KR20210009851A - training apparatus and operation method thereof - Google Patents

Abstract

A training device and a method of operating the same are disclosed. The training device includes a wire; A rotating part rotating in a first direction by an external force applied to the wire; A sensor measuring the tension of the wire; A back electromotive force generator coupled to one side of the rotating part and generating a back electromotive force according to the rotation of the rotating part; And a control module for changing a resistance or impedance acting on the back electromotive force generating unit according to the measured tension (F) of the wire or a preset tension.

Description

TECHNICAL FIELD [0001] A training apparatus and operation method thereof

The present invention relates to a training apparatus and a method of operation thereof.

Conventional muscle strength training devices use weights or the like to generate resistance such as an exercise load to the user and provide it to the user. On the other hand, in recent years, a muscle strength exercise device that generates resistance through a motor or the like based on electromagnetic force and provides it to a user has been developed. In this case, the conventional muscle strength exercise device using an electromagnetic force generates a resistance force in a direction opposite to the direction in which the user applies an external force.

However, the conventional muscle strength exercise device using electromagnetic force has a problem in that the user feels a sense of heterogeneity due to the resistance force generated in the opposite direction.

An object of the present invention is to provide a training apparatus capable of generating a desired back electromotive force profile during exercise by measuring an interaction force between a person exercising and an apparatus to generate resistance, and a method of operating the same.

In addition, the present invention is to provide a training apparatus and a method of operating the same that can prevent musculoskeletal injuries because it is possible to adjust the back electromotive force irrespective of a sudden change in speed during exercise.

According to an aspect of the present invention, there is provided a training apparatus capable of generating a desired back EMF profile during exercise by measuring an interaction force between a person exercising and an apparatus to generate a back EMF.

According to an embodiment of the present invention, a wire; A rotating part rotating in a first direction by an external force applied to the wire; A sensor measuring the tension of the wire; A back electromotive force generator coupled to one side of the rotating part and generating a back electromotive force according to the rotation of the rotating part; And a control module for changing a resistance or impedance acting on the back EMF generator according to the measured tension F of the wire or a preset tension.

It is coupled to the other side of the rotation unit, when removing the external force applied to the wire may further include a restoration unit rotating in a second direction so as to wind the wire to the rotation unit.

The rotating part, the back electromotive force generating part, and the restoration part may be shaft-coupled.

The control module may change the resistance or the impedance to keep the tension F constant.

The rotation unit may further include an encoder, and the control module may vary a resistance or impedance acting on the back EMF generator according to at least one of a speed and a distance measured by the encoder.

When the speed is before the limit speed, the control module varies the resistance or impedance so that the wire tension F increases, and when the speed exceeds the limit speed, the control module maintains the tension F of the wire. The resistance or the impedance can be varied.

The control module may adjust the resistance or the impedance so that the tension F of the wire varies according to the distance.

The control module may adjust the resistance or the impedance so that the tension (F) of the wire remains constant regardless of a distance from which the wire is pulled.

According to another embodiment of the present invention, a rotating part that rotates by an external force; A back electromotive force generating unit generating a back electromotive force according to the rotation of the rotating unit; And a control module for controlling an operation of the back electromotive force generating unit, wherein the control module adjusts resistance or impedance acting on the back electromotive force generating unit according to a rotational speed of the rotating unit according to the external force. Can be provided.

According to another embodiment of the present invention, a rotating part that rotates by an external force; A back electromotive force generating unit generating a back electromotive force according to the rotation of the rotating unit; And a control module for controlling an operation of the back electromotive force generating unit, wherein the control module adjusts a resistance or impedance acting on the back electromotive force generating unit according to a rotation distance of the rotating unit according to the external force. Can be provided.

According to another aspect of the present invention, there is provided a method of operating a training apparatus capable of generating a desired back electromotive force profile during exercise by measuring an interaction force between a person exercising and an apparatus to generate a back electromotive force.

According to an embodiment of the present invention, there is provided a method of operating a training apparatus, comprising: rotating a rotating unit in a first direction by an external force applied to a wire; Generating a back electromotive force according to the rotation of the rotating unit; Measuring the tension (F) of the wire; And adjusting a resistance or impedance acting on generating the back electromotive force according to the measured tension (F) of the wire or a predetermined tension.

Further comprising the step of measuring at least one of the rotation speed of the rotating unit and the moving distance of the wire, wherein the step of adjusting the resistance or the impedance, so that the tension (F) of the wire is changed according to the change of the rotation speed The resistance or impedance can be adjusted.

In the step of adjusting the resistance or impedance, the resistance or impedance may be adjusted so that the tension F of the wire changes according to the distance.

By providing a training apparatus and a method of operating the same according to an embodiment of the present invention, it is possible to generate a back EMF profile during exercise by measuring a force interacting between a person exercising and an apparatus to generate a back EMF profile.

In addition, the present invention may prevent musculoskeletal injuries because it is possible to adjust the back electromotive force irrespective of a sudden change in speed during exercise.

1 is a block diagram schematically showing an internal configuration of a training apparatus according to an embodiment of the present invention.
2 is a diagram showing a training apparatus according to an embodiment of the present invention.
3 is a view showing a partial cross-sectional view of a training apparatus according to an embodiment of the present invention.
4 is a diagram showing the configuration of a control module according to an embodiment of the present invention.
5 is a flow chart showing the operation process of the training apparatus according to an embodiment of the present invention.

Singular expressions used in the present specification include plural expressions unless the context clearly indicates otherwise. In the present specification, terms such as “consisting of” or “comprising” should not be construed as necessarily including all of the various elements or various steps described in the specification, and some of the elements or some steps It may not be included, or it should be interpreted that it may further include additional elements or steps. In addition, terms such as "... unit" and "module" described in the specification mean units that process at least one function or operation, which may be implemented as hardware or software, or as a combination of hardware and software. .

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram schematically showing an internal configuration of a training apparatus according to an embodiment of the present invention, FIG. 2 is a diagram showing a training apparatus according to an embodiment of the present invention, and FIG. 3 is A diagram showing a partial cross-sectional view of a training apparatus according to an embodiment, and FIG. 4 is a diagram showing a configuration of a control module according to an embodiment of the present invention.

1 and 2, the training apparatus 100 according to an embodiment of the present invention includes a wire 101, a restoration unit 110, a rotation unit 120, a back electromotive force generator 130, and a force sensor 140. And a control module 150.

The wire 101 is wound around the rotating part 120 and one end protrudes to the outside. In more detail, the wire 101 may be wound around the rotating part 120 and then passed through the sensor 140 and one end may be output to the outside. Accordingly, a person can rotate the rotating part 120 by applying an external force to the wire 101 and pulling it. At this time, the tension (F) applied to the wire 101 by the sensor 140 through which the wire 101 passes may be measured.

The wire 101 output from the rotating part 120 may be output to the outside through a plurality of pulley members. The sensor 140 may be implemented in the form of a load cell or the like under the pulley member.

In more detail, the wire 101 output from the rotating unit 120 may pass through the first pulley 141, the second pulley 142, and the third pulley 143 to be output to the outside. The first pulley 141 and the third pulley 143 may be disposed on both sides of the second pulley 142.

The sensor 140 may measure a force applied from the upper side by the support member. Accordingly, the support member may be connected to the upper portion of the sensor 140 to press the sensor 140. The first pulley 141 and the third pulley 143 are disposed on both sides of the second pulley 142, and the wire 101 can measure the force applied by passing the wire 101 through the second pulley 142. ) Plays a role of maintaining a bent state. The wire output from the rotating part 120 is coupled to the second pulley 142 in a state bent at a certain angle by the first pulley 141, and the wire 101 passing through the second pulley 142 is a third pulley ( 143), it is output to the outside in a certain angle again. For this reason, when a person pulls by applying an external force to the wire 101, the external force applied to the wire 101 may be measured by the sensor 140.

A restoring unit 110 may be located on one side of the rotating part 120, and a back electromotive force generator 130 may be located on the other side of the rotating part 120. Here, the rotation unit 120, the restoration unit 110, and the back electromotive force generator 130 may be shaft-coupled.

Therefore, when the rotation unit rotates as an external force is applied to the wire 101, the restoration unit 110 and the back electromotive force generator 130 may also be operated. That is, corresponding to the rotation of the rotation unit 120, the restoration unit 110 maintains a force in the opposite direction, and may be operated to restore the rotation unit 120 to its original state.

For example, when the rotating part 120 rotates in a first direction as an external force is applied to the wire 101, the restoration part 110 has a restoring force in a second direction opposite to the first direction. , When the external force applied to the wire 101 is removed, the rotating part 120 may be rotated in the second direction by the restoring force. For this reason, as an external force is applied to the wire 101, the wire 101 is wound around the rotating part 120 by the restoration part 110 as much as the length released by the rotating part 120.

This restoration unit 110 may be implemented as, for example, a rewind spring. Accordingly, the rewinding spring is wound in a direction opposite to the rotation direction in which the rotation unit 120 rotates by an external force applied by a person to the wire 101. The rewinding spring is released by the restoring force when the external force on the wire 101 is removed (that is, when a person does not apply the force to the wire 101). Since the restoration unit (that is, the rewind spring) and the rotation unit 120 are shaft-coupled, the rotation unit 120 rotates in a direction opposite to the rotation direction of the rotation unit 120 as the rewind spring is released by the restoration force. (101) is again wound around the rotating part (120).

A counter electromotive force generator 130 is coupled to the other side of the rotating part 120. The back electromotive force generator 130 generates a back electromotive force based on the rotational motion of the rotating unit 120.

3 shows a configuration of the back electromotive force generator 130. As shown in FIG. 3, the back EMF generator 130 includes a rotor 310, a magnet 320, a coil 330, and a stator 340.

When the rotating part 120 rotates as an external force is applied to the wire 101, the magnet 320 rotates at an angular speed (w) according to the rotation of the rotor 310 of the shaft-coupled back electromotive force generator 130 Accordingly, back electromotive force and current are generated in the coil 330.

)은 회전부(120)의 회전 속도 또는 와이어(101)를 당기는 속도에 비례하여 발생된다. This back electromotive force (

) Is generated in proportion to the rotational speed of the rotating part 120 or the speed of pulling the wire 101.

If this is expressed by Equation 1, it is the same as Equation 1.

는 회전부의 반지름을 나타내며,

는 사람이 줄을 당기는 속도를 나타낸다. here,

Represents the radius of the rotating part,

Represents the speed at which a person pulls the string.

In addition, the current i can be calculated as in Equation 2 when the resistance acting on the back EMF generator 130 is R.

In addition, the external force (F) applied by a person to the wire 101-that is, the tension of the wire 101 (F)-is the radius of the rotating part 120 is r, and the magnetic flux density of the back EMF generator 130 is B. And, when the total length of the coil is L, it can be calculated as in Equation 3.

If Equation 2 is substituted for Equation 3, Equation 3 can be expressed as Equation 4 again.

), 와이어를 당기는 속도(

)에 비례하며, 저항(R)에 반비례하는 것을 알 수 있다. 이를 수학식으로 다시 정리하면, 수학식 5와 같다. As a result, the tension (F) of the wire is the rotational speed (

), the speed of pulling the wire (

) And inversely proportional to the resistance (R). This can be summarized as Equation 5 again.

Therefore, the training apparatus 100 according to an embodiment of the present invention can generate a desired back EMF profile by varying the resistance R acting on the back EMF generator 130 according to the tension F of the wire 101. . Here, the tension (F) of the wire 101 may be a preset tension or a tension (F) measured by the sensor 140. Even if there is no separate description in the present specification, the tension of the wire should be interpreted as a predetermined tension or a measured tension.

In addition, the current i generated by the back EMF generator 130 may be stored. The generated current i may be supplied to a power source of some of the internal components of the training apparatus 100.

The control module 150 is for controlling the internal components of the training apparatus 100 according to an embodiment of the present invention (for example, the rotating unit 120, the sensor 140, the back electromotive force generator 130, etc.) It is a means.

The control module 150 may acquire at least one of a rotation speed and a distance corresponding to an external force applied to the wire 101 from the rotation unit 120.

That is, the rotation unit 120 may include an encoder (not shown), and the rotation speed of the rotation unit 120 and the distance of the wire 101 may be measured through the encoder. In an embodiment of the present invention, it is assumed that an encoder is provided in the rotating part 120, and this is mainly described, but an encoder may be provided in the second pulley.

The control module 150 may adjust resistance or impedance acting on the back EMF generator 130 according to the tension F of the wire.

To this end, the control module 150 may include an active current consuming element 410 and a control unit 420 as shown in FIG. 4. The active current consuming element 410 includes a switching amplifier 411 and a resistor (R) 413. As the on/off time of the switching amplifier 411 is adjusted, the equivalent resistance R may be varied. Accordingly, the control module 150 may change the equivalent resistance R by adjusting the on/off time of the switching amplifier 411 according to the tension F of the wire.

In an embodiment of the present invention, it is assumed that the equivalent resistance R is varied by adjusting the on/off time of the switching amplifier 411, but it is natural that it may be implemented as a digital resistor.

For example, the control module 150 may adjust resistance or impedance acting on the counter electromotive force generator 130 so that the tension F of the wire is kept constant. That is, the back electromotive force generated by the back electromotive force generator 130 may change according to the tension F of the wire. Therefore, in order to keep the tension (F) of the wire constant, the control module 150 controls the tension (F) of the wire to be kept constant by changing the equivalent resistance (R) acting on the counter electromotive force generator 130. I can.

For another example, the control module 150 may change the equivalent resistance according to a change in the speed of the wire.

For example, the control module 150 may vary the equivalent resistance acting on the back EMF generator 130 according to a change in speed obtained in real time from an encoder provided in the rotation unit 120 or the second pulley 142. When the resistance and tension (F) increase at the same time in a motion in which an athlete rapidly increases the speed, the possibility of injury is increased due to an excessive force on the human musculoskeletal system, and there is an advantage of blocking this in advance.

That is, the training apparatus 100 according to an embodiment of the present invention has an advantage of preventing musculoskeletal injury by controlling the back electromotive force generated by the back electromotive force generator 130 irrespective of a sudden change in speed.

As another example, the control module 150 adjusts the wire tension (F) to increase until the limit speed is reached by using the speed obtained through the encoder, and after reaching the limit speed, the wire tension (F It is also possible to adjust the equivalent resistance (R) so that) remains constant.

As another example, since the control module 150 can obtain the distance to which the wire 101 is pulled through the encoder, the wire tension F may be varied according to the distance.

For example, when the wire 101 is pulled within the first reference length, the control module 150 may adjust to increase the wire tension (F). However, when it exceeds the first reference length, the control module 150 may adjust the wire tension (F) not to increase.

Through this, the control module 150 allows the wire tension (F) to increase when the athlete pulls the wire within a certain length, and maintains the tension (F) of the wire to protect the body of the athlete when pulling beyond a certain length. Or you can adjust the wire tension (F) to slightly decrease.

Of course, it is natural that the control module 150 may change the equivalent resistance or impedance to keep the wire tension (F) constant regardless of the length of the wire pulled.

That is, the training apparatus 100 according to an exemplary embodiment of the present invention may differently apply a counter electromotive force according to an operation position of a wire that changes every moment. Through this, it is possible to enable intensive training of the motion position that requires improvement of the exerciser.

In addition, although not separately shown in FIG. 1, the training apparatus 100 may further include a separate input interface for receiving an exercise level or the like. It is natural that the control module 150 can change the equivalent resistance or impedance to keep the wire tension (F) constant according to the set exercise level.

5 is a flow chart showing an operation process of the training apparatus according to an embodiment of the present invention.

In step 510, the training device 100 generates a back electromotive force according to an external force applied to the wire.

In step 515, the training device 100 measures the speed or distance according to the external force applied to the wire.

In step 520, the training apparatus 100 changes the wire tension (F) according to the speed or distance.

The training device 100 changes the tension (F) of the wire according to the speed or distance applied to the wire, but when the wire tension (F) exceeds a certain speed or a certain distance, the resistance or impedance is varied so that the wire tension (F) remains constant. I can make it.

The apparatus and method according to an embodiment of the present invention may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like alone or in combination. The program instructions recorded on the computer-readable medium may be specially designed and configured for the present invention, or may be known and usable to those skilled in the computer software field. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -Includes magneto-optical media and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of the program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like.

The above-described hardware device may be configured to operate as one or more software modules to perform the operation of the present invention, and vice versa.

So far, the present invention has been looked at around the embodiments. Those of ordinary skill in the art to which the present invention pertains will be able to understand that the present invention may be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from an illustrative point of view rather than a limiting point of view. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

100: training device
101: wire
110: restoration unit
120: rotating part
130: back electromotive force generator
140: sensor
150: control module

Claims (13)

wire;
A rotating part rotating in a first direction by an external force applied to the wire;
A sensor measuring the tension of the wire;
A back electromotive force generator coupled to one side of the rotating part and generating a back electromotive force according to the rotation of the rotating part; And
Training apparatus comprising a control module for changing the resistance or impedance acting on the back EMF generator according to the measured tension (F) or a predetermined tension of the wire.
The method of claim 1,
Doedoe coupled to the other side of the rotation unit, the training apparatus further comprising a restoring unit rotating in a second direction so that the wire is wound on the rotation unit when external force applied to the wire is removed.
The method of claim 2,
The training apparatus, characterized in that the rotation unit, the back electromotive force generating unit, and the restoration unit shaft-coupled.
The method of claim 1,
The control module,
Training apparatus, characterized in that the resistance or the impedance is varied so that the tension (F) is kept constant.
The method of claim 1,
The rotating part further comprises an encoder,
The control module,
A training apparatus, characterized in that the resistance or impedance acting on the back EMF generator is varied according to at least one of a speed and a distance measured by the encoder.
The method of claim 5,
When the speed is before the limit speed, the control module varies the resistance or impedance so that the wire tension F increases, and when the speed exceeds the limit speed, the control module maintains the tension F of the wire. Training apparatus, characterized in that to vary the resistance or the impedance.
The method of claim 5,
Wherein the control module adjusts the resistance or the impedance so that the tension (F) of the wire varies according to the distance or the speed.
The method of claim 5,
Wherein the control module adjusts the resistance or the impedance so that the tension (F) of the wire remains constant regardless of the distance from which the wire is pulled.
A rotating part that rotates by an external force;
A back electromotive force generating unit generating a back electromotive force according to the rotation of the rotating unit; And
Including a control module for controlling the operation of the back EMF generator,
The control module is a training apparatus, characterized in that for adjusting the resistance or impedance acting on the back EMF generator according to the rotational speed of the rotation unit according to the external force.
A rotating part that rotates by an external force;
A back electromotive force generating unit generating a back electromotive force according to the rotation of the rotating unit; And
Including a control module for controlling the operation of the back EMF generator,
The control module is a training apparatus, characterized in that for adjusting the resistance or impedance acting on the back EMF generator according to the rotation distance of the rotation unit according to the external force.
In the method of operating the training device,
Rotating the rotating unit in a first direction by an external force applied to the wire;
Generating a back electromotive force according to the rotation of the rotating unit;
Measuring the tension (F) of the wire; And
The operating method of the training apparatus comprising the step of adjusting the resistance or impedance acting on the generation of the back electromotive force according to the measured tension (F) or a predetermined tension of the wire.
The method of claim 11,
Further comprising the step of measuring at least one of the rotational speed of the rotation unit and the moving distance of the wire,
The step of adjusting the resistance or impedance,
The operating method of a training apparatus, characterized in that adjusting the resistance or impedance such that the tension (F) of the wire is changed according to the change of the rotation speed.
The method of claim 12,
The step of adjusting the resistance or impedance,
The operating method of the training apparatus, characterized in that adjusting the resistance or impedance so that the tension (F) of the wire changes according to the distance.

Images