Exercise motion detection guidance robot

Abstract

The present application relates to the technical field of fitness equipment, in particular to a fitness action detection guiding robot, which comprises a frame, the frame surrounds a space for performing fitness actions, a horizontal bar is slidably installed on the frame in the vertical direction, a constant resistance unit for increasing static load of the horizontal bar by applying unidirectional rotation resistance is arranged on the bottom of the frame and connected with the horizontal bar, a reset device for pulling down the horizontal bar is arranged in the constant resistance unit, a hovering unit for controlling safe hovering of the horizontal bar is arranged on the frame, and a data processing unit for indirectly detecting force time and force amplitude of weight lifting actions is arranged on the frame. The structure for converting linear motion into rotary motion is arranged on the horizontal bar, the constant resistance unit is arranged on the rotary motion structure, the simulation of core strength training of fitness actions is realized, and the constant resistance unit only applies unidirectional static load to the horizontal bar, thereby avoiding the risk of straining or crushing the user of the horizontal bar.

Description

Technical Field

[0001] This invention relates to the field of fitness equipment technology, specifically to a fitness movement detection and guidance robot. Background Technology

[0002] Fitness movement detection and guidance robots are fitness aids that combine intelligent sensor technology and computer control technology. They detect and correct the fitness movements of novice users through various sensors and computer algorithms, and provide corresponding guidance and feedback. This allows users to break free from dependence on professional coaches and achieve more scientific, accurate, and convenient fitness training.

[0003] Currently, mainstream fitness movement detection and guidance robots primarily work by attaching devices such as infrared cameras, gyroscopes, and accelerometers to the user's body. These devices detect the user's limb movements, and the frequency and amplitude data obtained from the sensors are combined with computer algorithms to provide guidance on fitness movements, enabling more scientific and targeted training. However, because these detection devices can only detect the movement state of the user's limbs and cannot detect the force and duration of exertion, they are only suitable for light, basic fitness training and have limited guidance value for core strength training.

[0004] While algorithms can use limb movement as a guide for core strength training exercises like weightlifting and bench presses, they cannot provide real-time data on the user's core strength exertion and timing, thus offering limited help for core strength training during fitness activities. Another solution is to attach devices like gyroscopes and accelerometers to fitness equipment such as barbells and constant-force resistance bands. By monitoring the equipment's movement in real-time, such as positional changes, and using sensor data on limb movement frequency and amplitude, combined with computer algorithms, the user's workout movements can be guided. This can improve data accuracy to some extent, but it carries certain safety risks. For example, beginners using barbells or constant-force resistance bands for weightlifting or bench presses may experience sudden injuries such as stress injuries to bones and muscles or cramps due to excessive lactic acid buildup from anaerobic exercise if their form is incorrect, the training volume is too high, or the force and speed are not properly controlled. This could further increase the risk of the barbell slipping and injuring the user.

[0005] Therefore, this invention provides a fitness movement detection and guidance robot, which improves the accuracy of force detection during fitness movements, reduces the risk of injury to users, and enhances the safety of core strength training. Summary of the Invention

[0006] The purpose of this invention is to provide a fitness movement detection and guidance robot. By setting up a horizontal bar to simulate the vertical movement of lifting a barbell, a structure is set on the horizontal bar to transform linear motion into rotational motion, and a constant resistance unit is set on the structure where the rotational motion occurs to apply a unidirectional static load to the horizontal bar. This realizes the simulation of core strength training for fitness movements. Because the constant resistance unit only applies a unidirectional static load to the horizontal bar and cannot drive the horizontal bar, the risk of the constant resistance unit pulling or crushing the user on the horizontal bar is avoided.

[0007] The present invention provides the following specific solutions:

[0008] The device includes: a frame that encloses a space for performing fitness movements; a horizontal bar that is slidably mounted on the frame in the vertical direction; a constant resistance unit connected to the horizontal bar at the bottom of the frame that increases the static load on the horizontal bar by applying unidirectional rotational resistance; a reset device that pulls the horizontal bar down in the constant resistance unit; a suspension unit on the frame for controlling the safe suspension of the horizontal bar; and a data processing unit on the frame that works in conjunction with the constant resistance unit for indirectly detecting the force exertion time and amplitude of the weightlifting movements.

[0009] The frame, constructed from high-strength hot-formed steel to support the entire structure, prevents deformation during fitness training. The most important core strength exercises are bench press and weightlifting, both requiring a barbell. This invention aims to detect and guide users' force application during bench press and weightlifting. The barbell, serving as the grip part directly in contact with the user for core strength training, is designed to simulate the lever mechanism of a barbell to ensure consistent training habits and prevent injury. Its diameter is set to 28 mm, identical to a standard lever, and the material texture is identical to existing standard levers. The constant resistance unit, designed to simulate the load on the weight plates, provides the most realistic simulation of the bench press compared to non-constant resistance units such as springs or elastic bands that apply resistance proportional to displacement. In bench press and weightlifting movements, the constant resistance unit applies a unidirectional force to the barbell, allowing the user to drive the barbell in one direction when simulating bench press and weightlifting movements. Because the constant resistance unit only applies a unidirectional static load to the barbell and cannot drive it, when the user stops applying force to the barbell, the constant resistance unit will not apply force to the barbell, thus the user will not experience any force from the constant resistance unit. Furthermore, the suspension unit can safely suspend the barbell at the position where the user stopped applying force, so that the barbell will not fall due to gravity and injure the user, and it also facilitates accurate positioning of the user's previous movement.

[0010] The data processing unit records data from the constant resistance unit, such as the force application time and frequency. This data is then processed by the core algorithm in the background to guide the user's fitness movements, enabling more scientific and targeted training. The data processing unit also includes signal input devices such as a microphone, touchscreen, and buttons, as well as signal output devices such as a display, speakers, and indicator lights. The digital hardware is similar to existing fitness aids and will not be described in detail here.

[0011] The constant resistance unit includes two gearboxes symmetrically installed on both sides of the bottom of the frame. Each gearbox contains a set of reduction gears consisting of a worm wheel and a worm. Each worm is wound with a tension rope fixedly connected to a crossbar. The shaft of the worm wheel is connected to a reversible motor through a force transmission mechanism. The reversible motor is electrically connected to a data processing unit. The worm is equipped with a mechanical speed limiter to prevent the worm speed from exceeding a set value.

[0012] Because bench press and weightlifting exercises involve low-speed, heavy loads, and fitness equipment should not occupy too much space, worm gear drives, with their high single-stage transmission ratio, high torque, high overload capacity, smooth operation, and low noise, are best suited for torque transmission in low-speed, heavy-load strength training. A reversible motor provides rotational resistance to the worm gear, thus providing linear resistance to the barbell's linear displacement, simulating the barbell load in bench press and weightlifting movements. Rotational resistance is easier to record and control / adjust compared to linear resistance. The data processing unit only needs to record the current resistance of the reversible motor, while simultaneously detecting its rotational speed and rotation time, to calculate the user's exertion time and amplitude during core strength training under the current load.

[0013] Compared to friction-based sources of rotational resistance such as friction plates, reversible motors can switch between operating as a machine or as a generator that converts the torque of external forces on the shaft into electrical energy by changing the connection between the stator and rotor. Simultaneously, by altering the current in the coils, the magnetic torque is changed, thus adjusting the resistance to the rotating load, i.e., adjusting the resistance to pushing the crossbar upwards. Furthermore, when the reversible motor switches to generator mode, only the generator's current, voltage, and frequency need to be monitored. The data processing unit's algorithm can then calculate the user's exertion time and amplitude during strength training. Generally, the generator's output voltage is directly proportional to the magnetic flux, the number of coil turns, and the rotational speed, and inversely proportional to the coil length and cross-sectional area, the load current, and the magnetic flux density. The generator's output current is directly proportional to the load resistance and inversely proportional to the output voltage and magnetic flux. The generator's output frequency is directly proportional to the rotational speed and inversely proportional to the magnetic field strength. This saves the need for a set of sensors to detect data. The force transmission mechanism can be a coupling or gear meshing. At the same time, when the reversible motor switches to motor mode, it can be used as the drive source for the reset device, saving the need for an independent drive source for the reset device, optimizing the equipment's spatial layout, and reducing equipment costs.

[0014] The reset device includes a one-way meshing transmission mechanism disposed in the gearbox, which simultaneously meshes the reversible motor with the worm gear and worm to transmit torque in one direction.

[0015] A one-way meshing transmission mechanism can be achieved through a mechanical ratchet and electromagnetic torque control. Specifically, the ratchet or electromagnetic force direction is set as follows: when the reversible motor switches to generator mode, the reversible motor and worm gear in generator mode do not directly generate torque transmission; the worm gear and worm transmit torque, and the worm and reversible motor in generator mode transmit torque. When the reversible motor switches to motor mode, the reversible motor and worm gear in motor mode generate direct torque transmission; the worm gear and worm transmit torque, and the worm and reversible motor in generator mode do not transmit torque. The reset device can also be a structure that uses a clutch in conjunction with planetary gears or idler gears to achieve worm reversal, but this requires more gears and control structures, resulting in higher manufacturing costs.

[0016] The suspension unit includes a constant-force coil spring mounted on the top of the frame, connected to a safety rope and a bearing rotating block. The tension of the constant-force coil spring is equal to the sum of the weights of the bearing rotating block and the crossbar. When the user stops applying force to the crossbar, the constant-force coil spring safely suspends the crossbar at the position where the user stopped applying force, preventing the crossbar from falling and injuring the user. It also facilitates accurate positioning of the user's previous movement. Furthermore, because the constant-force coil spring continuously applies upward force to wind up the safety rope, it prevents the safety rope from being pressed down by the bearing rotating block below during upward movement, ensuring the stability of the crossbar when pulled upward and preventing load jumps caused by interference with the safety rope. The suspension unit can also be an electric winch with a torque limiter. When an electric winch is used, the torque limiter's torque limit value is the sum of the weights of the bearing rotating block and the torque of the crossbar on the winch shaft.

[0017] The mechanical speed limiter includes a housing fixedly installed inside the gearbox. The worm shaft passes through the housing. The area of ​​the worm located inside the housing is evenly provided with multiple telescopic claws whose centrifugal motion is limited by tension springs. The telescopic claws are surrounded by a speed-limiting gear ring with the same tooth shape as the telescopic claws. Multiple sets of mutually limiting blocks with opposing concave and convex shapes are provided between the outer ring of the speed-limiting gear ring and the inner wall of the housing. Each set of limiting blocks is provided with a tension spring.

[0018] To prevent users from twisting their arms due to excessive force, the mechanical speed limiter, within the worm gear speed setting, uses a tension spring to keep the telescopic claws from contacting the speed-limiting gear ring at one end of the worm. When the crossbar moves the worm too fast, the telescopic claws on the worm move away from the worm under centrifugal force. After contacting the speed-limiting gear ring, the claws mesh and lock together, causing the speed-limiting gear ring to rotate relative to the outer shell against the tension spring. At the same time, multiple sets of opposing concave and convex limiting blocks can not only be used to install the tension spring but also to limit the rotation angle of the speed-limiting gear ring relative to the outer shell. When two adjacent limiting blocks contact each other, the worm, gear ring, and outer shell can no longer rotate due to the upward movement of the crossbar, thus locking the crossbar.

[0019] When the horizontal bar moves upward too quickly, the tension spring applies force to it to provide a deceleration warning, and the limit block locks it in place, thus preventing the user from twisting their ankle due to excessive force.

[0020] The vertical part of the frame is provided with a C-shaped slide groove, the crossbar is a symmetrical crankshaft, and the two ends of the crankshaft are rotatably mounted with disc-shaped bearing rotating blocks through limiting rotating shafts. The rotation angle of the crossbar is 180° in the vertical direction. The upper and lower ends of the bearing rotating blocks are connected to the safety rope and the tension rope, respectively, and the bearing rotating blocks are engaged in the C-shaped slide groove.

[0021] The C-shaped slide can withstand radial and axial loads and its locking and limiting performance is naturally achieved through its engagement with the disc-shaped bearing rotating block. Compared with other sliding structures, the C-shaped slide can maintain reliable connection strength and stability during low-speed heavy-load strength training. The crank part of the crankshaft can be relatively engaged in the bearing rotating block in the C-shaped slide, causing relative rotation. On the one hand, in order to further simulate the force exertion of core strength training, and to provide users with a certain range of motion for the muscles and joints exerting force during strength training, preventing injuries caused by continuous force exertion due to fixed movements, the rotation angle of the crossbar is 180° in the vertical direction. This avoids the crank part of the crankshaft from over-rotating and causing backward strain during use, thus achieving further simulation of core strength training for fitness movements.

[0022] Each of the bearing rotating blocks has an angular contact ball bearing on its outer surface on both axial sides, capable of rotating relative to the C-shaped groove. The angular contact ball bearings and the crossbar are coaxially mounted on the bearing rotating block. Each angular contact ball bearing has a chamfer on the side facing away from the bearing rotating block. The angular contact ball bearings can withstand both axial and radial loads. During strength training, when an upward force is applied to the crossbar, the perpendicularity of the force cannot be guaranteed due to the characteristics of human muscle movement. This means the C-shaped groove may frequently come into contact with the bearing rotating block in various directions. In this case, the angular contact ball bearings on the outer surface of the bearing rotating block reduce the friction between the C-shaped groove and the bearing rotating block. This type of bearing has a relatively small load-bearing capacity. During installation, it is essential to ensure that the center lines of the inner and outer rings of the bearing coincide with the axis to reduce the occurrence of offset loads and avoid affecting the bearing's service life. The chamfer can reduce the contact pressure between the bearing edge and the C-shaped groove, preventing stress concentration that could damage the bearing or the inner wall of the C-shaped groove. At the same time, since angular contact ball bearings can withstand both axial and radial loads, the chamfer design can provide guiding force when the forces on both sides of the crossbar are uneven. This allows the offset load on the crossbar to be quickly transferred to the bearing radial surface and the C-shaped groove. The offset load on the crossbar is quickly leveled through the rotation of the bearing, improving the smoothness of the crossbar's movement in the C-shaped groove and preventing muscle strain caused by force jamming.

[0023] The worm gear has a spiral groove on its shaft surface that cooperates with the tension rope. Each gearbox is equipped with an elastic guide wheel that matches the rotation direction of the groove. The elastic force of the guide wheel is parallel to the worm gear axis and points in the direction in which the tension rope leaves the worm gear.

[0024] The elastic guide wheel works with the spiral groove to ensure that the tension rope is evenly wound and arranged along the spiral groove on the surface of the worm shaft. The design of the elastic guide wheel is intended to provide a small amount of guiding force when the worm winds up the tension rope, guiding the tension rope to fall accurately into the spiral groove, preventing the tension rope from squeezing and rubbing against each other during winding. On the one hand, this improves the service life of the tension rope. On the other hand, since the tension rope will not squeeze and entangle with each other during winding, it will not squeeze against each other when the crossbar is pulled upward. The crossbar can remain stable when pulled upward, avoiding load jump caused by friction and squeezing.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] 1. This invention simulates the vertical motion of lifting a barbell by setting up a horizontal bar that simulates the vertical motion of lifting a barbell. A structure is set on the horizontal bar that transforms linear motion into rotational motion. A constant resistance unit that applies a unidirectional resistance load to the horizontal bar is set on the structure where the rotational motion occurs, replacing the load of the barbell plates. This achieves the simulation of core strength training for fitness movements. The constant resistance unit only applies a unidirectional static load to the horizontal bar and cannot drive the horizontal bar. At the same time, it avoids the risk of the constant resistance unit injuring the user of the horizontal bar, thus improving the safety of fitness movements.

[0027] 2. By switching between resistance and power through a reversible motor, and by controlling and adjusting the coil current value of the reversible motor in generator mode to change its magnetic torque, the resistance of the rotating load can be adjusted, thus setting the resistance to pulling the crossbar. At the same time, it also realizes the automatic retraction of the extended crossbar. By simply detecting the current, voltage, frequency and other parameters generated by the reversible motor in generator mode, the user's force exertion time and force amplitude during strength training can be calculated. This optimizes the structural layout of the invention and reduces the cost of using the invention.

[0028] 3. A suspension unit is installed on the horizontal bar, in conjunction with an adjustable constant resistance unit and a one-way meshing transmission mechanism. The constant resistance unit only applies a one-way static load to the horizontal bar and cannot drive it. The suspension unit continuously applies an upward pulling force equal to the weight of the horizontal bar to the horizontal bar. When the user stops applying force to the horizontal bar, the constant force spring will safely suspend the horizontal bar at the position where the user stops applying force to the horizontal bar. The horizontal bar will not fall due to gravity and injure the user, further improving the safety of the fitness exercise. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 A schematic diagram showing the front connection between the crossbar and the bearing rotating block;

[0031] Figure 3 This is a schematic diagram showing the connection between the crossbar and the back of the bearing rotating block;

[0032] Figure 4 This is a structural diagram of the crossbar, bearing rotating block, and angular contact ball bearing.

[0033] Figure 5 This diagram illustrates the internal motion of the gearbox when the tension rope is pulled out.

[0034] Figure 6 Diagram showing the internal motion of the gearbox when the tension rope is retracted;

[0035] Figure 7 Diagram showing the telescopic chuck and the speed-limiting gear in the unlocked state;

[0036] Figure 8 This is a diagram showing the locked state of the telescopic chuck and the speed-limiting gear ring.

[0037] In the diagram: 1. Frame; 101. C-shaped groove; 2. Crossbar; 201. Bearing rotating block; 202. Angular contact ball bearing; 3. Constant force coil spring; 4. Gearbox; 401. Worm; 402. Worm wheel; 403. Cone wheel one; 404. Cone wheel two; 405. Gear one; 406. Gear two; 407. Elastic guide wheel; 408. Spiral groove; 5. Tension rope; 6. Safety rope; 7. Reversible motor; 8. Mechanical speed limiter; 801. Housing; 802. Tension spring two; 9. Telescopic claw; 901. Tension spring one; 10. Speed ​​limiting gear ring. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] In some embodiments, refer to Figures 1 to 4The system comprises a frame 1, C-shaped grooves 101, crossbars 2, bearing rotating blocks 201, angular contact ball bearings 202, constant force coil springs 3, safety ropes 6, and tension ropes 5. The frame 1 has C-shaped grooves 101 made of Q345A material with opposite openings on both sides. Tension rods are installed at the top of both sides of the frame 1 to ensure that the C-shaped grooves 101 on both sides remain vertically aligned and equidistant. The safety rope 6 and tension rope 5 can both be made of wear-resistant nylon to ensure quietness and durability. The bearing rotating blocks 201 are disc-shaped and embedded in the C-shaped grooves 101. A crank-shaped crossbar 2 with a diameter of 28 mm is inserted into the opening of the C-shaped groove 101 at both ends and rotatably connected to the bearing rotating blocks 201 installed in the C-shaped grooves 101 on both sides. Angular contact ball bearings 202 are installed on both axial sides of the bearing rotating blocks 201. The diameter of the angular contact ball bearings 202 is larger than the diameter of the bearing rotating blocks 201, forming an approximately "U"-shaped structure. Constant force coil springs 3 are installed on the top of both sides of the frame 1. The tension end of the constant force coil spring 3 is connected to the top of the bearing rotating block 201 by a safety rope 6. The sum of the tension of the two constant force coil springs 3 is equal to the sum of the weight of the crossbar 2, the bearing rotating block 201 and the angular contact ball bearing 202.

[0040] In some embodiments, refer to Figures 5 to 8 A gearbox 4 and other components installed inside it are provided. A worm gear 401 is rotatably installed in the gearbox 4. A second gear 406 is coaxially installed on the worm gear 401. One end of the worm gear 401 is wound with multiple turns of tension rope 5, and one end of the tension rope 5 is connected to the bottom of the bearing rotating block 201. A worm wheel 402 that meshes with the worm gear 401 is rotatably installed in the gearbox 4. A first bevel gear 403 is coaxially installed on the worm wheel 402. The gearbox 4 is equipped with a double-headed reversible motor 7. A second bevel gear 404 that meshes with the first bevel gear 403 is installed on one end of the shaft of the reversible motor 7. A first gear 405 that meshes with the second gear 406 is installed on the other end of the shaft of the reversible motor 7. The first gear 405 and the second bevel gear 404 are unidirectional ratchet gears.

[0041] In some embodiments: When a user performs core strength weightlifting exercises, they input the weight to be lifted into the data processing unit. The data processing unit automatically sets the current parameters of the reversible motor 7 according to the transmission ratio of the worm gear 402, worm 401, conical wheel 403, and conical wheel 404. For example, if the user sets the lifting load to 100 kg, the transmission ratio of the worm 401 to the worm gear 402 is 5:1, the transmission efficiency of the worm gear 402 and worm 401 is 60%, and the transmission ratio of the conical wheel 403 and conical wheel 404 is 1:2, then the user inputs a load requirement of 100 kg through the signal input unit. The calculation module in the data processing unit then converts the rotational resistance of the reversible motor 7 into 100 kg * 5 / 2 * 0.6 = 150 kg.

[0042] In some embodiments: Training with a pre-set weightlifting load involves gripping the barbell with both hands, feet at least shoulder-width apart or with a relatively wide step forward or backward, similar to using a barbell. The user leans forward or squats, extending their chest and hips, engaging their core muscles, such as hands and torso. Figure 1 As shown, gradually pull the crossbar 2 upwards. At this time, the crank part of the crankshaft can be relatively engaged with the bearing rotating block 201 in the C-shaped slide groove 101, causing relative rotation. When the crankshaft is subjected to a force in a non-vertical direction, the angular contact ball bearing 202 follows the force and impacts the inner wall of the C-shaped slide groove 101. (Refer to...) Figure 4 Since the angular contact ball bearing 202 can withstand both axial and radial loads, and since the diameter of the angular contact ball bearing 202 is larger than the diameter of the bearing rotating block 201, the angular contact ball bearing 202 will preferentially contact and rub against the C-shaped slide 101. Therefore, it will quickly and smoothly guide various non-vertical upward component forces into a vertical upward resultant force, reducing the jamming between the crankshaft and the C-shaped slide 101. This makes the process of forearm force exertion more in line with the ergonomics of muscle force exertion, allowing the user to maintain stable and smooth force exertion and reducing the risk of muscle strain.

[0043] Reference Figure 5 As the user continues to exert force, the safety rope 6 is gradually pulled upwards. At this time, the safety rope 6 drives the worm gear 401 to rotate as follows: Figure 5 The worm gear 401 rotates counterclockwise, causing the worm wheel 402 to rotate as follows: Figure 5 The worm gear 402 rotates counterclockwise, causing the first cone wheel 403 to rotate counterclockwise along with the second worm wheel 402. Since the parameters of the reversible motor 7 have been preset, the reversible motor 7 provides the second cone wheel 404 with... Figure 5 The resistance in the R1 direction causes the reversible motor 7 to move in the S1 direction as the user continues to exert force, generating current. When the one-way ratchet locking engagement direction of the conical wheel 404 rotates in the S1 direction, it transmits torque to the shaft of the reversible motor 7. When the one-way ratchet locking engagement direction of the gear 405 rotates in the S1 direction, it slips and does not transmit torque to the shaft of the reversible motor 7. At this time, there is no torque transmission between the gear 405 and the gear 406. At this time, the gear 406 driven by the worm 401 and the gear 405 driven by the reversible motor 7 do not interfere with each other. As the reversible motor 7 moves in the S1 direction, it generates current. When the current, voltage, frequency and other data are transmitted to the calculation module in the data processing unit, the calculation module can use the processing algorithm of the data processing unit to calculate the user's exertion time and amplitude during strength training. Based on this data, a fitness movement guide that is more suitable for the user is formulated. When the horizontal bar 2 moves upward, the length of the safety rope 6 has a margin. At this time, the constant force coil spring 3 winds up the excess safety rope 6.

[0044] Reference Figure 5 and Figure 7 In some embodiments, to prevent the worm 401 from rotating too fast, a mechanical speed limiter 8 is provided on the worm 401 shaft. Specifically, one embodiment involves multiple slidable telescopic claws 9 evenly distributed on the worm 401 shaft, with their movement direction parallel to the radial direction of the worm 401. The telescopic claws 9 can be made of round steel with pointed tips, all pointing towards the centrifugal direction of the worm 401. The telescopic claws 9 are slidably mounted in the radial direction of the worm 401. The speed-limiting gear ring 10 can be made of a gear ring with multiple centripetal tips. A tension spring 901 is provided between the telescopic claws 9 and the worm 401 to lock the telescopic claws 9 in a position where they do not contact the speed-limiting gear ring 10. When the crossbar 2 drives the worm 401 to rotate too fast, a reference is made... Figure 8 Under centrifugal force, the telescopic pawl 9 on the worm gear 401 moves to the side detached from the worm gear 401. After the telescopic pawl 9 contacts the speed limiting gear ring 10, they mesh together to lock, thereby causing the speed limiting gear ring 10 to rotate relative to the outer shell 801 against the tension of the tension spring 802. At the same time, multiple sets of concave and convex mutually limiting blocks can not only be used to install the tension spring, but also to limit the rotation angle of the speed limiting gear ring 10 relative to the outer shell 801. When two adjacent limiting blocks contact, the worm gear 401, the speed limiting gear ring 10 and the outer shell 801 can no longer achieve the rotation caused by the upward movement of the crossbar 2, thereby locking the crossbar 2 and preventing the worm gear 401 from rotating quickly, thus preventing the user from twisting due to excessive force.

[0045] Reference Figure 6 In some embodiments, after the user pulls the horizontal bar 2 to the top to complete one lifting motion, it is necessary to reset the horizontal bar 2, which is in the high position, downwards. At this time, a downward reset command is input to the data processing unit, and the reversible motor 7 switches to motor mode. Figure 6 At this time, the reversible motor 7 rotates in the S2 direction. Gear 1 (405) and Gear 2 (406) can transmit torque. When the one-way ratchet locking engagement direction of Cone Gear 2 (404) is in the S2 direction, it will not transmit torque to the shaft of the reversible motor 7. At this time, the reversible motor 7 only performs external work through Gear 1 (405). Gear 2 (406) then rotates under the action of Gear 1 (405) as follows: Figure 6 The clockwise motion of the worm gear 401, coaxial with gear 406, causes a corresponding clockwise motion, pulling the tension rope 5 downwards and rewinding it. As the worm gear 401 rewinds the tension rope, the elastic guide wheel 407 provides a small guiding force to guide the tension rope 5 accurately into the spiral groove 408. The elastic guide wheel 407 can be achieved by setting a slotted guide wheel on the free end of an elastic telescopic rod fixedly installed on the inner wall of the gearbox 4. At this time, the worm gear 402, under the action of the worm gear 401, undergoes a clockwise motion... Figure 6When the conical wheel 403 rotates clockwise, it will move clockwise. Since the one-way ratchet locking engagement direction of the conical wheel 404 is S2, it will not transmit torque to the shaft of the reversible motor 7 when it rotates. At this time, the conical wheel 403 driven by the worm gear 402 and the conical wheel 404 driven by the reversible motor 7 will not interfere with each other.

[0046] Reference Figure 4 and Figure 5 In some embodiments, when a user is performing core strength training and needs to stop training due to physical discomfort or other emergencies while pulling the horizontal bar 2 to the top, they can directly release their grip to stop applying force to the horizontal bar 2. Since the resistance comes from the magnetic torque of the reversible motor 7, and the unidirectional transmission of the worm gear 402 and worm 401 prevents the inertia generated by the reversible motor 7 from being directly transmitted to the worm 401, the user will not be injured by the mechanical inertia of the reversible motor 7. The mechanical inertia experienced by the user is only the elastic potential energy caused by the elastic deformation of the tension rope 5. Since the tension rope 5 is made of wear-resistant nylon material, it has good strength but poor elasticity, so the elastic potential energy accumulated by the tension rope 5 can be ignored.

[0047] Reference Figure 4 and Figure 5 In some embodiments, when a user is performing core strength training and needs to stop pulling the horizontal bar 2 to the top due to physical discomfort or other emergencies, they can directly release their grip to stop applying force to the horizontal bar 2. The unidirectional transmission between the worm gear 402 and the worm 401 prevents the inertia generated by the reversible motor 7 from being directly transmitted to the worm 401. In this case, the user will not be injured by the mechanical inertia of the reversible motor 7. However, at the same time, the horizontal bar 2, the bearing rotating block 201, and the angular contact ball bearing 202 will move downwards under the influence of gravity, potentially injuring the user. Since constant force coil springs are installed at the top of both sides of the frame 1... 3. The tension end of the constant force coil spring 3 and the top of the bearing rotating block 201 are connected by a safety rope 6. The sum of the tension of the two constant force coil springs 3 is equal to the sum of the weights of the crossbar 2, the bearing rotating block 201 and the angular contact ball bearing 202. At this time, since the reversible motor 7 no longer generates tension on the tension rope 5, the crossbar 2, the bearing rotating block 201 and the angular contact ball bearing 202 are only affected by their own weight. Thus, the tension of the two constant force coil springs 3 suspends the crossbar 2, the bearing rotating block 201 and the angular contact ball bearing 202 at the position where the user stops applying force, and there will be no situation where the crossbar 2, the bearing rotating block 201 and the angular contact ball bearing 202 fall and injure the user.

[0048] The various specific technical features and embodiments described in the detailed embodiments can be combined in any suitable manner without contradiction. For example, different implementation methods can be formed by combining different specific technical features / embodiments / implementation methods. In order to avoid unnecessary repetition, the various possible combinations of the various specific technical features / embodiments / implementation methods in this invention will not be described separately.

Claims

1. A fitness movement detection and guidance robot, characterized in that, include: A frame (1) is provided, which encloses a space for performing fitness movements. A horizontal bar (2) is slidably installed on the frame (1) in the vertical direction. A constant resistance unit connected to the bottom of the frame (1) is provided to increase the static load on the horizontal bar (2) by applying unidirectional rotational resistance. The constant resistance unit is provided with a reset device to pull down the horizontal bar (2). A suspension unit is provided on the frame (1) for controlling the safe suspension of the horizontal bar (2). A data processing unit is provided on the frame (1) in conjunction with the constant resistance unit for indirectly detecting the force exertion time and force amplitude of the weightlifting movement. The constant resistance unit includes two gearboxes (4) symmetrically installed on both sides of the bottom of the frame (1). Each gearbox (4) is rotatably equipped with a set of reduction gears consisting of a worm gear (402) and a worm (401). Each worm (401) is wound with a tension rope (5) fixedly connected to the crossbar (2). The shaft of the worm gear (402) is connected to a reversible motor (7) through a force transmission mechanism. The reversible motor (7) is electrically connected to the data processing unit. The worm (401) is provided with a mechanical speed limiter (8) to prevent the worm (401) speed from exceeding the set value. The reset device includes a one-way meshing transmission mechanism mounted on the shaft of the reversible motor (7). The one-way meshing transmission mechanism simultaneously meshes the reversible motor (7) with the worm wheel (402) and the worm (401) in one direction to transmit torque. The direction of the force transmission of the one-way meshing transmission mechanism is as follows: when the reversible motor (7) switches to the generator state, the reversible motor (7) in the generator state and the worm wheel (402) do not directly generate torque transmission, the worm wheel (402) and the worm (401) transmit torque, and the worm (401) and the reversible motor (7) in the generator state transmit torque; when the reversible motor (7) switches to the motor state, the reversible motor (7) in the motor state and the worm wheel (402) generate direct torque transmission, the worm wheel (402) and the worm (401) transmit torque, and the worm (401) and the reversible motor (7) in the generator state do not transmit torque. The hovering unit includes a constant force coil spring (3) fixedly connected to the top of the frame (1) by a safety rope (6) and a crossbar (2). The tension of the constant force coil spring (3) is equal to the sum of the weight of the bearing rotating block (201) and the crossbar (2). The mechanical speed limiter (8) includes a housing (801) fixedly installed inside the gearbox (4). The shaft of the worm (401) passes through the housing (801). The area of ​​the worm (401) inside the housing (801) is provided with multiple telescopic claws (9) that limit centrifugal motion by tension spring one (901). The periphery of the telescopic claws (9) is provided with a speed limiting gear ring (10) with the same tooth shape as the telescopic claws (9). There are multiple sets of mutually limiting blocks with concave and convex opposite each other between the outer ring of the speed limiting gear ring (10) and the inner wall of the housing (801). A tension spring two (802) is provided between each set of the limiting blocks.

2. The fitness movement detection and guidance robot according to claim 1, characterized in that: The frame (1) has a C-shaped groove (101) in its vertical part. The crossbar (2) is a symmetrical crankshaft. The two ends of the crankshaft are rotatably mounted with disc-shaped bearing rotating blocks (201). The rotation angle of the crossbar (2) is 180° in the vertical direction. The upper and lower ends of the bearing rotating block (201) are connected to the safety rope (6) and the tension rope (5) respectively. The bearing rotating block (201) is engaged in the C-shaped groove (101).

3. The fitness movement detection and guidance robot according to claim 2, characterized in that: Each of the bearing rotating blocks (201) has an angular contact ball bearing (202) on the outer surface of both sides of the axial direction, which can rotate relative to the C-shaped slide (101). The angular contact ball bearing (202) and the crossbar (2) are coaxially mounted on the bearing rotating block (201). Each of the angular contact ball bearings (202) has a chamfer on the side away from the bearing rotating block (201).

4. The fitness movement detection and guidance robot according to claim 1, characterized in that: The worm (401) has a spiral groove (408) on its rotating shaft surface that cooperates with the tension rope (5). Each gearbox (4) is provided with an elastic guide wheel (407) that matches the rotation direction of the groove. The elastic force direction of the guide wheel is parallel to the axis of the worm (401) and points in the direction where the tension rope (5) leaves the worm (401).

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