Training machine with automatic control of a gravitational load

Abstract

The present invention concerns a training machine, in particular a muscular strength machine, with automatic control of a gravitational load, including a gravitational load ( 10, 10 ′) coupled to force transmission means ( 20, 30, 40, 50, 60, 70 ), by means of which the gravitational load ( 10, 10 ′) is movable by a user exerting a force on said force transmission means ( 20, 30, 40, 50, 60, 70 ), the training machine being characterised in that it further comprises a first shaft ( 80 ), rotatably coupled to said transmission means ( 20, 30, 40, 50, 60, 70 ) and to a first end of a torsion spring ( 90 ), and an electric motor ( 110 ) having a rotatable second shaft ( 100 ) coupled to a second end of the torsion spring ( 90 ), the training machine also comprising first rotation angle sensing means ( 120 ) sensing a rotation angle (B) of the first shaft ( 80 ) and second rotation angle sensing means ( 130 ) sensing a rotation angle (A) of the second shaft ( 100 ), the training machine also comprising processing means ( 200 ) receiving sensed data (A, B) from said first and second rotation angle sensing means ( 120, 130 ) and controlling the electric motor ( 110 ) on the basis of said sensed data (A, B). The present invention further concerns the related process performed by the processing means ( 200 ) of such a training machine and the tools that may be used for performing the process.

1 . A training machine comprising an automatic control of a gravitational load, including a gravitational load coupled to a force transmission means, by means of which the gravitational load is movable by a user exerting a force on said force transmission means, wherein the training machine further comprises a first shaft, rotatably coupled to said transmission means and to a first end of a torsion spring, and an electric motor having a rotatable second shaft ( 100 ) coupled to a second end of the torsion spring, the training machine also comprising first rotation angle sensing means sensing a rotation angle B of the first shaft and a second rotation angle sensing means sensing a rotation angle A of the second shaft, the training machine also comprising processing means receiving sensed data from said first and second rotation angle sensing means and controlling the electric motor on the basis of said sensed data. 
     
     
         2 . A training machine according to  claim 1 , wherein said transmission means comprises:
 a first cable coupled to the gravitational load   a handling means attached to a second end of the first cable   a first pulley over which the first cable runs, whereby the first pulley is capable to change direction of a force exerted on said handling means by the user in order to lift the gravitational load,   said first shaft being rotatably coupled to the first pulley.   
     
     
         3 . A training machine according to  claim 1 , wherein said transmission means comprises:
 a first cable coupled to the gravitational load,   a handling means attached to a second end of the first cable,   a first pulley over which the first cable is capable to run, whereby the first pulley is capable to change direction of a force exerted on said handling means by the user in order to lift the gravitational load,   a second cable, the two ends of which are coupled to the gravitational load,   a second pulley wherein the second cable is capable to run over the first and second pulleys,   said first shaft being rotatably coupled to the second pulley.   
     
     
         4 . A training machine according to  claim 1 , wherein the gravitational load is adjustable. 
     
     
         5 . A training machine according to  claim 1 , wherein the processing means controls the electric motor so as to maintain the difference (A-B) between the rotation angles B and A, respectively, sensed by said second and first rotation angle sensing means equal to a target. 
     
     
         6 . A training machine according to  claim 5 , wherein the gravitational load is adjustable and comprises a stack of selectable weights movable upwards from a base when selected, unselected weights resting on the base, the base being provided with weight sensing means for sensing the weight resting on the base, said weight sensing means being connected to said processing means, said processing means being capable to automatically set the target value on the basis of the weight sensed by said weight sensing means. 
     
     
         7 . A training machine according to  claim 1 , wherein said first rotation angle sensing means comprises a first digital encoder or linear potentiometer and said second rotation angle sensing means comprises a second digital encoder or linear potentiometer. 
     
     
         8 . A training machine according to  claim 1 , wherein said processing means comprises a computer. 
     
     
         9 . A process for controlling an electric motor of a training machine, comprising an automatic control of a gravitational load, wherein the training machine includes a gravitational load coupled to force transmission means, by means of which the gravitational load is movable by a user exerting a force on said force transmission means, the training machine further comprising a first shaft, rotatably coupled to said transmission means and to a first end of a torsion spring, the electric motor having a rotatable second shaft coupled to a second end of the torsion spring, the training machine also comprising a first rotation angle sensing means sensing a rotation angle B of the first shaft and a second rotation angle sensing means sensing a rotation angle A of the second shaft, wherein the process comprises the following steps:
 A. setting a target value of angular difference between the second and first shafts;   B. receiving first and second rotation angles B and A respectively from said first and second rotation angle sensing means;   C. checking whether a difference (A-B) of the sensed rotation angles A and B from said second and first rotation angle sensing means is larger than the target value;   D. if the outcome of checking step C is positive, decreasing power to the electric motor;   E. if the outcome of checking step C is negative, increasing power to the electric motor;   F repeating steps from A to E until control of the the electric motor is disabled.   
     
     
         10 . (canceled) 
     
     
         11 . A computer-readable memory medium, having a program stored therein, wherein the program is a computer program comprising code means adapted to perform, when operating on a processing means of a training machine, a process for controlling an electric motor of a training machine comprising automatic control of a gravitational load, wherein the training machine includes a gravitational load coupled to a force transmission means, by means of which the gravitational load is movable by a user exerting a force on said force transmission means, the training machine further comprising a first shaft, rotatably coupled to said transmission means and to a first end of a torsion spring, the electric motor having a rotatable second shaft coupled to a second end of the torsion spring, the training machine also comprising a first rotation angle sensing means sensing a rotation angle B of the first shaft and a second rotation angle sensing means sensing a rotation angle A of the second shaft, wherein the process comprises the following steps:
 A. setting a target value of angular difference between the second and first shafts;   B. receiving first and second rotation angles B and A, respectively, from said first and second rotation angle sensing means;   C. checking whether a difference (A-B) of the sensed rotation angles A and B from said second and first rotation angle sensing means is larger than the target value;   D. if the outcome of the checking step C is positive, decreasing power to the electric motor;   E. if the outcome of the checking step C is negative, increasing power to the electric motor;   F. repeating steps from A to E until control of the the electric motor is disabled.   
     
     
         12 . A training machine according to  claim 2 , wherein said first cable is coupled to the gravitational load through a first end of the first cable that is integrally coupled to a supporting bar supporting the gravitational load. 
     
     
         13 . A training machine according to  claim 2 , wherein said handling means are selected from the group comprising a handle, a bar, and a plate. 
     
     
         14 . A training machine according to  claim 3 , wherein said first cable is coupled to the gravitational load through a first end of the first cable that is integrally coupled to a supporting bar supporting the gravitational load. 
     
     
         15 . A training machine according to  claim 3 , wherein said handling means are selected from the group comprising a handle, a bar, and a plate. 
     
     
         16 . A training machine according to  claim 3 , wherein the two ends of said second cable are coupled to the gravitational load through a supporting bar supporting the gravitational load. 
     
     
         17 . A training machine according to  claim 4 , wherein the gravitational load comprises a stack of selectable weights. 
     
     
         18 . A training machine according to  claim 5 , wherein the target value is received by said processing means from an input/output interface. 
     
     
         19 . A training machine according to  claim 5 , wherein the target value depends on the rotation angle B sensed by said second rotation angle sensing means. 
     
     
         20 . A training machine according to  claim 6 , wherein said weight sensing means for sensing the weight resting on the base comprises a load cell. 
     
     
         21 . A training machine according to  claim 1 , wherein the training machine is a muscular strength machine. 
     
     
         22 . A process according to  claim 9 , wherein the training machine is a muscular strength machine. 
     
     
         23 . A computer-readable memory medium according to  claim 11 , wherein the training machine is a muscular strength machine.