in fitness. Strength training improves muscle strength and increases muscle circumference by allowing the human body to perform multiple sets of strength confrontation with the equipment. Strength training is based on anaerobic training, which can improve upper body strength, waist and abdominal strength, lower body strength, etc. Strength training includes freehand training and weight-bearing training. Weight-bearing training has better exercise effects than freehand training.

Existing weight training needs to be completed by fixed or free fitness equipment, and the power sources of these equipment are divided into "passive damping source" and "active power source". Passive resistance is used in traditional fitness equipment, including:

Weight Damping: Training by confronting the human body with the force generated by weights, weight plates, etc., such as barbells, dumbbells, leg press machines, Smith machines, etc.

Hydraulic damping: training by confronting the body with the resistance of liquids, such as rowing machines and climbing machines.

Air damping: Training by pitting the body against the resistance created by air, such as a spinning bike with a fan.

Magnetic damping: Training by pitting the human body against the resistance generated by magnetic forces, such as elliptical machines, reluctance spinning.

Spring Damping: Training by pitting the body against the resistance created by an elastic structure (spring, hydraulic, pneumatic, etc.), such as a puller.

The effectiveness of muscle strength training comes from the overrecovery effect after energy expenditure during muscle exercise. The control of strength, the trajectory of the movement, and the speed of the movement are particularly important for the fitness effect. In the existing fitness equipment, subject to the generation principle of the power source, the fitness equipment often has the following problems:

The fitness machine changes the training strength by adding or subtracting weight blocks. Each time you increase or decrease the weight, you can only increase or decrease a fixed weight, such as adding or subtracting 5 kg of weight. The interval between training strength changes is large, which can easily lead to overtraining or undertraining.

Fitness equipment that adjusts strength by adding or reducing weights can only use a constant strength in one training session. If you need to adjust the strength, you must wait for the training to complete before you can replace it. It is impossible to precisely control the effect of each training, so that the critical value of muscle consumption and excessive recovery is exactly reached when each training is completed, and the exhaustive training required for muscle training cannot be accurately completed.

The density of the counterweight is constant. In order to increase the adjustable range, a large number of counterweights must be configured, and the volume is huge. Taking the Smith machine as an example, if you want to configure a barbell weight with a total weight of 100kg, you need to use two 20kg plates, two 10kg plates, four 5kg plates and a 20kg bar. Huge, cannot be used in limited environments.

In the prior art, the direction of force is constant, each training can only be applied in a fixed direction, and the point of force is single, and it is impossible to precisely control the exercise demand of the bodybuilder. A single device can only use a single movement and a single training part.

Although some fixed equipment can control the movement trajectory, it cannot track and control the speed of the movement, which is not conducive to the improvement of the exercise effect.

In response to the above problems, some smart fitness equipment try to use other sources of power to control the fitness process, such as pneumatic power, or control the metal cable through the motor to create resistance. However, these devices also have some major flaws because of the principles they are based on.

The pneumatic control fitness equipment adjusts the mechanical movement by connecting the air cylinder to the mechanical equipment and adjusting the air pressure in the air cylinder. However, this mode of action has low response frequency, slow response speed, narrow control range, and huge equipment. Pneumatic adjustment is only suitable for connecting metal chains for partial tension training, and does not have a wider range of uses.

The strength control through the motor connecting the steel cable can bring the one-way strength of active control to the fitness equipment to a certain extent. Adjust accordingly. However, this type of equipment can only adjust the magnitude of the force, but cannot adjust the direction of the force and the acceleration of the force, cannot simulate the working effect of complex equipment, and cannot simultaneously achieve push and pull resistance in one action.

SUMMARY OF THE INVENTION

The purpose of the present disclosure is to provide a fitness machine based on the principle of a flexible mechanical arm, which can provide exercisers with real-time precise control of the acceleration, strength, and direction of the force through the mechanical arm structure controlled by the algorithm, coherent, variable The strength of the confrontation greatly improves the fitness efficiency that can be achieved in a limited space.

The technical solutions adopted in the present disclosure are as follows:

In a first aspect, an embodiment of the present disclosure provides a fitness device based on the principle of a flexible robotic arm, including a robotic arm and a support portion, the robotic arm is connected to the support portion, and the end of the robotic arm is provided with a mechanical interaction that cooperates with human limbs structure; also includes a force-feed joint, a motion control module, a force field control module, a human-computer interaction module, and a human body motion posture analysis module; the force-feed joint is located at the connection between the manipulator and the support and/or each of the manipulator itself. At the joint, the force-feed joint includes a force sensor, a power device and a mechanical transmission mechanism; the human-computer interaction module is used to select/input the training mode and training intensity, and the human-computer interaction module transmits the training mode and training intensity parameters to the force field control Module, the force field control module generates the force demand parameters of the end of the manipulator according to the received training mode and training intensity parameters and sends the parameters to the motion control module, and the motion control module calculates each The power output parameters of each force-feed joint are sent to each force-feed joint, and each force-feed joint drives the motion of each joint of the manipulator. Each force sensor detects the actual force parameters of each force-feed joint and forms a negative feedback control. logic, the force field control module feeds back the motion parameters of the manipulator to the human-computer interaction module.

In a second aspect, an embodiment of the present disclosure provides a fitness device, comprising a robotic arm and a support portion (4), the robotic arm is connected to the support portion (4), and the end of the robotic arm is provided with a mechanical interaction matched with a human limb Structure (3); the fitness device further includes a force-feed joint, the force-feed joint is located at the connection between the mechanical arm and the support part and/or each joint of the mechanical arm itself, and receives the force-feed joint output by the motion control module The power output parameters required by itself and drive the motion of each joint of the manipulator. The force-feed joint includes a force sensor, a power device and a mechanical transmission mechanism. The force sensor detects the actual force parameter of the force-feed joint and forms a negative force. Feedback control logic.

The mechanical arm comprises a first power arm (1) and a second power arm (2), the first power arm (1) is hinged with the support part (4) through a first force-feed joint, and the second power arm (2) is connected by The second force-feed joint is hinged with the first power arm (1), the power devices of the first force-feed joint and the second force-feed joint are electrically connected to the motion control module; the mechanical interaction structure is connected to the second power arm (2) .

The mechanical transmission mechanisms of the first force-fed joint and the second force-fed joint are the same, wherein the mechanical transmission mechanism of the first force-fed joint includes a connecting rod (8) and a sliding part (7), the sliding part (7) along the The first power arm (1) is slidably connected with the first power arm (1) in the length direction, one end of the connecting rod (8) is hinged with the sliding part (7), and the other end is hinged with a fixed seat (5), the fixed seat (5) is connected to the support part (4), the first power arm (1) is hinged with the fixing seat (5); the power device of the first force-feed joint is a linear driving element for driving the sliding part (7) to slide .

The fixed seat (5) is movably connected with the support part (4) along the vertical direction, so that the overall vertical height of the mechanical arm can be adjusted.

The mechanical interaction structure is a two-hand grip rod (3), the two-hand grip rod (3) includes a fixed part (31) and a folding part (32), the fixed part (31) is arranged horizontally, and the folding part (32) ) is hinged at both ends of the fixed part (31) so that the folding part (32) can move between the following two stations: station one, the folding part (32) is coaxial with the fixed part (31); and station two, the folding part (32) swing up or down relative to the fixing part (31) to a state of forming an angle with the fixing part (31).

The support part (4) is provided with a seat (6), the seat (6) includes a base (63), a first flap (61) and a second flap (62), the first flap (61) and the surface of the second flap (62) are provided with soft pads, the first flap (61) and the second flap (62) are coaxially hinged with the base (63) to make the first flap (61) and the second flap (62) It can be switched between the following three stations: station a, the first flap (61) is in an upright state, and the second flap (62) is in a flat state; station b, the first flap (61) ) is a flat state, and the second flap (62) is an upright state; and at station c, the first flap (61) and the second flap (62) are both in a flat state, and the first flap ( 61), the second flap (62) and the base (63) are provided with a first locking mechanism capable of holding the three in the above three stations and releasing the three from the above three stations.

The base (63) is slidably connected to a slide rail provided on the support portion (4), and between the slide rail and the base (63) there is a device capable of locking the base (63) at any position and capable of locking the base (63) The second locking mechanism is released from this position.

The human-computer interaction module is a mobile terminal, and a bracket (12) for fixing the mobile terminal is arranged on the two-hand grip rod (3).

The mechanical interaction structure is provided with a detection module for detecting physiological parameters of the human body, the detection module includes a current sensor (11) provided on the two-hand grip rod (3), and the current sensor (11) is used for detecting human heart rate and blood sample data, and detecting The module sends the detection data to the human-computer interaction module.

In a third aspect, the embodiments of the present disclosure provide an electronic control module for a fitness apparatus, including a human-computer interaction module, a force field control module, and a motion control module; the human-computer interaction module is used to select/input a training mode and training intensity, and the training mode and training intensity parameters are sent to the force field control module; the force field control module generates the force demand parameters of the end of the robot arm according to the received training mode and training intensity parameters, and sends the force demand parameters of the end of the robot arm to the motion control module; motion control The module calculates the power output parameters required by each force-feed joint according to the received force demand parameters at the end of the robot arm, and sends each power output parameter to the force-feed joint of the fitness machine, which is used to drive the robot arm of the fitness machine to perform joints. Motion; the force field control module feeds back the motion parameters of the manipulator to the human-computer interaction module.

The electronic control module of the fitness equipment further includes a human body motion attitude analysis module; the human-computer interaction module is also used to input a motion attitude detection control instruction, and the human-computer interaction module sends the motion attitude detection control instruction to the human body motion attitude analysis module, and the human body motion attitude analysis module. The motion posture analysis module receives the motion parameters of the manipulator output by the force field control module, calculates the actual motion posture data of the human body according to the parameters, and then sends the human body motion posture data to the human-computer interaction module.

In a fourth aspect, an embodiment of the present disclosure provides a method for controlling a mechanical arm of a fitness machine, which is used for a fitness machine, including: calculating a power output parameter of a force-feed joint of the fitness machine according to a force demand parameter at the end of the robot arm, and applying the The power output parameters are sent to each force-fed joint in the fitness machine; according to the power output parameters, the joint action of the manipulator is driven by the force-fed joints; the actual force parameters of the force-fed joints are detected and negative feedback control logic is formed.

The force demand parameter of the end of the mechanical arm is generated according to the training mode and the training intensity parameter.

Obtain the input motion posture detection control instruction through the human-computer interaction module; receive the motion parameters of the robotic arm, and calculate the human body motion posture data according to the robotic arm motion parameters; send the human body motion posture data to the human-computer interaction module.

In a fifth aspect, an embodiment of the present disclosure provides an exercise device, including: a processor, a memory, and a program stored on the memory and executable on the processor, and the program is implemented when executed by the processor The steps of the method for controlling the mechanical arm of the fitness equipment.

In a sixth aspect, an embodiment of the present disclosure provides a readable storage medium, where a computer program is stored on the readable storage medium, and when the program is executed by a processor, the steps of the method for controlling a robotic arm of a fitness machine are implemented.

The technical effect achieved by the present disclosure is that the present disclosure does not use any counterweight for strength control, and can perform fitness training in a limited environment that can only be completed in a professional environment in the past. With the precise control of the robotic arm, the fitness equipment can intervene in the exercise posture of the exerciser in real time. When the exerciser deviates, it can correct the exercise movement by limiting the trajectory, and stop in time when the exerciser is exhausted or has other exercise risks. Exercise to ensure exercise safety. The present disclosure can simulate a variety of huge fitness equipment, miniaturize and integrate the large sports equipment in many gymnasiums, make strength training possible in a limited space, and can also save a lot of equipment occupation of the gymnasium, and greatly improve its performance. Operational efficiency.

Description of drawings

1 is a schematic three-dimensional structural diagram of a fitness machine based on the principle of a flexible mechanical arm provided by an embodiment of the present disclosure;

Fig. 2 is the structural block diagram of the electric control module part of the fitness equipment based on the principle of the flexible mechanical arm provided by an embodiment of the present disclosure;

3 is a schematic structural diagram of a two-hand grip provided by an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of a seat provided by an embodiment of the present disclosure.

Detailed ways

In order to make the purpose and advantages of the present disclosure clearer, the present disclosure will be specifically described below with reference to the embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present disclosure,

The scope of protection specifically claimed in the present disclosure is not strictly limited.

As shown in Figures 1 and 2, a fitness machine based on the principle of a flexible robotic arm, including a robotic arm and a support part 4, the robotic arm is connected with the support part 4, and the end of the robotic arm is provided with a mechanism that cooperates with human limbs Interactive structure; also includes force-feed joint, motion control module, force field control module, human-computer interaction module and human body motion posture analysis module; the force-feed joint is located at the connection between the mechanical arm and the support part and/or the mechanical arm itself At each joint, the force-feed joint includes a force sensor, a power device and a mechanical transmission mechanism; the human-computer interaction module is used to select/input the training mode and training intensity, and the human-computer interaction module transmits the training mode and training intensity parameters to the force field The control module, the force field control module generates the force demand parameters of the end of the manipulator according to the received training mode and training intensity parameters and sends the parameters to the motion control module, and the motion control module calculates the force demand parameters of the end of the manipulator according to the received parameters. The power output parameters of each force-fed joint are sent to each force-fed joint, and each force-fed joint drives the motion of each joint of the manipulator. Each force sensor detects the actual force parameters of each force-fed joint and forms negative feedback Control logic, the force field control module feeds back the motion parameters of the manipulator to the human-computer interaction module.

The human-computer interaction module is also used for inputting motion attitude detection control instructions, the human-computer interaction module sends the motion attitude detection control instructions to the human body motion attitude detection module, and the human body motion attitude detection module receives the mechanical arm motion parameters output by the force field control module. , and calculate the actual motion posture data of the human body according to the parameter, and then send the human body motion posture data to the human-computer interaction module.

Fig. 2 is a structural schematic diagram of an electronic control module of a fitness device, wherein the electronic control module of the fitness device includes a human-computer interaction module, a force field control module, a motion control module, and a plurality of force-feed joints; the human-computer interaction module is used for selection/input Training mode and training intensity, and send the training mode and training intensity parameters to the force field control module; the force field control module generates the force demand parameters of the end of the robot arm according to the received training mode and training intensity parameters, and sends the force demand of the end of the robot arm. The parameters are sent to the motion control module; the motion control module calculates the power output parameters required by each force-feed joint according to the received force demand parameters at the end of the manipulator, and sends each power output parameter to each force-feed joint; each force-feed joint The joint drives each joint of the manipulator to move. The force sensor of each force-feed joint detects the actual force parameters of each force-feed joint and forms a negative feedback control logic. The force field control module feeds back the motion parameters of the manipulator to the human-computer interaction module.

The electronic control module of the fitness apparatus also includes a human body movement posture analysis module. The human-computer interaction module is also used for inputting motion attitude detection control instructions, the human-computer interaction module sends the motion attitude detection control instructions to the human body motion attitude analysis module, and the human body motion attitude analysis module receives the mechanical arm motion parameters output by the force field control module. , and calculate the actual motion posture data of the human body according to the parameter, and then send the human body motion posture data to the human-computer interaction module.

In the present disclosure, the interaction of the human-computer interaction module shall refer to a two-way information flow, which includes two aspects: 1. The human gives instructions to the machine; 2. The machine feeds back information to the human. Among them, the information fed back by the machine to the human may include: a. The running state of the machine; b. Human monitoring data obtained by the machine, such as exercise time, intensity, heart rate, breathing rate, etc.; c. Considering the machine's online game function, Various parameters of other players may also be fed back. The feedback parameters are displayed to the user through the human-computer interaction module, and the way of displaying the parameters can be selected from various display types, such as data, charts, static images and dynamic images.

The method for controlling a mechanical arm of a fitness machine in the present disclosure includes: calculating the power output parameters of the force-feed joints of the fitness machine according to the force-generating demand parameters of the end of the machine arm, and sending the power output parameters to each force-feed joint in the fitness machine ; According to the power output parameter, drive the joint action of the mechanical arm through the force-feed joint; detect the actual force parameter of the force-feed joint and form a negative feedback control logic. Wherein, the force demand parameter of the end of the mechanical arm is generated according to the training mode and the training intensity parameter. Further, obtain the input motion posture detection control instruction through the human-computer interaction module; receive the motion parameters of the mechanical arm, and calculate the human body motion posture data according to the mechanical arm motion parameters; send the human body motion posture data to the human-computer interaction module.

An embodiment of the present disclosure provides an exercise device, including a processor, a memory, and a program stored on the memory and executable on the processor, and the program is executed by the processor to implement the exercise device The steps of the robotic arm control method.

An embodiment of the present disclosure provides a readable storage medium, where a computer program is stored on the readable storage medium, and when the program is executed by a processor, the steps of the method for controlling a robotic arm of a fitness machine are implemented.

The robotic arm includes a first power arm 1 and a second power arm 2. The first power arm 1 is hinged to the support portion 4 through a first force-feed joint, and the second power arm 2 is connected to the first power arm through a second force-feed joint. 1 is hinged, the power devices of the first force-feed joint and the second force-feed joint are electrically connected to the motion control module; the mechanical interaction structure is connected to the second power arm 2 .

The mechanical transmission mechanisms of the first force-fed joint and the second force-fed joint are the same, wherein the mechanical transmission mechanism of the first force-fed joint includes a connecting rod 8 and a sliding part 7, and the sliding part 7 is along the length of the first power arm 1 The direction is slidably connected with the first power arm 1, one end of the connecting rod 8 is hinged with the sliding part 7, the other end is hinged with a fixed seat 5, the fixed seat 5 is connected with the support part 4, and the first power arm 1 is connected with the fixed seat 5 Articulation; the power device of the first force-feed joint is a linear driving element for driving the sliding part 7 to slide.

The fixed seat 5 is movably connected to the support portion 4 along the vertical direction, so that the overall vertical height of the robot arm can be adjusted.

As shown in FIG. 3 , the mechanical interaction structure is a two-hand grip rod 3 , and the two-hand grip rod 3 includes a fixed part 31 and a folding part 32 , the fixed part 31 is arranged horizontally, and the folding part 32 is hinged on the fixed part 31 . Both ends enable the folding part 32 to move between the following two stations: station one, the folding part 32 is coaxial with the fixing part 31; The part 31 is at an angle.

As shown in FIGS. 1 and 4 , the support portion 4 is provided with a seat 6 , and the seat 6 includes a base 63 , a first flap 61 and a second flap 62 , the first flap 61 and the second flap 62 The surface is provided with a cushion, and the first flap 61 and the second flap 62 are coaxially hinged with the base 63 so that the first flap 61 and the second flap 62 can be switched between the following three stations: station a, the first A flap 61 is in an upright state, and the second flap 62 is in a flat state; in station b, the first flap 61 is in a flat state, and the second flap 62 is in an upright state; and in station c, the first flap 61 and the second flap 62 are in a flat state, and there are provided between the first flap 61, the second flap 62 and the base 63 that can keep the three in the above-mentioned three stations and can The first locking mechanism released by the above three stations.

The base 63 is slidably connected to the slide rail provided on the support portion 4 , and a second locking mechanism capable of locking the base 63 at any position and releasing the base 63 from this position is provided between the slide rail and the base 63 .

The human-computer interaction module is a mobile terminal, and a bracket 12 for fixing the mobile terminal is provided on the two-hand grip bar 3 .

The mechanical interaction structure is provided with a detection module for detecting human physiological parameters. The detection module includes a current sensor 11 set on the two-hand grip bar 3. The current sensor 11 is used to detect human heart rate and blood sample data, and the detection module sends the detection data to. Human-computer interaction module.

The technical solutions of the present disclosure are described in detail below in conjunction with several specific usage scenarios:

bench press training

Adjust the seat 6 to a flat state and lock it on the track, adjust the two-hand grip bar 3 to the station 1, the user adjusts the mechanical arm to the bench press training mode through the human-computer interaction module, and the user lies flat on the seat 6 Above, press the two-hand grip bar 3 upwards, and the mechanical arm exerts downward pressure. The pressure can be adjusted linearly between 0-100kg, and the strength can meet the intensity requirements of bench press training from the entry level to the professional level.

Squat training

This action does not require the seat 6, so slide the seat 6 to a position close to the robotic arm and lock it to store it, adjust the two-hand grip to station 1, the user squatting on the support 4, holding both hands Put the middle part above the user's shoulders, the user supports the two-hand grip bar 3 upward to perform squat training, and the robotic arm exerts downward pressure on the two-hand grip bar 3 position. Level to professional level squat training intensity requirements.

rowing machine training

Adjust the seat 6 to the sitting position facing the robotic arm. The user sits on the seat 6, holds the handle with both hands, and pulls it backwards. The robotic arm generates resistance in the horizontal direction, simulating rowing training.

The above are only the preferred embodiments of the present disclosure. It should be pointed out that for those skilled in the art, without departing from the principles of the present disclosure, several improvements and modifications can be made, and these improvements and modifications should also be It is regarded as the protection scope of the present disclosure. The structures, devices and operation methods that are not specifically described and explained in the present disclosure, unless otherwise specified or limited, are implemented according to conventional means in the art.

Claims

A fitness device based on the principle of a flexible mechanical arm, comprising a mechanical arm and a support part (4), the mechanical arm is connected with the support part (4), and the end of the mechanical arm is provided with a mechanical interaction structure matched with a human limb; The fitness equipment also includes a force-feed joint, a motion control module, a force field control module, a human-computer interaction module and a human body motion posture analysis module; the force-feed joint is located at the connection between the mechanical arm and the support part and/or at the position of the mechanical arm itself. At each joint, the force-feed joint includes a force sensor, a power device and a mechanical transmission mechanism; the human-computer interaction module is used to select/input the training mode and training intensity, and the human-computer interaction module transmits the training mode and training intensity parameters to the force field The control module, the force field control module generates the force demand parameters of the end of the manipulator according to the received training mode and training intensity parameters and sends the parameters to the motion control module, and the motion control module calculates the force demand parameters of the end of the manipulator according to the received parameters. The power output parameters required by each force-fed joint are sent to each force-fed joint, and each force-fed joint drives each joint of the robotic arm, and each force sensor detects the actual force parameters of each force-fed joint and forms Negative feedback control logic, the force field control module feeds back the motion parameters of the manipulator to the human-computer interaction module.
The exercise device based on the principle of flexible mechanical arm according to claim 1, wherein the human-computer interaction module is further configured to input a motion posture detection control instruction, and the human-computer interaction module sends the motion posture detection control instruction to the human body motion posture analysis module, The human body motion posture analysis module receives the motion parameters of the manipulator output by the force field control module, calculates the actual motion posture data of the human body according to the parameters, and then sends the human body motion posture data to the human-computer interaction module.
The exercise machine based on the principle of a flexible mechanical arm according to claim 1, wherein the mechanical arm comprises a first power arm (1) and a second power arm (2), and the first power arm (1) passes through a first force-feed joint The second power arm (2) is hinged with the first power arm (1) through the second force-feed joint, and the power devices of the first force-feed joint and the second force-feed joint are electrically connected to the motion control module. connection; the mechanical interaction structure is connected with the second power arm (2).
The exercise machine based on the principle of a flexible mechanical arm according to claim 3, wherein the mechanical transmission mechanisms of the first force-feed joint and the second force-feed joint are the same, wherein the mechanical transmission mechanism of the first force-feed joint comprises a connecting rod (8 ) and a sliding part (7), the sliding part (7) is slidably connected to the first power arm (1) along the length direction of the first power arm (1), and one end of the connecting rod (8) is connected to the sliding part (7) ) hinged, the other end is hinged with a fixed seat (5), the fixed seat (5) is connected with the support part (4), and the first power arm (1) is hinged with the fixed seat (5); The power device is a linear driving element for driving the sliding part (7) to slide.
According to the exercise machine based on the principle of a flexible mechanical arm according to claim 4, the fixed seat (5) is movably connected with the support part (4) along the vertical direction, so that the overall vertical height of the mechanical arm can be adjusted.
The exercise machine based on the principle of flexible mechanical arms according to claim 1, wherein the mechanical interaction structure is a two-hand grip bar (3), and the two-hand grip bar (3) comprises a fixed part (31) and a folding part (32), The fixing part (31) is arranged horizontally, and the folding part (32) is hinged at both ends of the fixing part (31) so that the folding part (32) can move between the following two stations: station 1, folding part (32) It is coaxial with the fixing part (31); and at the second station, the folding part (32) swings upward or downward relative to the fixing part (31) to the state of forming an angle with the fixing part (31).
The fitness machine based on the principle of a flexible mechanical arm according to claim 1, wherein a seat (6) is provided on the support part (4), and the seat (6) comprises a base (63) and a first flap (61) and the second flap (62), the surfaces of the first flap (61) and the second flap (62) are provided with cushions, the first flap (61) and the second flap (62) and the base (63) The coaxial hinge enables the first flap (61) and the second flap (62) to be switched between the following three stations: station a, the first flap (61) is in an upright state, and the second flap (62) ) is a flat state; Station b, the first flap (61) is a flat state, and the second flap (62) is an upright state; and Station c, the first flap (61) and the second flap (62) All are in a flattened state, and between the first flap (61), the second flap (62) and the base (63), there is a device that can keep the three at the above-mentioned three stations and can keep the three The first locking mechanism released by the user from the above three stations.
The fitness machine based on the principle of a flexible mechanical arm according to claim 7, wherein the base (63) is slidably connected to a slide rail provided on the support portion (4), and a A second locking mechanism that locks the base (63) at any position and can release the base (63) from that position.
The robotic arm-based fitness device according to claim 6, wherein the human-computer interaction module is a mobile terminal, and a bracket (12) for fixing the mobile terminal is provided on the two-hand grip bars (3).
The fitness device based on the principle of flexible robotic arms according to claim 6, wherein the mechanical interaction structure is provided with a detection module for detecting human physiological parameters, and the detection module comprises a current sensor (11) provided on the two-hand grip bar (3). , the current sensor (11) is used to detect human heart rate and blood sample data, and the detection module sends the detection data to the human-computer interaction module.
A fitness device, comprising a mechanical arm and a support part (4), the mechanical arm is connected with the support part (4), and the end of the mechanical arm is provided with a mechanical interaction structure (3) matched with a human limb; the fitness device It also includes a force-feed joint, which is located at the connection between the mechanical arm and the support part and/or at each joint of the mechanical arm itself, receives the power output parameters required by the force-feed joint output from the motion control module and drives it Each joint of the manipulator moves, and the force-feed joint includes a force sensor, a power device and a mechanical transmission mechanism, wherein the force sensor detects the actual force parameter of the force-feed joint where it is located and forms a negative feedback control logic.
The exercise machine according to claim 11, wherein the mechanical arm comprises a first power arm (1) and a second power arm (2), the first power arm (1) is connected to the support part (4) through the first force-feed joint Articulation, the second power arm (2) is hinged with the first power arm (1) through the second force-feed joint, and the power devices of the first force-feed joint and the second force-feed joint are electrically connected to the motion control module; the mechanical interaction The structure is connected with the second power arm (2).
The exercise machine according to claim 12, wherein the mechanical transmission mechanism of the first force-feeding joint and the second force-feeding joint are the same, wherein the mechanical transmission mechanism of the first force-feeding joint comprises a connecting rod (8) and a sliding part (7) ), the sliding part (7) is slidably connected with the first power arm (1) along the length direction of the first power arm (1), one end of the connecting rod (8) is hinged with the sliding part (7), and the other end is connected with the first power arm (1). A fixed seat (5) is hinged, the fixed seat (5) is connected with the support part (4), and the first power arm (1) is hinged with the fixed seat (5); the power device of the first force-feed joint is used for driving Linear drive element for sliding part (7).
The fitness machine according to claim 13, wherein the fixed seat (5) is movably connected with the support part (4) along the vertical direction, so that the overall vertical height of the mechanical arm can be adjusted.
The fitness apparatus according to claim 11, wherein the mechanical interaction structure is a double-hand grip bar (3), the double-hand grip bar (3) comprises a fixed part (31) and a folding part (32), the fixed part (31) ) is set horizontally, the folding part (32) is hinged at both ends of the fixing part (31) so that the folding part (32) can move between the following two stations: station one, the folding part (32) and the fixing part (31) coaxial; and at the second station, the folding part (32) swings upward or downward relative to the fixing part (31) to a state in which an angle is formed with the fixing part (31).
The fitness machine according to claim 11, wherein a seat (6) is provided on the support part (4), and the seat (6) comprises a base (63), a first flap (61) and a second flap ( 62), the surfaces of the first flap (61) and the second flap (62) are provided with cushions, and the first flap (61) and the second flap (62) are coaxially hinged with the base (63) to make the first flap (61) and the second flap (62) coaxially hinged. The flap (61) and the second flap (62) can be switched between the following three workstations: in the station a, the first flap (61) is in an upright state, and the second flap (62) is in a flat state; Station b, the first flap (61) is in a flat state, and the second flap (62) is in an upright state; and in station c, the first flap (61) and the second flap (62) are both spread out In a flat state, the first flap (61), the second flap (62) and the base (63) are provided with a device that can keep the three in the above-mentioned three stations and can remove the three from the above-mentioned three stations. Bit release of the first locking mechanism.
The fitness machine according to claim 16, wherein the base (63) is slidably connected to a slide rail provided on the support portion (4), and a slide rail and a base (63) are provided between the slide rail and the base (63) capable of locking the base (63). A second locking mechanism at any position and capable of releasing the base (63) from that position.
The fitness apparatus according to claim 16, wherein the human-computer interaction module is a mobile terminal, and a bracket (12) for fixing the mobile terminal is provided on the two-hand grip bar (3).
The fitness device according to claim 16, wherein the mechanical interaction structure is provided with a detection module for detecting human physiological parameters, and the detection module comprises a current sensor (11) provided on the two-hand grip bar (3), the current sensor (11) It is used to detect human heart rate and blood sample data, and the detection module sends the detection data to the human-computer interaction module.
An electronic control module for a fitness apparatus, comprising a human-computer interaction module, a force field control module, and a motion control module;

The human-computer interaction module is used to select/input the training mode and training intensity, and transmit the training mode and training intensity parameters to the force field control module;

The force field control module generates force demand parameters at the end of the robotic arm according to the received training mode and training intensity parameters, and sends the force demand parameters at the end of the robotic arm to the motion control module;

The motion control module calculates the power output parameters required by each force-feed joint according to the received force demand parameters at the end of the mechanical arm, and sends each power output parameter to the force-feed joint of the fitness machine, which is used to drive the mechanical arm of the fitness machine. perform joint movements;

The force field control module feeds back the motion parameters of the manipulator to the human-computer interaction module.
The electronic control module of the fitness equipment according to claim 20, further comprising a human body motion posture analysis module; the human-computer interaction module is further used for inputting a motion posture detection control instruction, and the human-computer interaction module sends the motion posture detection control instruction to the The human body movement posture analysis module is described, the human body movement posture analysis module receives the mechanical arm movement parameters output by the force field control module, and calculates the actual movement posture data of the human body according to the parameters, and then sends the human body movement posture data to the human-computer interaction module.
A method for controlling a mechanical arm of a fitness machine, which is used for the fitness machine, comprising:

Calculate the power output parameters of the force-fed joints of the exercise machine according to the force demand parameters of the end of the mechanical arm, and send the power output parameters to each force-fed joint in the exercise machine;

According to the power output parameter, the joint action of the manipulator is driven by the force-fed joint;

Detect the actual force parameters of the force-feed joint and form the negative feedback control logic.
According to the method for controlling a mechanical arm of a fitness equipment according to claim 22, the force demand parameter of the end of the mechanical arm is generated according to a training mode and a training intensity parameter.
The method for controlling the mechanical arm of a fitness equipment according to claim 22, the input motion posture detection control instruction is obtained through the human-computer interaction module; the motion parameters of the mechanical arm are received, and the human body motion posture data is calculated according to the motion parameters of the mechanical arm; The human body motion posture data is sent to the human-computer interaction module.
A fitness device, comprising: a processor, a memory, and a program stored on the memory and executable on the processor, the program being executed by the processor to achieve any one of claims 22-24 The steps of the control method of the fitness equipment mechanical arm described in item.
A readable storage medium storing a computer program on the readable storage medium, when the program is executed by a processor, implements the steps of the method for controlling a robotic arm of a fitness machine according to any one of claims 22-24.