CN109381835B

CN109381835B - Exercise equipment force source device and exercise equipment

Info

Publication number: CN109381835B
Application number: CN201811548042.3A
Authority: CN
Inventors: 韩笑; 李亚威; 周有为
Original assignee: Shanghai Xiaoyu Information Technology Co ltd
Current assignee: Shanghai Xiaoyu Information Technology Co ltd
Priority date: 2018-07-09
Filing date: 2018-12-18
Publication date: 2024-09-27
Anticipated expiration: 2038-12-18
Also published as: CN109381835A

Abstract

The invention discloses an exercise equipment force source device and an exercise equipment. The exercise device force source apparatus includes: a frame; the movable piece can move in the horizontal direction and/or can be arranged on the frame in a lifting manner; a first urging mechanism configured to be able to apply an urging force directly to the moving member or to apply an urging force to the moving member through the transmission mechanism; the second force application mechanism is used for applying a pulling force to the moving part to counteract the gravity of the moving part or counteract the gravity of the moving part, the first force application mechanism and/or the transmission mechanism. In the exercise equipment force source device and the exercise equipment, the moving piece or the gravity of the moving piece and the first force application mechanism and/or the transmission mechanism is counteracted by the pulling force of the second force application mechanism, the inertia is small, and the exercise equipment is not easy to be out of control and injure an exerciser.

Description

Exercise equipment force source device and exercise equipment

Technical Field

The invention relates to an exercise equipment force source device and an exercise equipment.

Background

With the rapid development of economy, people work increasingly more and more, and more people exercise their bodies through body building. Accordingly, various fitness equipment is constantly changing with the needs of people. The existing body-building equipment comprises rowing machines or exercise equipment such as weight lifting ropes and tension ropes. The body-building equipment is deficient in automation and intelligence, and has poor safety.

Particularly, in the weightlifting-like exercise, an exerciser needs to grasp or lift the barbell, so that body building is realized, automation and intellectualization are not enough, and body building experience is poor. In addition, the traditional barbell has large mass and large inertia, and is inconvenient for an exerciser to operate. The barbell has large mass, and when the exerciser is out of operation, the barbell is easy to smash the exerciser, so that safety accidents are caused. Such exercise equipment also cannot accurately record the exercise amount data of the athlete.

Disclosure of Invention

It is an object of the present invention to overcome at least one of the deficiencies of the prior art by providing an exercise device force source apparatus and exercise device that enable automation.

In order to achieve the above purpose, the present invention is realized by the following technical scheme:

According to a first aspect of the present invention, an exercise device force source apparatus is provided. The exercise device force source apparatus includes: a frame; the moving piece is arranged on the frame in a liftable and/or horizontal movable way; a first urging mechanism configured to be able to apply an urging force directly to the moving member or to apply an urging force to the moving member through a transmission mechanism; and the second force application mechanism is used for applying a pulling force to the moving part and is used for counteracting part or all of the gravity of the moving part or counteracting part or all of the gravity of the moving part and the first force application mechanism and/or the transmission mechanism.

Optionally, the second force application mechanism is configured to apply a pulling force to the moving member all the time during lifting of the moving member.

Optionally, the second force application mechanism is configured to apply a constant or approximately constant pulling force to the moving member during lifting of the moving member.

Optionally, the second force application mechanism is an elastic device, a counterweight, a pneumatic device, a hydraulic device, a magnetic device or a motor.

Optionally, the elastic device is a cylindrical spring, a gas spring and/or a bungee cord; the gas spring comprises a telescopic piston rod, and the piston rod is directly connected or indirectly connected with the moving piece.

Optionally, the device further comprises a force magnitude conversion device, and the moving piece is connected with the second force application mechanism through the force magnitude conversion device; by the force conversion device, the pulling force exerted by the second force application mechanism is smaller than the gravity of the moving piece, and the gravity of the moving piece can be offset or approximately offset.

Optionally, the force conversion device comprises one or more movable pulleys and a pull rope, wherein one end of the pull rope is connected with the moving piece, and the other end of the pull rope is connected with the second force application mechanism after bypassing the movable pulleys.

Optionally, the force magnitude switching device further comprises a fixed pulley, the fixed pulley is one or more, and the pull rope bypasses the fixed pulley.

Optionally, the second force application mechanism is a gas spring, the gas spring includes a telescopic piston rod, and the piston rod is connected with the moving member through the pull rope

Optionally, the frame has a front end width that is less than a rear end width.

Optionally, the first force application mechanism is configured such that when the other force moves the moving member, the force applied by the first force application mechanism to the moving member constitutes a resistance to movement of the moving member.

Optionally, the magnitude of the force applied by the first force application mechanism is adjustably set.

Optionally, the direction of the acting force output by the first force application mechanism is set interchangeably.

Optionally, the device further comprises a control device, wherein the control device controls whether the first force application mechanism outputs acting force, the direction of the output acting force and/or the acting force.

Optionally, when the moving member moves in the first direction, the acting force applied by the first force application mechanism to the moving member forms a resistance to the moving member moving in the first direction; when the moving member moves towards the second direction, the acting force applied by the first force application mechanism to the moving member can be stopped or replaced by resistance force for moving the moving member towards the second direction, and the acting force is adjustable; the first direction is opposite to the second direction or forms an obtuse included angle.

Optionally, the first force application mechanism may be movably disposed to control the moving member.

Optionally, the transmission mechanism comprises a driving gear and a rack, and the driving gear is meshed with the rack; the driving gear is connected with the moving piece; the first force application mechanism drives the driving gear to rotate so as to drive the moving piece to lift.

Optionally, the moving part comprises a base, and the base is sleeved on the cross rod and can be arranged in a manner of moving along the horizontal direction of the cross rod.

Optionally, the moving member further comprises an L-shaped frame; the cross rod is arranged on the L-shaped frame; the first force application mechanism is a rotating motor; the rotating motor is arranged on the L-shaped frame; the transmission mechanism comprises a transmission shaft, a driving gear and a rack; the transmission shaft is rotatably arranged on the L-shaped frame; the driving gear is arranged on the transmission shaft, and the rack is arranged on the frame; the driving gear is meshed with the rack and can be arranged along the rack in a lifting manner.

Optionally, a roller is further disposed on the L-shaped frame, and the roller may be disposed along the frame in a rolling manner.

Optionally, a force sensor is arranged on the moving member, and the force sensor is used for detecting whether the moving member receives acting force and/or the acting direction, and outputting different signals according to whether the connecting device receives upward pulling force and/or the acting force.

Optionally, the moving member includes a connecting device and a base, and the connecting device is connected with the base; the force sensor is used for detecting whether the connecting device is subjected to upward tension and/or the upward tension; and outputs different signals according to whether the connecting device is subjected to upward tension and/or the magnitude of the upward tension. .

Optionally, the device further comprises a first detection device for detecting the acceleration of the moving member.

Optionally, the first force application mechanism includes a motor and/or a cylinder.

Optionally, the motor is a servo motor having a drive controller configured to detect the power of the servo motor; and/or the servo motor is provided with a drive controller and an output shaft, an encoder for detecting the rotation speed of the output shaft is arranged on the output shaft, and the encoder transmits signals to the drive controller according to the rotation speed of the output shaft.

According to a second aspect of the present invention, an exercise device is provided. The exercise device includes: the exercise device force source apparatus described above; and the body-building accessory is connected with the moving part.

Optionally, the exercise accessory is a rod, a pull cord, a handle, or a pull ring.

Optionally, the lever is rotatably connected to the moving member.

Optionally, the exercise device is further provided with a force sensor for detecting whether the exercise accessory is subjected to a force, and/or the magnitude of the force applied, and outputting a different signal depending on whether the force is applied or the magnitude of the force applied.

Optionally, the moving member includes a collar and a base, the collar being connected to the base; the force sensor is arranged between the lantern ring and the base and is connected with the lantern ring; the lantern ring is sleeved on the rod, and the lantern ring is connected with the rod through a rotating bearing; the base is sleeved on the cross rod and can be arranged along the horizontal direction of the cross rod in a movable mode, and the base is connected with the cross rod through a linear bearing.

Optionally, the method further comprises: the control device controls the force application mechanism to work and controls the direction and the magnitude of the acting force output by the force application mechanism; the first detection device is used for detecting the position, displacement, moving speed or acceleration of the moving part or the body-building accessory and transmitting signals to the control device; and/or a second detection device, which is used for detecting the power of the force application mechanism and transmitting a signal to the control device; the control device controls the force applying mechanism to stop or output the direction and/or the magnitude of the acting force according to the signals transmitted by the first detection device and/or the second detection device.

Compared with the prior art, in the exercise equipment force source device and the exercise equipment, the first force application mechanism can directly or indirectly apply the acting force to the moving part. The acting force exerted by the first force application mechanism and other acting forces are matched to act on the moving part, so that the training function can be achieved.

The weight of the moving member or the moving member and the first force application mechanism and/or the transmission mechanism is counteracted by the pulling force of the second force application mechanism. The moving part or the gravity of the moving part and the first force application mechanism and/or the transmission mechanism is counteracted by the pulling force of the second force application mechanism, the inertia is small, and the exerciser is not easy to be injured out of control.

When other forces, such as manpower, act on the moving member, only the force applied by the first urging mechanism to the moving member constitutes resistance to the movement of the moving member, and the minimum value of the resistance can be set small.

The second force application mechanism is a gas spring, and the gas spring can always apply a pulling force to the moving part. The magnitude of the pulling force applied by the gas spring to the moving member during the lifting process of the moving member can be unchanged or set approximately unchanged. The second force application mechanism is reliable in force application and can stably lift the moving part.

By means of the force-magnitude conversion device, the second force-applying mechanism can be set to be smaller in the applied tensile force. The force conversion device comprises a movable pulley arranged on the second force application mechanism and a pulley block wound on the movable pulley, wherein the pull rope can be divided into at least two sections for hanging the second force application mechanism, so that the pulling force of the second force application mechanism can be saved, and the pulling force applied by the second force application mechanism can be set smaller.

Through setting up the fixed pulley, can change the direction of stay cord, be convenient for the winding of stay cord is established, has saved the occupation space of stay cord, avoids exercise equipment power source device and exercise equipment area too big, high.

Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic view of a force source device of an exercise apparatus according to a first embodiment of the present invention.

Fig. 2 is a schematic view of a portion of the exercise device of fig. 1.

Fig. 3 is a schematic view of a portion of the exercise device of fig. 1 with the frame removed.

Fig. 4 is a schematic of the force applied by the first force applying mechanism in the exercise device of fig. 1.

Fig. 5 is a schematic diagram of the control principle in the exercise device of the present invention.

Fig. 6 is a schematic of the force applied by a second force applying mechanism in the exercise device of fig. 1.

Fig. 7 is an enlarged schematic view of the portion a in fig. 6.

Fig. 8 is a schematic diagram of an exercise apparatus according to a second embodiment of the present invention.

100: Exercise equipment force source means; 10: a frame; 11: a first guide part; 12: a second guide part; 13: a first connection portion; 14: a second connecting portion; 15: a third connecting portion; 200: a moving member; 20: an L-shaped frame; 21: a cross bar; 22: a base; 23: a force sensor; 24: a collar; 26: a roller; 30: a rotating electric machine; 31: synchronous belt transmission; 40: a transmission shaft; 41: a drive gear; 42: a rack; 43: a driven gear; 50: a pull rope; 60: a gas spring; 61: a piston rod; 62: a mounting head; 70: pulley block; 71: a movable pulley; 72: a fixed pulley; 80: a rod; 300: an exercise device.

Detailed Description

The invention is described in detail below with reference to the attached drawing figures:

Embodiment one:

Referring to fig. 1, a force source device of an exercise apparatus is provided in the present invention. The exercise device force source apparatus 100 includes a frame 10, a mover 200, a first force applying structure, and a second force applying structure. The moving member 200 is movably disposed on the frame 10. The moving member 200 is horizontally movable and/or liftably provided on the frame 10.

The first force application mechanism is used for directly applying force to the moving member 200; or the first force application structure applies force to the moving member 200 through a transmission mechanism. When other forces, such as a human force, act on the moving member 200, the force applied by the first urging mechanism to the moving member 200 constitutes a resistance to the movement of the moving member 200. The first force application mechanism cooperates with other acting forces to act on the moving member 200, so as to achieve a training function.

The second force application mechanism is used for applying a pulling force to the moving member 200. The pulling force exerted by the second force application mechanism at least counteracts the gravitational force of the moving member 200. Of course, when the first force applying mechanism and/or the transmission mechanism is connected to the moving member 200 and moves together with the moving member 200, the pulling force applied by the second force applying mechanism counteracts the gravity of the moving member 200 and the first force applying mechanism and/or the transmission mechanism.

The weight of the moving member 200, or the moving member 200 and the first force application mechanism and/or the transmission mechanism is offset by the tension of the second force application mechanism. When other forces, such as a human force, are applied to the moving member 200, only the force applied by the first urging mechanism to the moving member 200 constitutes a resistance to the movement of the moving member 200, and the minimum value of the resistance can be set small and can be accurately controlled. Since the weight of the moving member, the first force applying mechanism and/or the transmission mechanism is counteracted, the force applied by the second force applying mechanism can be precisely controlled, thereby facilitating the exercise personnel to know or select the required force so as to be able to exercise better. For example, when an exerciser needs to lift ten kilograms of weight, the acting force applied by the first force application mechanism is equivalent to the gravity of the ten kilograms of weight, and the gravity of the moving member, the first force application mechanism and/or the transmission mechanism is not needed to be considered. If the force cannot be completely counteracted, the gravity which is not counteracted is increased or reduced in the acting force output by the first force application mechanism before the exercise. The moving member 200, or the gravity of the moving member 200 and the first force application mechanism and/or the transmission mechanism is offset by the tension of the second force application mechanism, so that the inertia is small, and the exerciser is not easy to be injured by out-of-control smashing.

In this embodiment, referring to fig. 2 to 4, the first force applying mechanism applies a force to the moving member 200 through a transmission mechanism. Specifically, the transmission mechanism includes a drive gear 41 and a rack 42. The rack 42 is provided on the frame 10. The rack gear 42 is engaged with the drive gear 41. The driving gear 41 is rotatably connected to the moving member 200. When the movable member 200 moves up and down, the driving gear 41 rolls on the rack 42, so that the movable member 200 moves in the extending direction of the rack 42. For example, the rack 42 may be vertically disposed, and the moving member 200 may be vertically movable up and down along the rack 42.

The rack gear 42 may further be engaged with a driven gear 43, and the driven gear 43 may be rotatably provided on the moving member 200. When the moving member 200 moves up and down, the driven gear 43 is driven to roll along the rack 42. The driven gear 43 can make the lifting of the moving member 200 smoother.

The first force application mechanism is a rotary motor 30, preferably a servo motor. The mover 200 further includes an L-shaped frame 20 having a base and a protrusion provided on the base to facilitate the installation of other components. The rotary electric machine 30 is provided on the L-shaped frame 20. The transmission mechanism further includes a transmission shaft 40, and the transmission shaft 40 is rotatably provided on the L-shaped frame 20. The moving member 200 is provided with a through hole, the transmission shaft 40 is inserted into the through hole, and a rolling bearing may be disposed between the transmission shaft 40 and the through hole. The driving gear 41 is coaxially fixed to the transmission shaft 40. The rotating motor 30 provided in the L-shaped frame 20 can apply a force to the moving member 200 via the transmission shaft 40 and the transmission mechanism. In this embodiment, the rotating shaft of the rotating electric machine 30 may be connected to the transmission shaft 40; alternatively, the rotating electric machine 30 may be connected to the drive shaft 40 via a drive mechanism such as a timing belt 31.

When other forces, such as manpower, are applied to the moving member 200, the driving gear 41 rolls on the rack 42 to achieve lifting. The rotating motor 30 provided on the L-shaped frame 20 may apply a mating force, such as a resistance force, to the moving member 200 through the transmission shaft 40 and the transmission mechanism.

In order to guide the vertical movement of the moving member 200, a roller 26 is further provided on the L-shaped frame 20, and the roller 26 is rotatably provided on the frame 10. The roller 26 can roll along the frame 10 when the moving member 200 moves up and down. A guide groove for guiding the rolling direction of the roller 26 may be provided in the frame 10.

In order to enable the moving member 200 to move in the horizontal direction, a cross bar 21 is further disposed on the L-shaped frame 20, and the cross bar 21 is disposed to extend in the horizontal direction. The moving member 200 includes a base 22, the base 22 is sleeved on the cross bar 21, and the base 22 can move along the horizontal direction of the cross bar 21. In this way, the moving member 200 can move in the horizontal direction.

The mover 200 can be coupled to a body-building accessory as described below. To detect the force applied to the moving member 200, a force sensor 23 is provided on the moving member 200. The force sensor 23 is communicatively connected to the control device 400. The force sensor 23 is a load cell, and is configured to detect whether the moving member 200 receives a force, and/or the magnitude and/or direction of the force, and output a signal to the control device 400 according to whether the moving member 200 receives a force, and/or the magnitude and/or direction of the force. In this embodiment, the mover 200 further includes a collar 24 and a base 22. The collar 24 is connected to the base 22. The force sensor 23 is mounted between the collar 24 and the base 22, and the force sensor 23 is mounted on the base 22 and connected to the collar 24. The base 22 may comprise a sleeve portion for fitting over the rail 21 and a support portion for supporting the force sensor 23. An upward force is applied by the collar 24, which acts on the force sensor 23 and can be measured. The pulling force is transmitted to the base 22 and can act on the moving member 200. Collar 24 is one embodiment of the attachment device of the present invention that functions to facilitate attachment of rod 80 (described in embodiment 2) to moveable member 200. Collar 24 may be replaced with other configurations of attachment means, as may be the case with exercise equipment types. For example, if instead of the lever 80, a pull ring or pull cord is used, the collar 24 may be replaced with a circular ring, a hook, or the like. When the collar 24 is subjected to an upward pulling force, the pulling force is transmitted through the collar 24 to the force sensor 23. The force sensor 23 is subjected to a tension which varies gradually from no to little or from little to big or irregularly. The force sensor 23 can detect whether the collar 24 is under tension, and/or the magnitude of the tension, and/or the direction of the force, and output different signals according to whether the collar is under tension or the magnitude of the tension. The movement direction or other movement state of the movable member 200 can be judged according to the signal change of the force sensor 23.

In this embodiment, when the moving member 200 is moved by other force, the first force applying mechanism may apply the force to the moving member 200 to form a resistance to the movement of the moving member 200, so as to achieve an exercise effect.

As shown in fig. 2, the moving member 200 can move in the first direction D1 or the second direction D2. By means of the force sensor 23, the direction of the force exerted on the force sensor 23 can be detected. The first direction D1 is opposite to the second direction D2 or is disposed at an obtuse angle. When the movable member 200 moves in the first direction D1, the force applied to the movable member 200 by the first force applying mechanism may constitute a resistance to the movement of the movable member 200 in the first direction D1. When the moving member 200 moves in the second direction D2, the force applied by the first force applying mechanism to the moving member 200 may be replaced with a resistance force for moving the moving member 200 in the second direction D2, and the magnitude of the force may be adjustable. In this embodiment, the first direction D1 is opposite to the second direction D2. The rack 42 is vertically disposed, the first direction D1 is vertically upward, and the second direction D2 is vertically downward. Of course, in other embodiments, the included angle between the first direction D1 and the second direction D2 may be an obtuse angle, and the directions of the back and forth movement of the moving member 200 are not completely opposite.

Of course, in other embodiments, when the moving member 200 moves in the second direction D2, the force applied by the first force applying mechanism to the moving member 200 may be stopped. When in misoperation, the first force application mechanism does not drive the moving member 200 to injure the exerciser by smashing.

Of course, the first force application mechanism may also be configured to control the movement of the movable member 200. The exercise experience of the exercise device force source apparatus 100 is better. The first force application mechanism can prevent the moving member 200 from injuring the exerciser by driving the moving member 200 to move.

The force applied by the first application mechanism can be specifically set according to the requirement. Preferably, the magnitude of the force applied by the first force application mechanism is adjustable. The direction of the acting force output by the first force application mechanism can be changed. In this manner, the exercise device force source apparatus 100 can match different training requirements of a user, enhancing the training experience. Correspondingly, the exercise device force source apparatus 100 further comprises a control device that controls whether the first force mechanism outputs a force, the direction of the output force and/or the magnitude of the force.

Fig. 5 shows a schematic diagram of the control principle of the first force applying mechanism in this embodiment, and the exercise device force source apparatus in this embodiment further includes a control device 400. The first force application mechanism is a rotating motor 30, which is a servo motor. The servo motor has a drive controller 52, the drive controller 52 being configured to detect the power of the servo motor; and/or, the servo motor is provided with a drive controller 52 and an output shaft 51, an encoder 53 for detecting the rotation speed of the output shaft is mounted on the output shaft 51, and the encoder 53 transmits a signal to the drive controller 52 according to the rotation speed of the output shaft 51. The servo motor may be a brushed motor or a brushless motor. The control device 400 is communicatively connected to the drive controller 52. The encoder 52 is communicatively coupled to the drive controller 52 or to a control device 400. The instantaneous power of the servo motor 50 detected by the drive controller 52 and a signal is sent to the control device 400 according to the power level. The control device 400 can determine the instantaneous power of the servo motor 50 based on the signal from the drive controller 52. The encoder 53 transmits a signal to the control device 400 based on the detected rotational speed or acceleration of the output shaft 51. The control device 400 can determine the rotational speed or acceleration of the output shaft 51 based on the signal sent from the encoder 53. The control device 400 may be a programmable logic controller, an industrial personal computer or a computer.

To detect the movement state of the movable member 200, the exercise device force source apparatus 100 may further include a first detecting means for detecting the acceleration of the movable member 200. For example, the first detecting device may be the encoder 53, or may be an acceleration sensor provided on the movable member 200. The first detecting device may be a detecting device for detecting acceleration of the motor shaft, or may be a sensor for detecting acceleration of the moving member 200. The force sensor 23 may not be provided when the first detection means is provided. Or the present invention provides only the force sensor 23 without judging the acceleration of the moving member 200 by the encoder 53.

The second force application mechanism is used for applying a pulling force to the moving member 200. The second force application mechanism may always apply a pulling force to the moving member 200 during the lifting of the moving member 200. During the lifting process of the moving member 200, the second force application mechanism may apply a constant or approximately constant pulling force to the moving member 200.

In this embodiment, please refer to fig. 6 and 7, the second force application mechanism is a gas spring 60. The gas spring 60 comprises a telescopic piston rod 61, said piston rod 61 being directly or indirectly connected to the displacement member 200. The gas spring 60 can apply a pulling force to the moving member 200 to counteract the weight of the moving member 200 or to counteract the weight of the moving member 200 and the first force application mechanism and/or the transmission mechanism. The gas spring 60 may always apply a tensile force to the mover 200. During the lifting of the movable member 200, the amount of the pulling force applied to the movable member 200 by the gas spring 60 may be set to be constant or approximately constant. Of course, in other embodiments, the second force application mechanism may be replaced by an elastic tension rope, a cylindrical spring, a counterweight, a pneumatic device, a hydraulic device, a magnetic device, or a motor, etc., and the second force application mechanism may counteract or approximately counteract part or all of the gravity of the moving member 200, or may counteract part or all of the gravity of the moving member 200 and the first force application mechanism and/or the transmission mechanism. If the pulling force exerted by the second force application mechanism fails to fully counteract the weight of the moving member 200 and the first force application mechanism and/or the transmission mechanism, the force output by the first force application mechanism needs to be subtracted by the value of the weight that is not counteracted. For example, the pulling force output by the second force application mechanism does not counteract the gravity corresponding to the weight of 1 kg. When the exerciser needs to lift the weight of 10 kg, the acting force output by the first force application mechanism needs to be equivalent to the weight of 9 kg, and at the moment, the exerciser is equivalent to the weight of 10 kg. Otherwise, if the pulling force output by the second force application mechanism is greater than the gravity of the moving member 200 and the first force application mechanism and/or the transmission mechanism, the acting force output by the first force application mechanism needs to be increased by a value that the pulling force of the second force application mechanism exceeds the gravity. For example, the total weight of the moving member 200 and the first force applying mechanism and/or the transmission mechanism is 10 kg, and the pulling force output by the second force applying mechanism corresponds to 11 kg of gravity. The force applied by the first force application mechanism is equal to a weight of 11 kg, and the exerciser is equivalent to pushing up a weight of 10 kg.

In this embodiment, the moving member 200, the first applying mechanism and the driving gear 41 are connected together to move up and down synchronously, and the tensile force applied by the gas spring 60 counteracts the gravity of the moving member 200, the first applying mechanism and the driving gear 41. The frame 10 in this embodiment may be a tubular structure, and the gas spring 60 is disposed in a lumen of the frame 10.

In order to enable the second force applying mechanism to counteract or approximately counteract the weight of the moveable member 200 with a small pulling force, the exercise device force source apparatus 100 further includes a force magnitude switching device. The moving member 200 is connected to the second force applying mechanism through the force magnitude conversion device, and the pulling force applied by the second force applying mechanism can be set smaller.

By means of the force-magnitude conversion device, the second force-applying mechanism can counteract the weight force of the moving member 200, or the weight force of the moving member 200 and the first force-applying mechanism and/or the transmission mechanism. Or by the force magnitude conversion device, the second force application mechanism can approximately counteract the gravity of the moving member 200, or the gravity of the moving member 200 and the first force application mechanism and/or the transmission mechanism. For example, by the force magnitude conversion device, the pulling force applied by the second force application mechanism may be at least 80% or 90% or 95% of the gravity of the moving member 200, or the gravity of the moving member 200 and the first force application mechanism and/or the transmission mechanism, and the specific proportion may be determined according to practical situations. The pulling force applied by the second force application mechanism can be set smaller.

The force conversion device comprises a pulley block 70 and a pull rope 50 wound on the pulley block 70. A piston rod 61 of the gas spring 60 is provided with a mounting head 62. For example, the mounting head 60 may be a U-shaped head. The pulley block 70 comprises a movable pulley 71. The movable sheave 71 is rotatably mounted on the mounting head 62. The number of the movable pulleys 71 is one or more. One end of the pull rope 50 is connected to the moving member 200, and the other end of the pull rope 50 is connected to the mounting head 62 after bypassing the movable pulley 71. The moving member 200 is connected to the second biasing mechanism via the pull cord 50. The movable pulley 71 is disposed on the piston rod 61 of the gas spring 60, and the pull rope 50 is divided into at least two sections to suspend the gas spring 60, so that the tension of the gas spring 60 can be saved, and the tension applied by the second force application mechanism can be set smaller.

The pulley block 70 further comprises a fixed pulley 72. The crown block 72 is rotatably mounted to the frame 10. For example, at least a portion of fixed pulley 72 may be fixedly disposed within the lumen of frame 10. The number of fixed pulleys 72 is one or more. The pull cord 50 passes around the crown block 72. By arranging the fixed pulley 72 to change the direction of the pull rope 50, the pull rope 50 is convenient to wind, the space occupied by the pull rope 50 is saved, the size of the exercise equipment force source device 100 is reduced, and the situation that the occupied area of the exercise equipment force source device 100 is overlarge and the height is overlarge is avoided.

In this embodiment, there are three movable pulleys 71. The number of fixed pulleys 72 is five. One end of the pull cord 50 is connected to the moving member 200 and extends in a direction opposite to the gravitational force of the moving member 200.

The specific manner in which the pull rope 50 is wound on the pulley block 70 may be specifically set as required. In this embodiment, the pull cord 50 is divided into seven segments to suspend the second force application mechanism, so that the pulling force of the second force application mechanism can be saved, and the pulling force applied by the second force application mechanism can be smaller.

The frame 10 is used for installation and support, and its specific structure can be set according to the need. In this embodiment, as shown in fig. 1, the frame 10 includes a front end and a rear end, and the front end is disposed opposite to the rear end. The width B1 of the front end is smaller than the width B2 of the rear end. The horizontal section of the exercise equipment force source device 100 is trapezoidal, so that a plurality of exercise equipment force source devices 100 can be easily arranged, combined and stacked together in sequence, and occupied space is saved.

Embodiment two:

The present invention also provides an exercise device, referring to fig. 8, the exercise device 300 includes an exercise accessory and an exercise device force source apparatus 100 as provided in one embodiment. The exercise accessory is connected to the mobile member 200. When the exerciser operates the exercise accessory to move, the exercise accessory applies other forces to the moving member 200, causing the moving member 200 to move. The gravity of the moving member 200 or the gravity of the first biasing mechanism and/or the transmission mechanism is offset by the second biasing mechanism, and only the biasing force applied by the first biasing mechanism to the moving member 200 constitutes a resistance to the movement of the moving member 200, and the minimum value of the resistance can be set small. The moving member 200, or the gravity of the moving member 200 and the first force application mechanism and/or the transmission mechanism is offset by the tension of the second force application mechanism, so that the inertia is small, and the exerciser is not easy to be injured by out-of-control smashing.

The exercise accessory may be a rod, a rope, a handle, a pull ring, or the like. In this embodiment, the exercise accessory is a rod 80. The number of the moving members 200 is two, the two first moving members 200 are oppositely arranged, and the two moving members 200 are respectively connected to two ends of the rod 80. Correspondingly, the number of the first force applying mechanisms is two, so as to apply force to the moving member 200. Both ends of each of the first moving members 200 are connected to one of the second force applying mechanisms. The number of the second force application mechanisms is two pairs.

As shown in fig. 1, the front end includes at least a pair of first guide portions 11 disposed opposite to each other, and is a tubular mechanism. The pair of first guide portions 11 are connected to each other by a first connecting portion 13. The width of the front end is the distance between the pair of first guide portions 11. The second force application mechanisms are arranged in the lumens of the pair of first guide parts 11. The rear end includes at least a pair of oppositely disposed second guide portions 12, which are tubular in configuration. The pair of second guide portions 12 are connected by a second connecting portion 14. The width of the rear end is the distance between a pair of the second guide portions 12. The second force application mechanisms are disposed in the lumens of the pair of second guide portions 12. The pair of first guide portions 11 is disposed opposite to the pair of second guide portions 12. The first guide portion 11 and the second guide portion 12 may be connected by a third connection portion 15. Both ends of each of the moving members 200 are respectively liftably provided on the front end and the rear end.

The lever 80 is rotatably coupled to the moving member 200. In this embodiment, the mover 200 includes a collar 24 and a base 22. The base 22 is sleeved on the cross bar 21 and can be arranged along the horizontal direction of the cross bar 21 in a movable manner, and the base 22 is connected with the cross bar 21 through a linear bearing. The collar 24 is connected to the base 22. The force sensor 23 is mounted between the collar 24 and the base 22 and is connected to the collar 24. The collar 24 is sleeved on the rod 80, and the collar 24 is connected with the rod 80 through a rotating bearing.

When the exerciser uses the present invention, the lever 80 is lifted to move in the first direction D1, for example, upward, and the force sensor 23 receives the upward pulling force in the first direction D1 and outputs a corresponding signal to the control device 400 according to the magnitude of the pulling force. If the exerciser lifts the rod 80 to a certain height and maintains the height, the force sensor 23 is continuously pulled upward and maintained in a state of outputting a signal. When the exerciser operates the lever 80 to move in the second direction D2, for example, downward, the force sensor 23 is not applied or is subjected to a decrease in upward tension, and the signal of the force sensor 23 is lost or a corresponding signal is output according to the magnitude of the force. If an unexpected, complete failure of the support rod 80 or the inability to maintain the rod 80 in the desired position during exercise occurs, the tension on the force sensor 23 is lost or reduced to some extent, and the signal from the force sensor 23 is lost or changed to some extent, such as reduced to some extent. Accordingly, the control device 400 can determine whether the bar 80 is supported by the exerciser, and thus whether the exerciser is weak to the bar 80, by the signal change of the force sensor 23. The signal change of the force sensor 23 may be a change from no to no signal, a change in signal strength, or a change in output electric signals of different states, such as a high level and a low level, according to the magnitude of the force. In summary, based on the above variations, the control device 400 can determine whether the upward tension applied to the force sensor 23 has been varied to the extent that the exerciser is unable to support the bar 80. When the control device 400 judges that the exerciser is unable to support the bar 80, the control device 400 controls the rotating motor 30 to stop working, and immediately stops the moving member 200 and the bar 80 from falling down, so as to avoid injuring the exerciser by smashing.

The determination of whether the exerciser is weak to support the bar 80 may be performed by the following method in addition to the force sensor 23 or instead of the method determined by the force sensor 23. The exercise device 300 further includes a control device 400, wherein the control device 400 controls the rotating motor 30 to work and controls the direction and the magnitude of the acting force output by the rotating motor 30. The exercise device 300 also includes a first detection means. The first detecting means is for detecting a position, a displacement, a moving speed or an acceleration of the moving member 200 or the lever 80, and transmitting a signal to the control means 400. The first position detecting means may be a displacement sensor built in the rotary electric machine 30, detecting the displacement of the lever 80 by detecting the number of rotations of the output shaft 51, and delivering a signal to the control means 400. The control device 400 calculates the moving speed or acceleration of the lever 80 based on the signal transmitted from the displacement sensor. Alternatively, an acceleration sensor may be provided on the movable member 200 or the lever 80, and the acceleration of the lever 80 or the movable member 200 may be detected by the acceleration sensor. If the trainer trains normally, the speed or acceleration at which the bar 80 descends should be a normal value and the normal value may be taken as the set value. When the trainer cannot support the bar 80, the descent speed or acceleration of the bar 80 exceeds the normal value. If the falling speed or acceleration of the bar 80 is detected to exceed the set value, it may be regarded that the trainer cannot support the bar 80. The control device 400 controls the rotating motor 30 to stop working, and immediately stops the moving member 200 and the rod 80 from falling down, so as not to injure the trainer by smashing.

In order to determine whether the trainer can train normally, the support rod 80 may further be provided with a second detection device for detecting the power of the first force application mechanism and transmitting a signal to the control device 400. The control device 400 controls the first force applying mechanism to stop or output the direction and/or the magnitude of the acting force according to the signal transmitted by the second detection device. In this embodiment, the first force application mechanism is a rotating motor 30, which is a servo motor. The servo motor is provided with a drive controller 52 and the second detection means are integrated in the drive controller 52. If the servo motor outputs 20 kg of downward force, if the trainer does not lift the rod 80, the power of the servo motor is smaller, and the value can be regarded as a set value to be compared. When the trainer lifts the lever 80, the output power of the servo motor is larger than that when the trainer lifts the lever 80. By detecting whether the power of the servo motor is greater than a set value, it can be determined whether there is a trainer lifting the lever 80. If the person is not lifted, it is determined that the person is in a dangerous state because the person loses the support for the lever 80. At this time, the servo motor is controlled by the control device 400 to stop operation, and the rod 80 is immediately stopped. The judgment threshold value of the power of the servo motor may be set so that the power detected is not greater than 20%, 50% or 1 times the set value, that is, the power is regarded as the power that the trainer cannot support the lever 80. Whether 20%, 50% or 1 time is obtained can be determined according to practical situations.

The exercise device 300 may further include a level gauge for measuring whether the bar 80 is level and outputting a signal according to the measurement result. According to the levelness detected by the level measuring instrument, the training condition can be correspondingly analyzed. For example, the level gauge is a gyroscope provided on the rod 80. For another example, the leveling instrument may be a grating scale, a laser detector, or the like for detecting the levelness of the rod 80. If it is detected that the lever 80 is not in the horizontal state, one of the servo motors may be adjusted to drive one end of the lever 80 to move so that the lever 80 is in the horizontal state.

In the above embodiment, only one of the first detecting device, the force sensor 23, and the second detecting device may be selected, or two or three of them may be selected together for determining whether the lever 80 is supported.

In the exercise equipment force source device and the exercise equipment provided by the invention, the first force application mechanism can directly or indirectly apply force to the moving part. The acting force exerted by the first force application mechanism and other acting forces are matched to act on the moving part, so that the training function can be achieved.

The second force application mechanism is a gas spring, and the gas spring can always apply a pulling force to the moving part. In the lifting process of the moving part, the magnitude of the pulling force applied by the gas spring to the moving part can be set unchanged. The second force application mechanism is reliable in force application and can stably lift the moving part.

The above is only a preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions or improvements within the spirit of the present invention are intended to be covered by the claims of the present invention.

Claims

1. An exercise device force source apparatus comprising:

The frame is provided with a plurality of grooves,

The moving piece is arranged on the frame in a liftable and/or horizontal movable way;

A first urging mechanism configured to be able to apply an urging force directly to the moving member or to apply an urging force to the moving member through a transmission mechanism, the urging force applied to the moving member by the first urging mechanism constituting a resistance to movement of the moving member when the other urging force moves the moving member; the said

The first force application mechanism comprises a motor and/or a cylinder;

the second force application mechanism is used for applying a pulling force to the moving part and is used for counteracting part or all of the gravity of the moving part or counteracting part or all of the gravity of the moving part and the first force application mechanism and/or the transmission mechanism;

the moving part is connected with the second force application mechanism through the force magnitude conversion device; the second force application mechanism applies a pulling force smaller than the gravity of the moving piece through the force magnitude conversion device, so that the gravity of the moving piece can be offset or approximately offset;

The force conversion device comprises one or more movable pulleys, a pull rope and a fixed pulley, wherein one end of the pull rope is connected with the moving part, the other end of the pull rope bypasses the movable pulley and is connected with the second force application mechanism, the number of the fixed pulleys is one or more, and the pull rope bypasses the fixed pulley; the movable part comprises a base and an L-shaped frame, the base is sleeved on the cross rod and can be arranged along the cross rod in a horizontal direction in a movable mode, the cross rod is arranged on the L-shaped frame, the first force application mechanism is a rotating motor, the rotating motor is arranged on the L-shaped frame, the transmission mechanism comprises a transmission shaft, a driving gear and a rack, the transmission shaft is rotatably arranged on the L-shaped frame, the driving gear is arranged on the transmission shaft, the rack is arranged on the frame, the driving gear is meshed with the rack and can be arranged along the rack in a lifting mode, the driving gear is connected with the movable part, and the first force application mechanism drives the driving gear to rotate and further drives the movable part to lift.

2. The exercise device force source apparatus of claim 1 wherein:

the second force application mechanism is configured to apply a pulling force to the moving member at all times during lifting of the moving member.

3. The exercise device force source apparatus of claim 1 wherein:

The second force application mechanism is configured to apply a constant or approximately constant pulling force to the moving member during lifting of the moving member.

4. The exercise device force source apparatus of claim 1,2 or 3, wherein:

the second force application mechanism is an elastic device, a counterweight, a pneumatic device, a hydraulic device, a magnetic device or a motor.

5. The exercise device force source apparatus of claim 4 wherein:

The elastic device is a cylindrical spring, a gas spring and/or an elastic rope; the gas spring comprises a telescopic piston rod, and the piston rod is directly connected or indirectly connected with the moving piece.

6. The exercise device force source apparatus of claim 1 wherein:

The second force application mechanism is a gas spring, the gas spring comprises a telescopic piston rod, and the piston rod is connected with the moving part through the pull rope.

7. The exercise device force source apparatus of claim 1 wherein:

The frame has a front end width that is less than a rear end width.

8. The exercise device force source apparatus of claim 1 wherein:

The magnitude of the acting force exerted by the first force application mechanism is adjustable.

9. The exercise device force source apparatus of claim 1 wherein:

the direction of the acting force output by the first force application mechanism is arranged in a replaceable way.

10. The exercise device force source apparatus of claim 1 wherein:

The device also comprises a control device which controls whether the first force application mechanism outputs acting force, the direction of the output acting force and/or the acting force.

11. The exercise device force source apparatus of claim 1 wherein:

When the moving member moves towards the first direction, acting force applied to the moving member by the first force application mechanism forms resistance to the moving member moving towards the first direction; when the moving member moves towards the second direction, the acting force applied by the first force application mechanism to the moving member can be stopped or replaced by resistance force for moving the moving member towards the second direction, and the acting force is adjustable; the first direction is opposite to the second direction or forms an obtuse included angle.

12. The exercise device force source apparatus of claim 1 wherein:

the first force application mechanism can control the moving part to be arranged in a moving way.

13. The exercise device force source apparatus of claim 1 wherein:

The L-shaped frame is also provided with rollers which can roll along the frame.

14. The exercise device force source apparatus of claim 1 wherein:

The movable member is provided with a force sensor which is used for detecting whether the movable member receives acting force and/or the direction, and outputting different signals according to whether the connecting device receives upward pulling force and/or the acting force.

15. The exercise device force source apparatus of claim 14 wherein:

The movable piece comprises a connecting device and a base, and the connecting device is connected with the base; the force sensor is used for detecting whether the connecting device is subjected to upward tension and/or the upward tension; and outputs different signals according to whether the connecting device is subjected to upward tension and/or the magnitude of the upward tension.

16. The exercise device force source apparatus of claim 1 wherein:

the device also comprises a first detection device, wherein the detection device is used for detecting the acceleration of the moving piece.

17. The exercise device force source apparatus of claim 1 wherein:

The motor is a servo motor, the servo motor is provided with a driving controller, and the driving controller is configured to detect the power of the servo motor; and/or the number of the groups of groups,

The servo motor is provided with a drive controller and an output shaft, an encoder for detecting the rotation speed of the output shaft is arranged on the output shaft, and the encoder transmits signals to the drive controller according to the rotation speed of the output shaft.

18. An exercise device, comprising:

the exercise device force source apparatus of any one of claims 1 to 17; and

And the body-building accessory is connected with the moving part.

19. The exercise apparatus of claim 18 wherein:

the body-building accessory is a rod, a pull rope, a handle or a pull ring.

20. The exercise apparatus of claim 19 wherein:

The lever is rotatably connected to the moving member.

21. The exercise apparatus of claim 18 wherein: the exercise device is also provided with a force sensor for detecting whether the exercise accessory is subjected to an applied force, and/or the magnitude of the applied force, and outputting different signals according to whether the exercise accessory is subjected to an applied force or the magnitude of the applied force.

22. The exercise apparatus of claim 21 wherein:

The moving piece comprises a lantern ring and a base, and the lantern ring is connected with the base; the force sensor is arranged between the lantern ring and the base and is connected with the lantern ring; the lantern ring is sleeved on the rod, and the lantern ring is connected with the rod through a rotating bearing;

the base is sleeved on the cross rod and can be arranged along the horizontal direction of the cross rod in a movable mode, and the base is connected with the cross rod through a linear bearing.

23. The exercise apparatus of claim 18 wherein: further comprises:

The control device controls the force application mechanism to work and controls the direction and the magnitude of the acting force output by the force application mechanism;

the first detection device is used for detecting the position, displacement, moving speed or acceleration of the moving part or the body-building accessory and transmitting signals to the control device; and/or the number of the groups of groups,

The second detection device is used for detecting the power of the force application mechanism and transmitting a signal to the control device;

the control device controls the force applying mechanism to stop or output the direction and/or the magnitude of the acting force according to the signals transmitted by the first detection device and/or the second detection device.