CN111530014B - Rope-driven intelligent muscle strength training system based on serial elastic driver - Google Patents
Rope-driven intelligent muscle strength training system based on serial elastic driver Download PDFInfo
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- CN111530014B CN111530014B CN202010470765.7A CN202010470765A CN111530014B CN 111530014 B CN111530014 B CN 111530014B CN 202010470765 A CN202010470765 A CN 202010470765A CN 111530014 B CN111530014 B CN 111530014B
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- 238000012549 training Methods 0.000 title claims abstract description 59
- 210000003205 muscle Anatomy 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000003993 interaction Effects 0.000 abstract description 16
- 238000005259 measurement Methods 0.000 abstract description 5
- 230000002452 interceptive effect Effects 0.000 description 9
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 230000006835 compression Effects 0.000 description 5
- 238000007906 compression Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 210000002027 skeletal muscle Anatomy 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000005483 Hooke's law Effects 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000005786 degenerative changes Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a rope-driven intelligent muscle strength training system based on a serial elastic driver, which comprises a shell, a driving assembly, a sliding frame, an elastic piece, a handle and a position measuring piece, wherein the driving assembly comprises a driving piece and a movable piece; the handle is located the outside of casing, is equipped with the connecting rope on the handle, and the one end of connecting rope is connected on a curb plate, and the position measurement spare is established in the casing, and the position measurement spare is used for detecting the deformation volume of elastic component. The rope-driven intelligent muscle strength training system based on the serial elastic driver has the advantages of higher precision, better system flexibility and higher safety of man-machine interaction.
Description
Technical Field
The invention relates to the technical field of rehabilitation training equipment, in particular to a rope-driven intelligent muscle strength training system based on a serial elastic driver.
Background
With the age, human beings have skeletal muscle degenerative changes, which are specifically represented by the reduction of skeletal muscle quality, strength and coordination ability of the old, and seriously affect the daily activity ability and life quality of the old. Aiming at the problems, a centrifugal resistance training (ERT) and muscle effect training method is provided in medicine, and the method is suitable for muscle strength enhancement training of semi-disabled old people.
The existing muscle strength enhancement training machine has poor adaptability, a single training mode, large volume and an incompact structure, and the positive initiative of a user is influenced. Meanwhile, most of active devices only rely on a driver current loop to control interaction force, so that the precision is poor, the system rigidity is high, and hidden danger exists in the safety of man-machine interaction.
Disclosure of Invention
The invention aims to provide a rope-driven intelligent muscle strength training system based on a serial elastic driver, which has higher precision, better system flexibility and higher safety of man-machine interaction.
In order to achieve the above technical effects, the rope-driven intelligent muscle strength training system based on the serial elastic driver of the embodiment has the following technical scheme:
The invention discloses a rope-driven intelligent muscle strength training system based on a series elastic driver, which comprises the following components: a housing; the driving assembly comprises a driving piece and a movable piece, the movable piece is connected with the driving piece, and the driving piece can drive the movable piece to move along the length direction of the shell; the sliding frame is arranged inside the shell and is provided with two side plates which are arranged at intervals along the length direction of the shell; the elastic piece is arranged between the side plate and the movable piece and is configured to deform when the side plate moves relative to the movable piece; the handle is positioned at the outer side of the shell, a connecting rope is arranged on the handle, and one end of the connecting rope is connected to one side plate; the position measuring piece is arranged in the shell and used for detecting the deformation quantity of the elastic piece.
In some embodiments, the rope-driven intelligent muscle strength training system based on a series elastic driver further comprises: the sliding rail is arranged on the inner wall of the shell, and the sliding rail extends along the length direction of the shell; the sliding block is matched on the sliding rail in a sliding mode, and the sliding block is connected to the sliding frame.
In some embodiments, the position measurement comprises: a linear encoder connected to the movable member; the reading magnetic stripe is connected to the sliding frame and is arranged corresponding to the linear encoder; wherein: the linear encoder is configured to detect a distance that the reading magnetic stripe is driven to move during sliding of the sliding frame.
In some alternative embodiments, the rope-driven intelligent muscle strength training system based on a series elastic driver further comprises: the two ends of the first fixing seat are respectively connected with the two side plates, and the reading magnetic stripe is connected to the first fixing seat; the second fixing seat is connected to the movable piece, and the linear encoder is arranged on the second fixing seat.
In some embodiments, the number of the elastic pieces is two, and two ends of each elastic piece are respectively abutted against the side plate and the movable piece; the number of the handles is two, and the connecting rope of each handle is connected to one side plate.
In some embodiments, the rope-driven intelligent muscle strength training system based on a series elastic driver further comprises: the two roller supports are respectively arranged on two side walls of the shell, which are oppositely arranged along the length direction; the inner rollers are two, the inner rollers are rotatably arranged on the roller support, and grooves matched with the connecting ropes are formed in the inner rollers.
In some embodiments, the rope-driven intelligent muscle strength training system based on a serial elastic driver further comprises a plurality of external rollers, wherein the external rollers are arranged outside the shell, and at least one connecting rope of the two handles is matched with the external rollers so that the two handles are oppositely arranged.
In some embodiments, the driving member includes a motor and a ball screw, the ball screw is connected to the motor, the moving member includes a sliding block, the sliding block is fitted on the ball screw, and when the motor drives the ball screw to rotate, the sliding block can slide along a length direction of the ball screw.
In some alternative embodiments, the drive assembly further comprises: the driving fixing seat is arranged in the shell, the driving fixing seat is provided with two fixing plates which are arranged at intervals along the length direction of the shell, and one end of the ball screw is rotatably connected to one fixing plate; the shaft coupling is arranged on the other fixing plate in a penetrating mode, and two ends of the shaft coupling are respectively connected with the other end of the ball screw and the motor.
In some alternative embodiments, the side plate of the sliding frame is provided with a notch for avoiding the ball screw, and the notch is matched with a self-lubricating sleeve sleeved on the ball screw.
According to the rope-driven intelligent muscle strength training system based on the serial elastic driver, the deformation quantity of the elastic piece is measured by the position measuring piece to measure the interactive force between a user and the system, and the driving piece adjusts the position of the movable piece according to the result of the position measuring piece to control the interactive force between the user and the system, so that the interactive force control precision is improved. In addition, the introduction of the elastic piece improves the flexibility of the system structure and improves the flexibility of the system and the safety of man-machine interaction.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a schematic structural diagram of a rope-driven intelligent muscle strength training system based on a series elastic driver according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of a use state of a rope-driven intelligent muscle strength training system based on a series elastic drive according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of another use state of the rope-driven intelligent muscle strength training system based on a series elastic drive according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a partial structure of a rope-driven intelligent muscle strength training system based on a series elastic driver according to an embodiment of the present invention.
FIG. 5 is a schematic diagram of another partial structure of a rope-driven intelligent muscle strength training system based on tandem elastic drives according to an embodiment of the present invention.
Reference numerals:
1. A housing;
21. a driving member; 211. a motor; 212. a ball screw; 22. a movable member; 23. driving the fixing seat; 231. a slide rail; 24. a coupling; 25. a guard board;
3. A sliding frame; 31. a side plate; 311. a notch; 32. a slide block;
4. an elastic member;
5. A handle; 51. a connecting rope;
6. A position measuring member; 61. a linear encoder; 62. reading a magnetic stripe;
7. A first fixing seat; 8. the second fixing seat; 9. a roller support; 10. an inner roller;
101. an outer roller; 102. self-lubricating sleeve.
Detailed Description
In order to make the technical problems solved, the technical scheme adopted and the technical effects achieved by the invention more clear, the technical scheme of the invention is further described below by a specific embodiment in combination with the attached drawings.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly, for distinguishing between the descriptive features, and not sequentially, and not lightly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The following describes a specific structure of a rope-driven intelligent muscle training system based on a tandem elastic drive according to an embodiment of the present invention with reference to fig. 1 to 5.
The rope-driven intelligent muscle training system based on the serial elastic driver comprises a shell 1, a driving assembly, a sliding frame 3, elastic pieces 4, handles 5 and position measuring pieces 6, wherein the driving assembly comprises a driving piece 21 and a movable piece 22, the movable piece 22 is connected with the driving piece 21, the driving piece 21 can drive the movable piece 22 to move along the length direction of the shell 1, the sliding frame 3 is arranged inside the shell 1, the sliding frame 3 is provided with two side plates 31 which are arranged at intervals along the length direction of the shell 1, the elastic pieces 4 are arranged on the side plates 31 and the movable piece 22, the elastic pieces 4 are configured to deform when the side plates 31 move relative to the movable piece 22, the handles 5 are positioned on the outer side of the shell 1, each handle 5 is provided with a connecting rope 51, one end of each connecting rope 51 is connected to one side plate 31, the position measuring pieces 6 are arranged in the shell 1, and the position measuring pieces 6 are used for detecting deformation of the elastic pieces 4.
It will be appreciated that when the sliding frame 3 generates an interaction force with the outside through the connecting rope 51, i.e. the user pulls the handle 5, the sliding frame 3 translates along the length direction of the housing 1 under the action of the connecting rope 51, and the translational motion compresses the elastic member 4 between the movable member 22 of the driving assembly and the side plate 31 of the sliding frame 3, the compression amount can be measured by the position measuring member 6, and the magnitude of the interaction force can be obtained through hooke's law. In the actual process, the compression amount of the elastic member 4 should be gradually increased when the user pulls the handle 5, and in addition, if the driving member 21 of the driving assembly drives the movable member 22 to move, the compression amount of the elastic member 4 can be ensured not to change any more, so that the root driving assembly adjusts the movable member 22 according to the compression amount of the elastic member 4, and the adjustment of the magnitude of the interaction force can be realized.
Specifically, in the present embodiment, the interactive force control is changed from the current loop control of the motor 211 to the position control, the accuracy of the position measuring member 6 determines the accuracy of the interactive force control, and the accuracy of the position measuring member 6 is generally higher, so that the accuracy of the interactive force control can be greatly improved, which is significant in the case where the accuracy of the force control is required to be higher. Meanwhile, the introduction of the elastic piece 4 improves the flexibility of the system structure, improves the safety of the system, allows an output torque error caused by a certain control error, and reduces unsafe factors caused by the control error, vibration and the like.
In addition, the rope-driven intelligent muscle strength training system based on the serial elastic driver of the embodiment does not directly control the acting force between the system and the user, but establishes the relation between the external acting force born by the system and the deformation quantity of the elastic piece 4 of the system, and the purpose of controlling the force is achieved by controlling the position, so that the whole system is ensured to stably move in a limited space, and keeps proper contact force with the arm of a patient, the intelligent control of the training system is realized, and the safety of muscle strength training of the user is ensured.
According to the rope-driven intelligent muscle strength training system based on the serial elastic driver, the deformation quantity of the elastic piece 4 is measured by the position measuring piece 6 to measure the interactive force between a user and the system, and the driving piece 21 adjusts the position of the movable piece 22 according to the result of the position measuring piece 6 to control the interactive force between the user and the system, so that the accuracy of interactive force control is improved. In addition, the introduction of the elastic piece 4 improves the flexibility of the system structure and improves the flexibility of the system and the safety of man-machine interaction.
In some embodiments, as shown in fig. 5, the rope-driven intelligent muscle training system based on the serial elastic driver further includes a sliding rail 231 and a sliding block 32, the sliding rail 231 is disposed on the inner wall of the housing 1, the sliding rail 231 extends along the length direction of the housing 1, the sliding block 32 is slidably fitted on the sliding rail 231, and the sliding block 32 is connected to the sliding frame 3. It will be appreciated that, according to the foregoing, the compression elastic member 4 of the sliding frame 3 during sliding is the core principle of the rope-driven intelligent muscle force training system based on the tandem elastic driver of the present embodiment, for example, the motion of the sliding frame 3 is askew, which may result in poor accuracy of detecting the interaction force of the whole system and may increase the failure probability of the whole system. In the present embodiment, the sliding direction of the sliding frame 3 can be well defined by the cooperation of the sliding rail 231 and the sliding block 32, so as to avoid the skew phenomenon of the sliding frame 3, thereby ensuring the accuracy and safety performance of the whole system. Of course, in other embodiments of the present invention, the structure of restricting the sliding direction of the sliding frame 3 is not limited to the structure of the sliding rail 231 cooperating with the sliding block 32 in this embodiment, and in other embodiments of the present invention, a limit post may be provided on the sliding frame 3 and a limit chute cooperating with the limit post may be provided on the housing 1.
In some embodiments, as shown in fig. 4-5, the position measuring member 6 includes a linear encoder 61 and a reading magnetic stripe 62, the linear encoder 61 is connected to the movable member 22, the reading magnetic stripe 62 is connected to the sliding frame 3, and is disposed corresponding to the linear encoder 61, and the linear encoder 61 is configured to detect a distance that moves the reading magnetic stripe 62 during sliding of the sliding frame 3. It can be understood that in the actual movement process, the relative displacement of the sliding frame 3 relative to the movable member 22 is equal to the deformation of the elastic member 4, and in this embodiment, the linear encoder 61 and the reading magnetic stripe 62 are adopted to measure the relative displacement of the sliding frame 3 relative to the movable member 22 relatively accurately, so that the accuracy of detecting the deformation of the elastic member 4 is improved, and the accurate detection of the acting force of the user on the whole system is ensured.
It should be noted that, in this embodiment, both the linear encoder 61 and the reading magnetic stripe 62 are available from outside, and no limitation is made to the type and measurement accuracy of the linear encoder 61 and the reading magnetic stripe 62. In other embodiments of the present invention, the deformation amount of the elastic member 4 may be detected by other sensors such as a position sensor and an elastic deformation detection sensor.
In some alternative embodiments, as shown in fig. 4-5, the rope-driven intelligent muscle strength training system based on the serial elastic driver further comprises a first fixing seat 7 and a second fixing seat 8, wherein two ends of the first fixing seat 7 are respectively connected with the two side plates 31, the reading magnetic stripe 62 is connected to the first fixing seat 7, the second fixing seat 8 is connected to the movable member 22, and the linear encoder 61 is arranged on the second fixing seat 8. Therefore, the stability of the reading magnetic stripe 62 and the linear encoder 61 can be well ensured, and the measuring error caused by shaking of the linear encoder 61 or the reading magnetic stripe 62 is avoided.
In some embodiments, the number of the elastic pieces 4 is two, and two ends of each elastic piece 4 respectively abut against the side plate 31 and the movable piece 22; the number of handles 5 is two, and the connecting rope 51 of each handle 5 is connected to one side plate 31. It can be understood that the handle 5 is two ways that can realize the simultaneous training of both hands of the user, or docile ways of a plurality of users to cooperate with training, so that the application range of the rope-driven intelligent muscle strength training system based on the series elastic driver is improved.
In some embodiments, as shown in fig. 4, the rope-driven intelligent muscle training system based on the serial elastic driver further includes two roller supports 9 and two inner rollers 10, the two roller supports 9 are respectively disposed on two side walls of the housing 1 that are disposed opposite to each other along the length direction, the two inner rollers 10 are rotatably disposed on the roller supports 9, and grooves matched with the connecting ropes 51 are disposed on the inner rollers 10. It can be appreciated that the added inner roller 10 can ensure that the connecting rope 51 can move stably when the user pulls the connecting rope 51 to a certain extent, thereby driving the sliding frame 3 to move. In addition, the inner roller 10 can also avoid friction between the connecting rope 51 and the shell 1, avoid abrasion of the connecting rope 51 and prolong the service life of the connecting rope 51.
In some embodiments, as shown in fig. 3, the rope-driven intelligent muscle training system based on the serial elastic driver further comprises a plurality of external rollers 101, wherein the external rollers 101 are arranged outside the shell 1, and at least one connecting rope 51 of the two handles 5 is sequentially matched with the external rollers 101 so that the two handles 5 are arranged opposite to each other. It can be appreciated that, since the connecting rope 51 can only apply force in one direction, one rope can only meet the muscle strength training requirement in one direction, and the added external roller 101 can change the position of the handle 5 so as to change the direction of the relative sliding frame 3 of the acting force acting on the handle 5 by the user, thereby realizing the multiple direction training of the user, such as the right-hand flexor strength training, the right-hand extensional muscle strength training, the left-hand flexor strength training, the left-hand extensional muscle strength training, and the like, and improving the application range of the rope driving intelligent muscle strength training system based on the serial elastic driver.
In some embodiments, as shown in fig. 4, the driving member 21 includes a motor 211 and a ball screw 212, the ball screw 212 is connected to the motor 211, the moving member 22 includes a sliding block, the sliding block is fitted on the ball screw 212, and the sliding block can slide along the length direction of the ball screw 212 when the motor 211 drives the ball screw 212 to rotate. It will be appreciated that, according to the foregoing description, the driving member 21 drives the movable member 22 to move so as to control the deformation amount of the elastic member 4, and in this embodiment, the ball screw 212 is matched with the sliding block to control the deformation amount of the elastic member 4, so that the control precision can be improved, and the measurement precision of the whole system is improved, thereby ensuring that the whole system can operate safely.
In some alternative embodiments, as shown in fig. 4-5, the driving assembly further includes a driving fixing seat 23 and a coupling 24, the driving fixing seat 23 is disposed inside the housing 1, the driving fixing seat 23 has two fixing plates disposed at intervals along the length direction of the housing 1, one end of the ball screw 212 is rotatably connected to one fixing plate, the coupling 24 is disposed on the other fixing plate in a penetrating manner, and two ends of the coupling 24 are respectively connected to the other end of the ball screw 212 and the motor 211. It can be appreciated that the driving fixing seat 23 can play a supporting role on the ball screw 212, so that the ball screw 212 can be driven by the motor 211 to rotate, and the coupling 24 can ensure the connection stability of the ball screw 212 and the motor 211, thereby ensuring the reliability of the whole system.
In some alternative embodiments, the driving assembly further includes two guard plates 25, the two guard plates 25 are spaced apart, and both ends of each guard plate 25 are respectively connected to two fixing plates. Therefore, the ball screw 212 and the sliding block can be well protected, and the influence of external foreign matters on the normal rotation of the ball screw 212 and the normal sliding of the sliding block is avoided.
Of course, in other embodiments of the present invention, the driving assembly may also include a rack-and-pinion structure, a worm-and-pinion structure, etc., and is not limited to the structure in which the ball screw 212 of the present embodiment cooperates with the sliding block.
In some alternative embodiments, the side plate 31 of the sliding frame 3 is provided with a notch 311 for avoiding the ball screw 212, and the notch 311 is matched with the self-lubricating sleeve 102 sleeved on the ball screw 212. It can be appreciated that the self-lubricating sleeve 102 can avoid friction between the ball screw 212 and the sliding frame 3, thereby avoiding damage to the ball screw 212
Examples:
the structure of a specific rope-driven intelligent muscle strength training system based on a tandem elastic drive of the present embodiment is described below with reference to fig. 1 to 5.
The rope-driven intelligent muscle strength training system based on the serial elastic driver comprises a shell 1, a driving assembly, a sliding frame 3, an elastic piece 4, a handle 5, a position measuring piece 6, a roller support 9, an inner roller 10 and a self-lubricating sleeve 102.
The driving assembly comprises a driving piece 21, a movable piece 22, a driving fixing seat 23, a coupler 24 and a guard plate 25, wherein the driving piece 21 comprises a motor 211 and a ball screw 212, the driving fixing seat 23 is connected to the bottom wall of the shell 1, the driving fixing seat 23 is provided with two fixing plates which are arranged at intervals along the length direction of the shell 1, one end of the ball screw 212 is rotatably connected to one fixing plate, the coupler 24 is arranged on the other fixing plate in a penetrating manner, and two ends of the coupler 24 are respectively connected with the other end of the ball screw 212 and the motor 211. The movable member 22 includes a sliding block which is fitted on the ball screw 212, and a slide rail 231 is provided on the inner wall of the housing 1.
The sliding frame 3 is arranged in the shell 1, the sliding frame 3 is provided with two side plates 31 and a sliding block 32, the two side plates 31 are arranged at intervals along the length direction of the shell 1, the sliding block 32 is matched with the sliding rail 231, each side plate 31 is provided with a notch 311 for avoiding the ball screw 212, and the notch 311 is matched with the self-lubricating sleeve 102 sleeved on the ball screw 212. The elastic pieces 4 are two, two ends of each elastic piece 4 are respectively stopped on the side plate 31 and the movable piece 22, the number of the handles 5 is two, the two handles 5 are positioned on the outer side of the shell 1, each handle 5 is provided with a connecting rope 51, and one end of each connecting rope 51 is connected to one side plate 31.
The position measuring piece 6 comprises a linear encoder 61 and a reading magnetic stripe 62, the linear encoder 61 is connected to the sliding block through a second fixing seat 8, the reading magnetic stripe 62 is connected to the sliding frame 3 through a first fixing seat 7 and is arranged corresponding to the linear encoder 61, and the linear encoder 61 is configured to detect the distance for driving the reading magnetic stripe 62 to move in the sliding process of the sliding frame 3.
The number of the roller supports 9 is two, the two roller supports 9 are respectively arranged on two side walls of the shell 1 which are oppositely arranged along the length direction, the number of the inner rollers 10 is two, the inner rollers 10 are rotatably arranged on the roller supports 9, and grooves matched with the connecting ropes 51 are formed in the inner rollers 10.
The rope-driven intelligent muscle strength training system based on the serial elastic driver has the following advantages:
First, a first step; the flexibility of the system structure is improved, the drivers of most devices and the force transmission structure of the system are directly connected and lack of flexibility, so that potential safety hazards in the human-computer interaction process are caused, and the serial elastic drivers (consisting of a driving assembly, an elastic piece 4, a sliding frame 3 and a position measuring piece 6) of the embodiment are flexible, so that the flexibility of the system is improved, and the safety of the human-computer interaction of the system is improved from the aspect of a physical structure;
Second, the second; the precision and the compliance performance of man-machine interaction force control are improved, the interaction force control between a traditional muscle force training system and a user is mostly dependent on driver current loop control, the precision is low, and the serial elastic driver of the embodiment converts the real-time control of man-machine interaction force from depending on driver current loop control to position control of the driver, so that the precision of interaction force control is improved. Meanwhile, the system is enabled to realize compliant control more easily by connecting the elastic drivers in series, so that a training mode of active and passive combination is realized;
Third, the third; the system adopts a modularized design, has a compact structure, can expand the number of the serial elastic drivers of the system according to the requirements, realizes a plurality of training modes of single hand, single double hands and multi-person collaborative training, improves the use satisfaction degree of users, and expands the applicable crowd and the applicable environment of the rehabilitation training of the whole system.
In the description of the present specification, reference to the term "some embodiments," "other embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely exemplary of the present invention, and those skilled in the art should not be considered as limiting the invention, since modifications may be made in the specific embodiments and application scope of the invention in light of the teachings of the present invention.
Claims (5)
1. Rope-driven intelligent muscle strength training system based on tandem elastic driver, characterized by comprising:
A housing (1);
The driving assembly comprises a driving piece (21) and a movable piece (22), wherein the movable piece (22) is connected with the driving piece (21), and the driving piece (21) can drive the movable piece (22) to move along the length direction of the shell (1);
a sliding frame (3), wherein the sliding frame (3) is arranged inside the shell (1), and the sliding frame (3) is provided with two side plates (31) which are arranged at intervals along the length direction of the shell (1);
An elastic member (4), wherein the elastic member (4) is arranged between the side plate (31) and the movable member (22), and the elastic member (4) is configured to deform when the side plate (31) moves relative to the movable member (22);
the handle (5) is positioned at the outer side of the shell (1), a connecting rope (51) is arranged on the handle (5), and one end of the connecting rope (51) is connected to one side plate (31);
the position measuring piece (6), the position measuring piece (6) is established in casing (1), the position measuring piece (6) is used for detecting the deformation volume of elastic component (4): wherein:
The position measuring piece (6) comprises:
a linear encoder (61), the linear encoder (61) being connected to the movable member (22);
A reading magnetic stripe (62), wherein the reading magnetic stripe (62) is connected to the sliding frame (3) and is arranged corresponding to the linear encoder (61); wherein:
The linear encoder (61) is configured to detect the distance for driving the reading magnetic strip (62) to move during the sliding process of the sliding frame (3);
rope-driven intelligent muscle strength training system based on establish ties elasticity driver still includes:
The two ends of the first fixing seat (7) are respectively connected with the two side plates (31), and the reading magnetic stripe (62) is connected to the first fixing seat (7);
The second fixed seat (8), the said second fixed seat (8) is connected to said movable part (22), the said linear encoder (61) is set up on the said second fixed seat (8);
The driving piece (21) comprises a motor (211) and a ball screw (212), the ball screw (212) is connected with the motor (211), the movable piece (22) comprises a sliding block, the sliding block is matched with the ball screw (212), and when the motor (211) drives the ball screw (212) to rotate, the sliding block can slide along the length direction of the ball screw (212);
The driving assembly further comprises a driving fixing seat (23) and a coupler (24), the driving fixing seat (23) is arranged inside the shell (1), the driving fixing seat (23) is provided with two fixing plates which are arranged at intervals along the length direction of the shell (1), and one end of the ball screw (212) is rotatably connected to one fixing plate;
the coupler (24) is arranged on the other fixed plate in a penetrating way, and two ends of the coupler (24) are respectively connected with the other end of the ball screw (212) and the motor (211);
The side plate (31) of the sliding frame (3) is provided with a notch (311) avoiding the ball screw (212), and the notch (311) is matched with a self-lubricating sleeve (102) sleeved on the ball screw (212).
2. The rope driven intelligent muscle strength training system based on tandem elastic drives of claim 1, further comprising:
The sliding rail (231) is arranged on the inner wall of the shell (1), and the sliding rail (231) extends along the length direction of the shell (1);
-a slider (32), said slider (32) being slidably fitted on said sliding rail (231), and said slider (32) being connected to said sliding frame (3).
3. Rope-driven intelligent muscle training system based on tandem elastic drives according to claim 1, characterized in that the number of elastic members (4) is two, the two ends of each elastic member (4) are respectively stopped against the side plate (31) and the movable member (22);
The number of the handles (5) is two, and the connecting ropes (51) of each handle (5) are connected to one side plate (31).
4. The rope driven intelligent muscle strength training system based on tandem elastic drives of claim 3, further comprising:
The two roller supports (9) are arranged, and the two roller supports (9) are respectively arranged on two side walls of the shell (1) which are oppositely arranged along the length direction;
The inner rollers (10) are arranged in two, the inner rollers (10) are rotatably arranged on the roller support (9), and grooves matched with the connecting ropes (51) are formed in the inner rollers (10).
5. The rope-driven intelligent muscle training system based on a tandem elastic driver according to claim 4, further comprising a plurality of external rollers (101), wherein a plurality of external rollers (101) are arranged outside the shell (1), and at least one connecting rope (51) of two handles (5) is matched with the external rollers (101) so that the two handles (5) are arranged oppositely.
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