DE102022101730A1 - Pedal operated device - Google Patents

Abstract

The invention relates to a pedal-operated device (1) with a frame (2), a gear (3) attached to the frame (2) and a wheel which can be driven to rotate via the gear (3) and is also attached to the frame (2). (4), wherein the gear (3) is coupled to a pedal arrangement (5) for driving the gear (3), the pedal arrangement (3) on two opposite sides each having a pedal (6), a first pivot bearing (7I), a second pivot bearing (7II), a first link (8I) connected to the first pivot bearing (7I), a second link (8II) connected to the second pivot bearing (7II) and a third pivot bearing (7III) and a fourth pivot bearing (7IV) third member (8III) articulated to the first member (8I) and second member (8II), the first pivot bearing (7I) is arranged on the gearbox (3), the second pivot bearing (7II) is arranged on the frame (2). and the pedal (6) is rotatably arranged on one of the links (8III-8V) or on one of the pivot bearings (7III-7V). In this way, a pedal-operated device (1) is provided according to the coupling curve principle, which allows particularly effective training .

Description

The invention relates to a pedal-operated device with a frame, a gear mechanism attached to the frame and a wheel which can be driven to rotate via the gear mechanism and is also attached to the frame.

Devices that can be actuated by pedals, such as bicycles or ergometers, are used in the field of sports to increase fitness, in particular to increase endurance, mobility, physical performance and to reduce weight. Such a pedal-operable device can also be used to treat people with cardiovascular disorders in order to improve the rhythm of the heart and thus the blood flow through the body. Pedal-operated devices are based on the principle that pedals, belts or chains are driven by leg strength when the pedal is stepped on, thereby driving a wheel coupled to the belts or chains. The pedal guides of conventional pedal-operable devices are simply pivots, so the pedals travel in a circular path with the pivot at the center, or in an elliptical path with offset cranks.

It is the object of the invention to provide a pedal-operated device that allows particularly effective training.

This object is solved by the subject matter of patent claim 1. Preferred developments can be found in the dependent claims.

According to the invention, a pedal-actuated device is thus provided with a frame, a gear mechanism attached to the frame and a wheel that can be driven in rotation via the gear mechanism and is also attached to the frame, the gear mechanism being coupled to a pedal arrangement for driving the gear mechanism, the pedal arrangement having a pedal on two opposite sides, a first pivot bearing, a second pivot bearing, a first link connected to the first pivot bearing, a second link connected to the second pivot bearing, and a third link and a fourth link via a third pivot bearing pivot bearing pivotally connected to the first link and third link second link, the first pivot bearing is arranged on the transmission, the second pivot bearing is arranged on the frame and the pedal is pivotally arranged on one of the links or on one of the pivot bearings.

In the present case, a “device that can be actuated by a pedal” is understood to mean a device that is driven by a pedal. This can in particular be a unicycle, two-wheeler or tricycle. The pedal-actuated device can in particular be stationary, such as in the case of an ergometer or training device, or mobile, such as in the case of a bicycle or some other means of transport.

The third link is also referred to below as a coupler.

The invention is based on the finding that during the power transmission of the leg muscles to the foot and from there to the instantaneous tangential direction of the pedal curve, continuously changing transmission factors with different muscle participation arise, which also depend significantly on the tangential direction of the pedal track. While these tangential directions are fixed in the case of the circular path, other trajectories can also be advantageous for optimized and more effective training, such as a straight stretch on the push-on and a curved stretch on the return. The circular path as a pedal trajectory is therefore not necessarily optimal for therapy and training scenarios. However, the pedal-operable devices known from the prior art have not yet made it possible to realize a pedal trajectory other than the circular path or the elliptical path or to change the pedal trajectory and, in particular, to adapt it to individual training needs. An unchangeable pedal trajectory in the form of a circular path or elliptical path also does not allow the pedal guide to be adapted to the physiological conditions of the training person, such as leg length, muscle weakness and/or the training goal.

The invention addresses this problem with the pedal-operated device described above. The interaction of the two pivot bearings with the three links corresponds to the principle of a four-bar chain. A four-link chain is usually formed by two pivot bearings with joints in a defined position and three links that are connected to one another in an articulated manner via two further joints, resulting in a four-link coupling system with four pivot bearings. Depending on the design of the four-bar chain, ie in particular depending on the positioning of the pivot bearings and/or the length of the links and the position of the pedal on the coupler, a non-circular pedal track or pedal trajectory is created.

It is thus a crucial point of the invention that different pedal paths or pedal trajectories can be realized on the basis of the four-bar chain. Depending on the design of the four-bar chain, segments of the pedal curve that include almost straight sections and/or segments that include sections with a strong curvature can be realized, for example. On In this way, different power transmissions from the leg power to the pedal system can be realized and different training effects can be achieved.

According to a preferred development of the invention, the pedal is rotatably arranged on the third link (the coupler). The third link (the coupler) is located between the first link and the second link. The first and second links are connected to the pivot bearing on the frame and on the transmission, respectively. Accordingly, the third link represents an intermediate section between the first and the second link. Because the pedals are arranged on the third middle link, a uniform power transmission to the two adjacent links and above them to the two pivot bearings on the frame or on the transmission can be guaranteed.

According to a preferred development of the invention, the pedal arrangement has a fourth link connected to the third pivot bearing and a fifth pivot bearing, and a fifth link connected to the fourth pivot bearing and the fifth pivot bearing. Due to the two additional links, a triangular shape is created from the third link, fourth link and fifth link, which are connected to one another via the third, fourth and fifth pivot bearing. The triangular shape increases the stability of the pedal assembly because the leg force exerted on the pedal assembly is transmitted to at least two of the three links forming the triangle, thereby reducing or distributing the force exerted on one link.

It is preferably provided that the pedal is rotatably arranged on the fifth pivot bearing. The fifth pivot bearing represents in particular a point or a corner of the triangle described above. Starting from the corner of the triangle, i.e. from the fifth pivot bearing, the exerted leg force is transferred evenly to the fourth and fifth limb. As a result, the stability of the pedal assembly can be increased.

According to a preferred development of the invention, at least one of the links is adjustable in length. Because the lever lengths, in particular of the first and the second link, can be adjusted, there are a number of possible pedal trajectories. The levers of the length-adjustable links preferably have grid points via which a specific length can be locked. However, electrically controlled or otherwise adjustable active or passive devices can also be provided for the length adjustment. The length adjustability of at least one link also leads to a muscle-friendly or muscle-specific therapy or training option. As a result, the therapy or training effect can be significantly increased compared to conventional pedal trajectories.

According to a preferred development of the invention, the second pivot bearing is arranged to be displaceable on the frame. The second bearing can preferably be displaced in the horizontal direction and/or in the vertical direction and/or along the pedal vehicle frame, with this displacement also being able to take place adaptively during operation, for example as a function of speed, torque and/or power. A large number of different pedal trajectories can be implemented via the displaceability of the second pivot bearing on the frame, so that the diversity of the therapy or training effects can be further increased.

According to a preferred development of the invention, the pedal-operated device has a measuring system with a sensor arrangement for detecting measured values relating to the transmission. The effects resulting from the changed pedal trajectory can be monitored via the sensor arrangement. Provision is preferably made for the sensor arrangement to have a force sensor and/or a speed sensor. In this way, in particular, a change in power transmission or a change in cadence can be monitored. Depending on the desired training goal, a high or low cadence can be aimed for. The sensor arrangement can be used to check whether the respective pedal trajectory can ensure the desired training effect.

According to a preferred development of the invention, the pedal-operated device has an evaluation unit for evaluating the measured values and determining a pedal trajectory on the basis of the measured values. Accordingly, not only can different measured values be measured via the sensor arrangement, they can also be evaluated. Depending on the evaluation of the measured values, a pedal trajectory that is particularly suitable for the desired training effect can be determined depending on the measured values, so that the links and/or pivot bearings can be adjusted accordingly.

According to a preferred development of the invention, the sensor arrangement is additionally provided with a pulse sensor. It is preferably provided that the evaluation unit is also set up to evaluate measured values recorded by means of the pulse sensor in order to determine a pedal trajectory. This not only enables the determination and evaluation of transmission-specific measured values, but also the determination and evaluation of at least one measure specific to the trainee. Overall, the training and the training effect achieved with the respective set pedal trajectory can thus be monitored more reliably.

• Erfassen von das Getriebe betreffenden Messwerten,
• Auswerten der Messwerte zum Ermitteln einer Pedaltrajektorie auf der Grundlage der Messwerte und
• Einstellen der Länge wenigstens eines längenverstellbaren Gliedes und/oder der Position des verschiebbaren zweiten Drehlagers entsprechend der ermittelten Pedaltrajektorie.

According to the invention, a method for operating a pedal-actuated device is also provided, which has a frame, a gear mechanism attached to the frame and a wheel that can be driven to rotate via the gear mechanism and is also attached to the frame, the gear mechanism being coupled to a pedal arrangement for driving the gear mechanism, the pedal arrangement having a pedal on two opposite sides, a first pivot bearing, a second pivot bearing, a first link connected to the first pivot bearing, a second link connected to the second pivot bearing and a via a third pivot bearing and fourth pivot bearing third link articulated to the first link and second link, the first rotary bearing is arranged on the transmission, the second rotary bearing is arranged on the frame, the pedal is arranged rotatably on one of the links or on one of the rotary bearings, at least one of the links is designed to be adjustable in length and the second rotary bearing is arranged on the frame so that it can be displaced, with the following method steps:

• Acquisition of measured values relating to the transmission,
• Evaluating the measured values to determine a pedal trajectory based on the measured values and
• Adjusting the length of at least one length-adjustable member and/or the position of the displaceable second pivot bearing in accordance with the determined pedal trajectory.

According to the invention, the method provides that a pedal trajectory that is optimal for a specific training effect is determined on the basis of the evaluated measured values, such as the pedaling force exerted, the rotational speed, the heart rate and/or an internal biomechanical real-time model. The length-adjustable links and/or the displaceable second pivot bearing are adjusted in such a way that the determined optimum pedal trajectory is achieved and a desired training goal can thus be worked towards more efficiently.

The invention is explained in more detail below using a preferred exemplary embodiment with reference to the drawings.

• 1 schematisch eine pedalbetätigbare Vorrichtung gemäß einem bevorzugten Ausführungsbeispiel der Erfindung und
• 2 schematisch ein Verfahren zum Betreiben einer pedalbetätigbare Vorrichtung gemäß einem bevorzugten Ausführungsbeispiel der Erfindung.

Show in the drawings

• 1 schematically a pedal-operated device according to a preferred embodiment of the invention and
• 2 schematically a method for operating a pedal-operated device according to a preferred embodiment of the invention.

Out of 1 a pedal-operated device 1 according to a preferred embodiment of the invention is shown schematically. The pedal-operated device 1 shown is an ergometer in the present case. The pedal-operated device 1 includes a wheel 4 which is driven via a gear 3 . About the pedal assembly 5, the gear 3 is driven. The pedal arrangement 5 has a pedal 6 on both sides. The transmission 3 is coupled to the frame of the pedal-operated device 1 via a coupling device. The transmission 3 has a pivot bearing 7I. The frame has another pivot bearing 7II. Further links are arranged between the pivot bearings 7I, 7II. A first link 8I is coupled to the first pivot bearing 7I on the transmission 3 . The first link 8I is coupled to a third link 8III (the coupler) via a fourth pivot bearing 7IV. The third link 8III is coupled to a second link 8II with a third pivot bearing 7III. The second link 8II is coupled to the pivot bearing 7II on the frame. Thus, via the two pivot bearings 7I, 7II and via the links 8II, 8III, 8I and pivot bearings 7III, 7IV arranged between them, a coupling device is created according to the principle of a four-bar chain with four articulated pivot bearings and three links. The third link 8III forms a triangle together with a fourth link 8IV and a fifth link 8V, which are connected via a fifth pivot bearing 7V. The pedal 6 is fastened to the fifth pivot bearing 7V, so that the leg force exerted on the pedal 6 is evenly distributed over the triangular shape on the coupling device.

The second pivot bearing 7II can be moved on the frame 2 in the longitudinal direction, ie towards the wheel 4 or away from the wheel 4 . The length of the second link 8II can also be changed. The pedal trajectory 11 can be changed via the position of the second pivot bearing 7II and the length of the second link 8II, so that a large number of different pedal trajectories 11 can be set depending on the position of the second pivot bearing 7II and depending on the length of the second link 8II.

The transmission includes a sensor arrangement 9, which detects different measured values, such as the pedaling force and/or the cadence. The sensor arrangement can also measure person-specific values, such as the heart rate or the oxygen saturation of the blood tes, capture. For this, the same or a further sensor arrangement must be arranged at correspondingly suitable locations.

An evaluation unit 10 is coupled to the sensor arrangement 9 . The evaluation unit 10 can, in particular, as in 1 indicated, be connected to the sensor arrangement 9 wirelessly. The measured values are evaluated via the evaluation unit 10, preferably using a biomechanical real-time capable model, so that an optimal pedal trajectory 11 can be determined on the basis of the evaluation.

2 shows schematically a method for operating a pedal-operated device according to a preferred embodiment of the invention. In a first step S1, the measured values are recorded via the sensor arrangement 9. In a second step S2, the measured values are evaluated, preferably using a real-time capable model, and a pedal trajectory 11 that is optimal for a specific training effect and/or for a specific training goal is determined on the basis of the evaluation. Then, in a third step S3, the length-adjustable member 8II and the displaceable pivot bearing 7II are set in such a way that the pedals 6 move along the desired pedal trajectory 11.

Reference List

1

Pedal operated device

2

Frame

3

transmission

4

wheel

5

pedal arrangement

6

pedal

7I - 7V

pivot bearing

8I - 8V

limbs

9

sensor arrangement

10

evaluation unit

11

pedal trajectory

S1

Taking measurements

S2

Evaluation of the measured values and determination of a pedal trajectory

S3

Adjusting the links and/or the pivot bearings according to the pedal trajectory

Claims (12)

Pedal-operated device (1) with a frame (2), a gear (3) attached to the frame (2) and a wheel (4) which can be driven in rotation via the gear (3) and is also attached to the frame (2), wherein the transmission (3) is coupled to a pedal arrangement (5) for driving the transmission (3), the pedal arrangement (3) has on two opposite sides a pedal (6), a first pivot bearing (7I), a second pivot bearing (7II), a first link (8I) connected to the first pivot bearing (7I), a second link (8II) connected to the second pivot bearing (7II) and a third link (8II) connected via a third pivot bearing (7III) and fourth pivot bearing (7IV) in an articulated manner to the first link (8I) and second link (8II). has song (8III), the first pivot bearing (7I) is arranged on the transmission (3), the second pivot bearing (7II) is arranged on the frame (2) and the pedal (6) is rotatably arranged on one of the links (8III-8V) or on one of the pivot bearings (7III-7V). Pedal operated device (1) after claim 1 , wherein the pedal (6) is rotatably arranged on the third link (8III). Pedal operated device (1) after claim 1 or 2 , wherein the pedal assembly (5) has a fourth link (8IV) connected to the third pivot bearing (7III) and a fifth pivot bearing (7V) and a fifth link (8V) connected to the fourth pivot bearing (7IV) and the fifth pivot bearing (7V). Pedal-operated device (1) according to one of the preceding claims, in which the pedal (6) is rotatably arranged on the fifth pivot bearing (7V). Pedal-operated device (1) according to one of the preceding claims, wherein at least one of the members (81-8V) is designed to be adjustable in length. Pedal-operated device (1) according to one of the preceding claims, in which the second pivot bearing (7II) is slidably arranged on the frame (2). Pedal-actuated device (1) according to one of the preceding claims, wherein the pedal-actuated device (1) has a measuring system with a sensor arrangement (9) for detecting measured values relating to the transmission (3). Pedal-operated device (1) according to one of the preceding claims, wherein the sensor arrangement (9) has a force sensor and/or a speed sensor. Pedal-actuated device (1) according to one of the preceding claims, wherein the pedal-actuated device (1) has an evaluation unit (10) for evaluating the measured values and determining a pedal trajectory (11) on the basis of the measured values. Pedal-operated device (1) according to one of the preceding claims, in which the sensor arrangement (9) is additionally provided with a pulse sensor. Pedal-actuable device (1) according to one of the preceding claims, wherein the evaluation unit (10) is also set up to evaluate measured values recorded by means of the pulse sensor in order to determine a pedal trajectory (11). Method for operating a pedal-operated device (1), which has a frame (2), a gear (3) attached to the frame (2) and a wheel (4) which can be driven in rotation via the gear (3) and is also attached to the frame (2), wherein the transmission (3) is coupled to a pedal arrangement (5) for driving the transmission (3), the pedal arrangement (5) has on two opposite sides a pedal (6), a first pivot bearing (7I), a second pivot bearing (7II), a first link (8I) connected to the first pivot bearing (7I), a second link (8II) connected to the second pivot bearing (7II) and a third link (8II) connected via a third pivot bearing (7III) and fourth pivot bearing (7IV) in an articulated manner to the first link (8I) and second link (8II). has song (8III), the first pivot bearing (7I) is arranged on the transmission (3), the second pivot bearing (7II) is arranged on the frame (2), the pedal (6) is rotatably arranged on one of the links (81-8V) or on one of the pivot bearings (7I-7V), at least one of the links (81-8V) is designed to be adjustable in length and the second pivot bearing (7II) is slidably arranged on the frame (2), with the following method steps: S1) acquisition of measured values relating to the transmission, S2) evaluating the measured values to determine a pedal trajectory (11) on the basis of the measured values and S3) Adjusting the length of at least one length-adjustable member (81-8V) and/or the position of the displaceable second pivot bearing (7I-7V) in accordance with the determined pedal trajectory (11).

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