阅读说明：本技术 一种等速力量训练动力装置及等速运动实现方法 (Constant-speed strength training power device and constant-speed movement implementation method ) 是由 王远 周真友 李冕 方伟 徐玉兵 陈焱焱 于 2020-12-02 设计创作，主要内容包括：本发明公开了一种等速力量训练动力装置及等速运动实现方法,涉及等速运动领域。它包含阻力源模块、信号采集模块及控制模块,阻力源模块用于产生阻力,控制模块用于通过控制阻力源内部阀门元器件调节阻力大小,信号采集模块用于采集力量信号与位移信号进行处理,通过速度、力量与脉冲阀开关频率三者间关系模型,检测到力的数据以及运动的速度数据快速找到与之对应的PWM控制脉冲阀调节油流动阻力产生的等效阻力,实现等速运动。降低等速运动的成本,易于推广,采用脉冲阀进行控制油速,通过拉力测试和数据回归拟合,获得不同速度V下的F-PWM关系曲线图,并基于该图快速获取计算单片机输出的PWM占空比,实现等速运动,响应速度快,控制精准。(The invention discloses a constant speed strength training power device and a constant speed movement implementation method, and relates to the field of constant speed movement. The resistance source module is used for generating resistance, the control module is used for adjusting the resistance by controlling internal valve elements of the resistance source, the signal acquisition module is used for acquiring force signals and displacement signals to process, and through a relation model among speed, force and pulse valve switching frequency, the equivalent resistance generated by adjusting oil flow resistance through PWM control pulse valves corresponding to detected force data and motion speed data is quickly found out, so that constant-speed motion is realized. The constant-speed motion cost is reduced, the popularization is easy, the oil speed is controlled by adopting the pulse valve, F-PWM relation curve graphs under different speeds V are obtained through tension test and data regression fitting, the PWM duty ratio output by the singlechip is rapidly obtained and calculated based on the F-PWM relation curve graphs, the constant-speed motion is realized, the response speed is high, and the control is accurate.)

1. A constant-speed strength training power device is characterized by comprising a resistance source module, a signal acquisition module and a control module, wherein the resistance source module is used for generating resistance, the control module is used for adjusting the resistance by controlling valve components inside a resistance source, and the signal acquisition module is used for acquiring a strength signal and a displacement signal for processing;

the resistance source module adopts an oil cylinder device, takes the liquid oil as a resistance source, and realizes the control of the flow resistance of the liquid oil by adjusting the switching frequency of a pulse valve arranged in a connecting pipeline between two oil cavities;

the signal acquisition block acquires data in real time through the force sensor and the displacement sensor, wherein the force sensor and the pull rod of the oil cylinder are on the same straight line and are connected with the pull rod of the oil cylinder through threads, and force acts on the force sensor through the connecting rod in the movement process to acquire data; the displacement sensor is fixed with the oil cylinder in parallel, and a pull rod of the displacement sensor and a pull rod of the oil cylinder are fixed through a metal plate;

the control module is composed of a pulse valve and a control panel, the pulse valve is arranged between two cavity communication pipelines inside the oil cylinder and used for controlling resistance when liquid oil flows, and a main control circuit in the control panel is respectively electrically connected with the resistance source module and the signal acquisition block and used for acquiring force data and displacement data.

2. A constant-speed movement implementation method is characterized in that through a relation model among speed, force and pulse valve switching frequency, force detection data and movement speed data quickly find equivalent resistance generated by flow resistance of PWM control pulse valves adjusting oil corresponding to the force detection data and the movement speed data, and constant-speed movement is achieved.

3. The method of claim 2, wherein the relationship between the speed, the force and the switching frequency of the pulse valve is derived as follows:

according to hydrodynamics, neglecting the pipe resistance of the channel connecting the cavity 1 and the cavity 2, the impulse valve generates equivalent resistance R as:

where P1 is the pressure of Chamber 1, P2 is the pressure of Chamber 2, S is the cross-sectional area of the Chamber, the force acting on the draw rod F is, the velocity of the liquid flow is V1,

according to the relation between the force and the pressure intensity, the pulling force of the movable rod is obtained:

F＝(P1-P2)*S ②

the F-R-V1-S is obtained by the simultaneous deduction of the first and the second

When the cross section is constant, the velocity V of the pull rod movement is V1/S according to the flow velocity formula, and the velocity V is obtained by substituting the formulaWherein S is a constant, the product of F and V R is linear.

4. The method of claim 3, wherein the equivalent resistance R is modulated in proportion to the PWM pulse width, and the pulse valve is opened by a high level and closed by a low level in a square wave type output by the control board, namely the duration of the high level is constant, and the equivalent resistance is controllable by adjusting the duration of the low level, wherein the longer the duration of the low level is, the larger R is, the shorter the duration of the low level is, and the smaller R is; under different PWM duty ratio settings, F-PWM curve graphs under different V can be obtained through tension test and data regression fitting, and if constant speed under different forces F is to be realized, the F/R is kept constant.

5. The method for realizing the constant-speed movement according to claim 3, wherein after F-PWM relation graphs at different speeds V are obtained through experiments, after a training device parameter V is set, and when F changes, V is kept unchanged, a set F-PWM curve corresponding to V can be searched, a PWM duty ratio value corresponding to the changed F is found, the PWM duty ratio value is output through a single chip microcomputer, and F/R is kept constant, so that constant-speed regulation and control are quickly realized.

Technical Field

The invention relates to the field of constant speed movement, in particular to a constant speed strength training power device and a constant speed movement implementation method.

Background

The isokinetic exercise is to make the muscle contract and train under the isokinetic condition, this kind of muscle contraction can exert the maximum muscle strength training no matter what kind of joint angle, the isokinetic muscle strength training equipment can provide the compliance resistance in the whole range of joint motion, and can train a pair of antagonistic muscle group simultaneously, effectively avoid the unbalanced condition of muscle function recovery to appear, because the speed is inconvenient in the isokinetic exercise, the resistance is adjustable, the compliance resistance that produces along with muscle contraction strength size makes the muscle produce the maximum muscle strength in the whole range of motion of joint, therefore, can more effective exercise muscle strength, endurance and flexibility, it is now the safest also the most effective muscle strength training mode of being acknowledged in sports science and rehabilitation medical community.

The training system is mainly applied to the aspect of sports in the early stage, is provided with a computer to acquire data of athletes in training, gradually expands the training system to other fields, is finally most widely applied to the field of rehabilitation medicine, and is not popularized due to the fact that equipment is complex and the use cost is high in the early stage. After the 90 s of the 20 th century, some domestic hospitals introduced isokinetic muscle testing and training systems one after another to help patients to perform recovery training, and with technological progress, more and more medicines, pediatrics, neurorehabilitation, geriatrics and sports medicine rely on isokinetic muscle evaluation training systems to provide continuous objective data.

The prior art has the following defects:

1. the constant-speed movement device in the market is expensive, and the later maintenance cost is very high, so that the constant-speed movement device is difficult to popularize;

2. the response speed is not sensitive enough;

how to realize the constant-speed motion and reduce the cost is a key problem of the popularization of the constant-speed motion.

Disclosure of Invention

Technical problem to be solved

The present invention is to provide a constant velocity strength training power device and a constant velocity exercise implementation method, which solve the problems of how to implement constant velocity exercise and reduce the cost, and the problems are the popularization of constant velocity exercise.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: a constant-speed strength training power device comprises a resistance source module, a signal acquisition module and a control module, wherein the resistance source module is used for generating resistance, the control module is used for adjusting the resistance by controlling internal valve components of the resistance source, and the signal acquisition module is used for acquiring a strength signal and a displacement signal for processing;

the resistance source module adopts an oil cylinder device, takes the liquid oil as a resistance source, and realizes the control of the flow resistance of the liquid oil by adjusting the switching frequency of a pulse valve arranged in a connecting pipeline between two oil cavities;

the signal acquisition block acquires data in real time through the force sensor and the displacement sensor, wherein the force sensor and the pull rod of the oil cylinder are on the same straight line and are connected with the pull rod of the oil cylinder through threads, and force acts on the force sensor through the connecting rod in the movement process to acquire data; the displacement sensor is fixed in parallel with the oil cylinder, a pull rod of the displacement sensor and a pull rod of the oil cylinder are fixed through a metal plate, the pull rod of the displacement sensor synchronously moves while the pull rod of the oil cylinder moves, the displacement amounts of the pull rods are the same, and different displacement outputs different voltage values to carry out signal acquisition;

the control module is composed of a pulse valve and a control panel, the pulse valve is arranged between two cavity communication pipelines inside the oil cylinder and used for controlling resistance when liquid oil flows, a main control circuit in the control panel is respectively electrically connected with the resistance source module and the signal acquisition block, force data and displacement data are acquired, and the opening and closing frequency of the corresponding pulse control valve is output by combining with the relation of corresponding speed to realize equivalent resistance adjustment.

The invention also provides a method for realizing the constant-speed motion, which comprises the following steps: through a relation model among speed, force and pulse valve switching frequency, the detected force data and the movement speed data quickly find the equivalent resistance generated by the flow resistance of the PWM control pulse valve adjusting oil corresponding to the detected force data and the movement speed data, and constant-speed movement is realized.

(III) advantageous effects

Compared with the prior art, after the technical scheme is adopted, the invention has the beneficial effects that:

(1) the constant-speed motion device utilizes the oil cylinder body, the pulse valve, the force sensor and the control unit to realize constant-speed motion, and compared with the traditional motor type constant-speed motion device, the constant-speed motion device reduces the cost of constant-speed motion and is easy to popularize.

(2) The invention uniquely adopts the pulse valve to control the oil speed, obtains the F-PWM relation curve chart under different speeds V through the tension test and the data regression fitting, and quickly obtains and calculates the PWM duty ratio output by the singlechip based on the curve chart, thereby realizing the constant speed movement, high response speed and accurate control.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a graph of F-PWM relationship at different speeds V in an embodiment provided by the present invention;

FIG. 3 is a schematic diagram of a control board master control circuit of the control module in an embodiment provided by the present invention;

FIG. 4 is a schematic diagram of a pulse valve circuit of the control module in an embodiment provided by the present invention;

FIG. 5 is a schematic circuit diagram of a signal acquisition module in an embodiment provided by the present invention;

FIG. 6 is a schematic circuit diagram of a power module in an embodiment provided by the present invention;

fig. 7 is a schematic diagram of a serial port circuit in an embodiment provided by the present invention.

Description of reference numerals:

1-oil cylinder; 2-a displacement sensor; 3-a pulse valve; 4-a force sensor; 5-a channel; 6-a piston; 7-oil cylinder pull rod; 8-a displacement sensor pull rod; 9-metal plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-7, an embodiment of the present invention is shown: a power device for constant velocity strength training comprises an oil cylinder 1, a displacement sensor 2, a pulse valve 3, a force sensor 4, a channel 5, a piston 6, an oil cylinder pull rod 7, a displacement sensor pull rod 8 and a metal plate 9,

an oil cylinder 1 is taken as a resistance source module, liquid oil is taken as a resistance source, the oil cylinder 1 is divided into two oil cavities and is connected through a channel 5, and the liquid oil repeatedly flows in the two oil cavities through the channel with a pulse valve 3 by the reciprocating motion of a piston 6 inside;

the force sensor 4 and the displacement sensor 2 form a signal acquisition module, both ends of the force sensor 4 are provided with threaded through holes, one end of the threaded through hole can be fixed on the oil cylinder pull rod 7, the other end of the threaded through hole is combined with the connecting rod through a fisheye screw, namely, when a human joint moves at a certain angular speed, the connecting rod is driven to move, the piston 6 is driven to reciprocate in the oil cylinder 1 through the force sensor 4, the force is measured in real time in the process, the tension and the pressure can be measured, a differential signal is generated, signals are required to be conditioned by the control panel to be amplified and filtered, and finally, the filtered signals are converted into digital signals through the A/D converter to be processed by the processor of the main control circuit. The displacement sensor pull rod 8 is fixed with the oil cylinder pull rod 7 through the metal plate 9, the displacement sensor pull rod 8 moves along with the oil cylinder pull rod, different displacement amounts of output time voltage signals output different voltage values, the signals are processed through the signal conditioning circuit, the filtered signals are converted into digital signals through the A/D converter and then sent to the processor, and the processor acquires the displacement amounts by adopting fixed frequency, namely the displacement amounts within a certain time can obtain the speed;

the pulse valve 3 and the control panel form a control module, the pulse valve 3 is arranged between two cavity communication pipelines 5 inside the oil cylinder 1 in a built-in mode and used for controlling resistance when liquid oil flows, and the MCU single chip microcomputer in the control panel outputs opening and closing time of the corresponding pulse control valve through combination of collected force data and corresponding V relation to achieve resistance adjustment.

A constant-speed motion implementation method comprises the following steps: through a relation model among speed, force and pulse valve switching frequency, the detected force data and the movement speed data quickly find the equivalent resistance generated by the flow resistance of the PWM control pulse valve adjusting oil corresponding to the detected force data and the movement speed data, and constant-speed movement is realized.

The relationship model among the speed, the strength and the switching frequency of the pulse valve is derived as follows:

according to hydrodynamics, neglecting the pipe resistance of the channel connecting the cavity 1 and the cavity 2, the impulse valve generates equivalent resistance R as:

where P1 is the pressure of Chamber 1, P2 is the pressure of Chamber 2, S is the cross-sectional area of the Chamber, the force acting on the draw rod F is, the velocity of the liquid flow is V1,

according to the relation between the force and the pressure intensity, the pulling force of the movable rod is obtained:

F＝(P1-P2)*S ②

the F-R-V1-S is obtained by the simultaneous deduction of the first and the second

When the cross section is constant, the velocity V of the pull rod movement is V1/S according to the flow velocity formula, and F R V S is obtained by substituting the formula²Wherein S is a constant, the product of F and V R is linear.

The pull equivalent resistance R is modulated with the PWM pulse width in proportion. In the square wave model output by the control board, a high level enables the pulse valve to be opened, a low level enables the pulse valve to be closed, namely the duration of the high level is constant, the equivalent resistance of the pulse valve is controllable by adjusting the duration of the low level, the longer the duration of the low level is, the larger R is, the shorter the duration of the low level is, and the smaller R is. Under different PWM duty ratio settings, through tensile test and data regression fitting, F-PWM curve graphs under different V can be obtained as shown in figure 2, and if constant speed under different forces F is to be realized, the F/R is kept constant.

After F-PWM relation curve graphs at different speeds V are obtained through experiments, after a training device parameter V is set, when F changes, V is kept unchanged, a set F-PWM curve corresponding to V can be searched, a PWM duty ratio value corresponding to the changed F is found, the PWM duty ratio value is output through a single chip microcomputer, and the constant F/R is kept, so that constant speed regulation and control are quickly realized.

The constant-speed motion implementation method needs to find the relationship of F-PWM through experiments, the angular velocity of 4 gears is set in the embodiment, 30% and 50% of resistance under 2 PWM pulse width modulation is set, the data of F when constant-speed motion is implemented under the PWM is found, and the linear image is obtained to establish a mathematical model. The experimental steps are as follows:

1 setting the PWM pulse width modulation to be 30%, the human joint moves under the setting, and measuring F1, F2, F3 and F4 when the angular speed is constant when 4 gears are reached;

setting the PWM pulse width modulation to be 50%, the human joint moves under the setting, and the data of F1, F2, F3 and F4 are measured when the angular speed is constant when 4 gears are reached; that is, the data obtained from the experiment are shown in FIG. 2.

And 3, after finding the relation and establishing a mathematical model, setting a certain constant angular velocity, acquiring force data in the motion process in real time, and realizing constant-speed motion by regulating resistance through PWM (pulse width modulation) corresponding to the force data.

The invention collects data in the motion process of the force sensor through the control unit, outputs pulses with different duty ratios to control the pulse valve, realizes the control of the flow resistance of the liquid oil, deduces the relation between the tension F and the equivalent resistance R as well as the speed V, obtains the F-PWM relation curve chart under different speeds V through tension test and data regression fitting, and quickly obtains and calculates the PWM duty ratio output by the singlechip based on the curve chart, thereby realizing constant-speed motion, high response speed and accurate control.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.