FITNESS EQUIPMENT BASED ON THE PRINCIPLE OF FLEXIBLE MECHANICAL ARM

Abstract

A fitness apparatus based on the principle of a flexible mechanical arm, includes a mechanical arm and a support part, the mechanical arm is connected with the support part, the end of the mechanical arm being provided with a mechanical interaction structure; also including a force feedback joint, a motion control module, a force field control module, a human-computer interaction module, and a human body motion posture analysis module. The present disclosure does not use any counterweights for strength control, allowing fitness training to be performed in a limited environment that could only be done in a professional environment in the past. The present disclosure can simulate a variety of huge fitness equipment, miniaturize and integrate large exercise equipment in many gyms, making strength training possible in a limited space, and also allowing gyms to save a large amount of equipment space and greatly improve their operational efficiency.

Claims

1-26. (canceled)

27. A fitness apparatus based on a principle of a flexible mechanical arm, comprising a mechanical arm and a support part, the mechanical arm is connected with the support part, an end of the mechanical arm is provided with a mechanical interaction structure that cooperates with human limbs; the fitness apparatus also includes a force-feedback joint, a motion control module, a force field control module, a human-computer interaction module and a human body motion posture analysis module; the force-feedback joint is located at a connection between the mechanical arm and the support part and/or at each joint of the mechanical arm itself, the force-feedback joint includes a force sensor, a power device, and a mechanical transmission mechanism; the human-computer interaction module is used to select/input the training mode and training intensity, the human-computer interaction module transmits the training mode and training intensity parameters to the force field control module, the force field control module generates a force demand parameter of the end of the mechanical arm according to the received training mode and training intensity parameters and sends the parameter to the motion control module, the motion control module calculates each power output parameters of each force-feedback joint according to the received force demand parameter of the end of the mechanical arm, and sends each power output parameter to each force-feedback joint, and each force-feedback joint drives each joint of the mechanical arm to move, and each force sensor detects actual force parameters of each force-feedback joint and forms negative feedback control logic, the force field control module feeds back the motion parameters of the mechanical arm to the human-computer interaction module; wherein the mechanical arm comprises a first power arm and a second power arm, and the first power arm is hinged with the support part by the first force-feedback joint, the second power arm is hinged with the first power arm by the second force-feedback joint, and the power devices of the first force-feedback joint and the second force-feedback joint are electrically connected to the motion control module; the mechanical interaction structure is connected with the second power arm; wherein mechanical transmission mechanisms of the first force-feedback joint and the second force-feedback joint are the same, wherein mechanical transmission mechanism of the first force-feedback joint comprises a connecting rod and a sliding part, the sliding part is slidably connected to the first power arm along the length direction of the first power arm, and one end of the connecting rod is hinged with the sliding part, and the other end is hinged with a fixed seat, the fixed seat is connected with the support part, and the first power arm is hinged with the fixed seat; wherein the power device of the first force-feedback joint is a linear driving element for driving the sliding part to slide.

28. The fitness apparatus based on the principle of flexible mechanical arm according to claim 27, wherein the human-computer interaction module is further configured to input a motion posture detection control instruction, and the human-computer interaction module sends the motion posture detection control instruction to the human body motion posture analysis module, the human body motion posture analysis module receives the motion parameters of the mechanical arm output by the force field control module, calculates the actual motion posture data of the human body according to the parameters, and then sends the human body motion posture data to the human-computer interaction module.

29. The fitness apparatus based on the principle of a flexible mechanical arm according to claim 27, wherein the fixed seat is movably connected with the support part along the vertical direction, so that the overall vertical height of the mechanical arm can be adjusted.

30. The fitness apparatus based on the principle of flexible mechanical arm according to claim 27, wherein the mechanical interaction structure is a two-hand grip bar, and the two-hand grip bar comprises a fixed part and a folding part, the fixing part is arranged horizontally, and the folding part is hinged at both ends of the fixing part so that the folding part can move between the following two stations: station one, folding part is coaxial with the fixing part; and station two, the folding part swings upward or downward relative to the fixing part to the state of forming an angle with the fixing part.

31. The fitness apparatus based on the principle of a flexible mechanical arm according to claim 27, wherein a seat is provided on the support part, and the seat comprises a base, a first flap and a second flap, the surfaces of the first flap and the second flap are provided with cushions, the first flap and the second flap are coaxially hinged with the base, so that the first flap and the second flap can be switched between the following three stations: station a, the first flap is in an upright state, and the second flap is in a flat state; station b, the first flap is in a flat state, and the second flap is in an upright state; and station c, the first flap and the second flap both are in a flat state, and among the first flap, the second flap and the base, there is a first locking mechanism that can keep the three at the above three stations and can release the three from the above three stations.

32. The fitness apparatus based on the principle of a flexible mechanical arm according to claim 31, wherein the base is slidably connected to a slide rail provided on the support part, and a second locking mechanism is provided between the slide rail and the base that can lock the base at any position and can release the base from that position.

33. The fitness apparatus based on the principle of a flexible mechanical arm according to claim 30, wherein the human-computer interaction module is a mobile terminal, and a bracket for fixing the mobile terminal is provided on the two-hand grip bars.

34. The fitness apparatus based on the principle of flexible mechanical arms according to claim 30, wherein the mechanical interaction structure is provided with a detection module for detecting human physiological parameters, and the detection module comprises a current sensor provided on the two-hand grip bar, the current sensor is used to detect human heart rate and blood sample data, and the detection module sends the detected data to the human-computer interaction module.

Description

BRIEF DESCRIPTION

[0039] Some of the embodiments will be described in detail, with reference to the following figures, wherein like designations denote like members, wherein:

[0040] FIG. 1 is a schematic three-dimensional structural diagram of a fitness apparatus based on the principle of a flexible mechanical arm provided by an embodiment of the present disclosure;

[0041] FIG. 2 is the structural block diagram of the electric control module part of the fitness apparatus based on the principle of the flexible mechanical arm provided by an embodiment of the present disclosure;

[0042] FIG. 3 is a schematic structural diagram of a two-hand grip provided by an embodiment of the present disclosure; and

[0043] FIG. 4 is a schematic structural diagram of a seat provided by an embodiment of the present disclosure.

DETAILED DESCRIPTION

[0044] As shown in FIGS. 1 and 2, a fitness apparatus based on the principle of a flexible mechanical arm, including a mechanical arm and a support part 4, the mechanical arm is connected with the support part 4, the end of the mechanical arm is provided with a mechanical interaction structure that cooperates with human limbs; further includes a force-feedback joint, a motion control module, a force field control module, a human-computer interaction module and a human body motion posture analysis module; the force-feedback joint is located at the connection between the mechanical arm and the support part and/or each joint of the mechanical arm itself, the force-feedback joint includes a force sensor, a power device and a mechanical transmission mechanism; the human-computer interaction module is used to select/input the training mode and training intensity, the human-computer interaction module transmits the training mode and training intensity parameters to the force field control module, the force field control module generates a force demand parameter of the end of the mechanical arm according to the received training mode and training intensity parameters and sends the parameter to the motion control module, the motion control module calculates each power output parameters of each force-feedback joint according to the received force demand parameter of the end of the mechanical arm and sends each power output parameters to each force-feedback joint, and each force-feedback joint drives the motion of each joint of the mechanical arm to move, each force sensor detects the actual force parameters of each force-feedback joint and forms a negative feedback control logic, the force field control module feeds back motion parameters of the mechanical arm to the human-computer interaction module.

[0045] The human-computer interaction module is also used for inputting motion posture detection control instructions, the human-computer interaction module sends the motion posture detection control instructions to the human body motion posture detection module, and the human body motion posture detection module receives the mechanical arm motion parameters output by the force field control module, and calculate the actual motion posture data of the human body according to the parameter, and then send the human body motion posture data to the human-computer interaction module.

[0046] FIG. 2 is a structural schematic diagram of an electronic control module of a fitness apparatus, wherein the electronic control module of the fitness apparatus includes a human-computer interaction module, a force field control module, a motion control module, and a plurality of force-feedback joints; the human-computer interaction module is used for selection/input training mode and training intensity, and send the training mode and training intensity parameters to the force field control module; the force field control module generates a force demand parameter of the end of the mechanical arm according to the received training mode and training intensity parameters and sends the force demand parameter to the motion control module; the motion control module calculates the power output parameters required by each force-feedback joint according to the received force demand parameters at the end of the mechanical arm, and sends each power output parameter to each force-feedback joint; each force-feedback joint drives each joint of the mechanical arm to move. The force sensor of each force-feedback joint detects the actual force parameters of each force-feedback joint and forms a negative feedback control logic. The force field control module feeds back the motion parameters of the mechanical arm to the human-computer interaction module.

[0047] The electronic control module of the fitness apparatus also includes a human body movement posture analysis module. The human-computer interaction module is also used for inputting motion posture detection control instructions, the human-computer interaction module sends the motion posture detection control instructions to the human body motion posture analysis module, and the human body motion posture analysis module receives the mechanical arm motion parameters output by the force field control module, and calculates the actual motion posture data of the human body according to the parameter, and then sends the human body motion posture data to the human-computer interaction module.

[0048] In the present disclosure, the interaction of the human-computer interaction module shall refer to a two-way information flow, which includes two aspects: 1. The human gives instructions to the machine; 2. The machine feeds back information to the human. Wherein, the information fed back by the machine to the human may include: a. The running state of the machine; b. Human monitoring data obtained by the machine, such as exercise time, intensity, heart rate, breathing rate, etc.; c. Considering the machine's online game function, various parameters of other players may also be fed back. The feedback parameters are displayed to the user through the human-computer interaction module, and the way of displaying the parameters can be selected from various display types, such as data, charts, static images and dynamic images.

[0049] The method for controlling a mechanical arm of a fitness apparatus in the present disclosure includes: calculating the power output parameters of the force-feedback joints of the fitness apparatus according to the force demand parameters of the end of the mechanical arm, and sending the power output parameters to each force-feedback joint in the fitness apparatus; according to the power output parameter, driving the joint of the mechanical arm through the force-feedback joint; detecting the actual force parameter of the force-feedback joint and forming a negative feedback control logic. Wherein, the force demand parameter of the end of the mechanical arm is generated according to the training mode and the training intensity parameter. Further, obtaining the input motion posture detection control instruction through the human-computer interaction module; receiving the motion parameters of the mechanical arm, and calculating the human body motion posture data according to the motion parameters of mechanical arm; sending the human body motion posture data to the human-computer interaction module.

[0050] An embodiment of the present disclosure provides a fitness apparatus, including a processor, a memory, and a program stored on the memory and executable on the processor, and the program is executed by the processor to implement the fitness apparatus the steps of the mechanical arm control method.

[0051] An embodiment of the present disclosure provides a readable storage medium, where a computer program is stored on the readable storage medium, and when the program is executed by a processor, the steps of the method for controlling a mechanical arm of a fitness apparatus are implemented.

[0052] The mechanical arm includes a first power arm 1 and a second power arm 2. The first power arm 1 is hinged to the support part4 through a first force-feedback joint, and the second power arm 2 is hinged to the first power arm 1 through a second force-feedback joint, the power devices of the first force-feedback joint and the second force-feedback joint are electrically connected to the motion control module; the mechanical interaction structure is connected to the second power arm 2.

[0053] The mechanical transmission mechanisms of the first force-feedback joint and the second force-feedback joint are the same, wherein the mechanical transmission mechanism of the first force-feedback joint includes a connecting rod 8 and a sliding part 7, the sliding part 7 is slidably connected with the first power arm 1 along the length direction of the first power arm 1, one end of the connecting rod 8 is hinged with the sliding part 7, the other end is hinged with a fixed seat 5, the fixed seat 5 is connected with the support part 4, and the first power arm 1 is hinged with the fixed seat 5; the power device of the first force-feedback joint is a linear driving element for driving the sliding part 7 to slide.

[0054] The fixed seat 5 is movably connected to the support part 4 along the vertical direction, so that the overall vertical height of the mechanical arm can be adjusted.

[0055] As shown in FIG. 3, the mechanical interaction structure is a two-hand grip rod 3, and the two-hand grip rod 3 includes a fixed part 31 and a folding part 32, the fixed part 31 is arranged horizontally, and the folding part 32 is hinged on the fixed part 31. Both ends enable the folding part 32 to move between the following two stations: station one, the folding part 32 is coaxial with the fixed part 31; and station two, the folding part 32 swings up or down relative to the fixing part 31 to a state of forming an angle with the fixing part 31.

[0056] As shown in FIG. 1 and FIG. 4, the support part 4 is provided with a seat 6, and the seat 6 includes a base 63, a first flap 61 and a second flap 62, the surfaces of the first flap 61 and the second flap 62 is provided with a soft cushion, the first flap 61 and the second flap 62 are coaxially hinged with the base 63 so that the first flap 61 and the second flap 62 can be switched between the following three stations: station a, the first flap 61 is in an upright state, and the second flap 62 is in a flat state; in station b, the first flap 61 is in a flat state, and the second flap 62 is in an upright state; and in station c, the first flap 61 and the second flap 62 are in a flat state, and among the first flap 61, the second flap 62 and the base 63, there is a first locking mechanism that can keep the three at the above three stations and can release the three from the above three stations.

[0057] The base 63 is slidably connected to a slide rail provided on the support part 4, and a second locking mechanism is provided between the slide rail and the base 63 for locking the base 63 at any position and releasing the base 63 from this position.

[0058] The human-computer interaction module is a mobile terminal, and a bracket 12 for fixing the mobile terminal is provided on the two-hand grip bar 3.

[0059] The mechanical interaction structure is provided with a detection module for detecting human physiological parameters. The detection module includes a current sensor 11 set on the two-hand grip bar 3. The current sensor 11 is used to detect human heart rate and blood sample data, and the detection module sends the detected data to the human-computer interaction module.

[0060] The technical solutions of the present disclosure are described in detail below in conjunction with several specific usage scenarios:

[0061] Bench Press Training

[0062] Adjust the seat 6 to a flat state and lock it on the track, adjust the two-hand grip bar 3 to the station one, the user adjusts the mechanical arm to the bench press training mode through the human-computer interaction module, and the user lies flat on the seat 6, press the two-hand grip bar 3 upwards, and the mechanical arm exerts downward pressure. The pressure can be adjusted linearly between 0-100 kg, and the strength can meet the intensity requirements of bench press training from the beginner level to the professional level.

[0063] Squat Training

[0064] This training does not require the seat 6, so slide the seat 6 to a position close to the mechanical arm and lock it to store it, adjust the two-hand grip to station one, the user squatting on the support 4, holding both hands on the middle part above the user's shoulders, the user supports the two-hand grip bar 3 upward to perform squat training, and the mechanical arm exerts downward pressure on the two-hand grip bar 3 position, and the strength can meet the intensity requirements of squat training from the beginner level to the professional level.

[0065] Rowing Machine Training

[0066] Adjusting the seat 6 to the sitting position facing the mechanical arm, the user sits on the seat 6, holds the handle with both hands, and pulls it backwards with force, the mechanical arm generates resistance in the horizontal direction to simulate rowing training.

[0067] Although the present invention has been disclosed in the form of embodiments and variations thereon, it will be understood that numerous additional modifications and variations could be made thereto without departing from the scope of the invention.

[0068] For the sake of clarity, it is to be understood that the use of “a” or “an” throughout this application does not exclude a plurality, and “comprising” does not exclude other steps or elements.