traction training device

Abstract

Tensile strength training device, comprising: a housing (20) having a first rotation axis (21) and a second rotation axis (22), wherein the first rotation axis (21) is provided with a first rotary encoder (23) and the second rotation axis (22) is provided with a second rotary encoder (24), wherein a drive mechanism is arranged between the first rotation axis (21) and the second rotation axis (22); and wherein a one-way bearing is provided between the drive mechanism and the first rotation axis (21) or between the drive mechanism and the second rotation axis (22); a servo motor (30) arranged in the housing and coupled to a motor control unit (31) and a motor driver (33); an inner rotor (40) fixedly mounted on the first rotational axis (21) and having an armature, wherein the armature is coupled to a slip ring (42) and a carbon brush (43), and wherein the carbon brush (43) is connected to a current control unit (44); an outer rotor (50) which is rotatably mounted on the first rotation axis (21), is coupled to the inner rotor (40) and can be set in rotation by the servo motor (30); a pulley unit (60) fixedly mounted on the second rotation axis (22) and carrying a traction cable (61); a spiral spring unit (70) arranged between the second rotation axis (22) and the housing (20) and serving to store restoring energy for the traction cable (61); and a control system (80) which receives the resistance value determined by the first rotary encoder (23) and the tensile force value determined by the second rotary encoder (24), wherein the control system (80) transmits a motor speed setpoint to the motor control unit (31) and the motor driver (33) and a current control setpoint to the current control unit (44).

Description

[0001] The invention relates to a traction training device and, in particular, to a device having a dual-rotor, non-contact torque transmission structure in which the training resistance can be linearly adjusted by controlling the armature current and / or the motor speed.

[0002] As in Fig. As shown in Figure 1, a conventional tensile strength training device 10 has a weight stack 11 as a resistance unit. The user pulls the weight stack 11 upwards using a support bar 12 and a pull rope 13 to strengthen the muscles, promote physical performance, and maintain health. However, such known training devices have several disadvantages: 1. The weight stack 11 is large, takes up a lot of space, and makes adjusting the training resistance complex and time-consuming. 2. Lowering the raised weight stack 11 using the pull rope 13 generates considerable shock and noise. 3. The resistance force is fixed by the weight and cannot be dynamically changed depending on a training curve, which limits the training functionality.

[0003] Furthermore, Taiwanese patent TWM697670 and US patent US11173343 disclose a traction training device in which a cable pulley is connected to the output shaft of a reduction gear, so that the torque generated by an electric motor is transmitted directly to the cable pulley. This design represents a contact-based torque transmission structure. However, this solution also has the following disadvantages: 1. A high-power electric motor is required to provide sufficient training resistance. 2. Continuous or linear adjustment of the training resistance via the motor's speed control is not possible, which limits fine control of the resistance.

[0004] However, conventional electronic nose systems have various technical limitations. For example, the continuous intake of gases to be analyzed in a mobile robot can cause gas concentrations from the previous location to interfere with measurements at the current location, potentially leading to measurement inaccuracies or misinterpretations. Furthermore, some existing electronic nose systems rely on a separate air purification unit, resulting in increased system costs and a bulky design. This significantly limits their suitability for mobile robot systems and restricts their application possibilities.

[0005] The invention is based on the object of creating a traction training device in which the training resistance can be adjusted linearly by controlling the armature current and / or the motor speed.

[0006] This object is achieved according to the invention by a traction training device having the features specified in claim 1. Further advantageous developments of the invention emerge from the features of the subclaims.

[0007] According to the invention, a tensile strength training device is provided comprising a housing having a first rotational axis and a second rotational axis. The first rotational axis is equipped with a first rotary encoder, and the second rotational axis is equipped with a second rotary encoder. A drive mechanism is arranged between the first and second rotational axes, with a freewheel being provided between the drive mechanism and the first or second rotational axis. A servomotor is arranged in the housing and coupled to a motor control unit and a motor driver. An inner rotor is fixedly mounted on the first rotational axis and provided with an armature. The armature is coupled to a slip ring and a carbon brush, with the carbon brush being connected to a current control unit. An outer rotor is rotatably mounted on the first rotational axis, coupled to the inner rotor, and driven by the servomotor.A pulley unit is fixedly mounted on the second rotation axis and carries a traction cable wound around it. A coil spring unit is arranged between the second rotation axis and the housing and serves to store the restoring energy for winding the traction cable. A control system receives the resistance value determined by the first encoder and the tensile force value determined by the second encoder. Based on this, it transmits a motor speed setpoint to the motor control unit and the motor driver, as well as a current control setpoint to the current control unit.

[0008] The invention and its embodiments are explained in more detail below with reference to the drawing. The drawing shows: Fig. 1 Structural diagram of a conventional traction training device; Fig. Figure 2 is an exploded view of the structure of the present device; Fig. 3 is an exploded view of the structure of the outer rotor and the inner rotor of the present device; Fig. 4A is an external view of the device according to a first viewing angle; Fig. 4B is an external view of the device according to a second viewing angle; Fig. 5A is a sectional perspective view of the device; Fig. 5B is a vertical sectional view of the device in front view; Fig. 6 is a block diagram of the control system of the present device; Fig. Fig. 7 is an external view of the main structure of the present device; Fig. 8 a partially transparent perspective view of the coupling between outer rotor and inner rotor; Fig. 9A is a characteristic curve illustrating the change in training resistance as a function of armature current at constant motor speed, with the current increasing almost linearly with the simulated load weight; Fig. 9B is a characteristic curve illustrating the change in training resistance as a function of motor speed at constant armature current, with the resistance increasing almost linearly with increasing speed; and Fig. 10 is a structural diagram illustrating the use of the present device as a replacement for conventional weight stacks in traction training equipment.

[0009] Referring to Fig. 2 to Fig. 6, the traction training device according to the invention comprises the following components: a housing 20, a servo motor 30, an inner rotor 40, an outer rotor 50, a cable pulley unit 60, a spiral spring unit 70 and a control system 80.

[0010] A first rotational axis 21 and a second rotational axis 22 are mounted parallel to each other in the housing 20. A first rotary encoder 23 is arranged on the first rotational axis 21, and a second rotary encoder 24 is attached to the second rotational axis 22. The second rotational axis 22 is torque-coupled to the first rotational axis 21 via a drive mechanism, which in this embodiment is designed as a first pulley system 25, so that the first rotational axis 21 is driven. A one-way bearing 26 is arranged between the first pulley system 25 and the second rotational axis 22.

[0011] The servo motor 30 is arranged in the housing 20 and is provided with a motor control unit 31 and a motor driver 32. The drive shaft of the servo motor 30 runs parallel to the first rotation axis 21 and is connected to the external rotor 50 via a second pulley system 33 to rotate it.

[0012] The inner rotor 40 is fixedly attached to the first rotational axis 21 and is provided with an armature 41. The armature 41 is coupled to a slip ring 42, which, in combination with a carbon brush 43, enables the transmission of current to the rotating part. The carbon brush 43 is connected to a current control unit 44.

[0013] The outer rotor 50 has an annular body 51 and two side covers 52, 53. The annular body 51 is arranged between the two side covers 52, 53 and surrounds the inner rotor 40. The side covers 52, 53 are mounted on the first rotation axis 21 via bearings so that the outer rotor 50 is rotatably mounted around the stationary inner rotor 40. The outer rotor 50 is coupled to the servo motor 30 and is rotated by the servo motor.

[0014] The pulley unit 60 is mounted in a rotationally fixed manner on the second rotation axis 22 and carries a traction cable 61 which is wound around the pulley.

[0015] The spiral spring unit 70 is arranged between the second rotation axis 22 and the housing 20. It serves to store the restoring energy generated when the traction cable 61 is unwound, so that the traction cable 61 can be automatically rewound after the traction movement has ended.

[0016] The control system 80 receives a resistance value Fb from the first rotary encoder 23 and a tensile force value Fp from the second rotary encoder 24. Based on these input data, the control system 80 generates a motor speed setpoint ωt, which is transmitted to the motor control unit 31 and the motor driver 32. In addition, a current control signal Curr is transmitted to the current control unit 44 to specifically control the armature current.

[0017] As in Fig. 6, the control system 80 comprises a motion detection unit 81, a braking detection unit 82, a resistance control calculation unit 83, a torque control calculation unit 84 and a torque control unit 85.

[0018] The motion detection unit 81 receives the tensile force value Fp decoded by the second rotary encoder 24 and uses it to determine the direction of rotation Dir2, the rotational speed ωu and the angle of rotation Len of the second rotary axis 22.

[0019] The braking detection unit 82 receives the resistance value Fb decoded by the first rotary encoder 23 and uses this to determine the direction of rotation Dir1 and the rotational speed ωb of the first rotary axis 21. In addition, the braking detection unit 82 receives the rotational speed ωm of the servo motor 30 output by the motor driver 32.

[0020] The resistance control calculation unit 83 receives the rotational speed ωu and the angle of rotation Len determined by the motion detection unit 81, the direction of rotation Dir1 determined by the braking detection unit 82 and the rotational speed wb, and additionally a desired traction force value Fr specified by the user. Based on these input variables, the unit calculates a torque setpoint Tr.

[0021] The torque control calculation unit 84 receives the rotation direction Dir2 determined by the motion detection unit 81 and the torque command value Tr calculated by the resistance control calculation unit 83. Based on this, the unit calculates a target torque value Tc and a motor speed command value ωt, which is transmitted to the motor control unit 31 and the motor driver 32.

[0022] The torque control unit 85 receives the target torque value Tc from the torque control calculation unit 84 and the rotational speed ωu determined by the motion detection unit 81. Based on these values, the torque control unit 85 generates the current control signal Curr, which is transmitted to the current control unit 44.

[0023] As in Fig. 7 and Fig. As shown in Figure 8, in the present device, the outer rotor 50 is rotated by the servo motor 30 via the second pulley system 33. At the same time, the inner rotor 40, which is fixedly arranged on the first rotational axis 21, is also moved via the second rotational axis 22 and the first pulley system 25. This results in a double-rotor, contactless torque transmission structure between the outer rotor 50 and the inner rotor 40. If the traction cable 61 of the cable pulley unit 60, wound on the second rotational axis 22, is pulled outward, the inner rotor 40 is moved synchronously, causing the outer rotor 50 and the inner rotor 40 to move in opposite directions of rotation. In this state, the armature 41 generates a magnetic reluctance, which acts as a resistance to movement against the withdrawal of the traction cable 61.Consequently, the training resistance can be specifically adjusted by controlling the armature current of the armature 41 and / or the speed of the servo motor 30.

[0024] If the speed of the servo motor 30 is kept constant, the current in the armature 41 is linearly proportional to the magnetic resistance it generates. By adjusting the armature current, the magnetic resistance can therefore be adjusted linearly. In this way, the coupling between the outer rotor 50 and the inner rotor 40 allows - as shown in Fig. 9A - the training resistance can also be adjusted linearly. However, if the current in the armature 41 is kept constant, thereby generating a constant magnetic resistance, the torque output by the servo motor 30 is linearly proportional to its speed. Thus, via the coupling between the outer rotor 50 and the inner rotor 40, as shown in Fig. 9B - by adjusting the speed of the servo motor 30, the training resistance can also be controlled linearly.

[0025] As in Fig. As shown in Figure 10, the present device replaces the weight stacks used in conventional traction training devices and offers the decisive advantage that the training resistance can be adjusted linearly by controlling the armature current and / or the motor speed. List of reference symbols 10 traction training device 11 weight stacks 12 Grab bar 13 Pull rope 20 housings 21 first axis of rotation 22 second axis of rotation 23 first encoder 24 second encoder 25 first pulley system 26 disposable bearings 30 servo motor 31 Engine control unit 32 motor drivers 33 second pulley system 40 inner rotors 41 anchors 42 slip ring 43 Carbon brush 44 Current control unit 50 external rotors 51 ring bodies 52 side cover 53 Side cover 60 pulley unit 61 traction rope 70 Coil spring unit 80 Tax system 81 Motion detection unit 82 Braking detection unit 83 Resistance control calculation unit 84 Torque control calculation unit 85 Torque control unit QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 11173343

[0003]

Claims

[1] Tensile strength training device, comprising: a housing (20) having a first rotation axis (21) and a second rotation axis (22), wherein the first rotation axis (21) is provided with a first rotary encoder (23) and the second rotation axis (22) is provided with a second rotary encoder (24), wherein a drive mechanism is arranged between the first rotation axis (21) and the second rotation axis (22); and wherein a one-way bearing is provided between the drive mechanism and the first rotation axis (21) or between the drive mechanism and the second rotation axis (22); a servo motor (30) arranged in the housing and coupled to a motor control unit (31) and a motor driver (33); an inner rotor (40) fixedly mounted on the first rotational axis (21) and having an armature, wherein the armature is coupled to a slip ring (42) and a carbon brush (43), and wherein the carbon brush (43) is connected to a current control unit (44); an outer rotor (50) which is rotatably mounted on the first rotation axis (21), is coupled to the inner rotor (40) and can be set in rotation by the servo motor (30); a pulley unit (60) fixedly mounted on the second rotation axis (22) and carrying a traction cable (61); a spiral spring unit (70) arranged between the second rotation axis (22) and the housing (20) and serving to store restoring energy for the traction cable (61); and a control system (80) which receives the resistance value determined by the first rotary encoder (23) and the tensile force value determined by the second rotary encoder (24), wherein the control system (80) transmits a motor speed setpoint to the motor control unit (31) and the motor driver (33) and a current control setpoint to the current control unit (44). [2] Tensile force training device according to claim 1, characterized by , - that the control system (80) comprises a motion detection unit (81), a braking operation detection unit (82), a resistance control calculation unit (83), a torque control calculation unit (84) and a torque control unit (85); - that the motion detection unit (81) receives the tensile force value decoded by the second rotary encoder (24) and uses this to determine the direction of rotation Dir2, the rotational speed ωu and the angle of rotation Len of the second rotational axis (22); - that the braking operation detection unit (82) receives the resistance value decoded by the first rotary encoder (23) and determines therefrom the direction of rotation Dir1 and the speed ωb of the first rotary axis (21), and wherein the braking operation detection unit (82) further receives the speed ωm output by the motor driver (32); - that the braking detection unit (82) receives the rotational speed ωu and the angle of rotation Len from the movement detection unit (81), the direction of rotation Dir1 and the rotational speed ωb from the braking detection unit (82) as well as a traction force setpoint Fr specified by the user, and calculates a torque setpoint Tr on this basis; - that the torque control calculation unit (84) receives the direction of rotation Dir2 from the motion detection unit (81) and the torque setpoint Tr from the resistance control calculation unit (83) and calculates therefrom a target torque value Tc and a motor speed setpoint ωt, wherein the motor speed setpoint ωt is transmitted to the motor control unit (31); and - that the torque control unit (85) receives the target torque value Tc from the torque control calculation unit (84) and the rotational speed ωu from the motion detection unit (81), and on the basis of these values ​​generates a current control setpoint Curr, which is transmitted to the current control unit (44). [3] Tensile force training device according to claim 1, characterized by , - that the first rotational axis (21) and the second rotational axis (22) are arranged parallel in the housing (20), wherein the drive mechanism is designed as a first pulley system (25), and wherein the second rotational axis (22) drives the first rotational axis (21) via the first pulley system (25); and - that the drive shaft of the servo motor (30) runs parallel to the first axis of rotation (21), wherein the external rotor (50) can be driven by the drive shaft of the servo motor (30) via a second pulley system (33). [4] Tensile force training device according to claim 1, characterized by that the outer rotor (50) has an annular body (51) and two side covers, wherein the annular body (51) is arranged between the two side covers and surrounds the inner rotor (40), and wherein the side covers are mounted on the first axis of rotation (21) via bearings.

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