ES3040197T3 - Training apparatus - Google Patents

Abstract

Training apparatus (1) comprising: - at least one hydraulic actuator (100) including at least one internal cavity (111) configured to be filled with a fluid and a movable element (101) configured to move and/or be moved by the fluid, - a hydraulic device (10) including a device shaft (11) configured to rotate bidirectionally about its longitudinal axis and at least one device port (12) in fluid communication with at least one cavity port (112) of said at least one internal cavity (111), wherein the hydraulic device (10) is configured to convert the hydraulic pressure and/or flow received at any of the device ports (12) into torque and/or rotation of the device shaft (11) and vice versa, - a bidirectional electric motor (20) having a rotating part (21) mechanically coupled to said device shaft (11) and a control unit (30) electronically linked to the electric motor (20) and configured to control the dynamics of rotation of the rotating part (21). (Automatic translation with Google Translate, no legal value)

Description

DESCRIPTION

Training device

[0001]The present invention relates, in general, to resistance exercise systems and, more particularly, to an electronically controlled training apparatus capable of providing a natural reaction, whether a static or dynamic reaction.

State of the art

[0002]In recent years, several electronic and hydraulic exercise systems have been developed that have raised the level of sophistication associated with weightlifting. However, the feedback from these systems is still far from that of classic training equipment, such as the dynamic reaction of the weight or the static reaction of resistance bands.

[0003]Prior art training apparatus, such as that described in US11058908B2, comprises a motor configured to drive a pump that pumps fluid to control a hydraulic actuator. To select the direction of movement of the actuator, a flow controller operates one or more valves to redirect the fluid from the pump to the actuator or to a reservoir. When the direction of movement of the actuator changes, the flow controller changes the position of the valves. However, although it is fairly rapid, the change in valve position is not instantaneous, and the user's feedback is not natural.

[0004]Document US5064193A describes a training apparatus comprising a linear hydraulic actuator, a hydraulic pump, a motor connected to the hydraulic pump, and a control unit. The hydraulic pump includes two pump ports and a pump shaft, which are configured to convert hydraulic pressure and/or flow received at either of the pump ports into torque and/or rotation of the pump shaft and vice versa, wherein at least one of said two pump ports is in fluid communication with at least one cavity port of the linear hydraulic actuator. The motor has a rotating part mechanically coupled to said pump shaft such that its longitudinal rotation is transferred from one to the other, and wherein the control unit is electronically connected to the motor and configured to control the rotational dynamics of the rotating part and, therefore, of the linear hydraulic actuator.

[0005]Document WO2017031585A describes a training apparatus comprising two clutches attached to two pistons to control and generate an opposing displacement of an actuator. It also mentions that the power source can be an electric motor or a hydraulic motor.

[0006]Document US2015224845A1 describes a vehicle suspension comprising a hydraulic actuator, a hydraulic motor pump, and an electric motor linked to the hydraulic motor pump. The hydraulic motor pump is configured to transmit hydraulic pressure and/or flow to the ports of the hydraulic actuator.

[0007]Document DE3704841A1 describes a training apparatus comprising a hydraulic piston as an actuator.

To adjust the force and speed of the actuator, it has an adjustable butterfly valve. Therefore, the need for a training device that provides a natural reaction, whether static or dynamic, is not yet met by the current state of the art.

Description of the invention

[0008]The object of the present invention is to provide a muscle training apparatus for applying resistance to the movements of a user, the training apparatus comprising:

- at least one hydraulic actuator including a moving element and a housing provided with at least one internal cavity configured to be filled with a fluid, the moving element having at least one external part and at least one internal part mechanically attached to the at least one external part, the at least one external part being disposed outside the housing and configured to be moved by a user in a first direction and/or a second direction opposite to the first direction, the at least one internal part being movably disposed within the at least one internal cavity of the housing and 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 fluid flow, and

- a hydraulic device including two device ports suitable for fluid flow and a device shaft configured to rotate bidirectionally through its longitudinal axis, wherein the hydraulic device is configured to convert hydraulic pressure and/or flow received at any of the device ports into torque and/or rotation of the device shaft and vice versa, and wherein at least one of said two device ports is in fluid communication with said at least one cavity port of the at least one hydraulic actuator.

[0009]The present training apparatus is characterized by comprising a bidirectional electric motor and a control unit, the electric motor having a rotating part, such as a shaft or a rotor, which is coupled to said shaft of the device so that its longitudinal rotation is transferred from one to the other, and wherein the control unit is configured to control the rotational dynamics of the rotating part.

[0010]Thanks to the configuration of this training device, the force exerted by the user on the external moving part is transmitted directly to the electric motor (whose dynamics are defined by the control unit) and vice versa. Therefore, the training device can transmit a natural reaction, either static or dynamic (i.e., the resistance perceived by the user can be independent of or dependent on the acceleration of the moving element), either in a section of the movement path or throughout the entire movement path. Furthermore, the training device provides direct force feedback thanks to the direct connection between the hydraulic actuator and the hydraulic unit. In addition, this training device allows for concentric movements only, eccentric movements only, or both types of movement, while applying various dynamic or static profiles; that is, the training device is capable of accommodating any required user configuration.

[0011]In a first embodiment of the training apparatus, the at least one internal part hermetically divides the at least one internal cavity into at least two chambers, where the volume of the chambers is variable and defined by the relative position of the at least one position of the internal part within the at least one internal cavity. In a first implementation of this first embodiment, the training apparatus comprises a reservoir, and the at least one hydraulic actuator is a single-acting hydraulic cylinder. The cavity port of the at least one single-acting hydraulic cylinder 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 apparatus, at least two chambers of the at least one hydraulic actuator comprise a corresponding cavity port suitable for fluid flow, and each of the two device ports of the hydraulic device is in fluid communication with a cavity port. As a first example of this implementation, the at least one hydraulic actuator is a double-acting longitudinal hydraulic cylinder. As a second example of this implementation, the at least one hydraulic actuator is a rotary vane actuator, the at least one internal cavity of the rotary vane actuator being defined by a circular sector and the at least one internal part being defined by a rotary lever configured to rotate through an axis located at the center of the circular sector, and therefore the at least one external part is also configured to rotate through said axis.

[0012]In a second embodiment of the training apparatus, the at least one hydraulic actuator is a bidirectional hydraulic motor, i.e., a motor that converts hydraulic pressure and fluid flow into torque and rotation and vice versa. The hydraulic motor may be of the type comprising several chambers defined between several rotating levers that act as such internal parts, such as, for example, a vane motor. As another implementation of the hydraulic motor, it may be of the type of a piston motor, a gear motor, or an orbital motor.

[0013] 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 rotational dynamics from a user to be applied to the rotating part of the electric motor. Preferably, the interface unit comprises a touchscreen attached to the training device and/or a smartphone that can be linked to the control unit, so that a user can input said rotational dynamics via the touchscreen attached to the training device and/or via an application installed on their smartphone.

[0014] In a preferred embodiment of the invention, the control unit is configurable to instruct the electric motor to apply a predetermined torque to the rotating part in at least one direction of rotation, thereby applying a predetermined resistance force to the moving element when the hydraulic device and the at least one hydraulic actuator comprise hydraulic fluid. For example, the control unit is configurable to instruct the electric motor to apply a threshold torque, thereby inhibiting the movement of the rotating part (and, consequently, the moving element of the at least one hydraulic actuator) until a user force greater than the threshold torque is applied to the moving element. The control unit can also be configured to instruct the electric motor to apply different torques at different rotational positions of the rotating part, for example, by increasing and/or decreasing the torques depending on the position of the rotating part and, consequently, the moving element. Optionally, the control unit can be configured to command the electric motor to rotate at a specific speed. This means that when the hydraulic device and at least one hydraulic actuator contain hydraulic fluid, a corresponding fluid flow is generated in the hydraulic device, applying the appropriate fluid pressure to move the internal part of the moving element at a predetermined speed. The control unit can also be configured to command the electric motor to apply different rotational speeds at different positions of the rotating part, for example, by increasing and/or decreasing the speeds depending on the position of the rotating part and, therefore, the moving element.

[0015]In one possible embodiment, the hydraulic device consists of a hydraulic motor, i.e., a device configured to receive a fluid flow and/or pressure at at least one port of the device (from the at least one hydraulic actuator in this case) and generate a rotation and/or torque of the corresponding device shaft. Preferably, it is a rear-driven hydraulic motor, i.e., a motor that can also be driven by a mechanical force to act as a hydraulic pump, especially when working at a low fluid pressure, for example, between 70 and 100 bar. In an alternative embodiment, the hydraulic device consists of a bidirectional hydraulic pump, i.e., a device configured to receive a torque on the device shaft (from the electric motor in this case) and generate a corresponding fluid pressure at at least one port of the device (which is transmitted to the internal part of the moving element through a cavity port to obtain a resistance force on the at least one external part). Preferably, it is a rear-operated pump, that is, a hydraulic pump capable of functioning as a hydraulic motor.

[0016]Preferably, the training apparatus comprises a shaft coupler configured to couple the device shaft and the rotating part of the electric motor, in order to accommodate axial and/or angular misalignment and/or absorb shocks due to rapid accelerations.

Brief description of the drawings

[0017]

Figure 1 shows a schematic illustration of a first embodiment of the present training apparatus. Figure 2 shows a schematic illustration of a second embodiment of the training apparatus.

FIG. 3 shows a schematic illustration of a third embodiment of the training apparatus.

FIG. 4 shows a schematic illustration of a fourth embodiment of the training apparatus.

FIG. 5 shows a schematic illustration of a fifth embodiment of the training apparatus.

FIG. 6 shows a schematic illustration of a sixth embodiment of the training apparatus.

Description of preferred embodiments

[0018]Figures 1 to 6 schematically show different embodiments of the present training apparatus, all of which comprise:

- a hydraulic device (10) consisting of a rear-driven hydraulic motor or a rear-driven hydraulic pump, i.e., the hydraulic device (10) comprises a device shaft (11) and two device ports (12) and is configured to receive a fluid flow and/or pressure at a device port (11) and generate a rotation and/or torque of the corresponding device shaft, and vice versa,

- a bidirectional electric motor (20) and a control unit (30), the electric motor (20) having a shaft as a rotating part (21), which is mechanically coupled to said shaft of the device (11) so that its longitudinal rotation is transferred from one to the other and wherein the control unit (30) is electronically connected to the electric motor (20) and configured to control the rotational dynamics of the rotating part (21).

[0019]Figure 1 shows a first embodiment of the training apparatus (1), which also comprises a reservoir (40) and a hydraulic actuator (100) consisting of a single-acting hydraulic cylinder, a cross-sectional view of which is shown. This hydraulic actuator (100) includes a movable element (101) and a housing (110) provided with an internal cavity (111). The movable element (101) comprises an external part (102) disposed outside the internal cavity (111) and an internal part (103) disposed within the internal cavity (111). The internal part (103) acts as a piston configured to hermetically divide the internal cavity (111) into two variable chambers, the volume of which is defined by the relative position of the internal part (103) within the internal cavity (111). The outer part (102) is mechanically joined to the inner part (103) through a longitudinal stem (104), so that the movement and/or force received in the inner part (103) is transmitted to the outer part (102) and vice versa.

[0020]In said first embodiment, a chamber of the hydraulic actuator (100) comprises a cavity port (112) in fluid communication with one of said device ports (12) of the hydraulic device (10), while the other of said device ports (12) is in fluid communication with said reservoir (40). All together they form a hydraulic circuit where, when filled with fluid (represented by a shaded area), the moving 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) through its device ports (12), and vice versa, while a certain fluid pressure is applied if requested by the control unit (30) through the electric motor (20). The hydraulic device (10) is configured such that the rotational speed and torque of its device shaft (11) are inextricably linked to the flow rate and pressure exerted by the fluid through the device ports (12), and vice versa. 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 moving element (101) is controlled by the control unit (30) in a dynamically reactive manner.

[0021]Figure 2 shows a second embodiment of the training apparatus (2) comprising a hydraulic actuator (200) consisting of a double-acting, double-rod hydraulic cylinder, a cross-sectional view of which is shown. The moving element (201) of this second embodiment comprises two external parts (202, 206) mechanically connected to an internal part (203) via each longitudinal rod (204, 205). The internal part (203) is configured to hermetically divide the internal cavity of the hydraulic actuator (200) into two variable chambers (210, 211) of the same maximum volume. Each chamber (210, 211) comprises a corresponding cavity port (212, 213) in fluid communication with a corresponding device port (12) of the hydraulic device (10). Together they form a fluid-filled hydraulic circuit, where the moving element (201) is configured to push fluid from either of the chambers (210, 211) and the hydraulic device (10) is configured to direct the fluid flow from one chamber (210, 211) to the other through its device ports (12), and vice versa. Therefore, as in the first embodiment, the force exerted on or by the moving element (201) of the present embodiment is controlled by the control unit (30) in a dynamic reaction manner. As shown in Figure 3, the hydraulic actuator (300) can also consist of a double-acting hydraulic cylinder, while its moving element (301) comprises only an external part (302) and only a rod (304). Therefore, the maximum volume of the chamber (310) comprising the stem (304) is less than the maximum volume of the other chamber (311), so the training apparatus (3) needs a reservoir (40) and corresponding valves (41) to manage the flow of fluid from one chamber (310) to the other chamber (311) and vice versa.

[0022]Figure 4 shows a fourth embodiment of the training apparatus (4) comprising a hydraulic actuator (400) consisting of a rotary vane actuator, a cross-sectional view of which is shown. The internal cavity of this hydraulic actuator (400) is defined by a circular sector, while the internal part (403) of its moving element (401) is defined by a rotating lever configured to rotate about an axis located at the center of the circular sector. Therefore, its external part (402), not shown in the figure, is also configured to rotate about this axis. The internal part (403) is configured to hermetically divide the internal cavity of the hydraulic actuator (400) into two variable chambers (410, 411) of the same maximum volume. Each chamber (410, 411) comprises a corresponding cavity port (412, 413) in fluid communication with a corresponding device port (12) of the hydraulic device (10). Together they form a fluid-filled hydraulic circuit, where the moving element (401) is configured to push fluid from either of the chambers (410, 411) and the hydraulic device (10) is configured to direct the fluid flow from one chamber (410, 411) to the other through its device ports (12), and vice versa. Thus, as in the prior embodiments, the force exerted on or by the moving element (401) of the present embodiment is controlled by the control unit (30) in a dynamic reaction manner. A similar fifth embodiment of the training apparatus (5) is shown in Figure 5, where the hydraulic actuator (500) consists of a rotary vane actuator comprising two internal cavities divided by two internal parts (503, 503') into four chambers (510, 510').

511, 511'). Each chamber (510, 510', 511, 511') comprises a corresponding cavity port (512, 512', 513, 513') in pairwise fluid communication with a corresponding device port (12) of the hydraulic device (10).

[0023]Figure 6 shows a sixth embodiment of the training apparatus (6) comprising a hydraulic actuator (600) consisting of a hydraulic motor comprising several variable chambers (610) defined between several rotary levers acting as internal parts (603). Two cavity ports (612) of this hydraulic actuator (600) are in fluid communication with each of the two device ports (12) of the hydraulic device (10). The pressure and fluid flow from the hydraulic device (10) are converted into torque and rotation of the rotary levers (603) and vice versa.

Claims (14)

1. Training apparatus (1), comprising: - at least one hydraulic actuator (100) comprising a movable element (101) and a housing (110) provided with at least one internal cavity (111) configured to be filled with a fluid, the movable element (101) having at least one external part (102) and at least one internal part (103) mechanically attached to the at least one external part (102), the at least one external part (102) being disposed outside the housing (110) and configured to be moved by a user in a first direction and/or a second direction opposite to the first direction, the at least one internal part (103) being movably disposed within the at least one internal cavity (111) of the housing (110) and configured to be pushed by the fluid when moved in the first direction and/or to push the fluid out of the at least one internal cavity (111) when moved in the second direction, wherein at least one of the internal cavities comprises a port cavity (112) suitable for fluid flow, - a hydraulic device (10) comprising two device ports (12) suitable for fluid flow and a device shaft (11) configured to rotate bidirectionally about its longitudinal axis, wherein the hydraulic device (10) is configured to convert hydraulic pressure and/or flow received at any of the device ports (12) into torque and/or rotation of the device shaft (11) and vice versa, and wherein at least one of said two device ports (12) is in fluid communication with said at least one cavity port (112) of the at least one hydraulic actuator (100), - a bidirectional electric motor (20) and a control unit (30), the electric motor (20) having a rotating part (21) mechanically coupled to said shaft of the device (11) so that its longitudinal rotation is transferred from one to the other and wherein the control unit (30) is electronically connected to the electric motor (20) and configured to control the rotational dynamics of the rotating part (21), characterized in that the at least one hydraulic actuator (400) is a rotary vane actuator, the at least one internal cavity (411) of the rotary vane actuator being defined by a circular sector and the at least one internal part (403) being defined by a rotary lever configured to rotate through an axis located at the center of the circular sector. 2. Training apparatus (1) according to claim 1, wherein the at least one internal part (103) hermetically divides the at least one internal cavity (111) into at least two chambers, wherein the volume of the chambers is variable and is defined by the relative position of the at least one position of the internal part (103) within the at least one internal cavity (111). 3. Training apparatus (1) according to claim 2, comprising a reservoir (40) and wherein the at least one hydraulic actuator (100) is a single-acting hydraulic cylinder, the cavity port (112) of its internal cavity (111) being in fluid communication with one of said two device ports (12) of the hydraulic device (10), and the other of said two device ports (12) of the hydraulic device (10) being in fluid communication with the reservoir (40). 4. Training apparatus (2) according to claim 2, wherein at least two chambers (210, 211) of the at least one hydraulic actuator (200) comprise a corresponding cavity port (212, 213) suitable for fluid flow and each of said two device ports (12) of the hydraulic device (10) is in fluid communication with each cavity port (212, 213). 5. Training apparatus (2) according to claim 4, wherein the at least one hydraulic actuator (200) is a longitudinal double-acting hydraulic cylinder. 6. Training apparatus (6) according to claim 1, wherein the at least one hydraulic actuator (600) is a bidirectional hydraulic motor. 7. Training apparatus (1) according to any of the preceding claims, wherein the control unit (30) comprises an interface unit configured to receive from a user the rotational dynamics to be applied to the rotating part (21). 8. Training apparatus (1) according to claim 7, wherein the control unit (30) is configurable to command the electric motor (20) to apply a certain torque to the rotating part (21) in at least one direction of rotation. 9. Training apparatus (1) according to claim 8, wherein the control unit (30) is configurable to command the electric motor (20) to inhibit the movement of the rotating part (21) until a user force threshold value is applied to the moving element (101). 10. Training apparatus (1) according to claim 8 or 9, wherein the control unit (30) is configurable to command the electric motor (20) to apply a different torque at different rotational positions of the rotating part (21). 11. Training apparatus (1) according to any of claims 7 to 10, wherein the control unit (30) is configurable to command the electric motor (20) to rotate at a certain speed. 12. Training apparatus (1) according to claim 11, wherein the control unit (30) is configurable to command the electric motor (20) to apply different rotation speeds at different rotation positions of the rotating part (21). 13. Training apparatus (1) according to any of the preceding claims, wherein the hydraulic device (10) consists of a hydraulic motor. 14. Training apparatus (1) according to any of claims 1 to 13, wherein the hydraulic device (10) consists of a hydraulic pump.