Crunch training robot
By designing an abdominal crunch training robot, which uses a robotic arm and a restraint strap to fix the ankle and provide assistance, the problem of non-standard movements in home exercise is solved, and the robot achieves assistance in standard abdominal crunch exercises and improves athletic ability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-10
- Publication Date
- 2026-03-24
AI Technical Summary
People who exercise at home often experience poor results from abdominal crunches due to weak strength, incorrect posture, or lack of scientific training guidance, and may even experience discomfort.
Design an abdominal crunch training robot, including a first robotic arm and a second robotic arm, to fix the user's ankles with a distal limiting strap, and to provide assistance by using the rotational motion of the robotic arms to guide standard abdominal crunch movements.
It provides assistance to users with insufficient lower limb or abdominal strength, helping them to perform standard abdominal crunches and improve athletic ability and physical function.
Smart Images
Figure CN224024157U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to physical training equipment technical field, especially a kind of sit-up training robot. BACKGROUND
[0002] Sit-up is a kind of abdominal exercise commonly used to exercise rectus abdominis, especially suitable for people lacking exercise base or insufficient waist and abdomen strength, and through sit-up exercise, the core strength of the person can be enhanced. However, people who exercise at home often have weak strength, non-standard action posture, lack of scientific training guidance and other factors, resulting in poor training effect, and even causing discomfort, so that they give up sit-up exercise.
[0003] At present, it is urgent to provide a sit-up training robot to provide power assistance for people doing sit-up exercise and help people do sit-up exercise. UTILITY MODEL CONTENT
[0004] The utility model aims to provide a sit-up training robot to solve the problems existing in the prior art and provide power assistance for users with insufficient lower limb or waist and abdomen strength when doing sit-up exercise.
[0005] To achieve the above-mentioned purpose, the utility model provides the following scheme: a sit-up training robot is provided, comprising: a first mechanical arm support arm; a second mechanical arm support arm, the proximal end of the second mechanical arm support arm is rotatably arranged on the first mechanical arm support arm; a mounting member, the mounting member is arranged at the distal end of the second mechanical arm support arm; at least one distal end mounting hole is arranged on the mounting member; a distal end limiting belt, one end of the distal end limiting belt is connected with the distal end mounting hole, and the other end is provided with an ankle fixing part for binding the ankle of the user.
[0006] Preferably, the mounting member comprises a plurality of extension rods, the proximal end of each extension rod is connected with the distal end of the second mechanical arm support arm, and the distal end of any extension rod is provided with a fixing block; the distal end mounting hole is a through hole penetrating through the fixing block.
[0007] Preferably, at least two distal end mounting holes are arranged on the fixing block along the length direction thereof, and the distal end limiting belt penetrates through the distal end mounting holes on the same fixing block in a serpentine manner.
[0008] Preferably, the number of fixed blocks is two, namely a first fixed block and a second fixed block arranged symmetrically, the first fixed block and the second fixed block are respectively fixed to the distal end of different extension rods; the number of distal end limiting belts is two, namely a first distal end limiting belt and a second distal end limiting belt, the first distal end limiting belt penetrates the distal end mounting hole on the first fixed block, and the second distal end limiting belt penetrates the distal end mounting hole on the second fixed block, and the first distal end limiting belt and the second distal end limiting belt are respectively provided with a left ankle fixing part and a right ankle fixing part.
[0009] Preferably, it further comprises a rotating head, the proximal end of the rotating head is rotatably arranged at the distal end of the second mechanical arm support through a rotating bearing, the rotating axis of the rotating head coincides with the axis of the second mechanical arm support, and the distal end of the rotating head is fixedly connected with the proximal end of each extension rod.
[0010] Preferably, it further comprises a proximal end limiting belt and a leg supporting part for supporting the legs of a user, one end of the proximal end limiting belt is connected to the middle section of the second mechanical arm support, and the other end is detachably connected with the leg supporting part, and the middle section is the region between the proximal end and the distal end of the second mechanical arm support.
[0011] Preferably, it further comprises a sliding groove and a sliding block, the sliding groove is arranged at the bottom of the second mechanical arm support and extends along the axial direction of the second mechanical arm support, and the sliding block is slidably connected with the sliding groove, at least one proximal end mounting hole is arranged on the sliding block, and one end of the proximal end limiting belt away from the leg supporting part is connected in the proximal end mounting hole.
[0012] Preferably, the sliding block comprises an integrally formed upper convex part and a base part, the cross-sectional area of the upper convex part is smaller than that of the base part, the two side walls of the upper convex part are slidably matched with the sliding groove, and a threaded hole facing the sliding groove is arranged on the bottom surface of the base part, the threaded hole penetrates the upper convex part, a bolt is threadedly connected with the threaded hole, and the end of the bolt abuts against the inner wall of the sliding groove after penetrating the threaded hole.
[0013] Preferably, a physical control panel is arranged on the first mechanical arm support, and the physical control panel is provided with a start-stop button, a rotation angle adjusting knob and a rotation speed adjusting knob.
[0014] Preferably, it further comprises an auxiliary supporting part for supporting the fixed blocks, the auxiliary supporting part comprises a horizontal supporting part and a vertical supporting part, the proximal end of the horizontal supporting part is fixedly connected with the bottom of the extension rod, the vertical supporting part is fixedly connected with the distal end of the horizontal supporting part, and the upper end of the vertical supporting part abuts against the bottom surface of the fixed block.
[0015] The utility model discloses relative to prior art has obtained the following technical effect:
[0016] 1, the far end limit area is fixed in the far end mounting hole, makes the user in the recumbent position, the user supine on the training pad, the ankle of user is embedded to the ankle fixed part in the far end limit area, control second mechanical arm support arm rotates on first mechanical arm support arm, make second mechanical arm support arm around the rotation axis of first mechanical arm support arm reciprocating rotation action, the far end of second mechanical arm support arm drives far end limit area synchronous movement, can pass through the rotation movement of second mechanical arm support arm conversion far end limit area reciprocating arc movement. Through far end limit area can periodically to the lower limbs of user apply stable traction, guide lower limbs to carry out more standard roll -up action, provide power for the user of lower limbs or waist abdomen power shortage when doing roll -up movement, stimulate user muscle function, assist user to carry out roll -up movement, improve the movement ability.
[0017] The utility model discloses other technical schemes have obtained the following technical effect:
[0018] 2, through the sliding block in the axial direction of second mechanical arm support arm sliding, adjust the axial position of leg support piece, can support the lower leg of user. When the user supine on the training pad, can lower leg department adhere to the arc -shaped support surface on leg support piece, drive the lower leg movement of user, through first far end limit area fixed user's left ankle, through second far end limit area fixed user's right ankle, start the drive module of mechanical arm, make second mechanical arm support arm reciprocating rotation action, the extension rod of second mechanical arm support arm far end drive first far end limit area and second far end limit area do periodic arc movement, can force the hip joint of user to bend, make user do roll -up movement under the assistance of roll -up training robot.
[0019] 3, be provided with physical control panel on first mechanical arm support arm, be provided with start -stop knob on physical control panel, can control the opening and closing of mechanical arm through start -stop knob, still be provided with rotation angle adjusting knob and rotation speed adjusting knob on physical control panel, can adjust the maximum rotation angle of second mechanical arm support arm through rotation angle adjusting knob. Can adjust the rotation speed of second mechanical arm support arm through rotation speed adjusting knob.
[0020] 4, auxiliary support piece includes horizontal support part and vertical support part, the proximal end of horizontal support part is fixedly connected with the bottom of extension rod, the distal end of horizontal support part is fixedly connected with vertical support part, and the top of vertical support part abuts with the bottom surface of fixed block. Through horizontal support part and vertical support part can assist support fixed block, increase stability. BRIEF DESCRIPTION OF DRAWINGS
[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0022] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model;
[0023] Figure 2 This is a schematic diagram of the overall structure of another embodiment of the present utility model;
[0024] Figure 3 This is a schematic diagram of the overall structure from another perspective of another embodiment of the present utility model;
[0025] Figure 4 This is a partial enlarged view of the rotating head of this utility model;
[0026] Figure 5 This is a schematic diagram of the overall structure of the present invention from another perspective;
[0027] Figure 6 This is a schematic diagram of the overall structure of the present invention, omitting the distal and proximal fixing straps;
[0028] Figure 7 This is a schematic diagram of the overall structure of the present invention from another perspective, omitting the distal and proximal fixing straps;
[0029] Figure 8 for Figure 7 A magnified view of a section at point A in the middle;
[0030] Figure 9 for Figure 7 A magnified view of a section at point B in the middle;
[0031] Figure 10 This is a schematic diagram of the overall structure of the slider of this utility model.
[0032] Wherein, 1, the first mechanical arm support arm; 2, the second mechanical arm support arm; 3, the distal end limiting belt; 4, the distal end mounting hole; 5, the extension rod; 6, the fixed block; 7, the connecting bolt; 8, the rotary head; 9, the proximal end limiting belt; 10, the leg support; 11, the sliding groove; 12, the sliding block; 13, the proximal end mounting hole; 14, the first fixed block; 15, the second fixed block; 16, the first extension rod; 17, the second extension rod; 18, the first distal end limiting belt; 19, the second distal end limiting belt; 20, the upper convex part; 21, the base part; 22, the threaded hole; 23, the physical control panel; 24, the auxiliary support; 25, the horizontal support part; 26, the vertical support part; 27, the rotating shaft; 28, the base; 29, the mechanical arm support; 30, the door opening; 31, the second rotating shaft; 32, the sub-arm. DETAILED DESCRIPTION
[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.
[0034] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.
[0035] Please refer to Figures 1-10 In the present embodiment, a sit-up training robot is provided, which comprises a first mechanical arm support arm 1, a second mechanical arm support arm 2, a mounting member and a distal end limiting belt 3. The proximal end of the second mechanical arm support arm 2 is rotatably connected to the first mechanical arm support arm 1. Preferably, the rotation axis of the second mechanical arm support arm 2 is perpendicular to the first mechanical arm support arm 1. The mounting member is arranged at the distal end of the second mechanical arm support arm 2, and at least one distal end mounting hole 4 is arranged on the mounting member. One end of the distal end limiting belt 3 is connected in the distal end mounting hole 4, i.e. the distal end limiting belt 3 is connected to the second mechanical arm support arm 2 through the distal end mounting hole 4. The other end of the distal end limiting belt 3 is provided with an ankle fixing part, which can be used to bundle and fix the ankle of a user. Preferably, the distal end limiting belt 3 has a certain elasticity, which is an elastic training belt.
[0036] Working principle: fix the distal limiting belt 3 in the distal mounting hole 4, make the user lie down, put the user's ankle into the ankle fixing part in the distal limiting belt 3; preferably, fasten it through magic tape or buckle at the ankle fixing part, which can stably constrain the user's ankle. Start the mechanical arm driving device, control the second mechanical arm support 2 to rotate on the first mechanical arm support 1, make the second mechanical arm support 2 reciprocatingly rotate around the rotation axis of the first mechanical arm support 1, the distal end of the second mechanical arm support 2 drives the distal limiting belt 3 to move synchronously, which can convert the rotary motion of the second mechanical arm support 2 into the arc motion of the distal limiting belt 3. Through the distal limiting belt 3, stable traction force can be periodically applied to the user's lower limbs, guiding the lower limbs to perform a relatively standard roll-up action, assisting the user to perform roll-up movement, and through the roll-up training robot, power can be provided for the user with insufficient lower limb or waist and abdomen strength when doing roll-up movement, stimulating the user's muscle function, improving the movement ability, and promoting the continuous performance of the user's roll-up movement.
[0037] In one embodiment, the second mechanical arm support 2 is rotationally connected with the first mechanical arm support 1 through the rotating shaft 27, the first mechanical arm support 1 is rotationally arranged on the mechanical arm support 29 through the second rotating shaft 31; further comprising a first driving motor for driving the first mechanical arm support 1 to swing; and a second driving motor for driving the second mechanical arm support 2 to rotate; the output shaft of the first driving motor is coaxially arranged and fixedly connected with the rotating shaft of the first mechanical arm support 1, through the working of the first driving motor, the first mechanical arm support 1 can be driven to swing. The output shaft of the second driving motor is fixedly connected with the rotating shaft of the second mechanical arm support 2. Preferably, the output shaft of the second driving motor is coaxially arranged and fixedly connected with the rotating shaft 27. Preferably, a speed reducer can be arranged between the output shaft of each driving motor and the corresponding rotating shaft, that is, they are transmissionally connected through the speed reducer.
[0038] In this way, the first driving motor drives the first mechanical arm support arm 1 to swing, and the second driving motor drives the second mechanical arm support arm 2 to rotate. When the second mechanical arm support arm 2 rotates, the first mechanical arm support arm 1 can also swing forward or backward, that is, the first mechanical arm support arm 1 rotates forward or backward synchronously with the second mechanical arm support arm 2, so as to increase the overall movement range and make the user more convenient to do the sit-up exercise. Preferably, the first mechanical arm support arm 1 is composed of two sub-arms 32 arranged opposite to each other, and a door opening 30 is formed between the two sub-arms 32. The ankle of the user is fixed on the distal end limiting belt 3, which is an elastic belt. The lower leg is overlapped on the leg supporting member 10, and the user can pass through the door opening 30. Preferably, the waist of the user is below the rotating shaft 27, the upper body passes through the door opening 30 and extends to the back side, and the hands of the user can also hold the sub-arms 32 to assist the force.
[0039] In one embodiment, the mounting member includes a plurality of extension rods 5, the proximal end of each extension rod 5 is connected to the distal end of the second mechanical arm support arm 2, and the extension rod 5 is fixedly connected to the second mechanical arm support arm 2 by welding or bolt connection. The distal end of any extension rod 5 is provided with a fixing block 6, a plurality of through holes are formed in the fixing block 6, the distal end mounting hole 4 is a through hole in the fixing block 6, and the distal end limiting belt 3 is fixedly connected to the fixing block 6 through the distal end mounting hole 4. Preferably, the fixing block 6 is arranged at the distal end of the extension rod 5, and the fixing block 6 is fixedly connected to the extension rod 5 by the connecting bolt 7. Preferably, during installation, the inclination angle between the fixing block 6 and the extension rod 5 is adjusted first, and then the connecting bolt 7 is fixed after adjustment. Preferably, the distal end limiting belt 3 includes two end portions, i.e., a first end portion and a second end portion, and a lock catch is arranged on the first end portion. The lock catch can be a plug-in type locking mechanism or a limiting ring, so that the distal end limiting belt 3 can pass through the distal end mounting hole 4 and then be locked by the lock catch to fix the first end portion and the second end portion in the distal end mounting hole 4. In addition, a plurality of positioning holes can be formed in the first end portion, and a bolt cooperating with the positioning holes is arranged on the second end portion. After the distal end limiting belt 3 passes through the distal end mounting hole 4, the bolt is inserted into the positioning hole, so that the distal end limiting belt 3 can be fixed in the distal end mounting hole 4.
[0040] In one embodiment, the fixing block 6 is provided with at least two distal mounting holes 4 along the length direction, and can be provided with three, four or five distal mounting holes 4. The distal limiting belt 3 can be threaded through the distal mounting holes 4 on the fixing block 6 in a serpentine manner, i.e. the distal limiting belt 3 can be threaded through the at least two distal mounting holes 4 on the fixing block 6 in a continuous S shape, so that the distal limiting belt 3 can be stably fixed on the fixing block 6. Preferably, the distance between adjacent distal mounting holes 4 is greater than 1.5 times the width of the distal limiting belt 3.
[0041] In one embodiment, the mounting member includes a first fixing block 14 and a second fixing block 15 arranged symmetrically. Specifically, the first fixing block 14 and the second fixing block 15 are arranged symmetrically on both sides of the rotation axis of the second mechanical arm support 2, and the distance between the first fixing block 14 and the second fixing block 15 can be adjusted to adapt to the hip width of different users. The first fixing block 14 and the second fixing block 15 are respectively fixed to the distal end of different extension rods 5. Preferably, the number of extension rods 5 is two, i.e. a first extension rod 16 and a second extension rod 17. The first fixing block 14 is fixed to the distal end of the first extension rod 16, and the second fixing block 15 is fixed to the distal end of the second extension rod 17. The number of distal limiting belts 3 is also two, i.e. a first distal limiting belt 18 and a second distal limiting belt 19. The first distal limiting belt 18 is threaded through the distal mounting hole 4 on the first fixing block 14, and the second distal limiting belt 19 is threaded through the distal mounting hole 4 on the second fixing block 15. The first distal limiting belt 18 is fixedly connected with the first fixing block 14, and the second distal limiting belt 19 is fixedly connected with the second fixing block 15. The first distal limiting belt 18 and the second distal limiting belt 19 are respectively provided with a left ankle fixing part and a right ankle fixing part. Preferably, the ankle fixing part is located at the lowermost end of the distal limiting belt 3. The first distal limiting belt 18 can be fixed with the left ankle of the user, and the second distal limiting belt 19 can be fixed with the right ankle of the user.
[0042] In the embodiment, the sit-up training robot further comprises a rotating head 8, a proximal end of the rotating head 8 is rotationally connected with the second mechanical arm branch 2, and an axis of rotation of the rotating head 8 coincides with an axis of the second mechanical arm branch 2. A proximal end of each of the extension rods 5 is fixedly connected with a distal end of the rotating head 8, and the rotating head 8 can drive the extension rods 5 to rotate synchronously when the rotating head 8 rotates. Preferably, a third driving motor can be built in the second mechanical arm branch 2, an output shaft of the third driving motor is connected with the rotating head 8, and the rotating head 8 is driven to rotate by the third driving motor. Meanwhile, a manual control mode can also be adopted, the rotating head 8 is rotated on the second mechanical arm branch 2 by manual operation of a user, and the rotating head 8 is locked by a rotating locking structure after the rotating head 8 is rotated to a specified position. For example, the rotating locking structure comprises a rotating locking threaded hole formed on the rotating head 8, the rotating locking threaded hole penetrates the rotating head 8 and faces the second mechanical arm branch 2, a rotating locking bolt penetrates the rotating locking threaded hole, and an end of the rotating locking bolt directly abuts against an end surface of the second mechanical arm branch 2 to prevent the rotating head 8 from rotating by friction. In this way, the fixed block 6 at the distal end can be driven to rotate by the rotating head 8, and the position of the fixed block 6 is adjusted to adapt to different body positions of the user.
[0043] In one embodiment, the sit-up training robot further comprises a proximal end limiting belt 9 and a leg supporting member 10, one end of the proximal end limiting belt 9 can be connected with a middle section of the second mechanical arm branch 2, the middle section is between the distal end and the proximal end, and the other end of the proximal end limiting belt 9 can be detachably connected with the leg supporting member 10. Preferably, the leg supporting member 10 has a certain curvature, which conforms to the configuration of a human calf, so as to ensure that the leg supporting member 10 can comfortably support the human calf. Preferably, anti-skid lines and air holes are further provided on the leg supporting member 10, the anti-skid lines prevent the calf from slipping on the leg supporting member 10, and the air holes ensure that the leg supporting member 10 has good air permeability.
[0044] In the embodiment, the roll-up training robot further comprises a sliding groove 11, a sliding block 12 and a locking mechanism. The sliding groove 11 is arranged at the bottom of the second mechanical arm support 2 and extends along the axis of the second mechanical arm support 2, i.e. the axis of the sliding groove 11 is parallel to the axis of the second mechanical arm support 2. The sliding block 12 is in sliding connection with the sliding groove 11, and the sliding direction of the sliding block 12 is also parallel to the axis of the second mechanical arm support 2. At least one proximal mounting hole 13 is arranged on the sliding block 12. The proximal limiting belt 9 is connected to the proximal mounting hole 13 from the side away from the leg supporting member 10, so that the proximal limiting belt 9 is fixedly connected with the sliding block 12. Preferably, the connection between the proximal limiting belt 9 and the leg supporting member 10 can be opened, so that the proximal limiting belt 9 can be conveniently inserted into the proximal mounting hole 13. The proximal limiting belt 9 can be made of nylon material. Preferably, the proximal limiting belt 9 has a certain rigidity and is similar in structure to a car safety belt, so as to hard-connect the leg supporting member 10. The elastic deformation of the distal limiting belt 3 provides variable resistance, and the rigid connection of the proximal limiting belt 9 ensures the stability of the leg constraint, and the two form a dynamic balance.
[0045] In work, the proximal limiting belt 9 can adjust the extension amount, for example, by adjusting the extension amount of the proximal limiting belt 9 through the buckle in the prior art, adjusting the extension position of the leg supporting member 10, and also by sliding the sliding block 12 in the axial direction of the second mechanical arm support 2, adjusting the axial position of the leg supporting member 10, so as to adapt to users of different heights. When the user lies on the training pad on his back, the legs can be fitted to the arc-shaped supporting surface on the leg supporting member 10, and the user's shanks are limited. The user's ankles are bound by the distal limiting belt 3, specifically, the left ankle of the user is fixed by the first distal limiting belt 18, and the right ankle of the user is fixed by the second distal limiting belt 19. The driving module of the mechanical arm is started, the second mechanical arm support 2 is rotated, the extension rod 5 at the distal end of the second mechanical arm support 2 drives the first distal limiting belt 18 and the second distal limiting belt 19 to make periodic arc-shaped movements, thereby driving the user's ankles to move, at the same time, the second mechanical arm support 2 drives the leg supporting member 10 to make periodic rotary movements, thereby driving the user's shanks to make synchronous periodic circular arc movements, so as to force the user's hip joint to bend, and the user can make roll-up movements with the assistance of the roll-up training robot.
[0046] In the embodiment, the slider 12 comprises an integrally formed upper protrusion 20 and a base portion 21, the cross-sectional area of the upper protrusion 20 is smaller than that of the base portion 21, the upper protrusion 20 can be embedded into the sliding groove 11, the upper protrusion 20 is in sliding fit with the sliding groove 11, a threaded hole 22 is formed in the bottom surface of the base portion 21, the threaded hole 22 can penetrate through the upper protrusion 20 and directly face the top wall of the sliding groove 11, the locking mechanism comprises a bolt, the bolt can be threadedly connected with the threaded hole 22, after the bolt penetrates through the threaded hole 22, the end of the bolt can abut against the top wall of the sliding groove 11, and the slider 12 can be locked in the sliding groove 11 through the friction between the bolt and the sliding groove 11. The proximal mounting hole 13 is arranged in the base portion 21. Preferably, the proximal mounting hole 13 is provided with two, respectively located at both ends of the threaded hole 22.
[0047] In one embodiment, a physical control panel 23 is arranged on the first mechanical arm support arm 1, the physical control panel 23 is electrically connected with a controller for controlling the rotation of the second mechanical arm support arm 2, a start-stop knob is arranged on the physical control panel 23, the start-stop knob is electrically connected with the controller, and the mechanical arm can be controlled to start or stop rotating through the start-stop knob. A rotation angle adjusting knob and a rotation speed adjusting knob are also arranged on the physical control panel 23, the rotation angle adjusting knob and the rotation speed adjusting knob are electrically connected with the controller, the maximum rotation angle of the second mechanical arm support arm 2 can be adjusted through the rotation angle adjusting knob. The rotation speed of the second mechanical arm support arm 2 can be adjusted through the rotation speed adjusting knob.
[0048] In one embodiment, an auxiliary support 24 for supporting the fixed block 6 is further included, the auxiliary support 24 comprises a horizontal support portion 25 and a vertical support portion 26, the proximal end of the horizontal support portion 25 is fixedly connected with the bottom of the extension rod 5, the distal end of the horizontal support portion 25 is fixedly connected with the vertical support portion 26, and the top of the vertical support portion 26 abuts against the bottom surface of the fixed block 6. The horizontal support portion 25 and the vertical support portion 26 can assist in supporting the fixed block 6, thereby increasing the stability.
[0049] In one embodiment, a speed sensor and a position sensor are also arranged on the second mechanical arm support arm 2, the rotation speed of the second mechanical arm support arm 2 is detected through the speed sensor, and the rotation angle of the second mechanical arm support arm 2 is detected through the position sensor. The speed sensor and the position sensor are electrically connected with the controller in each driving motor, respectively transmit the speed signal and the angle signal of the second mechanical arm support arm 2 to the controller, and the controller adjusts the motion state of the second mechanical arm support arm 2 according to the speed signal and the angle signal; so as to ensure that the second mechanical arm support arm 2 can be adjusted according to the preset rotation speed and rotation angle; the start-stop knob, the rotation angle adjusting knob and the rotation speed adjusting knob are electrically connected with the controller in each driving motor through wires.
[0050] In one embodiment, a base 28 is further arranged at the bottom of the first robotic arm 1, and the first robotic arm 1 can be supported on the ground through the base 28. Preferably, the cross section of the base 28 is rectangular.
[0051] It should be noted that, for those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.
[0052] The principles and implementation modes of the present application are described by applying specific examples in the present application, and the above embodiment descriptions are only used to help understand the method and core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in specific implementation modes and application ranges. In conclusion, the content of the present application should not be understood as a limitation of the present application.
Claims
1. A crunch training robot, characterized by, The utility model relates to a kind of mechanical arm, including: First mechanical arm branch (1); Second mechanical arm branch (2), the proximal end of the second mechanical arm branch (2) is rotatably arranged on the first mechanical arm branch (1); Mount, the mount is arranged on the distal end of the second mechanical arm branch (2);At least one distal end mounting hole (4) is arranged on the mount; Distal end limiting belt (3), one end of the distal end limiting belt (3) is connected with the distal end mounting hole (4), and the other end is provided with ankle fixing part for binding user ankle.
2. The crunch training robot of claim 1, wherein, The mount includes a plurality of extension rods (5), the proximal end of each extension rod (5) is connected with the distal end of the second mechanical arm branch (2), and the distal end of any extension rod (5) is provided with fixed block (6);The distal end mounting hole (4) is through hole through the fixed block (6).
3. The crunch training robot of claim 2, wherein, At least two distal end mounting holes (4) are provided on the fixed block (6) along the length direction thereof, and the distal end limiting belt (3) is threaded through the distal end mounting holes (4) on the same fixed block (6) in a serpentine manner.
4. The crunch training robot of claim 2, wherein, The number of fixed blocks (6) is two, which are a first fixed block (14) and a second fixed block (15) arranged symmetrically, and the first fixed block (14) and the second fixed block (15) are fixed to the distal end of different extension rods (5) respectively;The number of distal end limiting belts (3) is two, which are a first distal end limiting belt (18) and a second distal end limiting belt (19), the first distal end limiting belt (18) is threaded through the distal end mounting hole (4) on the first fixed block (14), the second distal end limiting belt (19) is threaded through the distal end mounting hole (4) on the second fixed block (15), and the first distal end limiting belt (18) and the second distal end limiting belt (19) are respectively provided with left ankle fixing part and right ankle fixing part.
5. The crunch training robot of claim 2, wherein, It also includes a rotating head (8), the proximal end of the rotating head (8) is rotatably arranged on the distal end of the second mechanical arm branch (2) through a rotating bearing, the rotating axis of the rotating head (8) coincides with the axis of the second mechanical arm branch (2), and the distal end of the rotating head (8) is fixedly connected with the proximal end of each extension rod (5).
6. The crunch training robot of claim 1, wherein, It also includes a proximal end limiting belt (9) and a leg supporting member (10) for supporting the legs of a user, one end of the proximal end limiting belt (9) is connected to the middle section of the second mechanical arm branch (2), the other end is detachably connected with the leg supporting member (10), and the middle section is the area between the proximal end and the distal end of the second mechanical arm branch (2).
7. The crunch training robot of claim 6, wherein, It also includes a sliding groove (11) and a sliding block (12), the sliding groove (11) is opened in the bottom of the second mechanical arm branch (2) and extends along the axial direction of the second mechanical arm branch (2);The sliding block (12) is slidably connected with the sliding groove (11), at least one proximal end mounting hole (13) is opened in the sliding block (12), and one end of the proximal end limiting belt (9) away from the leg supporting member (10) is connected in the proximal end mounting hole (13).
8. The crunch training robot of claim 7, wherein, The slider (12) comprises an integrally formed upper convex part (20) and a base part (21), the cross-sectional area of the upper convex part (20) is smaller than that of the base part (21), the two side walls of the upper convex part (20) are in sliding fit with the sliding groove (11), the bottom surface of the base part (21) is provided with a threaded hole (22) facing the sliding groove (11), the threaded hole (22) penetrates the upper convex part (20), a bolt is threadedly connected with the threaded hole (22), and the end of the bolt abuts against the inner wall of the sliding groove (11) after penetrating the threaded hole (22).
9. The crunch training robot of claim 1, wherein, The first mechanical arm support arm (1) is provided with a physical control panel (23), the physical control panel (23) is provided with a start-stop button, a rotation angle adjusting knob and a rotation speed adjusting knob.
10. The crunch training robot of claim 2, wherein, The auxiliary support (24) for supporting the fixed block (6) is also included, the auxiliary support (24) comprises a horizontal support part (25) and a vertical support part (26), the proximal end of the horizontal support part (25) is fixedly connected with the bottom of the extension rod (5), the vertical support part (26) is fixedly connected with the distal end of the horizontal support part (25), and the upper end of the vertical support part (26) abuts against the bottom surface of the fixed block (6).