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An Exercising Machine And A Method To Operate The Same

Patent Information

Application #
Patent Number
Invention Field
MECHANICAL ENGINEERING
Publication Type
INA
Publication Number
35/2021
Status
Legal Status
Filing Date
17 August 2021
Grant Date
2022-06-02
Renewal Date

Abstract

Abstract: An exercise machine is provided. The machine includes an external frame; a torque generation unit which includes an electric motor, a gear unit, wherein the gear unit includes at least two gears and a rotating unit. The machine also includes a torque compensation unit which includes an encoder operatively coupled to the electric motor and configured to receive one or more input from one or more units; a controller configured to analyse the one or more input, generate a command representative of a required amount of torque and to transmit the generated command to the electric motor. The machine also includes at least two cylindrical pipes configured to rotate about a pre-defined axis, wherein a rotation of the at least two cylindrical pipes about the pre-defined axis are performed to enable a user to perform one or more types of exercises. FIG. 1

Applicants

1. AROLEAP FITNESS PRIVATE LIMITED
56, 3RD CROSS RD, VENKATADRI LAYOUT, SAHYADRI LAYOUT, PANDURANGA NAGAR, BENGALURU, KARNATAKA, INDIA

Inventors

1. ROHIT PATEL
PLOT-6, BLOCK-67, NEHRU NAGAR WEST, BHILAI, 490020, CHHATTISGARH, INDIA
2. AMAL GEORGE M
MECHIRACKAL HOUSE, ELANJI P.O, ERNAKULAM, 686665, KERALA, INDIA
3. ANURAG DANI
MIG 240, PADMANABHPUR, DURG, 491001, CHHATTISGARH, INDIA
4. AMAN KUMAR RAI
40A/4 NEHRU NAGAR (WEST), BHILAI, 490020, CHHATTISGARH, INDIA

Eregister



Year CBR Date CBR Number Renwal Amount Renwal Date Normal Due Date Renwal To Renwal From Due Date with Extension Reneal Certificate Number
3rd year 10/08/2023 36038 800 10/08/2023 17/08/2023 17/08/2024 17/08/2023 17/02/2024 67847
4th year 05/08/2024 49720 800 05/08/2024 17/08/2024 17/08/2025 17/08/2024 17/02/2025 136241
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Documents

Orders
Application Number Applicant Section Controller Decision Date
202141037273
Application Documents
Name Date
1 202141037273-IntimationOfGrant02-06-2022.pdf 2022-06-02
2 202141037273-PatentCertificate02-06-2022.pdf 2022-06-02
3 202141037273-Written submissions and relevant documents [25-02-2022(online)].pdf 2022-02-25
4 202141037273-Correspondence to notify the Controller [04-02-2022(online)].pdf 2022-02-04
5 202141037273-FORM-26 [04-02-2022(online)].pdf 2022-02-04
6 202141037273-US(14)-HearingNotice-(HearingDate-11-02-2022).pdf 2022-01-16
7 202141037273-CLAIMS [05-11-2021(online)].pdf 2021-11-05
8 202141037273-FER_SER_REPLY [05-11-2021(online)].pdf 2021-11-05
9 202141037273-FORM 3 [05-11-2021(online)].pdf 2021-11-05
10 202141037273-OTHERS [05-11-2021(online)].pdf 2021-11-05
11 202141037273-FER.pdf 2021-10-18
12 202141037273-FORM 18A [19-08-2021(online)].pdf 2021-08-19
13 202141037273-FORM-9 [19-08-2021(online)].pdf 2021-08-19
14 202141037273-FORM28 [19-08-2021(online)].pdf 2021-08-19
15 202141037273-MSME CERTIFICATE [19-08-2021(online)].pdf 2021-08-19
16 202141037273-COMPLETE SPECIFICATION [17-08-2021(online)].pdf 2021-08-17
17 202141037273-DECLARATION OF INVENTORSHIP (FORM 5) [17-08-2021(online)].pdf 2021-08-17
18 202141037273-DRAWINGS [17-08-2021(online)].pdf 2021-08-17
19 202141037273-EVIDENCE FOR REGISTRATION UNDER SSI [17-08-2021(online)].pdf 2021-08-17
20 202141037273-EVIDENCE FOR REGISTRATION UNDER SSI(FORM-28) [17-08-2021(online)].pdf 2021-08-17
21 202141037273-FORM 1 [17-08-2021(online)].pdf 2021-08-17
22 202141037273-FORM FOR SMALL ENTITY [17-08-2021(online)].pdf 2021-08-17
23 202141037273-FORM FOR SMALL ENTITY(FORM-28) [17-08-2021(online)].pdf 2021-08-17
24 202141037273-POWER OF AUTHORITY [17-08-2021(online)].pdf 2021-08-17
25 202141037273-PROOF OF RIGHT [17-08-2021(online)].pdf 2021-08-17
26 202141037273-STATEMENT OF UNDERTAKING (FORM 3) [17-08-2021(online)].pdf 2021-08-17
Search Strategy
1 202141037273E_15-09-2021.pdf

Specification

Claims:1. An exercising machine (10) comprising:
an external frame (20);
a torque generation unit (30) comprising:
an electric motor (40);
a gear unit (50) operatively coupled to the electric motor (60), wherein the gear unit (50) comprises at least two gears (70); and
a rotating unit (80) operatively coupled to the electric motor (40);
a torque compensation unit (90) operatively coupled to the torque generation unit (30), wherein the torque compensation unit (90) comprises:
an encoder (100) operatively coupled to the electric motor (40), and configured to receive one or more input from one or more units; and
a controller (110) operatively coupled to the encoder (100), and configured to:
analyse the one or more input;
generate a command representative of a required amount of torque; and
transmit the generated command to the electric motor (40); and
at least two cylindrical pipes (120), wherein each of the at least two cylindrical pipes (120) are fixed at each of at least two opposite sides of the external frame (20) respectively, wherein each of the at least two cylindrical pipes (120) are configured to rotate about a pre-defined axis, wherein a rotation of the at least two cylindrical pipes (120) about the pre-defined axis are performed to enable a user to perform one or more types of exercises.
2. The exercising machine (10) as claimed in claim 1, wherein the electric motor (40) comprises a brushless DC (BLDC) electric motor.
3. The exercising machine (10) as claimed in claim 1, wherein the at least two cylindrical pipes (120) correspond to at least two arms, and configured to enable the user to hold at least one cable coming out of the corresponding at least two arms in at least one of at two hands of the user to perform the one or more types of exercises.
4. The exercising machine (10) as claimed in claim 1, comprising a plurality of pullies (130), wherein the plurality of pullies comprises a first pully (130a), a second set of pullies (130b), a third set of pullies (130c), a fourth set of pullies (130d), a fifth set of pullies (130e) and a sixth set of pullies (130f1, 130f2, 130f3).
5. The exercising machine (10) as claimed in claim 4, comprising a first cable, (140a) and a second cable (140b), wherein a first end of the first cable (140a) is operatively coupled to the torque generation unit (30), wherein a second end of the first cable (140a) is operatively coupled to the frame via the first pully 130a), and configured to enable the first pully (130a) to move along the pre-defined axis.
6. The exercising machine (10) as claimed in claim 4, comprising an actuator, (150) wherein a first end of the actuator (150) is operatively coupled to the cables, and a second end of the actuator (150) is operatively coupled to the second pulley (130b).
7. The exercising machine (10) as claimed in claim 1, comprising a slider (160) operatively coupled to at least one of the plurality of pullies (130), and configured to guide the plurality of pullies (130) along a rail (170).
8. A method (590) for operating an exercise machine comprising:
performing, by a user, one or more types of exercises; (600)
translating motor torque into cable tension; (610)
maintaining the cable tension on one or more cables when the user pulls at least one cable coming from the corresponding at least two cylindrical pipes for actuating; (620)
receiving, by an encoder, one or more inputs from the actuator; (630)
monitoring, by a controller, the one or more inputs for generating a command representative of a required amount of torque; and (640)
transmitting, by the controller, the generated command to an electric motor for regulating speed of the electric motor. (650)

Dated this 17th day of August 2021

Signature

Harish Naidu
Patent Agent (IN/PA-2896)
Agent for the Applicant
, Description:FIELD OF INVENTION
[0001] Embodiments of the present disclosure relate to exercise machines, and more particularly, to a single unit exercising machine operated by a motor and a method to operate the same.
BACKGROUND
[0002] In a conventional approach, Exercise machines use iron plates such as weight stacks to provide resistance to the user of the machine. These iron plates require a lot of space making the machine very large in size. Other methods include using friction or magnet to create resistance to replace the weights, but these do not exactly replicate the experience of weights as they provide resistance only in one direction of the motion, thereby making such approaches less reliable and less efficient.
[0003] In addition, such heavy equipment needs a specialized trainer to guide the usage for a user and needs an appropriate expertise for installation and other technical related issues. Also, such equipment is expensive and henceforth not affordable for all types of users to buy multiple equipment for different types of exercises.
[0004] Hence, there is a need for an improved single unit exercising machine and a method to operate the same to address the aforementioned issues.
BRIEF DESCRIPTION
[0005] In accordance with an embodiment of the present disclosure, an exercise machine is provided. The machine includes an external frame. The machine also includes a torque generation unit which includes an electric motor, a gear unit operatively coupled to the electric motor, wherein the gear unit comprises at least two gears and a rotating unit operatively coupled to the electric motor. The machine also includes a torque compensation unit operatively coupled to the torque generation unit. The torque compensation unit includes an encoder operatively coupled to the electric motor, and configured to receive one or more input from one or more units; a controller operatively coupled to the encoder, and configured to analyse the one or more input, generate a command representative of a required amount of torque and to transmit the generated command to the electric motor. The machine also includes at least two cylindrical pipes, wherein each of the at least two cylindrical pipes are fixed at each of at least two opposite sides of the external frame respectively, wherein each of the at least two cylindrical pipes are configured to rotate about a pre-defined axis, wherein a rotation of the at least two cylindrical pipes about the pre-defined axis are performed to enable a user to perform one or more types of exercises.
[0006] In accordance with another embodiment of the present disclosure, a method for operating an exercise machine is provided. The method includes performing, by a user, one or more types of exercises; translating motor torque into cable tension; maintaining the cable tension on one or more cables when the user pulls at least one cable from the corresponding at least two cylindrical pipes for actuating; receiving, by an encoder, one or more inputs from the actuator; monitoring, by a controller, the one or more inputs for generating a command representative of a required amount of torque and transmitting, by the controller, the generated command to an electric motor for regulating speed of the electric motor, wherein the generated command is representative of electric current of a pre-defined range.
[0007] To further clarify the advantages and features of the present disclosure, a more particular description of the disclosure will follow by reference to specific embodiments thereof, which are illustrated in the appended figures. It is to be appreciated that these figures depict only typical embodiments of the disclosure and are therefore not to be considered limiting in scope. The disclosure will be described and explained with additional specificity and detail with the appended figures.
BRIEF DESCRIPTION OF DRAWINGS
The disclosure will be described and explained with additional specificity and detail with the accompanying figures in which:
[0008] FIG. 1 is a schematic representation of an exercise machine in accordance with an embodiment of the present disclosure;
[0009] FIG. 2 is a schematic representation of a front view of an exemplary embodiment of a torque generation unit of FIG. 1 in accordance with an embodiment of the present disclosure;
[0010] FIG. 3 is a schematic representation of a back view of an exemplary embodiment of a torque compensation unit of FIG. 1 in accordance with an embodiment of the present disclosure;
[0011] FIG. 4 is a schematic representation of a front view of an exemplary embodiment of the exercise machine of FIG. 1 in accordance with an embodiment of the present disclosure;
[0012] FIG. 5 is a block diagram representing an exemplary embodiment of a spool torque control loop for a BLDC motor version of the exercise machine of FIG. 1 in accordance with an embodiment of the present disclosure;
[0013] FIG. 6 is a block diagram representing an exemplary embodiment of a back EMF stabilizer of FIG. 1 in accordance with an embodiment of the present disclosure;
[0014] FIGs. 7a-7c are schematic representation exemplary embodiments representing extended and folded arm views of the exercise machine of FIG. 1 in accordance with an embodiment of the present disclosure;
[0015] FIG. 8 is a schematic representation of a left side view of a vertical pin locking mechanism of the exercise machine of FIG. 1 in accordance with an embodiment of the present disclosure; and
[0016] FIG. 9 is a flow chart representing steps involved in a method for operating the exercise machine in accordance with an embodiment of the present disclosure.
[0017] Further, those skilled in the art will appreciate that elements in the figures are illustrated for simplicity and may not have necessarily been drawn to scale. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the figures by conventional symbols, and the figures may show only those specific details that are pertinent to understanding the embodiments of the present invention so as not to obscure the figures with details that will be readily apparent to those skilled in the art having the benefit of the description herein.
DETAILED DESCRIPTION
[0018] For the purpose of promoting an understanding of the principles of the invention, reference will now be made to the embodiment illustrated in the figures and specific language will be used to describe them. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended. Such alterations and further modifications in the illustrated system, and such further applications of the principles of the invention as would normally occur to those skilled in the art are to be construed as being within the scope of the present invention.
[0019] It will be understood by those skilled in the art that the foregoing general description and the following detailed description are exemplary and explanatory of the invention and are not intended to be restrictive thereof.
[0020] The terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process or method that comprises a list of steps does not include only those steps but may include other steps not expressly listed or inherent to such a process or method. Similarly, one or more devices or sub-systems or elements or structures or components preceded by "comprises... a" does not, without more constraints, preclude the existence of other devices, sub-systems, elements, structures, components, additional devices, additional sub-systems, additional elements, additional structures or additional components. Appearances of the phrase "in an embodiment", "in another embodiment" and similar language throughout this specification may, but not necessarily do, all refer to the same embodiment.
[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention belongs. The system, methods, and examples provided herein are only illustrative and not intended to be limiting.
[0022] Embodiments of the present disclosure relates to a single unit exercising machine operated by a motor and a method to operate the same. In one embodiment, the exercise machine may be a unique control system for motor actuated exercise apparatus enabling weight simulation without the need of external force and sensors.
[0023] FIG. 1 is a schematic representation of an exercise machine (10) in accordance with an embodiment of the present disclosure. The exercise machine (10) includes an external frame (20); a torque generation unit (30); a torque compensation unit (90) and at least two cylindrical pipes (120). The torque generation unit (30) includes an electric motor (40). In one embodiment, the electric motor (40) may be a brushless DC (BLDC) electric motor. The torque generation unit (30) also includes a gear unit (50) operatively coupled to the electric motor (40), wherein the gear unit (50) includes at least two gears (60, 70). The torque generation unit (30) further includes a rotating unit (80) operatively coupled to the electric motor (40).
[0024] Furthermore, the torque compensation unit (90) includes an encoder (100) operatively coupled to the electric motor (40) and configured to receive one or more input from one or more units. The torque compensation unit (90) also includes a controller (110) operatively coupled to the encoder (100), and configured to analyse the one or more input, generate a command representative of a required amount of torque and to transmit the generated command to the electric motor (40).
[0025] The exercise machine (10) also includes at least two cylindrical pipes (120), wherein each of the at least two cylindrical pipes (120) are fixed at each of at least two opposite sides of the external frame (20) respectively, wherein each of the at least two cylindrical pipes (120) are configured to rotate about a pre-defined axis and to get locked at different positions, wherein a rotation of the at least two cylindrical pipes (120) about the pre-defined axis and the locking of the arms at different positions are performed to enable a user to perform one or more types of exercises. In one embodiment, the at least two cylindrical pipes (120) correspond to at least two arms and configured to enable the user to hold at least one cable coming out of the corresponding at least two arms in at least one of at two hands of the user to perform the one or more type of exercises. In one specific embodiment, the at least two cylindrical pipes may be hollow.
[0026] In one exemplary embodiment, the exercise machine (10) includes a plurality of pullies (130), wherein the plurality of pullies (130) comprises a first pully (130a), a second set of pullies (130b), a third set of pullies (130c), a fourth set of pullies (130d), a fifth set of pullies (130e) and a sixth set of pullies (130f1, 130f2, 130f3). In such embodiment, a first cable, (140a) and a second cable (140b), wherein a first end of the first cable (140a) is operatively coupled to the torque generation unit (30), wherein a second end of the first cable (140a) is operatively coupled to the first pully (130a) and configured to enable the first pully (130a) to move along the pre-defined axis.
[0027] In one embodiment, the exercise machine (10) includes an actuator, (150) wherein a first end of the actuator (150) is operatively coupled to the cables, and a second end of the actuator (150) is operatively coupled to the second pulley (130b).
[0028] In one embodiment, the exercise machine (10) includes a slider (160) operatively coupled to at least one of the plurality of pullies (130) and configured to guide the plurality of pullies (130) along a rail (170)
[0029] More specifically, the first cable (140a) is coupled to the torque generation unit (30) on one end of the first cable (140a). The other end of the first cable (140a) is routed via a pulley and is coupled to the frame of the machine. The second cable (140b) is routed via the plurality of pulleys (130a-130e), arms (120) and is coupled to actuator (150) on one end of the second cable (140b) and coupled to the actuator (150) on the other end of the second cable (140b).
[0030] A slider (160) may be used to guide the first pulley (130a) along the rail (170). The exercise machine (10) translates motor torque into cable tension. As a user pulls on actuator (150), the machine creates maintains tension on cables (140a, 140b). The actuators (150) and/or cable (140a, 140b) may be actuated in tandem or independently of one another.
[0031] In one embodiment, an electronics box (175) is included and has the necessary electronics to drive the machine (10). In one embodiment, a fan (180) is included that cool the electronic box (175) and/or torque generation unit (30).
[0032] FIG. 2 is a schematic representation of a front view of an exemplary embodiment of a torque generation unit (30) of FIG. 1 in accordance with an embodiment of the present disclosure. The BLDC motor (40), the gear unit (50) coupled to the BLDC motor (40) and a spool (190) coupled to the gear unit (50). In one embodiment, a coupler (200) is used to couple the motor (40) to the gear unit (50).
[0033] FIG. 3 is a schematic representation of a back view of an exemplary embodiment of a torque compensation unit (90) of FIG. 1 in accordance with an embodiment of the present disclosure. The encoder is coupled to the electric motor (40) by a shaft (450). The encoder (100) is mounted on an encoder mount (100a). The encoder mount (100a) is attached to the frame (20) such that the encoder (100) aligns with the motor (40) and the spool (190). The electric Motor (40) is preferably an outrunner, such that the motor body rotates around that motor core.
[0034] In one embodiment, the motor (40) generates torque in the counterclockwise direction, this results in the spool (190) rotating in counterclockwise as the spool (190) is spooling the first cable (140a) in. In another embodiment, the electric motor (40) generates torque in the clockwise direction, this results in the spool (190) rotating in clockwise as the spool (190) is unspooling or releasing the first cable (140b) out.
[0035] FIG. 4 is a schematic representation of a front view of an exemplary embodiment of the exercise machine (10) of FIG. 1 in accordance with an embodiment of the present disclosure.
[0036] A single motor (40) is used as a single source of tension. The three pulley (130a) is configured as a tension distributor is used to allow the two ends of the second cable (140b) to be operated independently or in tandem with the same amount of tension that is equal to half the tension in the first cable (140a).
[0037] The two arms (120) and two actuators (150a, 150b) are useful for users with two hands, and the principles disclosed without limitation may be extended to three, four, or more arms for quadrupeds and/or group exercise. In one embodiment, the two actuators (150a, 150b) are coupled with the two ends of the second cable (140b) and are driven by one spool (190), the first cable cable (140a), and one motor (40), and so the machine (10) combines the pairs of devices associated with each user hand into a single device.
[0038] In other embodiment, at least one motor (40) may be used, for each arm independently to eliminate the need for the first pulley (130a) acting as a tension distributor but would result in the increase in cost, and complexity of the exercise machine (10).
[0039] In one exemplary embodiment, the motor (40) should provide constant force on the two actuators (150a, 150b) despite the fact that each actuator (150a, 150b) may move at different speeds. For example, some physical exercises may require use of only one actuator at a time. For another example, a user may be stronger on one side of their body than another side, causing differential speed of movement between the two actuators (150a, 150b).
[0040] In one embodiment, mid Drive style BLDC motor (40), the gear unit (50) and the spool (190) may be manufactured and arranged in such a way that they physically fit together within the same space, thereby maximizing functionality while maintaining a low profile. As shown in FIG. 4, the spool (190) is coupled to the first cable (140a) that is wrapped around the spool (190). The other end of the first cable (140a) is coupled with the first pulley (130a).
[0041] The two ends of the second cable (140b) are positioned in part by the use of the arms (120). The base of arm (120) is at a pivot point (210a) and the base of the arm (120) is at a pivot point (210b). The pivot points (210a, 210b) allow the user to pull the actuators (150a, 150b) in different directions while still allowing the second cable (140b) to stay in contact with the pulleys (130f1, f2, f3, 130e) for smooth operation. The arms (120) provide a framework with which pulleys (130, 130e) and pivot points (210a, 210b) may be positioned to perform various exercises.
[0042] One end of the cable (140b) is attached to the actuator (150a) and then the actuator (150a) routes via the plurality of pulleys in the order 130d, 130c, 130b1, 130f1, 130a, 130f2, 130b2, 130c, 130e and further to the other arm end where the other end of the cable (140b) is attached to the second actuator (150b).
[0043] One important use of pulleys (130b) is that they permit the second cable (140b) to engage spool (190) “straight on” rather than at an angle, wherein “straight on” references being within the plane perpendicular to the axis of rotation of the given spool. If the given cable were engaged at an angle, that cable may bunch up on one side of the given spool rather than being distributed evenly along the given spool.
[0044] In the example shown in FIG. 4, pulley (130b1) is at the same height as pulley (130b2). This is not necessary for any functional reason but demonstrates the flexibility of routing cables. In another embodiment, mounting pulley (130b2) higher leaves clearance for certain sensors like a limit switch that can be added to the machine to make the machine safer.
[0045] FIG. 5 is a block diagram (230) representing an exemplary embodiment of a spool torque control loop for a BLDC motor version of the exercise machine of FIG. 1 in accordance with an embodiment of the present disclosure.
[0046] The encoder measurement (240) is input to a spool velocity calculator (250), which calculates the spool velocity (260) of the spool (190) based on the encoder measurement (240) and the time difference between each measurement. The spool velocity (260) calculated by the spool velocity calculator (250) is the input to a friction model (270) which uses the input to calculate a direction and value of the friction inside the gear unit (60).
[0047] Spool torque (280) is directly proportional to the torque generated by the motor (40), based on a factor that includes the gear ratio of the gear unit (60) and diameter of the spool (190).
[0048] While exercising, the user retracts and releases the second cable (140b). While retracting the second cable (140b) the user has to overcome the friction introduced by the gear unit (60). The frictional force introduced by the gear unit (60) is subtracted from the desired spool torque (280) to calculate the required motor torque (290) in order to get the desired output tension.
[0049] While the user releases the second cable (140b), the motor (40) needs to wind the cable on the spool (190), the motor (40) needs to overcome the friction force introduced by the gear unit (60). The frictional force introduced by the gear unit (60) is added to the desired spool torque (280) to calculate the required motor torque (290) in order to get the desired output torque. The friction model (270) thus eliminates the need of external force sensing sensors for controlling the output torque of the motor.
[0050] The calculated required motor torque (290) is the input to the motor torque control loop (360). A motor torque calculator (300) uses the required motor torque (290) to calculate a required motor current (310). This amount of current flowing through the motor (40) is directly proportional to the torque output of the motor (40).
[0051] The required motor current (310), along with current measurement (320) is the input to motor current control loop (390) that includes of a PID loop (340). The PID loop (340) uses the two values to calculate a required PWM signal (350) and adjusts the duty cycle of the PWM accordingly.
[0052] When the motor (40) is being back driven by the user, that is when the user is retracting the cable, but the motor is resisting, the motor acts as a generator and is generating power. This additional power may cause an internal voltage spike. The voltage is stabilized under a safe limit by a back EMF stabilizer (370) to prevent the voltage rising indefinitely causing the system to fail. In one embodiment, power is dissipated using a resistor to stabilize voltage, for example to burn additional power as heat.
[0053] FIG. 6 is a block diagram (380) representing an exemplary embodiment of a back EMF stabilizer (370) of FIG. 1 in accordance with an embodiment of the present disclosure. The back EMF stabilizer (370) includes a power supply (430), that provides system power, with an internal or external protective element (400). Such a system may have an intrinsic or extrinsic capacitance (410). A motor controller (420), which includes a circuit that is used to control the motor (40) which is coupled to a power supply (430). The motor controller (420) receives the power generated be the motor (40) while it is back driven by the uses. A back EMF controller (450) controls a FET transistor (460) that works as a switch to stabilize the voltage spike. The FET transistor (460) is coupled to a high wattage resistor (470) that dissipates the additional power as heat. A sample value for resistor (470) is a 500 W resistor or heater.
[0054] A resistor divider utilizing a resistor network (480) and (490) is arranged such that the potential at voltage test point (500) is a specific fraction of system voltage. When FET (460) is switched on, power is burned through the resistor (470). The control signal to the gate of FET (460) switches it on and off. In one embodiment, this control signal is pulse width modulated (PWM) switching on and off at some frequency. By varying the duty cycle and/or percentage of time on versus off, the amount of power dissipated through the resistor (470) may be controlled. Factors to determine a frequency for the PWM include the frequency of the motor controller, the capabilities of the power supply, and the capabilities of the FET. In one embodiment, a value in the range of 15-20 KHz is appropriate.
[0055] The EMF controller (450) may be implemented using a microcontroller, microprocessor, discrete digital logic, any programmable gate array, and/or analog logic, for example ana- log comparators and triangle wave generators. In one embodiment, the same microcontroller that is used to implement the motor controller (420) is also used to implement voltage stabilization controller (440).
[0056] In one embodiment, a 24 Volt power supply (430) is used. The system may be thus designed to operate up to a maximum voltage of 30 Volts. In one embodiment, the EMF controller (450) measures system voltage, and if voltage is below a minimum threshold of 25 Volts, then the PWM has a duty cycle of 0%, meaning that the FET (460) is switched off. If the motor controller (420) generates power, and the capacitance (410) charges, causing system voltage (510) to rise above 25 Volts, then the EMF controller (450) will increase the duty cycle of the PWM. If the maximum operating voltage of the system is 30 Volts, then a simple relationship to use is to pick a maximum target voltage below the 25 Volts, such as 28 Volts, so that at 28 Volts, the PWM is set to a 100% duty cycle.
[0057] Hence, a linear relationship of PWM duty cycle is used such that the duty cycle is 0% at 24 Volts, and 100% at 28 Volts. Other examples of relationships include: a non-linear relationship; a relationship based on coefficients such as one representing the slope of a linear line adjusted by a PID loop; and/or a PID loop directly in control of the duty cycle of the PWM.
[0058] In one embodiment, motor controller (420) may be a micro-controller such that 15,000 times per second an analog to digital converter (ADC) measures the system voltage, invokes a calculation to calculate the PWM duty cycle, then outputs a pulse with a period corresponding to that duty cycle.
[0059] FIGs. 7a-7c are schematic representation exemplary embodiments representing extended and folded arm (120) views of the exercise machine of FIG. 1 in accordance with an embodiment of the present disclosure. An exercise machine may be convenient and more frequently used when it can be accommodated in a small form factor, for example to fit on a wall in a residential home.
[0060] FIG. 7A shows that this configuration may be unobtrusive. Mounted on wall, the machine (10) may take no more space than a large mirror. In one embodiment, a front cover (520) may be made out of a reflective mirror to give the machine appearance of a large mirror. This compact configuration makes the machine (10) attractive as exercise equipment in a residential or office environment. Typically, home exercise equipment consumes a nontrivial amount of floor space, making them obstacles to foot traffic. Traditionally home exercise equipment lacks functionality to allow the equipment to have a pleasing aesthetic. The exercise machine (10), mounted on wall, causes less of an obstruction and avoids an offensive aesthetic.
[0061] As shown in FIGs. 7a-7c, the arms (120) provide a way to position the second cable
[0062] (140b) to provide a directional resistance for a user's exercise, for example if the arms (120) are positioned (as shown in FIG. 7b), the cable (103) originated from near the ground, by pulling up on actuator (150) the user may perform exercises that require force pulling the arms of the user down.
[0063] Likewise, if the arms (120) are positioned as shown in FIG. 7c, the cable (103) originates from above the user, by pulling down on actuator (150) the user may perform an exercise that requires the machine pulling the actuator upwards.
[0064] Traditionally, exercise machines utilize one or more arms pivoting in the multiple direction to offer adjustability in the vertical and horizontal direction. However, to achieve the full range of adjustability requires multiple hinges increasing the complexity of the machine. This is inconvenient because it requires more space to pivot the arm and limits the number of places where such a machine can be placed.
[0065] Furthermore, multiple hinges undergo lever-arm forces and increase the size and complexity of the joint in order to handle those forces. If arms could be spaced such that it only pivots about one axis to provide the vertical adjustment, a machine may be more conveniently placed, and hinge forces may be more reasonable.
[0066] It should be noted that as shown in FIGs. 7a-7c, the second cable (140b) travels within arms (120).
[0067] The arms (120) may pivot up and down, with their bases in fixed position, to provide a great range of flexibility in positioning the user origination point of a given arm. Keeping the arms (120) in a fixed vertically pivoted position may require a locking pin (530) as shown in FIG. 8.
[0068] FIG. 8 is a schematic representation of a left side view of a vertical pin locking mechanism (530) of the exercise machine of FIG. 1 in accordance with an embodiment of the present disclosure. The vertical pin locking mechanism (530) includes a shoulder (540) which includes a part (550) that has holes (560). The holes (550) match male locking pin (530) to lock the arm (120) in various orientations.
[0069] FIG. 8 illustrate a locked position of arm (120). The arm (120) is locked into the stationary frame (20). The pin (530) and female member (550) are tightly coupled. This tight coupling is produced by the force being produced by a compressed spring (570).
[0070] A user may unlock the arm (120) by pulling a pin cap (580), this causes spring (570) to compress and thus releasing the female locking member (550) to rotate freely. With arm (120) thus disengaged, the user is free to pivot arm (120) up or down around hole (560). To lock the arm (120) to a new vertically pivoted position, the user returns the pin cap (580).
[0071] FIG. 9 is a flow chart representing steps involved in a method (590) for operating the exercise machine in accordance with an embodiment of the present disclosure. The method (590) includes performing one or more types of exercises in step 600.
[0072] The method (590) also includes translating motor torque into cable tension in step 610. The method (590) also includes maintaining the cable tension on one or more cables when the user pulls at least one cable coming out of the corresponding at least two cylindrical pipes for actuating in step 620. The method (590) also includes receiving one or more inputs from the actuator in step 630. The method (590) also includes monitoring the one or more inputs for generating a command representative of a required amount of torque in step 640. The method (590) also includes transmitting the generated command to an electric motor for regulating speed of the electric motor in step 650.
[0073] Various embodiments of the present disclosure enable the exercising machine to be smaller and more compact, thereby taking less space. Due to the limited space, installation of the machine is easier, and usage do not need any experts. Also, the design of joints and locking mechanisms to keep the overall system small, thereby using less power, which makes the system more reliable, more efficient and cost effective.
[0074] The compact system also allows the use of smaller pulleys. As the cable traverses the system, it must flow over several pulleys. Traditionally fitness equipment uses large pulleys, often 3 inches to 5 inches in diameter, because the large diameter pulleys have a lower friction. The disclosed system uses many 1-inch pulleys because of the friction compensation abilities of the motor control filters in electronics box; the friction is not perceived by the user because the system compensates for it. This additional friction also dampens the feeling of gear teeth in the gear unit.
[0075] Further, the torque control of an BLDC motor is more challenging than an induction motor and so a high-resolution encoder assists the system to determine position of the BLDC motor shaft.
[0076] While specific language has been used to describe the disclosure, any limitations arising on account of the same are not intended. As would be apparent to a person skilled in the art, various working modifications may be made to the method in order to implement the inventive concept as taught herein.
[0077] The figures and the foregoing description give examples of embodiments. Those skilled in the art will appreciate that one or more of the described elements may well be combined into a single functional element. Alternatively, certain elements may be split into multiple functional elements. Elements from one embodiment may be added to another embodiment. For example, the order of processes described herein may be changed and are not limited to the manner described herein. Moreover, the actions of any flow diagram need not be implemented in the order shown; nor do all of the acts need to be necessarily performed. Also, those acts that are not dependent on other acts may be performed in parallel with the other acts. The scope of embodiments is by no means limited by these specific examples.