WO2023077705A1 - Appareil d'entraînement intelligent et procédé de commande intelligent pour équipement de conditionnement physique - Google Patents

Appareil d'entraînement intelligent et procédé de commande intelligent pour équipement de conditionnement physique Download PDF

Info

Publication number
WO2023077705A1
WO2023077705A1 PCT/CN2022/080023 CN2022080023W WO2023077705A1 WO 2023077705 A1 WO2023077705 A1 WO 2023077705A1 CN 2022080023 W CN2022080023 W CN 2022080023W WO 2023077705 A1 WO2023077705 A1 WO 2023077705A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
motor
intelligent
end cover
fitness equipment
Prior art date
Application number
PCT/CN2022/080023
Other languages
English (en)
Chinese (zh)
Inventor
郁亚南
樊玉龙
何增丰
李达来
Original Assignee
东莞市本末科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 东莞市本末科技有限公司 filed Critical 东莞市本末科技有限公司
Publication of WO2023077705A1 publication Critical patent/WO2023077705A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/30—Arrangements for controlling the direction of rotation

Definitions

  • the invention relates to the technical field of intelligent fitness, in particular to an intelligent driving device and an intelligent control method for fitness equipment.
  • the power source of the cleaning robot nowadays is a brushed motor, and a reduction box is used as a transmission device between the brushed motor and the independently set tires to realize the effect of reducing speed and increasing force, and providing power for the walking of the sweeping robot.
  • a reduction box is used as a transmission device between the brushed motor and the independently set tires to realize the effect of reducing speed and increasing force, and providing power for the walking of the sweeping robot.
  • the present invention provides an intelligent driving device and an intelligent control method of a fitness equipment that is highly intelligent and easy to use by controlling the motor to simulate and realize various fitness modes through the cooperation of the driving module and the control module.
  • An intelligent drive device for fitness equipment comprising a drive module, a control module disposed on the drive module, a power supply module electrically connected to the drive module and used to supply power to the drive module, and a power supply module connected to the control module
  • An encoder and a motor connected to the drive module, the motor drive is connected with a pull rope reel.
  • the function of the driving module in the present invention is to convert the control signal sent by the controller into the current control of the motor armature; at the same time, through the current sensor of the driver, the current signal of the motor armature Send it back to the control module.
  • the control module plays the role of commutation control of the motor, control of different control variables such as torque, speed, acceleration and position, and also performs simulation according to different motion modes.
  • a drive module a control module set on the drive module, a power supply module electrically connected to the drive module and used to supply power to the drive module, an encoder connected to the control module and a connection
  • the motor of the drive module is connected with a pull rope; the motor is controlled by the cooperation of the drive module and the control module to simulate various fitness modes, which is highly intelligent and easy to use.
  • Fig. 1 is a schematic diagram of the connection of the intelligent driving device of the fitness equipment of the present invention.
  • Fig. 2 is a schematic connection diagram of the control method of the intelligent drive device of the present invention.
  • Fig. 3 is a schematic diagram of the three-dimensional structure of the motor of the present invention.
  • Fig. 4 is a front view of the motor in Fig. 3 .
  • Fig. 5 is a sectional view of A-A in Fig. 4 .
  • drive module 1 half-bridge module 11, drive bridge module 12, connection port 13, current detection module 14, resistance module 15, control module 2, MCU controller 21, decoding module 22, orthogonal coding Module 23, connecting serial port 24, power supply module 3, encoder 4, motor 5, stator assembly 51, rotor assembly 52, casing 53, rope reel 6, end cap 61, connection step 611, winding shaft 62, through hole 621 , wire cover 63 , winding fixing hole 631 , rotating shaft assembly 64 , rotating shaft 641 , first bearing 642 , second bearing 643 , winding groove 65 .
  • an intelligent driving device for fitness equipment includes a driving module 1, a control module 2 disposed on the driving module 1, electrically connected to the driving module 1 and used for driving the module.
  • the power supply module 3 powered by group 1, the encoder 4 connected to the control module 2 and the motor 5 connected to the drive module 1, the motor 5 is driven and connected with a rope pulley 6.
  • the drive module 1 includes a half-bridge module 11, a drive bridge module 12, a connection port 13, and a current detection module 14, the connection port 13 is connected to the motor 5, the half-bridge module 11 is connected to a resistance module 15, and the resistance
  • the module 15 is a dissipative resistance interface, the drive bridge module 12 is electrically connected to the connection port 13, and further improved, the half bridge module 11 is electrically connected to the controller, and the drive bridge module 12 is electrically connected to the controller;
  • Drive axle module 12 is provided with a plurality of, and described connection port 13 quantity is identical with the quantity of drive axle module 12, and described drive axle module 12 is connected with control module 2;
  • Connection port 13 is a three-phase interface, and described three-phase interface Connect with motor 5;
  • Current detection module 14 is provided with a plurality of, and described current detection module 14 is connected with control module 2, and half bridge module 11 is a half bridge circuit, and driving bridge is used for connecting three-phase interface and motor 5 and is connected, convenient Realize intelligent control.
  • the control module 2 includes an MCU controller 21, a decoding module 22, and an orthogonal encoding module 23, the MCU controller 21 is electrically connected to the decoding module 22, and the decoding module 22 is electrically connected to the orthogonal encoding module 23, The orthogonal coding module 23 is electrically connected with the encoder 4, and the MCU controller 21 is connected with a connection serial port 24, and the connection serial port 24 is connected with the current detection module 14; the combination of the above modules can play the commutation of the motor 5
  • the control functions of different control quantities such as control, torque, speed, acceleration and position are also simulated according to different motion modes.
  • the rope reel 6 includes an end cover 61, a winding shaft 62 centrally connected to the end cover 61, a wire cover 63 connected to the winding shaft 62 and one end away from the end cover 61, and a wire cover 63 located on the winding shaft.
  • the end cover 61 is provided with a connection groove, the winding shaft 62 is placed in the connection groove, and a connection hole is opened in the connection groove, so
  • the winding shaft 62 is provided with a through hole 621, and the through hole 621 corresponds to the connection hole;
  • the end cover 61 is provided with a connection step 611 on the side away from the winding shaft 62, and the connection step 611 is provided with a fixing hole;
  • the end cover 61 A first slope is provided, and the first slope is connected to the outer edge of the winding shaft 62;
  • the wire cover 63 is provided with a countersunk hole, and the countersunk hole corresponds to the through
  • a control method for an intelligent driving device includes the intelligent driving device for fitness equipment, which is used for automatic control of the armature current of the motor 5 .
  • j, k, l, b are parameters, a is acceleration, v is velocity, and x is position.
  • F is the output of the motor 5
  • F can be expressed by the following formula.
  • Tem is the electromagnetic torque of the motor 5 .
  • ⁇ is the angular acceleration of the motor 5 .
  • J is the moment of inertia of the motor 5 .
  • Tf is the resistance torque of the motor 5 .
  • r is the radius of the rope reel 6 .
  • the electromagnetic torque Tem is proportional to the armature current i.
  • the armature current of the motor 5 can be controlled to realize different output modes for fitness, so as to realize different exercise modes in fitness by using the motor 5 .
  • the function of the drive module 1 in the present invention is to convert the control signal sent by the controller into the current control of the armature of the motor 5; at the same time, pass the current signal of the armature of the motor 5 back to the control module 2 through the current sensor of the driver .
  • the control module 2 performs the commutation control of the motor 5, the control functions of different control variables such as torque, speed, acceleration and position, and also performs simulation according to different motion modes.
  • a drive module 1, a control module 2 located on the drive module 1, a power supply module 3 electrically connected to the drive module 1 and used to supply power to the drive module 1, and a control module connected to the control module are provided.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

La présente invention concerne le domaine technique des appareils de conditionnement physique et concerne spécifiquement un appareil d'entraînement intelligent et un procédé de commande intelligent pour un équipement de conditionnement physique. L'appareil d'entraînement intelligent comprend un module d'entraînement, un module de commande prévu pour le module d'entraînement, un module d'alimentation électrique connecté électriquement au module d'entraînement et utilisé pour fournir de l'énergie au module d'entraînement, un codeur connecté au module de commande, et un moteur connecté au module d'entraînement, le moteur ayant une connexion d'entraînement à une bobine de cordon de traction. Au moyen de la coopération du module d'entraînement et du module de commande, la présente invention commande un moteur pour simuler divers modes de conditionnement physique ; l'intelligence est élevée et l'utilisation est pratique.
PCT/CN2022/080023 2021-11-02 2022-03-09 Appareil d'entraînement intelligent et procédé de commande intelligent pour équipement de conditionnement physique WO2023077705A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111290444.XA CN113965115A (zh) 2021-11-02 2021-11-02 一种健身器材的智能驱动装置及智能控制方法
CN202111290444.X 2021-11-02

Publications (1)

Publication Number Publication Date
WO2023077705A1 true WO2023077705A1 (fr) 2023-05-11

Family

ID=79469163

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/080023 WO2023077705A1 (fr) 2021-11-02 2022-03-09 Appareil d'entraînement intelligent et procédé de commande intelligent pour équipement de conditionnement physique

Country Status (2)

Country Link
CN (1) CN113965115A (fr)
WO (1) WO2023077705A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113965115A (zh) * 2021-11-02 2022-01-21 东莞市本末科技有限公司 一种健身器材的智能驱动装置及智能控制方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090009110A1 (en) * 2007-07-03 2009-01-08 Leao Wang Motor control apparatus providing exercise resistance and auto-rewinding functions
CN113318388A (zh) * 2021-07-05 2021-08-31 东莞市本末科技有限公司 一种基于直驱电机的健身装置
CN113332667A (zh) * 2021-07-05 2021-09-03 东莞市本末科技有限公司 一种基于直驱电机的滑板健身装置
CN113332661A (zh) * 2021-07-05 2021-09-03 东莞市本末科技有限公司 一种双电机抖动抵消健身装置
CN113965115A (zh) * 2021-11-02 2022-01-21 东莞市本末科技有限公司 一种健身器材的智能驱动装置及智能控制方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090009110A1 (en) * 2007-07-03 2009-01-08 Leao Wang Motor control apparatus providing exercise resistance and auto-rewinding functions
CN113318388A (zh) * 2021-07-05 2021-08-31 东莞市本末科技有限公司 一种基于直驱电机的健身装置
CN113332667A (zh) * 2021-07-05 2021-09-03 东莞市本末科技有限公司 一种基于直驱电机的滑板健身装置
CN113332661A (zh) * 2021-07-05 2021-09-03 东莞市本末科技有限公司 一种双电机抖动抵消健身装置
CN113965115A (zh) * 2021-11-02 2022-01-21 东莞市本末科技有限公司 一种健身器材的智能驱动装置及智能控制方法

Also Published As

Publication number Publication date
CN113965115A (zh) 2022-01-21

Similar Documents

Publication Publication Date Title
US5236069A (en) Braking device for indoor exercise bicycles
WO2023077705A1 (fr) Appareil d'entraînement intelligent et procédé de commande intelligent pour équipement de conditionnement physique
WO2023279750A1 (fr) Dispositif de conditionnement physique basé sur un moteur électrique à entraînement direct
WO2023279670A1 (fr) Dispositif d'exercice physique à annulation de vibration basé sur un moteur double
US6913506B2 (en) Electric toy top device with support and its associated method of operation
TWM613058U (zh) 腕力球及腕力球之轉動裝置
US6537154B1 (en) Game controller
WO2022247254A1 (fr) Moteur à entraînement direct et appareil intelligent
CN208132948U (zh) 一种紧凑型绳驱动并联机器人
CN105553148B (zh) 一种转轴偏转式永磁发电机
CN114337187A (zh) 轮毂电机及车辆
CN207200551U (zh) 声波振动电机及具有它的声波牙刷和洁面仪
CN216290744U (zh) 一种健身器材的智能驱动装置
CN109510422A (zh) 一种电磁驱动电机及旋转导向钻井工具
CN216959455U (zh) 一种直驱式跑步机电动滚筒
KR101023222B1 (ko) 자가발전기가 구비된 운동기구
CN206099695U (zh) 机器人行走系统用轮毂电机
WO2021254432A1 (fr) Dispositif de moteur électrique à balai à suspension magnétique bidirectionnelle
CN208130503U (zh) 一种具有监控功能的智能玩具
CN206775311U (zh) 一种阻尼式自适应回转调速驱动机构
CN219208869U (zh) 一种力量训练器
US20240226636A9 (en) Fitness device based on direct-drive motor
WO2021210822A1 (fr) Dispositif d'entraînement direct de courroie de marche à l'aide de moteur pmac du type à rotor externe pour tapis roulant
US20230291296A1 (en) Magnetic Cylinder Gear System
CN115674162B (zh) 一种具有单向离合的钢丝绳驱动单元

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22888745

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE