Training device

Abstract

A training apparatus (1) comprising:-at least one hydraulic actuator (100) comprising at least one internal cavity (111) configured to be filled with a fluid and a movable element (101) configured to move the fluid and / or to be moved by the fluid,-a hydraulic device (10) comprising a device shaft (11) and at least one device port (12), the device shaft is configured to rotate bidirectionally about a longitudinal axis of the device shaft, the device port is in fluid communication with at least one cavity port (112) of the at least one internal cavity (111), and the hydraulic device (10) is configured to convert hydraulic pressure and / or flow received at any one of the device ports (12) into torque and / or rotation of the device shaft (11). The torque and / or rotation of the device shaft (11) is / are converted into hydraulic pressure and / or flow at any one of the device ports (12),-a bi-directional electric motor (20) having a rotating part (21) mechanically coupled to the device shaft (11), and-a control unit (30) for controlling the torque and / or rotation of the device shaft (11), the control unit is electrically connected to the electric motor (20) and is configured to control the rotational dynamics of the rotating member (21).

Description

Technical Field

[0001] The present invention relates generally to resistance exercise systems, and more particularly, to electronically controlled training devices capable of providing a natural response, either a static response or a dynamic response. Background Art

[0002] Over the past few decades, a variety of electronic and hydraulic exercise systems have been developed that have increased the level of sophistication associated with weightlifting. However, the responsiveness of such systems still differs significantly from the dynamic response of classic training equipment, such as weights or the static response of elastic bands.

[0003] Prior art training devices, such as those disclosed in US Pat. No. 11058908B2, include a motor configured to drive a pump that pumps fluid, thereby controlling a hydraulic actuator. To select the direction of movement of the actuator, a flow controller controls one or more valves to redirect fluid from the pump to the actuator or reservoir. When the actuator's direction of movement changes, the flow controller alters the position of the valves. However, while rapid, the change in valve position is not instantaneous, resulting in an unnatural sensation for the user.

[0004] Thus, the prior art remains unaddressed by the need for training devices that provide natural responses, either static or dynamic. Summary of the Invention

[0005] The object of the present invention is to provide a muscle training device for applying resistance to the movements of a user, the training device comprising:

[0006] - at least one hydraulic actuator, the hydraulic actuator comprising a movable element and a housing, the housing being provided with at least one internal cavity configured to be filled with a fluid, the movable element having at least one external portion and at least one internal portion mechanically coupled to the at least one external portion, the at least one external portion being arranged outside the housing and being configured to be moved by a user in a first direction and / or in a second direction opposite to the first direction, the at least one internal portion being movably arranged within the at least one internal cavity of the housing and being configured to be pushed by the fluid when moving in the first direction and / or to push the fluid out of the at least one internal cavity (111) when moving in the second direction, wherein at least one of the internal cavities comprises a cavity port suitable for the flow of the fluid, and

[0007] - A hydraulic device comprising two device ports and a device shaft, the device ports being suitable for fluid flow, the device shaft being configured to rotate bidirectionally about a longitudinal axis of the device shaft, wherein the hydraulic device is configured to convert a hydraulic pressure and / or flow received at any one of the device ports into a torque and / or rotation of the device shaft, or the hydraulic device is configured to convert a torque and / or rotation of the device shaft into a hydraulic pressure and / or flow at any one of the device ports, and wherein at least one of the two device ports is in fluid communication with the at least one chamber port of the at least one hydraulic actuator.

[0008] The training device of the present invention is characterized in that the training device comprises a bidirectional electric motor and a control unit, the electric motor having a rotating part as an axis or rotor, the rotating part being coupled to the device shaft so that a longitudinal rotation of the rotating part and the device shaft is transmitted from one to the other, and wherein the control unit is configured to control the rotational dynamics of the rotating part.

[0009] Due to the configuration of the training device according to the invention, the force applied by the user to the external movable part is directly transmitted to the electric motor (the dynamics of the electric motor being defined by the control unit), and vice versa, enabling the training device to transmit a natural reaction that is either static or dynamic (i.e., the resistance perceived by the user can be independent of or dependent on the acceleration of the movable element, respectively), at least over a portion of the movement path or over the entire movement path. Moreover, due to the direct connection between the hydraulic actuator and the hydraulic device, the training device provides direct force feedback. Furthermore, the training device according to the invention allows for the implementation of only concentric movements or only eccentric movements, as well as both movements, while being applicable to various dynamic or static profiles, i.e., the training device can be adapted to any desired user configuration.

[0010] In a first embodiment of the training device, at least one internal part divides at least one internal cavity into at least two chambers in a sealed manner, wherein the volume of the chamber is variable and is defined by the relative position of the at least one internal part within the at least one internal cavity. In a first implementation of this first embodiment, the training device includes a reservoir, and at least one hydraulic actuator is a single-acting hydraulic actuator, a cavity port of the at least one single-acting hydraulic actuator is in fluid communication with one of the two device ports of the hydraulic device, and the other of the two device ports of the hydraulic device is in fluid communication with the reservoir. In a second implementation of this embodiment of the training device, at least two chambers of the at least one hydraulic actuator include corresponding cavity ports suitable for fluid flow, each of the two device ports of the hydraulic device being in fluid communication with each cavity port. As a first example of this implementation, at least one hydraulic actuator is a longitudinal double-acting hydraulic cylinder. As a second example of this implementation, at least one hydraulic actuator is a rotary vane actuator, at least one internal cavity of the rotary vane actuator is defined by a circular sector, and at least one internal portion is defined by a rotating rod, which is configured to rotate about an axis located at the center of the circular sector, so that at least one external portion is also configured to rotate about the axis.

[0011] In a second embodiment of the training device, at least one hydraulic actuator is a bidirectional hydraulic motor, i.e., a motor that converts hydraulic pressure and flow from a fluid into torque and rotation, or vice versa. The hydraulic motor may be a hydraulic motor comprising a plurality of chambers defined between a plurality of rotating rods serving as the inner portion, such as a vane motor. As another embodiment of the hydraulic motor, it may be a plunger motor, a gear motor, or an orbital motor.

[0012] Preferably, the control unit comprises an interface unit, i.e., an input unit which may include a display unit. The control unit is configured to receive from a user the rotational dynamics to be applied to the rotating component of the electric motor. Preferably, the interface unit comprises a touch screen attached to the training device and / or a smartphone connectable to the control unit, so that the user can introduce the rotational dynamics via the touch screen attached to the training device and / or via an application installed on their smartphone.

[0013] In a preferred embodiment, the control unit can be configured to command the electric motor to apply a determined torque to the rotating component in at least one rotational direction, thereby applying a determined resistance to the movable element when the hydraulic device and the at least one hydraulic actuator comprise a hydraulic fluid. For example, the control unit can be configured to command the electric motor to apply a threshold torque for inhibiting movement of the rotating component (and therefore the movable element of the at least one hydraulic actuator) until a user force greater than the threshold torque is applied to the movable element. The control unit can also be configured to command the electric motor to apply different torques at different rotational positions of the rotating component, for example, increasing and / or decreasing the torque depending on the position of the rotating component, thereby increasing and / or decreasing the torque depending on the position of the movable element. Alternatively, the control unit can be configured to command the electric motor to rotate at a determined speed, i.e., when the hydraulic device and the at least one hydraulic actuator comprise a hydraulic fluid, to generate a corresponding fluid flow at the hydraulic device that applies a suitable fluid pressure to move the inner portion of the movable element at the determined speed. The control unit may also be configurable to command the electric motor to apply different rotational speeds at different rotational positions of the rotating component, eg to increase and / or decrease the speed depending on the position of the rotating component and thus the position of the movable element.

[0014] In a possible embodiment, the hydraulic device comprises a hydraulic motor, i.e. a device configured to receive a fluid flow and / or pressure at at least one device port (in this example from at least one hydraulic actuator) and to generate a corresponding device shaft rotation and / or torque. Preferably, the hydraulic device is a reversible hydraulic motor, i.e. a motor that can also be driven by mechanical force to act as a hydraulic pump, in particular when operating at low fluid pressures, for example at fluid pressures between 70 and 100 bar. In an alternative embodiment, the hydraulic device comprises a bidirectional hydraulic pump, i.e. a device configured to receive a torque at the device shaft (in this example from an electric motor) and to generate a corresponding fluid pressure at at least one device port (this fluid pressure is transmitted via a cavity port to an internal part of the movable element in order to obtain a resistance at at least one external part). Preferably, the hydraulic device is a reversible pump, i.e. a hydraulic pump that can act as a hydraulic motor.

[0015] Preferably, the training apparatus comprises a shaft coupling configured to couple the device shaft and the rotating component of the electric motor in order to accommodate axial and / or angular misalignment and / or absorb shocks due to rapid acceleration. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a first embodiment of the training device is shown.

[0017] Figure 2A schematic diagram of a second embodiment of a training device is shown.

[0018] Figure 3 A schematic diagram of a third embodiment of a training device is shown.

[0019] Figure 4 A schematic diagram of a fourth embodiment of a training device is shown.

[0020] Figure 5 A schematic diagram of a fifth embodiment of a training device is shown.

[0021] Figure 6 A schematic diagram of a sixth embodiment of a training device is shown. DETAILED DESCRIPTION

[0022] Figures 1 to 6 Different embodiments of the training device are schematically shown, all of which comprise:

[0023] - a hydraulic device (10), the hydraulic device (10) comprising a reversibly drivable hydraulic motor or a reversibly drivable hydraulic pump, that is, the hydraulic device (10) comprising a device shaft (11) and two device ports (12), the hydraulic device (10) being configured to: receive a fluid flow and / or pressure at one device port (11) and generate a corresponding rotation and / or torque of the device shaft, or to receive a rotation and / or torque of the device shaft at one device port (11) and generate a corresponding fluid flow and / or pressure,

[0024] - a bidirectional electric motor (20) having a shaft as a rotating part (21), which is mechanically coupled to the device shaft (11) such that a longitudinal rotation of the shaft and the device shaft (11) is transmitted from one to the other, and a control unit (30) electrically connected to the electric motor (20) and configured to control the rotational dynamics of the rotating part (21).

[0025] Figure 1A first embodiment of a training device (1) is shown, showing a cross-sectional view of the training device (1), the training device (1) also comprising a reservoir (40) and a hydraulic actuator (100) consisting of a single-acting hydraulic cylinder. The hydraulic actuator (100) comprises a movable element (101) and a housing (110) provided with an internal cavity (111). The movable element (101) comprises an external portion (102) arranged outside the internal cavity (111) and an internal portion (103) arranged within the internal cavity (111). The internal portion (103) acts as a piston, which is configured to divide the internal cavity (111) into two variable chambers in a sealed manner, the volumes of the two variable chambers being defined by the relative positions of the internal portion (103) within the internal cavity (111). The outer part (102) is mechanically connected to the inner part (103) via the longitudinal rod (104), so that movement and / or force received at the inner part (103) is transmitted to the outer part (102), or movement and / or force received at the outer part (102) is transmitted to the inner part (103).

[0026] In the first embodiment, a chamber of the hydraulic actuator (100) includes a chamber port (112) that is in fluid communication with one of the device ports (12) of the hydraulic device (10), while the other of the device ports (12) is in fluid communication with the reservoir (40). Together, they form a hydraulic circuit, wherein when the hydraulic circuit is filled with fluid (indicated by the shaded area), the movable element (101) is configured to push the fluid, and the hydraulic device (10) is configured to direct the flow of fluid from the hydraulic actuator (100) to the reservoir (40) or from the reservoir (40) to the hydraulic actuator (100) through the device port (12) of the hydraulic device (10), while applying a determined fluid pressure by the control unit (30) through the electric motor (20) upon request. The hydraulic device (10) is constructed such that the rotational speed and torque of the device shaft (11) of the hydraulic device (10) are inextricably linked to the flow rate and pressure exerted by the fluid through the device port (12), or the flow rate and pressure exerted by the fluid through the device port (12) are inextricably linked to the rotational speed and torque of the device shaft (11) of the hydraulic device (10). Since the device shaft (11) is mechanically coupled to the rotating part (21) of the electric motor (20), the force exerted on or by the movable element (101) is controlled by the control unit (30) in a dynamically reactive manner.

[0027] Figure 2A second embodiment of a training device (2) is shown, showing a cross-sectional view of the training device (2), which includes a hydraulic actuator (200) consisting of a double-acting, double-rod hydraulic cylinder. The movable element (201) of this second embodiment includes two outer parts (202, 206), which are mechanically connected to an inner part (203) via respective longitudinal rods (204, 205). The inner part (203) is configured to divide the inner cavity of the hydraulic actuator (200) into two variable chambers (210, 211) with the same maximum volume in a sealed manner. Each chamber (210, 211) includes a corresponding chamber port (212, 213) that is fluidically connected to a corresponding device port (12) of the hydraulic device (10). All of them together form a hydraulic circuit filled with fluid, wherein the movable element (201) is configured to push the fluid from any of the chambers (210, 211), and the hydraulic device (10) is configured to guide the flow of fluid from one chamber (210, 211) to the other chamber or from the other chamber to the one chamber (210, 211) through the device port (12) of the hydraulic device (10). Therefore, like the first embodiment, the force applied to or by the movable element (201) of this embodiment is controlled by the control unit (30) in a dynamic reaction manner. Figure 3 As shown in FIG, the hydraulic actuator (300) may also include a double-acting hydraulic cylinder, but the movable element (301) of the hydraulic actuator (300) includes only one outer part (302) and only one rod (304). Therefore, the maximum volume of the chamber (310) including the rod (304) is smaller than the maximum volume of the other chamber (311), so that the training device (3) requires a reservoir (40) and a corresponding valve (41) in order to manage the flow of fluid from one chamber (310) to the other chamber (311) or from the other chamber (311) to the chamber (310).

[0028] Figure 4A fourth embodiment of a training device (4) is shown, presenting a cross-sectional view of the training device (4), which includes a hydraulic actuator consisting of a rotary vane actuator. The internal cavity of the hydraulic actuator (400) is defined by a circular sector, while the internal part (403) of the movable element (401) of the training device (4) is defined by a rotating rod, which is configured to rotate around an axis located at the center of the circular sector. Therefore, the external part (402) of the movable element (401), not shown in the figure, is also configured to rotate around the axis. The internal part (403) is configured to divide the internal cavity of the hydraulic actuator (400) into two variable chambers (410, 411) with the same maximum volume in a sealed manner. Each chamber (410, 411) includes a corresponding chamber port (412, 413) that is fluidically connected to a corresponding device port (12) of the hydraulic device (10). Together, they form a fluid-filled hydraulic circuit, wherein the movable element (401) is configured to push the fluid from any one of the chambers (410, 411), and the hydraulic device (10) is configured to direct the flow of fluid from one chamber (410, 411) to the other chamber, or from the other chamber to the chamber (410, 411) through the device port (12) of the hydraulic device (10). Thus, like the previous embodiment, the force exerted at or by the movable element (401) of this embodiment is controlled by the control unit (30) in a dynamically reactive manner. Figure 5 A similar fifth embodiment of the training device (5) is shown in FIG, wherein the hydraulic actuator (500) comprises a rotary vane actuator comprising two internal cavities divided into four chambers (510, 510', 511, 511') by two internal portions (503, 503'). Each chamber (510, 510', 511, 511') comprises corresponding chamber ports (512, 512', 513, 513') in fluid communication with corresponding device ports (12) of the hydraulic device (10) in pairs.

[0029] Figure 6 A sixth embodiment of a training device (6) is shown, comprising a hydraulic actuator (600) formed by a hydraulic motor comprising a plurality of variable chambers (610) defined between a plurality of rotating rods acting as internal components (603). Two chamber ports (612) of the hydraulic actuator (600) are in fluid communication with respective device ports of two device ports (12) of a hydraulic device (10). Pressure and fluid flow from the hydraulic device (10) are converted into torque and rotation of the rotating rods (603), or vice versa.

Claims

1. A training device (1), comprising: - at least one hydraulic actuator (100), comprising a movable element (101) and a housing (110), the housing (110) being provided with at least one internal cavity (111) configured to be filled with a fluid, the movable element (101) having at least one external portion (102) and at least one internal portion (103) mechanically coupled to the at least one external portion (102), the at least one external portion (102) being arranged outside the housing (110) and being configured to be moved by a user in a first direction and / or in a second direction opposite to the first direction, the at least one internal portion (103) being movably arranged within the at least one internal cavity (111) of the housing (110) and being configured to be pushed by the fluid when moving in the first direction and / or to push the fluid out of the at least one internal cavity (111) when moving in the second direction, wherein at least one of the internal cavities comprises a cavity port (112) adapted for the flow of the fluid, - A hydraulic device (10), the hydraulic device (10) comprising two device ports (12) and a device shaft (11), the device ports (12) being suitable for fluid flow, the device shaft (11) being configured to rotate bidirectionally about a longitudinal axis of the device shaft (11), wherein the hydraulic device (10) is configured to convert a hydraulic pressure and / or flow received at any one of the device ports (12) into a torque and / or rotation of the device shaft (11), or to convert a torque and / or rotation of the device shaft (11) into a hydraulic pressure and / or flow at any one of the device ports (12), and wherein the two device ports (12) are configured to rotate bidirectionally about a longitudinal axis of the device shaft (11), wherein the hydraulic device (10) is configured to convert a hydraulic pressure and / or flow received at any one of the device ports (12) into a torque and / or rotation of the device shaft (1 ... pressure and / or flow received at any one of the device ports (12) are configured to convert a hydraulic pressure and / or flow received at any one of the device ports (12) into a torque and / or rotation of the device shaft (11). At least one of the device ports (12) is in fluid communication with at least one chamber port (112) of the at least one hydraulic actuator (100), characterized in that the training device (1) comprises a bidirectional electric motor (20) and a control unit (30), the electric motor (20) having a rotating component (21), the rotating component (21) being mechanically coupled to the device shaft (11) such that longitudinal rotation of the rotating component (21) and the device shaft (11) is transmitted from one to the other, and wherein the control unit (30) is electrically connected to the electric motor (20) and is configured to control the rotational dynamics of the rotating component (21).

2. The training device (1) according to claim 1, wherein The at least one internal portion (103) divides the at least one internal cavity (111) into at least two chambers in a sealed manner, wherein the volumes of the chambers are variable and are defined by the relative positions of the at least one internal portion (103) within the at least one internal cavity (111).

3. Training device (1) according to claim 2, wherein The training device (1) includes a reservoir (40), and wherein the at least one hydraulic actuator (100) is a single-acting hydraulic cylinder, the chamber port (112) of the internal chamber (111) of the single-acting hydraulic cylinder is fluidically connected to one of the two device ports (12) of the hydraulic device (10), and the other of the two device ports (12) of the hydraulic device (10) is fluidically connected to the reservoir (40).

4. The training device (2) according to claim 2, wherein The at least two chambers (210, 211) of the at least one hydraulic actuator (200) include corresponding chamber ports (212, 213) suitable for fluid flow, and each of the two device ports (12) of the hydraulic device (10) is in fluid communication with each chamber port (212, 213).

5. Training device (2) according to claim 4, wherein The at least one hydraulic actuator (200) is a longitudinal double-acting hydraulic cylinder.

6. Training device (4) according to claim 4, wherein The at least one hydraulic actuator (400) is a rotary vane actuator, wherein at least one internal cavity (411) of the rotary vane actuator is defined by a circular sector, and the at least one internal portion (403) is defined by a rotating rod configured to rotate about an axis located at the center of the circular sector.

7. Training device (6) according to claim 1, wherein The at least one hydraulic actuator (600) is a bidirectional hydraulic motor.

8. Training device (1) according to any one of the preceding claims, wherein The control unit (30) includes an interface unit configured to receive rotational dynamics to be applied to the rotating component (21) from a user.

9. Training device (1) according to claim 8, wherein The control unit (30) can be configured to command the electric motor (20) to apply a determined torque to the rotating component (21) in at least one rotational direction.

10. Training device (1) according to claim 9, wherein The control unit (30) can be configured to command the electric motor (20) to inhibit movement of the rotating component (21) until a threshold user force value is applied to the movable element (101).

11. Training device (1) according to claim 9 or 10, wherein The control unit (30) can be configured to command the electric motor (20) to apply different torques at different rotational positions of the rotating component (21).

12. Training device (1) according to any one of claims 8 to 11, wherein The control unit (30) can be configured to command the electric motor (20) to rotate at a determined speed.

13. Training device (1) according to claim 12, wherein The control unit (30) can be configured to command the electric motor (20) to apply different rotational speeds at different rotational positions of the rotating component (21).

14. Training device (1) according to any one of the preceding claims, wherein The hydraulic device (10) comprises a hydraulic motor.

15. Training device (1) according to any one of claims 1 to 13, wherein The hydraulic device (10) comprises a hydraulic pump.

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