Self-generating strength training equipment

Abstract

The present invention provides a self-generating strength training device, comprising: a permanent magnet motor (1) providing an electronic counterweight, a strength output and input structure (2) connected to the permanent magnet motor (1), a motor driver (3), a capacitor (5), an energy storage component (6), an electric quantity monitor (7), a charge and discharge circuit (8) and a controller (9), wherein the controller (9) is configured to determine which training modes can be provided according to the electric quantity in the energy storage component. When the electric quantity in the energy storage component is less than a specified first electric quantity, the strength training device can only provide an aerobic training mode as a power generation mode. When the electric quantity in the energy storage component is greater than or equal to a specified second electric quantity, the aerobic training mode and other training modes can be provided until the electric quantity in the energy storage component is less than the first electric quantity, wherein the second electric quantity is greater than the first electric quantity. Thus, the strength training function of the device can be provided while self-generating.

Description

Technical Field

[0001] The present invention relates to the technical field of fitness equipment, and in particular to a strength training device capable of providing strength training functions. Background Art

[0002] Home fitness equipment has seen significant development in recent years, with a steady stream of smart home fitness devices offering comprehensive functionality. These include smart bikes for aerobic exercise, smart fitness mirrors, and new smart home strength training equipment that uses motors to set resistance, replacing the counterweights used in traditional strength training equipment.

[0003] The number of public ownership of these smart home fitness devices is increasing year by year. However, while these smart home fitness devices bring convenience to the public, they also consume huge amounts of electricity.

[0004] On the other hand, for fitness equipment such as exercise bikes, self-generating technologies have been developed to recycle the work performed by the user during exercise as electrical energy. For example, Chinese Patent No. 102688582B discloses a self-generating fitness bike equipped with a generator that converts the mechanical rotational motion of a transmission group into electrical energy. The generated electricity can be used to power the fitness bike's electronic display and operating panel as well as external electronic products. Summary of the Invention

[0005] Technical problems to be solved

[0006] While the prior art disclosed in the aforementioned Chinese patent 102688582B can recycle the work performed by the user during exercise as electrical energy, it is not suitable for strength training equipment that provides strength training. Specifically, taking the new intelligent home strength training equipment that uses a motor to set resistance (electronic counterweights) instead of the counterweights used in traditional strength training fitness equipment as an example, during strength training, the user needs to switch back and forth between working and being worked on. When the user pulls the rope, they are doing work on the equipment, generating electricity; when the user is pulled back by the rope, the equipment is doing work on the user, consuming electricity.

[0007] This type of strength training equipment uses electronic weights, so a motor is required to generate the resistance required for training (herein referred to as electronic weight resistance), which usually consumes electricity all the time. Although the motor of this equipment can generate electricity, the amount of electricity generated is limited and the voltage is unstable. This makes it difficult to generate the required electronic weight resistance while the motor generates electricity to maintain the strength training function of the equipment, especially in the early stages of self-generation. In addition, depending on the mode of strength training, when the power consumption exceeds the power generation, it is difficult to maintain the strength training mode without replenishing the power of the training equipment.

[0008] While existing technologies use batteries to store electrical energy, this storage method is unsuitable for new smart home strength training devices that frequently switch between working and being worked. First, the battery's discharge characteristics make it difficult to provide instantaneous high power. Second, frequent charge and discharge cycles significantly shorten the battery's lifespan. Furthermore, large-capacity batteries increase the weight and cost of the device.

[0009] The present invention is made to solve the above technical problems, and its purpose is to provide a self-generating strength training device, which is an electronic weight-bearing strength training device that can achieve self-generation while providing the strength training function of the device.

[0010] Means of solving technical problems

[0011] The inventors of this invention have long been dedicated to the research and development of strength training equipment. Based on the inherent characteristics of such training equipment, they have developed a self-generating strength training device that can achieve self-generation while maintaining the training function of the device to the greatest extent possible. The technical concept of this invention is now briefly described.

[0012] The training modes of electronic weight-bearing strength training equipment include aerobic training mode and resistance training mode.

[0013] During aerobic training, concentric exercise is typically performed with greater force and speed, while eccentric exercise is performed at a slower speed and with less force. During concentric exercise, the user generates work on the training equipment, and using greater force for concentric exercise means more work is generated. Therefore, throughout the aerobic exercise process, the training equipment generates electricity, storing excess energy in the battery. Therefore, aerobic training can be used as a power generation mode.

[0014] In resistance training, both concentric and eccentric movements generally require greater strength. When the concentric force is equal to the centrifugal force, the system only needs to consume loss energy and does neither external nor internal work. When the centripetal force is greater than the centrifugal force, the motor generates more power than the motor does. If the excess electrical energy can cover the loss, charging can be performed. When the centrifugal force is greater than the centripetal force, the motor does more work than it generates, consuming electrical energy. However, in either case, since alternating concentric and eccentric movements involve a power generation process throughout the entire resistance training, the overall power consumption is not high. The training function can be maintained by appropriately supplementing it with the electrical energy stored in the battery.

[0015] The present invention is made based on the above technical ideas, and provides a self-generating strength training device, comprising: a permanent magnet motor that provides electronic counterweights for strength training, a force output and input structure connected to the drive shaft of the permanent magnet motor, and a motor driver for driving the permanent magnet motor, which is connected to the permanent magnet motor. The self-generating strength training device is characterized in that it also includes: a capacitor, which is connected to the bus bar and can provide electric power to the motor driver to drive the permanent magnet motor, and can be charged by the electric energy generated by the permanent magnet motor; an energy storage component, which is connected to the bus bar and can provide electric power to the capacitor and the motor driver, and can be charged by the electric energy generated by the permanent magnet motor; a power monitor, which monitors the power of the energy storage component; a charging and discharging circuit, It is connected between the busbar and the energy storage component and can charge and discharge the energy storage component; and a controller, which is configured to determine the training mode that can be provided based on the amount of electricity in the energy storage component. When the amount of electricity in the energy storage component is less than a specified first amount of electricity, the self-generating strength training device can only provide an aerobic training mode as a power generation mode. When the amount of electricity in the energy storage component is greater than or equal to a specified second amount of electricity, the aerobic training mode and other training modes can be provided until the amount of electricity in the energy storage component is less than the first amount of electricity, wherein the second amount of electricity is greater than the first amount of electricity. During the aerobic training, the user can perform centripetal motion through the force output and input structure, perform work on the self-generating strength training device, and cause the permanent magnet motor to generate electricity to charge the energy storage component.

[0016] Preferably, the other training modes include an impedance training mode, in which the user can perform centripetal motion and centrifugal motion alternately through the force output and input structure. In the centripetal motion, the user can work on the self-generating strength training device to make the permanent magnet motor generate electricity, and in the centrifugal motion, the self-generating strength training device works on the user and consumes electrical energy.

[0017] Preferably, in the impedance training mode, the electronic weight resistance of the eccentric exercise is set to be smaller than the electronic weight resistance of the concentric exercise.

[0018] Preferably, in the aerobic training mode, when the voltage of the capacitor is less than the first voltage, rectification and power generation are performed; when the voltage of the capacitor is greater than or equal to the first voltage, the motor driver is used to control the permanent magnet motor to perform controllable power generation, thereby controlling the electronic counterweight resistance generated by the permanent magnet motor; in the impedance training mode, during the centripetal motion, the motor driver is used to control the permanent magnet motor to perform controllable power generation; during the centrifugal motion, the motor driver is used to control the torque of the permanent magnet motor, thereby controlling the electronic counterweight resistance generated by the permanent magnet motor.

[0019] Preferably, the permanent magnet motor is a three-phase permanent magnet synchronous motor, and the motor driver includes an MCU controller and 6 switching tubes to form a three-phase inverter circuit, and a diode is connected in reverse parallel to each switching tube. In the aerobic training mode, when the voltage of the capacitor is less than the first voltage, the current generated by the permanent magnet motor is rectified by the diode for the rectified power generation. When the voltage of the capacitor is greater than or equal to the first voltage, the PWM control signal output by the MCU controller controls the 6 switching tubes to perform controllable power generation, thereby controlling the electronic counterweight resistance generated by the permanent magnet motor. In the impedance training mode, in the centripetal motion, the PWM control signal output by the MCU controller controls the 6 switching tubes to perform controllable power generation. In the centrifugal motion, the PWM control signal output by the MCU controller controls the 6 switching tubes to control the torque of the permanent magnet motor, thereby controlling the electronic counterweight resistance generated by the permanent magnet motor.

[0020] Preferably, when the voltage of the capacitor is greater than or equal to the second voltage, the controller controls the charge and discharge circuit to charge the energy storage component; when the amount of electricity in the energy storage component is greater than or equal to the specified first amount of electricity and the voltage of the capacitor is less than a third voltage, the controller controls the charge and discharge circuit to discharge the capacitor from the energy storage component, wherein the second voltage and the third voltage satisfy the following relationship: second voltage > third voltage.

[0021] Preferably, the force output and input structure includes a winch connected to the drive shaft of the permanent magnet motor and a pull rope connected to the winch. The user can pull the pull rope to counteract the resistance of the permanent magnet motor and enable the permanent magnet motor to generate electricity. When the motor driver drives the permanent magnet motor to rotate at a specified torque, the winch can pull the pull rope back and do work for the user at the same time.

[0022] Preferably, the system further comprises a brake circuit connected to the busbar via a switch component, and when the voltage of the busbar exceeds a specified threshold, the brake circuit is activated to consume the electric energy from the busbar.

[0023] Preferably, a prompting device is also included, which prompts the user to perform aerobic training for a specified length of time when the power of the energy storage component is less than the specified first power and the only training mode that can be provided is aerobic training; when the power of the energy storage component is greater than or equal to the specified second power, the user is prompted to start training in other modes.

[0024] Preferably, the energy storage component is a battery and / or a flywheel energy storage device.

[0025] Beneficial effects

[0026] One of the advantages of the self-generating strength training device of the present invention is that since the electronic counterweight strength training device is in a power generation state during aerobic training, it can work as a power generation mode. After a period of aerobic training, excess electricity can be stored in the energy storage component, and during impedance training, it can also reduce power consumption while maintaining the training function. Therefore, a self-generating strength training device can be provided, which can achieve self-generation and provide the strength training function of the device without being connected to an external power supply.

[0027] Moreover, since it can generate electricity by itself without being connected to an external power source, it can not only achieve energy saving and environmental protection, but also expand the use scenarios of strength training equipment. For example, strength training can be performed outdoors or when it is inconvenient to plug in. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1A This is a diagram showing an example of a basic structure for providing a strength training function in an electronic weight-type strength training machine.

[0029] Figure 1B This is a diagram showing an example of a basic structure for providing a strength training function in an electronic weight-type strength training machine.

[0030] Figure 1C This is a diagram showing an example of a basic structure for providing a strength training function in an electronic weight-type strength training machine.

[0031] Figure 2 This is a block diagram showing the structure of the self-powered strength training machine according to the first embodiment of the present invention.

[0032] Figure 3 This is a circuit diagram showing a circuit configuration of a motor driver according to one embodiment of the present invention.

[0033] Figure 4It means using Figure 3 The block diagram of the control logic of the motor driver shown is used to drive a permanent magnet motor.

[0034] Figure 5 This is a block diagram showing a configuration for charge and discharge control according to one embodiment of the present invention.

[0035] Figure 6 This is a block diagram showing the structure of a self-powered strength training machine according to a second embodiment of the present invention.

[0036] Figure 7 This is a block diagram showing the structure of a self-powered strength training machine according to a third embodiment of the present invention. DETAILED DESCRIPTION

[0037] Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings.

[0038] (First embodiment)

[0039] (Provides basic structure for strength training function)

[0040] Electronic weight-based strength training equipment uses electronic weights instead of physical weights, controlling a motor to generate magnetic resistance. The user pulls the cord connected to the motor against the resistance, simulating the traditional exercise method of pulling a physical weight.

[0041] In one embodiment of the present invention, the basic structure of the electronic weight-bearing strength training device that provides the strength training function may be the structure described in the Chinese patent application with publication number 113181592A.

[0042] Specifically, Figures 1A to 1C FIG is a diagram showing an example of a basic structure of an electronic weight-type strength training device that provides a strength training function. Figure 1A As shown, one end of the first pull rope 31 is fixedly wound around the winch 22 of the resistance mechanism 20, and the other end first passes around a first fixed pulley 61, then passes around the first linkage pulley 51, and finally passes around another first fixed pulley 61, and finally fixed to the linkage bracket 511 of the first linkage pulley 51. Figure 1B As shown, the second pull rope 32 is wound between the first linkage pulley 51, the second linkage pulley 52 and the second fixed pulley 62, and both ends of the second pull rope 32 can be connected to the training component. Figure 1C As shown, one end of the third pull rope 33 is fixed to the handle assembly of the equipment. The other end first passes over two small third fixed pulleys 63, then around the second linkage pulley 52, and then around two larger third fixed pulleys 63 before passing through the handle assembly and connecting to the external training component. Pulling the second and third pull ropes pulls the first pull rope, one end of which is connected to the motor-driven winch 22.

[0043] When the motor driver drives the motor to make the winch rotate in the opposite direction of the rope pulling its rotation, it generates a force that opposes the motor resistance. When the pulling force is greater than the resistance, it is like pulling up a physical heavy object. Figure 1A In the embodiment, the pulling force is used to counteract the equal weight force generated by the motor connected to the pulley linkage bracket 511 through the pull rope, so that the linkage bracket 511 moves toward the motor; when the pulling force is less than the resistance, the motor rotates to make the winch wind the pull rope back, and the weight falls back, that is, the linkage bracket 511 moves away from the motor and resets.

[0044] However, the basic structure for providing strength training function is not limited to the above structure. As long as there is a motor capable of generating resistance and a force input / output structure connected to the drive shaft of the motor, the user can perform work on the motor through the force input / output structure to make the motor generate electricity, and can receive the work performed by the motor on the user through the force input / output structure. Other structures can be used, for example, a mechanism with a winch, a pull rope and a pulley, but the number and configuration of the pull ropes and pulleys are not limited to Figures 1A to 1C The method shown.

[0045] Furthermore, a loop spring and a one-way bearing can be installed on the capstan. The tension of the loop spring can be used to cause the capstan to reel in the cable, independently of the motor's rotation. This allows the capstan to reel in the cable when there is insufficient power to drive the motor in the strength training machine (e.g., in the early stages of aerobic training), allowing the user to repeatedly perform centripetal exercise.

[0046] (Structure of self-generating strength training equipment)

[0047] Figure 2 FIG. 1 is a block diagram showing the structure of a self-generating power training device according to an embodiment of the present invention. Figure 2As shown, a self-generating strength training device according to an embodiment of the present invention includes: a permanent magnet motor 1 for providing electronic counterweights for strength training, a force output-input structure 2 connected to the drive shaft of the permanent magnet motor, a motor driver 3 for driving the permanent magnet motor 1, which is connected to the permanent magnet motor 1, a capacitor 5, which is connected to the bus 4 and can provide electric power to the motor driver 3 to drive the permanent magnet motor 1, and can be charged by the electric energy generated by the permanent magnet motor 1, a battery 6, which is connected to the bus 4 through a charge and discharge circuit 8, can provide electric power to the capacitor 5 and the motor driver 3, and can be charged by the electric energy generated by the permanent magnet motor 1, and a battery power monitoring A device 7 is provided for monitoring the charge of the battery 6, a charge and discharge circuit 8 is connected between the bus 4 and the battery 6, and can charge and discharge the battery according to the voltage of the capacitor 5 and the charge of the battery 6 under the control of the controller 9, and the controller 9 is configured to determine the training mode that can be provided according to the charge in the battery 6, and when the charge in the battery 6 is less than a specified first charge, the self-generating strength training equipment can only provide the aerobic training mode as the power generation mode, and when the charge in the battery 6 is greater than or equal to a specified second charge, the aerobic training mode and other training modes can be provided until the charge in the battery is less than the first charge, wherein the second charge is greater than the first charge.

[0048] Figure 3 This is a circuit diagram showing the circuit structure of a motor driver according to one embodiment of the present invention. Because the main function of this motor driver is to control the force generated by the permanent magnet motor, it is also called a force generator control subsystem.

[0049] like Figure 3 As shown, the permanent magnet motor in this embodiment is a three-phase permanent magnet synchronous motor. The motor driver includes an MCU controller and 6 switching tubes to form a three-phase inverter circuit, and a diode is connected in reverse parallel to each switching tube.

[0050] The following describes in more detail how to use Figure 3 The circuit structure shown performs resistance control (force control) of the motor.

[0051] Six switching transistors 101-106 form a three-phase inverter circuit. The control logic is determined by six PWM control signals 114 output by an MCU controller 112. These six PWM control signals are amplified and isolated by a driver circuit 115 to control the IGBT switches. Switches 101 and 102 serve as the inverter switches for the U phase 107, 103 and 104 for the V phase 108, and 105 and 106 for the W phase 109. Control signals for the three-phase permanent magnet synchronous motor 110 are output using an inverter modulation algorithm such as SVPWM or SPWM.

[0052] 116, 117, and 118 are the current sampling resistors for the three-phase lower switching tubes. According to Ohm's law, U = R * I, the voltage values ​​across the current sampling resistors can be collected to calculate the current 119 flowing through the three-phase lower switching tubes and the sampling resistors. 101 and 102 cannot be on at the same time, 103 and 104 cannot be on at the same time, and 105 and 106 cannot be on at the same time; otherwise, a short circuit will occur. Based on this principle, if the current values ​​flowing through the current sampling resistors are known, the output currents 107, 108, and 109 can be calculated.

[0053] The three-phase permanent magnet synchronous motor 110 provides a photoelectric encoder, a magnetic rotary encoder, a Hall sensor, etc. The MCU controller 112 can obtain feedback information such as the position and speed 120 of the motor by connecting to these sensors.

[0054] The MCU controller 112 collects the bus voltage 121 of the inverter circuit and, when necessary, controls the IGBT switch tube 111 to form a discharge circuit with the brake resistor 113 and the capacitor 122 to implement the discharge function, thereby preventing the bus voltage from being too high and damaging components.

[0055] Figure 4 It means using Figure 3 The block diagram of the control logic when the motor driver is used to drive a permanent magnet motor is shown in FIG. This control logic is mainly used to control the force generated by the permanent magnet motor.

[0056] Below Figure 4 The control logic shown is explained. The speed and force setting unit (201) is used to set the target speed and maximum force, and the MCU controller converts the set speed and force into the speed and torque of the motor. Since a permanent magnet synchronous motor is used, the Id in the motor torque control Iq and flux linkage control Id unit (203) is 0: that is, based on the feedback value (210) of the position / speed unit (225) and the value of the speed and force setting unit (202), the MCU controller calculates a target IqRef (227). The position and speed of the motor are calculated by the encoder signal (224) of the motor (223), and the collected position information is used to participate in the calculation of the PARK transformation (220) and the PARK inverse transformation (227).

[0057] The three-phase currents Ia, Ib, and Ic (217, 222) read by the current reading unit (216) are subjected to CLARKE transformation (218) to obtain Ialpha feedback and Ibeta feedback (219), and then PARK transformation (220) is performed with reference to the position / speed value (226) of the position / speed unit (225) to obtain Iq feedback (206) and Id feedback (207).

[0058] The motor torque control Iq (204) is equal to IqRef (227), and the Iq feedback (206) value is used by the Vq PID control unit (208) to form a PID closed-loop control to obtain Vq (211). At the same time, Id (205) is equal to 0, and the Id feedback (207) value is used by the Vd PID control unit (209) to form a PID closed-loop control to obtain Vd (212). Vq, Vd, and the position information fed back by the motor participate in the PARK inverse transformation (213) to obtain Valpha and Vbeta (214). Valpha and Vbeta are input to the SVPWM calculation unit (215) to obtain 6-channel PWM control signal output, thereby achieving control of the speed and torque of the motor.

[0059] Whether the motor works as a motor (the motor rotates to pull the rope with its torque) or as a generator (the user overcomes resistance and pulls the rope), the torque of the motor can be adjusted through the above-mentioned torque closed-loop control.

[0060] (Working status of self-generating strength training equipment)

[0061] The inventors of this invention have long been dedicated to the research and development of strength training equipment. Based on the inherent characteristics of such training equipment, they have developed a self-generating strength training device that can achieve self-generation while maintaining the training function of the device to the greatest extent possible. The technical concept of this invention is now briefly described.

[0062] Permanent magnet synchronous motors can operate in both working and generating modes. Their efficiency is generally high, reaching over 90%.

[0063] The motor can be in a working state, where the motor shaft rotates in the same direction as the output. When the motor shaft is stalled, although it is not producing work, it still consumes energy, so it is temporarily placed in a working state. In this working state, the motor consumes the energy stored in the capacitor.

[0064] The motor can be in a generating state, where the motor shaft rotates in the opposite direction of the output. This is equivalent to an external force acting against the motor output. In the generating state, the work done by the external force, minus losses, is stored as electrical energy in the capacitor.

[0065] The training modes of the electronic weight-bearing strength training device include, but are not limited to, aerobic and resistance training modes. For example, it may also include a kayaking mode that simulates kayaking. From the perspective of the work performed by the user on the device and the work performed by the device on the user, the operating modes of the self-generating strength training device of the present invention will be described using the aerobic and resistance training modes as examples.

[0066] During aerobic training, concentric exercise is typically performed with greater force and speed, while eccentric exercise is performed at a slower speed and with less force. During concentric exercise, the user generates work on the training equipment, and using greater force for concentric exercise means more work is generated. Therefore, throughout the aerobic exercise process, the training equipment generates electricity, storing excess energy in the battery. Therefore, aerobic training can be used as a power generation mode.

[0067] In resistance training, both concentric and eccentric movements generally require greater strength. When the concentric force is equal to the centrifugal force, the system only needs to consume loss energy and does neither external nor internal work. When the centripetal force is greater than the centrifugal force, the motor generates more power than the motor does. If the excess electrical energy can cover the loss, charging can be performed. When the centrifugal force is greater than the centripetal force, the motor does more work than it generates, consuming electrical energy. However, in either case, since alternating concentric and eccentric movements involve a power generation process throughout the entire resistance training, the overall power consumption is not high. The training function can be maintained by appropriately supplementing it with the electrical energy stored in the battery.

[0068] If the battery is fully charged, resistance training can be performed directly. If the battery is low, the user can first do aerobic training for a certain period of time to charge the battery before continuing with resistance training. This also conforms to certain fitness training principles.

[0069] The present invention is made based on the above technical ideas. The self-generating strength training equipment of the present invention can determine the training mode that can be provided according to the amount of electricity in the battery. When the amount of electricity in the battery is less than the specified first amount of electricity, it can provide an aerobic training mode as a power generation mode. When the amount of electricity in the battery is greater than or equal to the specified second amount of electricity, it can provide the aerobic training mode and other training modes until the amount of electricity in the battery is less than the first amount of electricity, wherein the second amount of electricity is greater than the first amount of electricity. During the aerobic training, the user performs centripetal motion through the force output and input structure, performs work on the self-generating strength training equipment, and causes the permanent magnet motor to generate electricity to charge the battery.

[0070] In one embodiment of the present invention, the controller 9 determines the training mode that can be provided according to the power in the battery 6. The controller 9 can be an MCU controller, preferably sharing the above Figure 3 The motor driver MCU controller 112. In addition, considering that the initial state of the device may be a state of no power, as another embodiment, a structure can be adopted in which the aerobic exercise mode can be automatically selected as the power generation mode when the battery power is low.

[0071] The self-generating strength training device of the present invention can provide an aerobic training mode when the battery charge is less than a specified first charge. During aerobic training, the user performs centripetal motion through the force input and output structure, causing the self-generating strength training device to work, causing the permanent magnet motor to generate electricity and charge the battery. After a period of aerobic training, when the battery charge is greater than or equal to a specified second charge, the aerobic training mode and other training modes can be provided until the battery charge is less than the first charge. Thus, in a strength training device using electronic weights, the device's strength training function can be provided while achieving self-generation without connecting to an external power source.

[0072] When the force output-input structure includes a winch connected to the drive shaft of the permanent magnet motor and a pull rope connected to the winch, it is preferred that, in the aerobic exercise mode, the recovery of the pull rope relies on the elastic force generated by the spring instead of causing the motor to work as an electric motor, so as to reduce the consumption of electrical energy generated by power generation.

[0073] The values ​​for the first and second charges can be selected based on the following factors. The first charge can be a very low value, for example, less than 10% of the battery's capacity. The second charge should take into account three factors: the battery's capacity, the duration of other training modes required (this depends on the power consumption in these other modes), and the charging time required. If the power consumption in these other modes is low, the second charge can be set lower to maintain the training mode for a longer period while shortening the charging time.

[0074] In the self-generating strength training device of the present invention, other training modes include an impedance training mode. In impedance training, the user performs centripetal motion and centrifugal motion alternately through the force output and input structure. In the centripetal motion, the user performs work on the self-generating strength training device to cause the permanent magnet motor to generate electricity. In the centrifugal motion, the self-generating strength training device performs work on the user and consumes electrical energy.

[0075] Preferably, in the impedance training mode, the electronic weight resistance of the centrifugal motion is set to be smaller than the electronic weight resistance of the concentric motion. Specifically, in a smart home strength training device that uses motor resistance (electronic weight) to replace the weight block balance method of traditional strength training fitness equipment, the user can select or set the training resistance. When the user selects or sets the training resistance, the electronic weight resistance of the concentric motion is preferably set to the training resistance selected by the user, and the electronic weight resistance of the centrifugal motion is set to a resistance smaller than the selected training resistance.

[0076] In a strength training device using electronic weights, the electrical energy consumed by the self-generating strength training device during centrifugal exercise is proportional to the electronic weight resistance. Setting the electronic weight resistance for concentric exercise to be greater than that for centrifugal exercise, or setting the electronic weight resistance for centrifugal exercise to be less than that for concentric exercise, can reduce the electrical energy consumed during centrifugal exercise, thereby achieving a balance between power generation and power consumption throughout the entire resistance training process, reducing the overall energy consumption of the device and extending the duration of the resistance training mode.

[0077] The difference in electronic weight resistance between the two exercises can be selected based on the following factors. If this difference is too small, combined with the system's power losses, the overall power consumption will be higher, which will affect the duration of the impedance training mode. If the difference is too large, the training effect of the eccentric exercise will be reduced. Therefore, it is necessary to strike a balance between the two and choose an appropriate resistance difference. For example, when the system loss is 20%, the resistance of the eccentric exercise can be set to 80% of the resistance of the concentric exercise. In this way, it is possible to achieve a rough balance between power generation and power consumption while maintaining the training effect of the eccentric exercise as much as possible, thereby minimizing power consumption during eccentric exercise and extending the time that the impedance training mode can be provided.

[0078] Considering the working state at the initial stage of strength training, there is no electricity stored in the capacitor and the battery when aerobic training begins. The user performs centripetal exercise with great force, during which the permanent magnet motor generates electricity and charges the capacitor so that the voltage of the capacitor gradually increases. When the voltage of the capacitor is less than a first voltage of, for example, 30V, rectification power generation is performed, and when the voltage of the capacitor is greater than or equal to the first voltage, the motor driver is used to control the permanent magnet motor to perform controllable power generation, thereby controlling the electronic counterweight resistance generated by the permanent magnet motor. In this way, even in the initial stage of strength training when power generation has not yet begun, aerobic training can be performed with a certain resistance.

[0079] In the impedance training mode, the user alternates between centripetal and eccentric exercises. At this point, the battery charge is greater than or equal to a predetermined second charge, and the motor driver is functioning normally. During the centripetal exercise, the motor driver controls the permanent magnet motor for controllable power generation. During the centrifugal exercise, the motor driver controls the torque of the permanent magnet motor, thereby controlling the electronic weight resistance generated by the permanent magnet motor.

[0080] When using Figure 3When the circuit structure of the motor driver is shown, in the aerobic training mode, the user performs centripetal exercise with greater force. During this process, the three-phase permanent magnet synchronous motor generates electricity and charges the capacitor to gradually increase the voltage of the capacitor. When the voltage of the capacitor is less than a first voltage (for example, 30V), the MCU and the six switching tubes are not yet working. At this time, the current generated by the permanent magnet motor is rectified by the diode and flows into the capacitor for rectified power generation. At this time, the resistance generated by the permanent magnet motor depends on the magnitude of the current. When the voltage of the capacitor is greater than or equal to the first voltage, the MCU and the six switching tubes enter the working state. The PWM control signal output by the MCU controller controls the six switching tubes to perform the controllable power generation, thereby controlling the electronic counterweight resistance generated by the permanent magnet motor, providing appropriate resistance for the trainee to perform aerobic exercise while generating electricity.

[0081] When using Figure 3 In the circuit structure of the motor driver shown, in impedance training mode, the user alternates between centripetal and eccentric exercises. During the centripetal exercise, the PWM control signal output by the MCU controller controls the six switching transistors to generate controllable power. During the eccentric exercise, the PWM control signal output by the MCU controller controls the six switching transistors to control the torque of the permanent magnet motor, thereby controlling the electronic counterweight resistance generated by the permanent magnet motor.

[0082] (Charge and Discharge Circuit Operation)

[0083] Figure 5 FIG. 1 is a block diagram showing a configuration for charge and discharge control according to an embodiment of the present invention. Figure 5 As shown, the battery 6 can be a lithium-ion battery, and the power of the battery 6 can be monitored in real time through the current detection resistor 71 and the battery power monitor 7. The MCU controller 10 can control the charge and discharge circuit 8 to charge and discharge the battery according to the power of the battery 6 and the voltage of the capacitor 5 detected by the capacitor voltage detector (not shown). Preferably, the MCU controller 10 shares the above Figure 3 MCU controller 112 in.

[0084] The charge and discharge circuit 8 of the self-generating strength training device of the present invention can adopt an existing bidirectional DC converter, which mainly includes two switching tubes, two diodes, and an inductor and a capacitor (not shown). Under the control of the MCU controller 10, the charge and discharge circuit 8 can perform the following operations: when the voltage of the capacitor 5 is greater than or equal to the second voltage, the charge and discharge circuit 8 is controlled to charge the battery 6; when the power in the battery 6 is greater than or equal to the specified first power and the voltage of the capacitor 5 is less than a third voltage, the charge and discharge circuit 8 is controlled to discharge the capacitor 5 from the battery 6, wherein the first voltage, the second voltage, and the third voltage satisfy the following relationship: second voltage > third voltage > first voltage.

[0085] As a specific example, assuming the rated working voltage of the motor is 48V, the capacitor can be charged to 60V in the power generation state. Then a 52V battery can be selected, and the charge and discharge circuit can start charging the battery when the capacitor voltage exceeds 52V (the second voltage). When the voltage exceeds 60V, a brake resistor ( Figure 3 The brake resistor 113 in the circuit consumes excess power from the capacitor. When working, when the capacitor voltage is less than 48V (the third voltage), the battery can be charged into the capacitor through the charge and discharge circuit, maintaining the capacitor voltage between 48V and 52V.

[0086] By ensuring that the second and third voltages satisfy the aforementioned relationship, the capacitor voltage can be maintained between the third and second voltages during the charge and discharge process, without requiring the battery to be charged or discharged. The battery is charged via the charge and discharge circuit only when the capacitor voltage drops below the third voltage. This reduces the frequency of battery charge and discharge, extending the battery's lifespan, compared to self-generating devices without capacitors.

[0087] The values ​​of the second and third voltages can be selected based on the following factors. A larger difference between the second and third voltages indicates lower battery utilization, which in turn helps extend the battery life. However, since a larger difference indicates lower battery utilization, charging time may be increased. The values ​​of the second and third voltages should be appropriately selected to balance battery life and charging time.

[0088] The capacitor's capacitance can be selected based on the following factors. A larger capacitor's capacitance allows for more power, maintaining the voltage between the third and second voltages. This improves both the function of the training device and the life of the battery. However, a larger capacitor's capacitance increases its cost, reduces battery utilization, and increases charging time. Therefore, it's important to consider these factors when selecting a capacitor's capacitance; preferably, the capacitor's capacitance is between 1mF and 10mF.

[0089] Regarding battery capacity, even during resistance training, when concentric force equals eccentric force, the system only consumes lost energy, and the battery charge is only used for appropriate energy replenishment. Therefore, a smaller capacity battery can be selected. This reduces the weight and volume of the strength training equipment, lowers battery costs, and shortens charging time.

[0090] (Training mode tips)

[0091] In order to remind the user of the strength training mode that the self-powered strength training equipment can currently perform, the self-powered strength training equipment of the present invention can have a reminder device. When the battery power is less than the specified first power and the only training mode that can be provided is aerobic training, the user is reminded that the aerobic training can be performed for a specified length of time. When the battery power is greater than or equal to the specified second power, the user is reminded that other modes of training can be started.

[0092] As for the specific structure of the prompting device, considering that prompting can be performed even when the self-generating strength training equipment is completely out of power, a structure with low power consumption is preferred. For example, an electronic ink display can be used, which can also display when there is no power. In addition, it can be a "solar cell + voice" method, or a "solar cell + small screen" method, or a "solar cell + small screen + voice" method. In addition, it can also have a button battery like a computer motherboard, so that even if the system is completely out of power, it can monitor the battery level, determine the training mode, and provide training mode prompts.

[0093] (Second embodiment)

[0094] Figure 6 This is a block diagram showing the structure of a self-powered strength training machine according to a second embodiment of the present invention.

[0095] like Figure 6As shown, the self-generating strength training equipment of the second embodiment of the present invention includes: a permanent magnet motor 1 that provides electronic counterweights for strength training, a strength output and input structure 2, a motor driver 3 for driving the permanent magnet motor 1, a capacitor 5, a flywheel energy storage device 6', which is connected to the bus 4 through a charge and discharge circuit 8, can provide electric power to the capacitor 5 and the motor driver 3, and can be charged by the electric energy generated by the permanent magnet motor 1, an energy storage device power monitor 7', which monitors the storage energy of the flywheel energy storage device 6' (for the sake of convenience, the storage energy of the flywheel energy storage device 6' is also referred to as the power), a charge and discharge circuit 8, which is connected between the bus 4 and the flywheel energy storage device 6', can charge and discharge the flywheel energy storage device 6' according to the voltage of the capacitor 5 and the storage energy of the flywheel energy storage device 6' under the control of the controller 9, and a controller 9.

[0096] The only difference between this embodiment and the first embodiment is that a flywheel energy storage device 6' replaces the battery 6 in the first embodiment, and the energy storage device power monitor 7' monitors the energy stored in the flywheel energy storage device 6'. The other components and their operations are the same as those in the first embodiment. Only the differences from the first embodiment are described below.

[0097] The flywheel energy storage device 6' comprises three parts: a flywheel, a motor-generator, and a power converter. When the power converter receives external electrical energy, it drives the motor to rotate, which in turn drives the flywheel to rotate, storing kinetic energy (mechanical energy). When the external load requires energy, the flywheel drives the generator to rotate, converting the kinetic energy into electrical energy, which is then converted through the power converter into electrical energy of the frequency and voltage level required by the load. In the present invention, the mass of the flywheel is selected to be 1 to 20 kg, preferably 1 to 10 kg, and the speed of the flywheel can reach 4,000 to 10,000 rpm. To reduce energy loss (primarily friction loss) during charging and discharging, it is preferred that both the motor and the flywheel use magnetic bearings to suspend them and reduce mechanical friction; it is preferred that the flywheel and motor be placed in a vacuum container to reduce air friction. In this way, the net efficiency (input and output) of the flywheel energy storage device reaches approximately 95%. The power converter uses a bidirectional inverter composed of MOSFETs and IGBTs.

[0098] In the first embodiment, batteries are used as energy storage components. Because batteries use chemical methods to store electrical energy, their charge and discharge speeds are relatively slow, sometimes failing to meet actual needs. Furthermore, frequent charging and discharging can accelerate battery aging.

[0099] The flywheel energy storage device 6' uses kinetic energy to store energy, which has the advantages of faster charging and discharging speed and is not prone to aging. Using the flywheel energy storage device 6' instead of the battery as the energy storage component can increase the charging and discharging speed of the system, thereby improving the performance of the self-generating strength training device.

[0100] (Third embodiment)

[0101] Figure 7 This is a block diagram showing the structure of a self-powered strength training machine according to a third embodiment of the present invention.

[0102] The third embodiment differs from the first and second embodiments in that it includes both a battery 6 and a flywheel energy storage device 6' as energy storage components, an energy storage device power monitor 7' monitors the power level of the battery 6 and the energy stored in the flywheel energy storage device 6', and a charge-discharge circuit 8 controls the charging and discharging of both the battery 6 and the flywheel energy storage device 6'. Other components and their operations are the same as those of the first embodiment. The following describes only the differences from the first and second embodiments.

[0103] The charge-discharge circuit 8 controls the charge and discharge of the battery 6 and flywheel energy storage device 6' using the following strategy: When the system is generating electricity, the flywheel energy storage device 6' is charged first. When the energy (charge) stored in the flywheel energy storage device reaches or exceeds a third predetermined value, the battery is charged. When the system is discharging, the flywheel energy storage device 6' is discharged first. When the energy (charge) stored in the flywheel energy storage device falls below a fourth predetermined value, the battery 6 is discharged. The third predetermined value is greater than the fourth predetermined value.

[0104] The third embodiment of the present invention can improve the charging and discharging speed while further increasing the energy storage capacity, thereby further improving the performance of the self-generating strength training device.

Claims

1. A self-generating strength training device, comprising: A permanent magnet motor that provides electronic counterweights for strength training, a force input / output structure connected to the drive shaft of the permanent magnet motor, and a motor driver for driving the permanent magnet motor, which is connected to the permanent magnet motor. The self-generating strength training device is characterized by further comprising: a capacitor connected to the bus bar, capable of providing electric power to the motor driver to drive the permanent magnet motor, and capable of being charged by electric energy generated by the permanent magnet motor; an energy storage component connected to the bus bar, capable of providing electric power to the capacitor and the motor driver, and capable of being charged by the electric energy generated by the permanent magnet motor; A power monitor for monitoring the power of the energy storage component; a charge-discharge circuit connected between the busbar and the energy storage component, capable of charging and discharging the energy storage component; and The controller is configured to determine which training modes can be provided based on the amount of electricity in the energy storage component. When the amount of electricity in the energy storage component is less than a specified first amount of electricity, the self-generating strength training device can only provide an aerobic training mode as a power generation mode. When the amount of electricity in the energy storage component is greater than or equal to a specified second amount of electricity, the aerobic training mode and other training modes can be provided until the amount of electricity in the energy storage component is less than the first amount of electricity, wherein the second amount of electricity is greater than the first amount of electricity. During the aerobic training, the user can perform centripetal exercise through the force input and output structure, performing work on the self-generating strength training device, causing the permanent magnet motor to generate electricity to charge the energy storage component. In the aerobic training mode, when the voltage of the capacitor is less than the first voltage, rectification and power generation are performed; when the voltage of the capacitor is greater than or equal to the first voltage, the motor driver is used to control the permanent magnet motor to perform controllable power generation, thereby controlling the electronic counterweight resistance generated by the permanent magnet motor.

2. The self-generating strength training device according to claim 1, characterized in that: The other training modes include an impedance training mode, in which the user can alternately perform concentric motion and eccentric motion through the force output and input structure. During the concentric motion, the user can work on the self-generating strength training device to enable the permanent magnet motor to generate electricity. During the centrifugal motion, the self-generating strength training device can work on the user to consume electrical energy.

3. The self-generating strength training device according to claim 2, characterized in that: In the resistance training mode, the electronic weight resistance of the eccentric exercise is set to be smaller than the electronic weight resistance of the concentric exercise.

4. The self-generating strength training device according to claim 2 or 3, characterized in that: In the impedance training mode, the motor driver is used to control the permanent magnet motor to perform controllable power generation during the centripetal motion, and the motor driver is used to control the torque of the permanent magnet motor during the centrifugal motion, thereby controlling the electronic counterweight resistance generated by the permanent magnet motor.

5. The self-generating strength training device according to claim 2 or 3, characterized in that: The permanent magnet motor is a three-phase permanent magnet synchronous motor. The motor driver includes an MCU controller and six switch tubes to form a three-phase inverter circuit. A diode is connected in reverse parallel to each switch tube. In the aerobic training mode, when the voltage of the capacitor is less than the first voltage, the current generated by the permanent magnet motor is rectified by the diode to perform the rectified power generation. When the voltage of the capacitor is greater than or equal to the first voltage, the PWM control signal output by the MCU controller controls the six switching tubes to perform controllable power generation, thereby controlling the electronic counterweight resistance generated by the permanent magnet motor. In the impedance training mode, the PWM control signal output by the MCU controller controls the six switching tubes to perform controllable power generation during the centripetal motion, and the PWM control signal output by the MCU controller controls the six switching tubes to control the torque of the permanent magnet motor during the centrifugal motion, thereby controlling the electronic counterweight resistance generated by the permanent magnet motor.

6. The self-generating strength training device according to any one of claims 1 to 3, characterized in that: When the voltage of the capacitor is greater than or equal to the second voltage, the controller controls the charge-discharge circuit to charge the energy storage component; when the amount of electricity in the energy storage component is greater than or equal to the specified first amount of electricity and the voltage of the capacitor is less than a third voltage, the controller controls the charge-discharge circuit to discharge the capacitor from the energy storage component, wherein the second voltage and the third voltage satisfy the following relationship: The second voltage>the third voltage.

7. The self-generating strength training device according to any one of claims 1 to 3, characterized in that: The force output and input structure includes a winch connected to the drive shaft of the permanent magnet motor and a pull rope connected to the winch. By pulling the pull rope, the user can counteract the resistance of the permanent magnet motor to enable the permanent magnet motor to generate electricity. When the motor driver drives the permanent magnet motor to rotate at a specified torque, the winch can pull the pull rope back and perform work on the user at the same time.

8. The self-generating strength training device according to any one of claims 1 to 3, characterized in that: It also includes a brake circuit, which is connected to the bus through a switch component. When the voltage of the bus exceeds a specified threshold, the brake circuit is activated to consume the electric energy from the bus.

9. The self-generating strength training device according to any one of claims 1 to 3, characterized in that: It also includes a prompting device, which prompts the user to perform aerobic training for a specified length of time when the power of the energy storage component is less than the specified first power and the only training mode that can be provided is aerobic training; and when the power of the energy storage component is greater than or equal to the specified second power, prompts the user to start training in other modes.

10. The self-generating strength training device according to any one of claims 1 to 3, characterized in that: The energy storage component is a battery and / or a flywheel energy storage device.

11. The self-generating strength training device according to claim 4, characterized in that: The energy storage component is a battery and / or a flywheel energy storage device.

12. The self-generating strength training device according to claim 5, characterized in that: The energy storage component is a battery and / or a flywheel energy storage device.

13. The self-generating strength training device according to claim 6, characterized in that: The energy storage component is a battery and / or a flywheel energy storage device.

14. The self-generating strength training device according to claim 7, wherein: The energy storage component is a battery and / or a flywheel energy storage device.

15. The self-generating strength training device according to claim 8, characterized in that: The energy storage component is a battery and / or a flywheel energy storage device.

16. The self-generating strength training device according to claim 9, characterized in that: The energy storage component is a battery and / or a flywheel energy storage device.

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