WO2023206509A1 - Two-sided reverse output mechanism, and rehabilitation training and digital fitness apparatus having same - Google Patents
Two-sided reverse output mechanism, and rehabilitation training and digital fitness apparatus having same Download PDFInfo
- Publication number
- WO2023206509A1 WO2023206509A1 PCT/CN2022/090621 CN2022090621W WO2023206509A1 WO 2023206509 A1 WO2023206509 A1 WO 2023206509A1 CN 2022090621 W CN2022090621 W CN 2022090621W WO 2023206509 A1 WO2023206509 A1 WO 2023206509A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rotor
- output device
- gear
- central axis
- driving wheel
- Prior art date
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 92
- 238000012549 training Methods 0.000 title claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 115
- 230000002146 bilateral effect Effects 0.000 claims description 22
- 238000004804 winding Methods 0.000 claims description 22
- 238000000034 method Methods 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 8
- 239000011295 pitch Substances 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 description 10
- 230000000694 effects Effects 0.000 description 9
- 238000009434 installation Methods 0.000 description 5
- 210000003414 extremity Anatomy 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000007659 motor function Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 230000004323 axial length Effects 0.000 description 2
- 238000005266 casting Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910052761 rare earth metal Inorganic materials 0.000 description 2
- 150000002910 rare earth metals Chemical class 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 206010037660 Pyrexia Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007731 hot pressing Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000004936 stimulating effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
- A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
Definitions
- the present invention relates to the technical field of motors, and in particular, to a bilateral reverse output mechanism and rehabilitation training and digital fitness equipment having the same.
- a motor has a stator and a rotor, and the rotor can rotate within the stator when energized.
- Common motors include single-shaft motors and double-shaft motors.
- a single-shaft motor one end of the rotor is coaxially connected to the pivot shaft and extends to the outside of the motor housing.
- a double-output shaft motor the opposite ends of the rotor have pivot shafts coaxially connected to the rotor, and both extend to the outside of the motor housing.
- the single output shaft motor has a pivot shaft, that is, it has only one power output end. If you want to increase the power output end, you need to connect a multi-output shaft reducer to the pivot shaft.
- the pivot axes of multiple output ends of a multi-output shaft reducer are parallel, and the extension directions of the multiple output ends are the same. This has limitations in some situations where the output directions of multiple output ends are different.
- the rotation direction of the two pivot axes is the same. In some situations where reverse rotation on both sides is required, Still inconvenient to use.
- a bilateral reverse output device applied to rehabilitation training and digital fitness equipment includes: a motor.
- the motor includes a rotor.
- the rotor has a first rotation output end and a second rotation output end that are relatively arranged along a central axis and can rotate around the central axis.
- the first rotation output end is used to connect the first rotation output end and the first rotation output end.
- the reversing mechanism includes a driving wheel, a driven wheel and a transmission assembly.
- the driving wheel is coaxially fixed with the second rotating output end.
- the driven wheel can rotate around the central axis.
- the transmission assembly connects the driving wheel and the driven wheel.
- the transmission assembly It is used to reversely rotate the driven wheel relative to the driving wheel, and the driven wheel is used to connect the second adapter.
- the transmission ratio between the driving wheel and the transmission assembly is equal to the transmission ratio between the driven wheel and the transmission assembly.
- the reversing mechanism is a gear reversing mechanism or a belt reversing mechanism.
- the reversing mechanism is a gear reversing mechanism
- the driving wheel is a driving gear
- the driven wheel is a driven gear
- the transmission component is an intermediate gear
- the intermediate gear is directly meshed between the driving gear and the driven gear.
- the driving gear and the driven gear are spaced apart along the central axis, the pivot axis of the intermediate gear is fixed and perpendicular to the central axis, and the driving gear, the driven gear and the intermediate gear are all external meshing gears.
- the driving gear, the driven gear and the intermediate gear are all bevel gears.
- one of the driving gear and the driven gear is an external meshing gear and the other is an internal meshing gear
- the external meshing gear is disposed radially inside the internal meshing gear
- the intermediate gear is an external meshing gear
- the pivot of the intermediate gear The axis is fixed and parallel to the central axis.
- the reversing mechanism is a pulley reversing mechanism
- the driving pulley is a driving pulley
- the driven pulley is a driven pulley.
- the transmission assembly includes an intermediate pulley, a first transmission belt and a second transmission belt.
- the first transmission belt is connected to the driving pulley. and an intermediate pulley
- the second transmission belt connects the intermediate pulley and the driven pulley, wherein one of the first transmission belt and the second transmission belt adopts open transmission and the other adopts cross transmission.
- one of the driving wheel and the driven wheel is provided with a cam shaft extending along the central axis and toward the other, and the other is pivotably sleeved on the cam shaft.
- the driving wheel includes a first end surface and a second end surface with central axes opposite to each other
- the driven wheel includes a third end surface and a fourth end surface with central axes opposite to each other
- the second end surface and the third end surface are arranged face to face
- the first end surface is opposite to the third end surface.
- the second rotation output end of the rotor is fixed, the second end face is provided with a convex shaft extending along the central axis, the third end face is provided with a convex shaft mounting hole extending along the central axis, and the convex shaft is pivotably connected to the convex shaft mounting hole.
- a first bearing is provided in the convex shaft mounting hole.
- the outer ring of the first bearing is fixedly connected to the inner peripheral wall of the convex shaft mounting hole.
- the end of the convex shaft is inserted into the inner ring of the first bearing and connected with the inner ring. Circle fixed connection.
- the convex shaft is a stepped shaft having a first diameter and a second diameter, wherein the first diameter is smaller than the second diameter, the first bearing is interference-fitted on the stepped shaft having the first diameter, and the first bearing is interference-fitted on the stepped shaft having the first diameter.
- An annular groove is provided on the outer peripheral wall of the stepped shaft, and a clamp is provided in the annular groove. The first bearing is penetrated on the stepped shaft with a first diameter, and the first bearing is clamped on the side of the stepped shaft with a second diameter. between the wall and the clamp.
- the second rotation output end of the rotor is provided with a driving wheel mounting hole extending along the central axis
- the driving wheel is provided with a first protruding post extending along the central axis
- the first protruding post is inserted into the driving wheel mounting hole. And fixed with the driving wheel mounting hole.
- a coupling is provided between the rotor and the driving wheel, and the driving wheel is connected to the rotor through the coupling.
- the coupling is a keyless bushing
- the outer ring of the keyless bushing is fixedly connected to one of the rotor and the driving wheel
- the inner ring of the keyless bushing is fixedly connected to the other of the rotor and the driving wheel.
- the first rotation output end of the rotor is provided with a first adapting hole extending along the central axis of the rotor, and the first adapting hole is used for fixed connection with the first adapting part.
- the first adapting hole communicates with the driving wheel mounting hole and forms a hole with a uniform inner diameter penetrating along the central axis.
- the reversing mechanism includes a reversing mechanism housing.
- the reversing mechanism housing is provided with a driven wheel mounting through hole extending along the central axis.
- the driven wheel is provided with a second protruding column extending along the central axis. The two protruding columns are pivotably inserted into the driven wheel installation through hole.
- a second adapting hole extending along the central axis is provided on the second protruding column, and the second adapting hole is used for fixed connection with the second adapting part.
- the first rotation output end of the rotor is provided with a first adapting hole for connecting to the first adapter
- the driven wheel is provided with a second adapting hole for connecting to the second adapter.
- the first adapting hole is connected to the second adapter.
- the second adapter hole has the same configuration.
- the motor further includes a motor housing and a stator.
- the stator is heat-pressed and fixed in the motor housing, and the rotor is inserted into the stator.
- the motor includes a motor housing, the rotor is arranged in the motor housing, the reversing mechanism also includes a reversing mechanism housing, the driving wheel, the driven wheel and the transmission assembly are arranged in the reversing mechanism housing, the motor housing It is integrated with the reversing housing.
- a transmission assembly pivot shaft is provided in the reversing mechanism housing, and the transmission assembly is pivotably sleeved on the transmission assembly pivot shaft.
- a second bearing is set on the pivot shaft of the transmission assembly.
- the inner ring of the second bearing is fixedly connected to the outer peripheral wall of the pivot shaft of the transmission assembly.
- the transmission assembly is fixedly connected to the outer ring of the second bearing.
- the motor further includes a stator, which is coaxially arranged with the rotor.
- the stator includes a stator core and a stator winding provided on the stator core.
- the rotor includes a rotor core and a plurality of permanent magnets arranged in sequence on the rotor core.
- the permanent magnets are Halbach array type permanent magnet, the stator and the rotor are coaxially arranged and an air gap is formed between the stator and the rotor.
- the stator winding adopts fractional slot concentrated winding, in which a plurality of stator tooth poles are arranged on the inner circumference of the stator core and are spaced apart along its circumferential direction, and a stator slot is defined between two adjacent stator tooth poles. , there are winding coils wrapped around the stator tooth poles.
- stator slot is an inclined slot inclined by n stator slot pitches, where n is less than 1.
- the motor also includes an encoder.
- the encoder includes: a magnetic code disk or an optical code disk; and a circuit board.
- the circuit board is integrated with a collection chip and a signal processing circuit.
- the collection chip is used to collect the magnetic code disk or the optical code disk.
- the change information, the signal processing circuit is used to process the change information and output position information.
- the encoder is an absolute value encoder greater than or equal to 14 bits.
- the double-sided reverse output device With the double-sided reverse output device provided by the embodiment of the present invention, power can be transmitted to two output ends for connecting to the first adapter and the second adapter when one motor is used as the power source.
- the two output ends have the characteristics of coaxiality and opposite rotation directions.
- the bilateral reverse output device with this setting is used in rehabilitation training equipment to help patients perform coordinated training of bilateral limbs.
- the rotation directions of the first adapter and the second adapter driven by the two output ends are opposite, which is different from the patient's normal usage habits, it can also stimulate the patient's motor function and improve the effect of rehabilitation training.
- two output ends with different directions need to pass through two motors, which can reduce the number of motor settings, improve product integration, and reduce product size.
- the connection between a single output shaft motor and a multi-output shaft reducer the structure is simple, the connection is convenient, and the cost is low.
- double output shaft motors the effect of reverse output on both sides can be achieved.
- a rehabilitation training and digital fitness equipment including any of the above bilateral reverse output devices, a first adapter and a second adapter, the first adapter being connected to the first rotation output end of the rotor Fixed, the second adapter is fixed with the driven wheel.
- the first adapter includes a first connecting rod and a first adapting part.
- One end of the first connecting rod is fixed to the first rotation output end, and the first adapting part is pivotably connected to the other end of the first connecting rod.
- One end, and the first connecting rod is perpendicular to the central axis
- the second adapter includes a second connecting rod and a second adapting part, one end of the second connecting rod is fixed to the driven wheel, and the second adapting part is pivotably connected to the second connecting rod.
- the other end of the second connecting rod is perpendicular to the central axis.
- both the first adapting part and the second adapting part are footrests.
- the first link and the second link extend in the same direction from the central axis in the initial position.
- Figure 1 is a perspective view of a double-sided reverse output device according to an exemplary embodiment of the present invention
- Figure 2 is a cross-sectional view of the bilateral reverse output device shown in Figure 1;
- Figure 3 is a schematic diagram of a gear reversing mechanism according to an exemplary embodiment of the present invention.
- Figure 4 is a schematic diagram of a gear reversing mechanism according to another exemplary embodiment of the present invention.
- Figures 5a-5b are schematic diagrams of a belt rotation mechanism according to an exemplary embodiment of the present invention.
- Figure 6 is a cross-sectional view of the gear reversing mechanism in Figure 2;
- Figure 7 is a partial enlarged view of the gear reversing mechanism in Figure 6;
- Figure 8 is a cross-sectional view of a motor according to an exemplary embodiment of the present invention.
- Figure 9 is a partial enlarged view of the motor in Figure 8.
- FIG. 10 is a front view of the double-sided reverse output device in FIG. 1 .
- a double-sided reverse output device includes a motor 1000 and a reversing mechanism 2000. As shown in Figure 1-2.
- the reversing mechanism 2000 may be disposed inside the motor 1000 or outside the motor 100 .
- the reversing mechanism 2000 is arranged inside the motor 1000, which can make the overall structure of the bilateral reverse output device more compact and have good sealing performance. If the reversing mechanism 2000 is arranged outside the motor 1000, the structure can be simple, the processing cost is low, and the implementation is easy.
- the electric machine 1000 may include any existing electric machine or any electric machine that may appear in the future.
- Electric machine 1000 may include a rotor 1100 .
- the rotor 1100 may be a rotating part of the motor 1000, and the rotor 1100 may rotate O-O around its central axis.
- the rotor 1100 may include a first rotational output end 1101 and a second rotational output end 1102 .
- the first rotation output end 1101 and the second rotation output end 1102 may be arranged oppositely along the central axis O-O of the rotor 1100.
- the first rotation output end 1101 and the second rotation output end 1102 can rotate around the central axis O-O.
- the first rotation output end 1101 and the second rotation output end 1102 can have various structures on the rotor 1100 .
- the structure can be a flat key shaft or a spline shaft extending from the end of the rotor 1100 , or it can be a spline shaft on the rotor 1100 . Connection holes provided at the end, etc.
- the reversing mechanism 2000 may include a driving wheel 2100, a driven wheel 2200 and a transmission assembly 2300.
- the driving wheel 2100 may be coaxially fixed with the second rotation output end 1102 of the rotor 1100 .
- the driving wheel 2100 can rotate with the rotor 1100. Fixing methods may include threaded connections, welding or any other connection methods.
- the driven wheel 2200 is rotatable around the central axis O-O. That is to say, the driving wheel 2100, the driven wheel 2200 and the rotor 1100 can be arranged coaxially, and can all rotate around the central axis O-O.
- the transmission assembly 2300 can connect the driving wheel 2100 and the driven wheel 2200.
- the transmission assembly 2300 may be used to reversely rotate the driven wheel 2200 relative to the driving wheel 2100 .
- the reversing mechanism 2000 may include a gear reversing mechanism, a belt reversing mechanism, or any kind of rotation mechanism.
- the reversing mechanism 2000 may be a reducer, and the reducer may have an input end and an output end. The input end and the output end can achieve reverse rotation of the output end and the input end under the action of the transmission element in the reducer.
- the reversing mechanism 2000 is not limited to a reducer, and other embodiments of the reversing mechanism 2000 will be described in detail below.
- the first rotation output end 1101 can be used to connect the first adapter 3100.
- the driven wheel 2200 can be used to connect the second adapter 3200.
- the first adapter 3100 and the second adapter 3200 may include a foot pedal assembly, a handle assembly, or any device that can achieve rehabilitation training and numeric keypads through rotation.
- the rotor 1100 when the motor 1000 is operating, the rotor 1100 rotates.
- the rotor 1100 can rotate in the rotation direction U about the central axis O-O.
- the rotor 1100 can drive the first adapter 3100 and the driving wheel 2100 to also rotate in the rotation direction U.
- the transmission assembly 2300 is connected between the driving wheel 2100 and the driven wheel 2200.
- the power of the rotor 1100 can be transmitted to the driven wheel 2200 through the driving wheel 2100 and the transmission assembly 2300, and finally the driven wheel 2200 and the second adapter connected to the driven wheel 2200 are rotated around.
- the central axis O-O rotates in the rotation direction V. Among them, the rotation direction U and the rotation direction V are opposite.
- the rotor 1100, the driving wheel 2100 and the first adapter 3100 are relatively fixedly connected, the rotor 1100, the driving wheel 2100 and the first adapter 3100 can rotate synchronously. Since the driven wheel 2200 and the second adapter 3200 are relatively fixedly connected, the driven wheel 2200 and the second adapter 3200 can rotate synchronously. In order to facilitate the description of the rotation speed, only the rotation direction and rotation speed of the driving wheel 2100 and the driven wheel 2200 are used for description. For example, since the first adapter 3100 and the second adapter 3200 have different uses, the first adapter 3100 and the second adapter 3200 may also be used in different ways.
- the reversing mechanism 2000 can cause the driving wheel 2100 and the driven wheel 2200 to rotate synchronously in opposite directions. That is to say, the reversing mechanism 2000 only changes the rotation direction of the driving wheel 2100 and the driven wheel 2200.
- the driving wheel 2100 and the driven wheel 2200 have the same rotational speed.
- the reversing mechanism 2000 can also cause the driving wheel 2100 and the driven wheel 2200 to rotate asynchronously in opposite directions, and the driving wheel 2100 and the driven wheel 2200 can have different rotational speeds.
- the reversing mechanism 2000 can act as both a reducer and an accelerator, as will be understood by those skilled in the art.
- the rotational speeds of the driving wheel 2100 and the driven wheel 2200 are related to the transmission ratio of the two wheels and the transmission assembly 2300 .
- the transmission ratio between the driving wheel 2100 and the transmission assembly 2300 is equal to the transmission ratio between the driven wheel 2200 and the transmission assembly 2300 .
- the rotation direction of the driven wheel 2200 can be opposite to the rotation direction of the driving wheel 2100, and the driven wheel 2200 and the driving wheel 2100 have the same rotation speed.
- the first adapter 3100 and the second adapter 3200 for training the user's bilateral limbs as an example, the same rotation speed of the driving wheel 2100 and the driven wheel 2200 can achieve an average training effect on both limbs.
- users with special needs can also change the above-mentioned transmission ratio to meet the user's needs.
- the double-sided reverse output device provided by the embodiment of the present invention can transmit to two output ends connected to the first adapter 3100 and the second adapter 3200 when one motor is used as the power source. power.
- the two output ends have the characteristics of coaxiality and opposite rotation directions.
- the bilateral reverse output device with this setting is used in rehabilitation training equipment to help patients perform coordinated training of bilateral limbs.
- the rotation directions of the first adapter 3100 and the second adapter 3200 driven by the two output ends are opposite, which is different from the patient's normal usage habits, it can also stimulate the patient's motor function and improve the efficiency of rehabilitation training. Effect.
- the reversing mechanism may be a gear reversing mechanism.
- the driving wheel can be a driving gear.
- the driven wheel can be a driven gear
- the transmission component can be an intermediate gear.
- the intermediate gear can mesh directly between the driving gear and the driven gear.
- the intermediate gear can be a single gear or a gear set.
- the driving gear can transmit power to the driven gear through the intermediate gear.
- gears can include cylindrical gears, bevel gears or worms, etc.
- gears can include spur gears, helical gears or herringbone gears.
- the intermediate gear is a gear set
- a variety of gears can also be combined to achieve the effect of reverse rotation of the driving gear and the driven gear.
- the driving gear and the driven gear may be spaced apart along the central axis O-O.
- the driving gear and the driven gear may be disposed facing each other.
- the pivot axis Y-Y of the intermediate gear may be fixed and may be perpendicular to the central axis O-O.
- the driving gear, the driven gear and the intermediate gear can all be external gears.
- the driving wheel 2100' and the driven wheel 2200' can be cylindrical gears
- the transmission assembly 2300' can be a crown gear.
- the teeth of the cylindrical gear can be distributed on its circumferential surface (the shaded area in the figure indicates the teeth).
- the teeth of the crown gear can be distributed on the end face.
- the driving gear as the driving wheel 2100' and the driven gear as the driven wheel 2200' can be arranged face to face.
- the crown gear as the transmission assembly 2300' can be disposed at the middle outer portion of the driving gear and the driven gear.
- the pivot axis Y-Y of the crown gear may perpendicularly intersect with the central axis O-O.
- the driving gear can rotate in the rotation direction U.
- the driving gear can drive the crown gear to rotate in the rotation direction W.
- the crown gear can drive the driven gear to rotate in the rotation direction V again through meshing. In this way, the driving wheel 2100' and the driven wheel 2200' can be reversely rotated.
- the advantages of using the crown gear as the transmission component 2300' are small size, compact structure, and large transmission torque.
- the driving wheel 2100, the driven wheel 2200 and the transmission assembly 2300 may all be bevel gears.
- Bevel gears also called bevel gears, can be used for transmission between intersecting shafts.
- the central axis O-O of the driving wheel 2100 and the driven wheel 2200 may intersect with the pivot axis Y-Y of the transmission assembly 2300.
- Bevel gears are widely used in industrial transmission fields. Their advantage is that they are relatively simple to manufacture and install.
- one of the driving gear and the driven gear may be an external gear and the other may be an internal gear.
- the external gear can be disposed radially inside the internal gear.
- the transmission assembly 2300 may be an intermediate gear, and the intermediate gear may be an external meshing gear.
- the pivot axis of the intermediate gear may be fixed and parallel to the central axis.
- the driving wheel 2100 can be an external meshing gear
- the driven wheel 2200 can be an internal meshing gear
- the transmission assembly 2300 can be one or more as The external meshing gear of the planetary gear
- the number of planetary gears in Figure 4 is 3.
- the driving wheel 2100" When the driving wheel 2100" rotates in the rotation direction U, it can drive the planetary gear as the transmission assembly 2300" to rotate in the rotation direction W.
- the rotation direction U and the rotation direction W are opposite.
- the pivot axis of the planet wheel is fixed, then the planet wheel at this time will be able to drive the internal gear as the driven wheel 2200" to rotate.
- the driven wheel 2200” will be able to rotate in the rotation direction V. Since the driven wheel 2200" and the transmission assembly 2300" are in an internal meshing relationship, the rotation direction W and the rotation direction V are the same.
- the driving wheel 2100" and the driven wheel 2200” can rotate in opposite directions.
- the gear ratio of the planet wheel and each meshing gear and controlling whether the pivot axis of the planet wheel can rotate around the central axis O-O, the rotation speeds of the driving wheel 2100" and the driven wheel 2200" can be changed.
- the reversing mechanism 2000"' can be a pulley reversing mechanism.
- the driving pulley 2100"' can be a driving pulley.
- the driven pulley 2200"' may be a driven pulley.
- the transmission assembly 2300"' may include an intermediate pulley 2310"', a first transmission belt 2320"" and a second transmission belt 2330"'.
- the first transmission belt 2320"' can connect the driving pulley 2100"' and the intermediate pulley 2310"'.
- the second transmission belt 2330"' can connect the intermediate pulley 2310"' and the driven pulley 2200"'.
- first transmission belt 2320"' and the second transmission belt 2330"' may adopt open transmission and the other may adopt cross transmission.
- the first transmission belt 2320"' is a cross transmission
- the second transmission belt 2330"' is an open transmission.
- the driving wheel 2100"' rotates in the rotation direction U
- the power can be transmitted to the intermediate pulley 2310"' through the first transmission belt 2320"'.
- the intermediate pulley 2310"' Rotate in the rotation direction W, where the rotation direction U and the rotation direction W are opposite.
- the intermediate pulley 2310"' can then transmit the power to the driven wheel 2200"' through the second transmission belt 2330"', because the second transmission belt 2330"' It is an open transmission, so the driven pulley 2200"' can rotate in the same direction as the intermediate pulley 2310"'.
- the rotation direction V of the driven pulley 2200"' is the same as the rotation direction W of the intermediate pulley 2310"'.
- the transmission structure can make the driving wheel 2100"' and the driven wheel 2200"' rotate around the same central axis and in opposite directions.
- the driving wheel 2100"', the intermediate pulley 2310"' and the The diameter of the driven wheel 2200"' can change the rotation speed of the driving wheel 2100"' and the driven wheel 2200"', which is well known to those skilled in the art and will not be described in detail.
- one of the driving wheel 2100 and the driven wheel 2200 may be provided with a cam shaft 2120 extending along the central axis O-O and toward the other, and the other one is pivotably sleeved on the cam shaft. 2120 on.
- the camshaft 2120 can be disposed on the driving wheel 2100 , so that the driven wheel 2200 can be sleeved on the driving wheel 2100 .
- the driven wheel 2200 can rotate on the camshaft 2120 on the driving wheel 2100.
- the pivot axis of the driving wheel 2100 and the pivot axis of the driven wheel 2200 are usually provided independently. This results in the two pivot axes being prone to errors and low coaxiality during the machining process. After the driving wheel 2100 and the driven wheel 2200 are installed, the coaxiality of the pivot axes of the driving wheel 2100 and the driven wheel 2200 will be low. During the rotation of the reversing mechanism 2000, vibration, noise and unnecessary wear will easily occur. Not only does it reduce the service life of the product, it also affects the user experience.
- the reversing mechanism 2000 provided by the embodiment of the present invention can improve the coaxiality between the driving wheel 2100 and the driven wheel 2200, and since the driving wheel 2100 and the driven wheel 2200 are connected through the camshaft 2120, it can also improve the coaxiality between the driving wheel 2100 and the driven wheel.
- the structural strength of 2200 makes the driving wheel 2100 and the driven wheel 2200 restricted by the camshaft 2120, which reduces the relative movement of the driving wheel 2100 and the driven wheel 2200 in the direction perpendicular to the central axis O-O, and improves the mechanical stability of the reversing mechanism 2000. performance and transmission.
- the driving wheel 2100 may include a first end surface 2101 and a second end surface 2102 with opposite central axes of O-O.
- the driven wheel 2200 may include a third end surface 2201 and a fourth end surface 2202 that are opposite to each other along the central axis O-O.
- the second end surface 2102 may be disposed facing the third end surface 2201.
- the first end surface 2101 may be fixed 1102 with the second rotation output end of the rotor 1100 .
- the second end surface 2102 may be provided with a convex shaft 2120 extending along the central axis O-O.
- the third end surface 2201 may be provided with a convex shaft mounting hole 2210 extending along the central axis O-O.
- the convex shaft 2120 is pivotally connected to the convex shaft mounting hole 2210.
- the convex shaft 2120 is provided in a gear reversing mechanism with a bevel gear. It can be understood that in other gear reversing mechanisms or pulley reversing mechanisms, as long as the active
- the wheel 2100 and the driven wheel 2200 are coaxially arranged, and this structure can also be used as a reference.
- the reversing mechanism 2000 with this structure can improve the coaxiality between the driving wheel 2100 and the driven wheel 2200.
- the structure is simple and easy to implement.
- the first bearing 2400 may be disposed in the convex shaft mounting hole 2210 .
- the outer ring of the first bearing 2400 may be fixedly connected to the inner peripheral wall of the convex shaft mounting hole 2210.
- the end of the convex shaft 2120 can be inserted into the inner ring of the first bearing 2400 and fixedly connected with the inner ring.
- the first bearing 2400 may include any existing or future bearing, such as a ball bearing, a roller bearing or a needle bearing, etc.
- the reversing mechanism 2000 provided with the first bearing 2400 can reduce the friction between the driven wheel 2200 and the camshaft 2120, so that the driven wheel 2200 can rotate on the camshaft 2120 more smoothly, and can also reduce the rotation process of the driven wheel 2200.
- the noise generated in the device improves the user experience.
- the convex shaft 2120 may be a stepped shaft having a first diameter D1 and a second diameter D2.
- the first diameter D1 may be smaller than the second diameter D2.
- the first bearing 2400 may be an interference fit on the stepped shaft having the first diameter D1.
- An annular groove 2121 may be provided on the outer peripheral wall of the stepped shaft having the first diameter.
- a clamp 2500 can be disposed in the annular groove 2121.
- the first bearing 2400 may be threaded on the stepped shaft having the first diameter.
- the first bearing 2400 may be sandwiched between the side wall of the second diameter stepped shaft and the clamp 2500 .
- the first bearing 2400 can be firmly installed on the camshaft 2120, preventing the first bearing 2400 from moving in the axial direction of the camshaft 2120, and improving the efficiency of the driven wheel 2200 when rotating on the camshaft 2120.
- the smoothness of the driven wheel 2200 reduces the noise generated during the rotation of the driven wheel 2200.
- the second rotation output end 1102 of the rotor 1100 may be provided with a driving wheel mounting hole 1120 extending along the central axis O-O.
- the driving wheel 2100 may be provided with a first protruding column 2110 extending along the central axis O-O.
- the first protruding post 2110 can be inserted into the driving wheel mounting hole 1120 and fixed with the driving wheel mounting hole 1120 .
- the first boss 2110 can be fixedly connected to the driving wheel mounting hole 1120 by means of threads, buckles, or welding, so that the rotor 1100 and the driving wheel 2100 can rotate synchronously.
- the rotor 1100 and the driving wheel 2100 may be connected through threads.
- the threaded connection structure is simple and easy to implement.
- a coupling (not shown) may be provided between the rotor 1100 and the driving wheel 2100 .
- the driving wheel 2100 may be connected to the rotor 1100 through a coupling. Setting the coupling can facilitate the disassembly and assembly of the rotor 1100 and the driving wheel 2100, making it convenient for users to repair and maintain the product.
- the coupling can be a keyless bushing.
- Keyless bushing is a tool that relies on friction connection.
- the keyless bushing can convert the tightening force of the bolt connection into surface pressure on the inner diameter side through the tapered surface. At the same time, it does not require time-consuming key processing of the shaft and the connecting shaft. The grinding work during assembly can make the shaft and the connecting shaft Connect firmly. Keyless bushings are well known to those skilled in the art and will not be described in detail.
- the outer ring of the keyless bushing may be fixedly connected to one of the rotor 1100 and the driving wheel 2100 .
- the inner ring of the keyless bushing can be fixedly connected with the other one of the rotor 1100 and the driving wheel 2100 .
- the connection force of the fixed connection may be the friction force between the keyless bushing and the rotor 1100 and the driving wheel 2100 respectively.
- the first rotation output end 1101 of the rotor 1100 may be provided with a first adapting hole 1110 extending along the central axis O-O of the rotor 1100 .
- the first adapting hole 1110 may be used for fixed connection with the first adapter 3100 .
- the first adapter 3100 can be plugged into the first adapting hole 1110 .
- Providing the first adapting hole 1110 can facilitate the connection between the first adapter 3100 and the rotor 1100, and can also improve the coaxiality between the first adapter 3100 and the rotor 1100.
- the first adapting hole 1110 may be communicated with the driving wheel mounting hole 1120 and form a hole with a uniform inner diameter penetrating along the central axis O-O. That is to say, the rotor 1100 can have a through shaft, which not only facilitates the installation of the first adapter 3100 and the driving wheel 2100, but also reduces the material of the rotor 1100, thereby reducing the mass of the rotor 110 and reducing the rotational inertia.
- the reversing mechanism 2000 may include a reversing mechanism housing 2600 .
- the reversing mechanism housing 2600 may be provided with a driven wheel mounting through hole 2610 extending along the central axis O-O.
- the driven wheel 2200 may be provided with a second boss 2220 extending along the central axis O-O.
- the second protruding post 2220 is pivotably inserted into the driven wheel mounting through hole 2610.
- the second protruding column 2220 may be provided with a second adapting hole 2221 extending along the central axis O-O.
- the second adapting hole 2221 may be used for fixed connection with the second adapter 3200 .
- Providing the second adapting hole 2221 can facilitate the connection between the second adapter 3200 and the driven wheel 2200, and can also improve the coaxiality between the second adapter 3200 and the driven wheel 2200.
- the first rotation output end 1101 of the rotor 1100 may be provided with a first adapting hole 1110 for connection with the first adapter 3100 .
- the driven wheel 2200 may be provided with a second adapting hole 2221 for connecting with the second adapter 3200 .
- the first adapting hole 1110 may have the same configuration as the second adapting hole 2221.
- the first adapting hole 1110 and the second adapting hole 2221 may have the same inner diameter. In this way, on the basis that the first adapter 3100 and the second adapter 3200 have the same structure, the first adapter 3100 and the second adapting hole 2221 have the same inner diameter.
- the second adapter 3200 can be used interchangeably to improve the interchangeability of the first adapter 3100 and the second adapter 3200.
- the motor 1000 may further include a motor housing 1300 and a stator 1200.
- the stator 1200 may be fixed within the motor housing 1300 by hot pressing.
- the rotor 1100 may be inserted into the stator 1200 .
- the motor housing 1300 can be heated to cause the motor housing 1300 to expand due to heat. In this way, a gap may be formed between the inner diameter of the motor housing 1300 and the outer diameter of the stator 1200 to facilitate installation.
- the motor housing 1300 and the stator 1200 can be tightly connected together.
- the number of connecting parts between the motor housing 1300 and the stator 1200 can be reduced, and the alignment between the motor housing 1300 and the electronics 1200 can also be improved, thereby improving the installation accuracy of the motor 1000, thereby helping to improve Motor 1000 performance.
- the rotor 1100 may be disposed in the motor housing 1300, the driving wheel 2100, the driven wheel 2200 and The transmission assembly 2300 may be disposed within the reversing mechanism housing 2600.
- the motor housing 1300 and the reversing mechanism housing 2600 may be one piece.
- the integrated part may include the motor housing 1300 and the reversing mechanism housing 2600 being produced and processed as one piece, or may include forming a non-detachable integrated structure after the motor 1000 and the reversing mechanism 2000 are connected.
- the motor housing 1300 and the commutation mechanism housing 2600 can be formed into an integrated piece by casting, or can also be formed into an integrated piece by welding or other methods.
- the motor housing 1300 and the reversing mechanism housing 2600 are integrated to improve the integrated structure of the bilateral reverse output device and improve the reliability during use.
- a transmission assembly pivot shaft 2700 may be disposed within the reversing mechanism housing 2600 .
- the transmission assembly 2300 is pivotably sleeved on the transmission assembly pivot shaft 2700.
- the transmission assembly pivot shaft 2700 may be a convex shaft disposed inside the reversing mechanism housing 2600 .
- the transmission assembly pivot shaft 2700 may be connected to the reversing mechanism housing 2600 by casting.
- the second bearing 2710 can be sleeved on the pivot shaft 2700 of the transmission assembly.
- the inner ring of the second bearing 2710 may be fixedly connected with the outer peripheral wall of the transmission assembly pivot shaft 2700.
- the transmission assembly 2300 may be fixedly connected with the outer ring of the second bearing 2710.
- the motor 1000 may further include a stator 1200 .
- the stator 1200 and the rotor 1100 may be arranged coaxially.
- the stator 1200 may include a stator core 1210 and stator windings disposed on the stator core 1210 .
- the stator windings may include copper wire wound over the stator core 1210 .
- the rotor 1100 may include a rotor core 1130 and a plurality of permanent magnets 1140 sequentially arranged on the rotor core 1130 .
- the plurality of permanent magnets 1140 may be arranged in sequence on the outer circumference of the rotor core 1130.
- the stator 1200 and the rotor 1100 may be coaxially disposed and an air gap may be formed between the stator 1200 and the rotor 1100 .
- a magnetic field can be formed around the stator winding that rotates around the geometric axis of the drive motor.
- the geometric axis may be the axis of the stator 1200 and the rotor 1100 .
- the magnetic field can drive the permanent magnet 1140 on the rotor 1100 to rotate, thereby driving the rotor 1100 to rotate.
- the performance of the motor 1000 is related to the number of permanent magnets 1140, the magnetic flux intensity of the permanent magnets 1140, the size of the motor input voltage and other factors.
- the permanent magnets 1140 may be Halbach array type permanent magnets.
- the Halbeck array can arrange permanent magnets with different magnetization directions according to certain rules, so that the magnetic field lines can be gathered on one side of the magnet and weakened on the other side, thereby obtaining a more ideal unilateral magnetic field. Through such regularly arranged permanent magnets, the field strength in the unit direction can be enhanced, thereby generating the strongest magnetic field with the smallest amount of permanent magnets 1140.
- motors with Halbach array permanent magnets can use fewer permanent magnets to generate the same magnetic field, thus leaving more space in the motor for increasing the rotor radius.
- an intermediate device such as a reducer, etc.
- the bilateral reverse output device can also reduce power loss during the process of transmitting power.
- the size of the double-sided reverse output device can also be reduced, making the double-sided reverse output device more highly integrated.
- the stator winding may adopt fractional slot concentrated winding.
- a plurality of stator tooth poles 1211 are provided on the inner circumference of the stator core 1210 and are spaced apart along its circumferential direction.
- a stator slot 1212 is defined between two adjacent stator tooth poles 1211 .
- the stator tooth pole 1211 may be wound with a winding coil. That is, the stator tooth poles 1211 and the stator slots 1212 are arranged in sequence.
- the stator core 1210 may also include a barrel-shaped housing, the root of the stator tooth pole 1211 is connected to the housing, and the end of the stator tooth pole 1211 extends toward the axis of the stator.
- the winding coil may be wound around the stator tooth poles 1211 .
- each winding coil in concentrated winding, after each winding coil is wound on the corresponding stator tooth pole 1211, it can enter the next adjacent stator tooth pole 1211 for winding without having to cross the adjacent stator tooth pole for winding. In this way, the winding coils do not overlap and are well insulated from each other.
- the length of the coil end can be shorter, so that the length of the motor in its axial direction can be better controlled, further reducing the size of the motor, which is beneficial to reducing product costs, and can also better control the motor's fever.
- stator core 1210 may be provided with 21 stator slots 1212
- the rotor core 1130 may be provided with 22 magnetic poles, and each magnetic pole may include a pair of Halbach array permanent magnets.
- the least common multiple between the number of stator slots 1212 and the magnetic poles will be very large. The larger the least common multiple, the more parts the rotor 1100 is divided into each revolution. In this way, the torque fluctuation is smaller, the motor will rotate relatively smoothly, and the cogging torque of the motor can also be reduced.
- the permanent magnets 1140 may be 10% larger along the axial length of the rotor 1100 than the axial length of the stator core 1210 . In this way, the magnetic field generated by the permanent magnet 1140 can be increased, thereby increasing the torque of the motor.
- the stator slot 1212 may also be configured as an inclined slot, that is to say, the stator slot 1212 forms a certain angle with the axis of the stator and is not parallel.
- the inclination amount of the stator slot 1212 may be n stator slot pitches, where n is less than 1.
- the stator slot 1212 has a first end and a second end that are connected with each other. If the stator slot 1212 is not inclined, then starting from the first end and extending along the axis of the stator is the second end of the stator slot 1212. If the inclination amount n is 1, then starting from the first end of the stator and extending along the axis of the stator, it will reach the second end of the adjacent stator slot, and so on.
- the motor with this arrangement can reduce vibration and noise generated by the rotor 1100 during rotation, and can also reduce fluctuations generated by the rotor 1100 during rotation.
- n ranges from 0.3 to 0.6.
- n may be 0.583.
- 0.5 is the slot pitch of the stator slot tilt
- 0.083 is the safety margin selected taking into account the manufacturing process error.
- the output torque fluctuation can be reduced by more than 10 times, but at the same time the output torque will only be reduced by 8% to 10%.
- the torque fluctuation It can already meet the needs of normal use, but if it is tilted by 1 groove pitch, although the torque fluctuation will be further reduced, the torque will also be lost by more than 15%.
- n can be selected as 0.583.
- each permanent magnet 1140 may include a first magnet 1141 and a second magnet 1142 whose magnetic pole directions are perpendicular to each other.
- the magnetic pole directions of the first magnet 1141 are opposite, and the magnetic pole directions of the second magnet 1142 are opposite, as shown in FIG. 9 .
- the field strength in the unit direction can be enhanced, thereby achieving the strongest magnetic field with the smallest amount of permanent magnets.
- the width of the first magnet and the second magnet may be 6.5 mm, and the height may be 3 mm, where the width refers to the dimension along the circumferential direction of the rotor, and the height refers to the dimension along the radial direction of the rotor. size.
- the first magnet 1141 and the second magnet 1142 may both be rare earth magnets. Since rare earth magnet steel has the characteristics of high remanence density, high coercivity and high magnetic energy product, it can allow the motor to have a larger air gap length and air gap density. Therefore, in terms of permanent magnet placement and magnetic circuit structure design, It has great flexibility and can be made into different structural shapes and sizes from traditional motors according to the use occasion. This can further reduce the mass and moment of inertia of the motor and improve the response sensitivity of the motor; it can also reduce the pulsation of the drive motor torque and increase the smoothness of operation; it can also simplify the structure and process of the motor.
- the motor may also include an encoder.
- the encoder can include: a magnetic or optical code disk and a circuit board.
- the circuit board can be integrated with an acquisition chip and a signal processing circuit.
- the acquisition chip can be used to collect the change information of the magnetic code disk or the optical code disk.
- the signal processing circuit can be used to process the change information and output position information.
- the magnetic code disk can be an annular magnetic grating formed by multiple magnetic poles arranged in sequence.
- the circuit board can be integrated with a Hall element acquisition chip and a signal processing circuit.
- the Hall element acquisition chip can be used to collect the magnetic pole change information of the magnetic code disk, and the signal processing circuit can be used to process the magnetic pole change information and output position information.
- the axis of rotation of the encoder can be coaxial with the axis of the rotor.
- the encoder can be driven to rotate.
- the Hall element acquisition chip can accurately measure the rotation angle of the rotor based on the magnetic pole change information collected from the magnetic code disk.
- optical code disk has a grating that allows light to pass through
- acquisition chip can be a photosensitive element acquisition chip.
- the photosensitive element collection chip can receive light through the grating.
- the signal processing circuit can be used to process light change information and output position information.
- the encoder may be an absolute value encoder greater than or equal to 14 bits.
- An absolute value encoder greater than or equal to 14 bits can improve the accuracy of the encoder to the rotation angle of the rotor 1100 .
- a rehabilitation training and digital fitness device may include a bilateral reverse output device, a first adapter 3100 and a second adapter 3200.
- the first adapter 3100 may be fixed to the first rotation output end 1101 of the rotor 1100.
- the second adapter 3200 may be fixed with the driven wheel 2200.
- the first adapter 3100 and the second adapter 3200 may include foot components or handle components, and the user may select the appropriate first adapter 3100 and second adapter 3200 according to the training content.
- the first adapter 3100 may include a first connecting rod 3110 and a first adapting portion 3120 .
- One end of the first connecting rod 3110 may be fixed with the first rotation output end 1101.
- the first adapting part 3120 is pivotally connected to the other end of the first link 3110, and the first link 3110 is perpendicular to the central axis O-O.
- the second adapter 3200 may include a second link 3210 and a second adapter part 3220.
- One end of the second link 3210 may be fixed to the driven wheel 2200 .
- the second adapting part 3220 is pivotally connected to the other end of the second link 3210, and the second link 3210 is perpendicular to the central axis O-O.
- both the first adapting part 3120 and the second adapting part 3220 are foot pedals.
- the user can place both feet on the pedals and use the rotation of the motor 1000 to drive the user's lower limbs to move, thereby achieving a training effect.
- the motor is a servo motor
- the user can also set the output torque of the servo motor.
- the motor can generate resistance in the opposite direction to the movement of the user's lower limbs, thereby Improve rehabilitation training or achieve fitness effects.
- first link 3110 and the second link 3210 may extend in the same direction from the central axis O-O in the initial position.
- the double-sided reverse output device in the figure is in the initial position, and the extending directions of the first link 3110 and the second link 3210 are both downward. Since the first adapter 3100 and the second adapter 3200 rotate in opposite directions, when the first adapter 3100 and the second adapter 3200 rotate at the same speed, the first adapter 3100 or the second adapter 3200 can be positioned at positions facing the same direction. Taking FIG. 10 as the initial position, the first adapter 3100 and the second adapter 3200 will be in an upward position together after rotating half a turn.
- the motion trajectories of the first adapter 3100 and the second adapter 3200 can be distinguished from the user's usage habits to the greatest extent, effectively stimulating the user's motor functions, improving rehabilitation training or achieving fitness effects.
- the initial positions of the first adapter 3100 and the second adapter 3200 may also have various situations, which will not be described again.
- area-relative terms may be used here, such as “on”, “over”, “on the surface of”, “on”, etc., to describe what is shown in the figure.
Landscapes
- Health & Medical Sciences (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
Provided in the present invention are a two-sided reverse output device, and a rehabilitation training and digital fitness apparatus having same. The two-sided reverse output device comprises: an electric motor, comprising a rotor, wherein the rotor is provided with a first rotating output end and a second rotating output end, which are oppositely arranged along a central axis and can rotate around the central axis, and the first rotating output end is used for connecting to a first adapter; and a reversing mechanism comprising a driving wheel, a driven wheel and a transmission assembly, wherein the driving wheel is coaxially fixed to the second rotating output end, the driven wheel can rotate around the central axis, the transmission assembly is connected to the driving wheel and the driven wheel and is used for rotating the driven wheel in reverse relative to the driving wheel, and the driven wheel is used for connecting to a second adapter. The two-sided reverse output device provided in the embodiments of the present invention enables power to be transmitted to the two output ends, which are used for connecting to a first adapter and a second adapter, when an electric motor is used as a power source.
Description
本发明涉及电机的技术领域,具体地,涉及一种双侧反向输出机构和具有其的康复训练和数字健身设备。The present invention relates to the technical field of motors, and in particular, to a bilateral reverse output mechanism and rehabilitation training and digital fitness equipment having the same.
在现实生活中,动力输出机构具有多种形式,其中,以电机最为常见。In real life, power output mechanisms take many forms, among which motors are the most common.
通常,电机具有定子和转子,在通电情况下,转子可以在定子内转动。常见的电机包括单出轴电机和双出轴电机。在单出轴电机中,转子的一端与枢转轴同轴连接,且延伸至电机壳的外部。在双出轴电机中,转子的相对的两端都具有与转子同轴连接的枢转轴,且都延伸至电机外壳的外部。Typically, a motor has a stator and a rotor, and the rotor can rotate within the stator when energized. Common motors include single-shaft motors and double-shaft motors. In a single-shaft motor, one end of the rotor is coaxially connected to the pivot shaft and extends to the outside of the motor housing. In a double-output shaft motor, the opposite ends of the rotor have pivot shafts coaxially connected to the rotor, and both extend to the outside of the motor housing.
单出轴电机具有一个枢转轴,即只具有一个动力输出端,如要增加动力输出端,则需要在枢转轴上连接多输出轴减速机。但是通常多输出轴减速机的多个输出端的枢转轴线是平行的,且多个输出端的延伸方向相同,在一些需要多个输出端的输出方向不同的场合下,具有局限性。对于双出轴电机来说,虽然两个枢转轴相向设置,但是两个枢转轴由于都与转子直接连接,所以两个枢转轴的转动方向相同,在一些需要双侧反向转动的场合下,依然使用不方便。The single output shaft motor has a pivot shaft, that is, it has only one power output end. If you want to increase the power output end, you need to connect a multi-output shaft reducer to the pivot shaft. However, usually the pivot axes of multiple output ends of a multi-output shaft reducer are parallel, and the extension directions of the multiple output ends are the same. This has limitations in some situations where the output directions of multiple output ends are different. For a double-output shaft motor, although the two pivot axes are set facing each other, since the two pivot axes are directly connected to the rotor, the rotation direction of the two pivot axes is the same. In some situations where reverse rotation on both sides is required, Still inconvenient to use.
发明内容Contents of the invention
为了至少部分地解决现有技术中存在的问题,根据本发明的一个方面,提供一种应用于康复训练和数字健身设备的双侧反向输出装置。双侧反向输出装置包括:电机,电机包括转子,转子具有沿中心轴线相对设置且绕中心轴线可转动的第一转动输出端和第二转动输出端,第一转动输出端用于连接第一适配器;换向机构,换向机构包括主动轮、从动轮和传动组件,主动轮与第二转动输出端同轴固定,从动轮绕中心轴线可转动,传 动组件连接主动轮和从动轮,传动组件用于使从动轮相对于主动轮反向转动,从动轮用于连接第二适配器。In order to at least partially solve the problems existing in the prior art, according to one aspect of the present invention, a bilateral reverse output device applied to rehabilitation training and digital fitness equipment is provided. The double-sided reverse output device includes: a motor. The motor includes a rotor. The rotor has a first rotation output end and a second rotation output end that are relatively arranged along a central axis and can rotate around the central axis. The first rotation output end is used to connect the first rotation output end and the first rotation output end. Adapter; reversing mechanism. The reversing mechanism includes a driving wheel, a driven wheel and a transmission assembly. The driving wheel is coaxially fixed with the second rotating output end. The driven wheel can rotate around the central axis. The transmission assembly connects the driving wheel and the driven wheel. The transmission assembly It is used to reversely rotate the driven wheel relative to the driving wheel, and the driven wheel is used to connect the second adapter.
示例性地,主动轮与传动组件的传动比等于从动轮与传动组件的传动比。For example, the transmission ratio between the driving wheel and the transmission assembly is equal to the transmission ratio between the driven wheel and the transmission assembly.
示例性地,换向机构为齿轮换向机构或带轮换向机构。Illustratively, the reversing mechanism is a gear reversing mechanism or a belt reversing mechanism.
示例性地,换向机构为齿轮换向机构,主动轮为主动齿轮,从动轮为从动齿轮,传动组件为中间齿轮,中间齿轮直接啮合在主动齿轮和从动齿轮之间。For example, the reversing mechanism is a gear reversing mechanism, the driving wheel is a driving gear, the driven wheel is a driven gear, the transmission component is an intermediate gear, and the intermediate gear is directly meshed between the driving gear and the driven gear.
示例性地,主动齿轮和从动齿轮沿着中心轴线间隔开设置,中间齿轮的枢转轴线是固定的且垂直于中心轴线,主动齿轮、从动齿轮和中间齿轮均为外啮合齿轮。For example, the driving gear and the driven gear are spaced apart along the central axis, the pivot axis of the intermediate gear is fixed and perpendicular to the central axis, and the driving gear, the driven gear and the intermediate gear are all external meshing gears.
示例性地,主动齿轮、从动齿轮和中间齿轮均为锥形齿轮。For example, the driving gear, the driven gear and the intermediate gear are all bevel gears.
示例性地,主动齿轮和从动齿轮中的一个为外啮合齿轮且另一个为内啮合齿轮,外啮合齿轮设置在内啮合齿轮的径向内侧,中间齿轮为外啮合齿轮,中间齿轮的枢转轴线是固定的且平行于中心轴线。Illustratively, one of the driving gear and the driven gear is an external meshing gear and the other is an internal meshing gear, the external meshing gear is disposed radially inside the internal meshing gear, the intermediate gear is an external meshing gear, and the pivot of the intermediate gear The axis is fixed and parallel to the central axis.
示例性地,换向机构为带轮换向机构,主动轮为主动带轮,从动轮为从动带轮,传动组件包括中间带轮、第一传动带和第二传动带,第一传动带连接主动带轮和中间带轮,第二传动带连接中间带轮和从动带轮,其中,第一传动带和第二传动带中的一个采用开口传动且另一个采用交叉传动。Exemplarily, the reversing mechanism is a pulley reversing mechanism, the driving pulley is a driving pulley, and the driven pulley is a driven pulley. The transmission assembly includes an intermediate pulley, a first transmission belt and a second transmission belt. The first transmission belt is connected to the driving pulley. and an intermediate pulley, and the second transmission belt connects the intermediate pulley and the driven pulley, wherein one of the first transmission belt and the second transmission belt adopts open transmission and the other adopts cross transmission.
示例性地,主动轮和从动轮中的一个上设置有沿中心轴线且朝向另一个延伸的凸轴,且另一个可枢转地套设在凸轴上。For example, one of the driving wheel and the driven wheel is provided with a cam shaft extending along the central axis and toward the other, and the other is pivotably sleeved on the cam shaft.
示例性地,主动轮包括中心轴线相对设置的第一端面和第二端面,从动轮包括中心轴线相对设置的第三端面和第四端面,第二端面与第三端面面对面设置,第一端面与转子的第二转动输出端固定,第二端面设置有沿中心轴线延伸的凸轴,第三端面设置有沿中心轴线延伸的凸轴安装孔,凸轴可枢转地与凸轴安装孔连接。Exemplarily, the driving wheel includes a first end surface and a second end surface with central axes opposite to each other, the driven wheel includes a third end surface and a fourth end surface with central axes opposite to each other, the second end surface and the third end surface are arranged face to face, and the first end surface is opposite to the third end surface. The second rotation output end of the rotor is fixed, the second end face is provided with a convex shaft extending along the central axis, the third end face is provided with a convex shaft mounting hole extending along the central axis, and the convex shaft is pivotably connected to the convex shaft mounting hole.
示例性地,凸轴安装孔内设置有第一轴承,第一轴承的外圈与凸轴安装孔的内周壁固定连接,凸轴的端部插接在第一轴承的内圈中且与内圈固定连接。Exemplarily, a first bearing is provided in the convex shaft mounting hole. The outer ring of the first bearing is fixedly connected to the inner peripheral wall of the convex shaft mounting hole. The end of the convex shaft is inserted into the inner ring of the first bearing and connected with the inner ring. Circle fixed connection.
示例性地,凸轴为具有第一直径和第二直径的台阶轴,其中第一直径小于第二直径,第一轴承过盈配合在具有第一直径的台阶轴上,在具有第一直径的台阶轴的外周壁上设置有环形凹槽,环形凹槽内设置有卡箍,第一轴承穿设在具有第一直径的台阶轴上,第一轴承夹设在第二直径的台阶轴的侧壁与卡箍之间。Exemplarily, the convex shaft is a stepped shaft having a first diameter and a second diameter, wherein the first diameter is smaller than the second diameter, the first bearing is interference-fitted on the stepped shaft having the first diameter, and the first bearing is interference-fitted on the stepped shaft having the first diameter. An annular groove is provided on the outer peripheral wall of the stepped shaft, and a clamp is provided in the annular groove. The first bearing is penetrated on the stepped shaft with a first diameter, and the first bearing is clamped on the side of the stepped shaft with a second diameter. between the wall and the clamp.
示例性地,转子的第二转动输出端处设置有沿中心轴线延伸的主动轮安装孔,主动轮上设置有沿中心轴线延伸第一凸柱,第一凸柱插接在主动轮安装孔内且与主动轮安装孔固定。Exemplarily, the second rotation output end of the rotor is provided with a driving wheel mounting hole extending along the central axis, the driving wheel is provided with a first protruding post extending along the central axis, and the first protruding post is inserted into the driving wheel mounting hole. And fixed with the driving wheel mounting hole.
示例性地,转子与主动轮之间设置有联轴器,主动轮通过联轴器连接至转子。For example, a coupling is provided between the rotor and the driving wheel, and the driving wheel is connected to the rotor through the coupling.
示例性地,联轴器为免键轴衬,免键轴衬的外圈与转子和主动轮中的一个固定连接,免键轴衬的内圈与转子和主动轮中的另一个固定连接。For example, the coupling is a keyless bushing, the outer ring of the keyless bushing is fixedly connected to one of the rotor and the driving wheel, and the inner ring of the keyless bushing is fixedly connected to the other of the rotor and the driving wheel.
示例性地,转子的第一转动输出端处设置有沿转子的中心轴线延伸的第一适配孔,第一适配孔用于与第一适配部固定连接。Exemplarily, the first rotation output end of the rotor is provided with a first adapting hole extending along the central axis of the rotor, and the first adapting hole is used for fixed connection with the first adapting part.
示例性地,第一适配孔与主动轮安装孔连通且形成沿中心轴线贯通的内径均匀的孔。Illustratively, the first adapting hole communicates with the driving wheel mounting hole and forms a hole with a uniform inner diameter penetrating along the central axis.
示例性地,换向机构包括换向机构壳体,在换向机构壳体上设置有沿中心轴线延伸的从动轮安装通孔,从动轮上设置有沿中心轴线延伸的第二凸柱,第二凸柱可枢转地插接在从动轮安装通孔内。Exemplarily, the reversing mechanism includes a reversing mechanism housing. The reversing mechanism housing is provided with a driven wheel mounting through hole extending along the central axis. The driven wheel is provided with a second protruding column extending along the central axis. The two protruding columns are pivotably inserted into the driven wheel installation through hole.
示例性地,在第二凸柱上设置有沿中心轴线延伸的第二适配孔,第二适配孔用于与第二适配部固定连接。For example, a second adapting hole extending along the central axis is provided on the second protruding column, and the second adapting hole is used for fixed connection with the second adapting part.
示例性地,转子的第一转动输出端设置有用于与第一适配器连接的第一适配孔,从动轮上设置有用于与第二适配器连接的第二适配孔,第一适配孔与第二适配孔具有相同的构造。Illustratively, the first rotation output end of the rotor is provided with a first adapting hole for connecting to the first adapter, and the driven wheel is provided with a second adapting hole for connecting to the second adapter. The first adapting hole is connected to the second adapter. The second adapter hole has the same configuration.
示例性地,电机还包括电机壳体和定子,定子热压固定在电机壳体内,转子穿设在定子内。Exemplarily, the motor further includes a motor housing and a stator. The stator is heat-pressed and fixed in the motor housing, and the rotor is inserted into the stator.
示例性地,电机包括电机壳体,转子设置在电机壳体内,换向机构还包括换向机构壳体,主动轮、从动轮和传动组件设置在换向机构壳体内,电机壳体和换向壳体为一体件。Exemplarily, the motor includes a motor housing, the rotor is arranged in the motor housing, the reversing mechanism also includes a reversing mechanism housing, the driving wheel, the driven wheel and the transmission assembly are arranged in the reversing mechanism housing, the motor housing It is integrated with the reversing housing.
示例性地,换向机构壳体内设置有传动组件枢转轴,传动组件可枢转地套设在传动组件枢转轴上。For example, a transmission assembly pivot shaft is provided in the reversing mechanism housing, and the transmission assembly is pivotably sleeved on the transmission assembly pivot shaft.
示例性地,传动组件枢转轴上套设有第二轴承,第二轴承的内圈与传动组件枢转轴的外周壁固定连接,传动组件与第二轴承的外圈固定连接。For example, a second bearing is set on the pivot shaft of the transmission assembly. The inner ring of the second bearing is fixedly connected to the outer peripheral wall of the pivot shaft of the transmission assembly. The transmission assembly is fixedly connected to the outer ring of the second bearing.
示例性地,电机还包括定子,定子与转子同轴设置,定子包括定子芯及设置于定子芯上的定子绕组,转子包括转子芯及依次排列于转子芯上的多个永磁体,永磁体为海尔贝克阵列型永磁体,定子与转子同轴设置且在定子与转子之间形成气隙。Exemplarily, the motor further includes a stator, which is coaxially arranged with the rotor. The stator includes a stator core and a stator winding provided on the stator core. The rotor includes a rotor core and a plurality of permanent magnets arranged in sequence on the rotor core. The permanent magnets are Halbach array type permanent magnet, the stator and the rotor are coaxially arranged and an air gap is formed between the stator and the rotor.
示例性地,定子绕组采用分数槽集中绕组,其中,在定子芯的内圆周上设有多个沿其周向间隔开布置的定子齿极,相邻两个定子齿极之间限定出定子槽,定子齿极上缠绕有绕组线圈。Exemplarily, the stator winding adopts fractional slot concentrated winding, in which a plurality of stator tooth poles are arranged on the inner circumference of the stator core and are spaced apart along its circumferential direction, and a stator slot is defined between two adjacent stator tooth poles. , there are winding coils wrapped around the stator tooth poles.
示例性地,定子槽为倾斜n个定子槽距的斜槽,其中n小于1。Exemplarily, the stator slot is an inclined slot inclined by n stator slot pitches, where n is less than 1.
示例性地,电机还包括编码器,编码器包括:磁码盘或者光码盘;以及电路板,电路板上集成有采集芯片和信号处理电路,采集芯片用于采集磁码盘或光码盘的变化信息,信号处理电路用于对变化信息进行处理,输出位置信息。Exemplarily, the motor also includes an encoder. The encoder includes: a magnetic code disk or an optical code disk; and a circuit board. The circuit board is integrated with a collection chip and a signal processing circuit. The collection chip is used to collect the magnetic code disk or the optical code disk. The change information, the signal processing circuit is used to process the change information and output position information.
示例性地,编码器为大于或等于14位的绝对值编码器。Illustratively, the encoder is an absolute value encoder greater than or equal to 14 bits.
具有本发明实施例所提供的双侧反向输出装置,可以在一个电机为动力源的情况下,向两个用于连接于第一适配器和第二适配器的输出端传输动力。其中,两个输出端具有同轴以及转动方向相反的特点。具有该设置的双侧反向输出装置应用于康复训练设备中,可以帮助患者对双侧肢体进行协同训练。进一步地,由于两个输出端带动的第一适配器和第二适配的转动方向相反,与患者正常的使用习惯不同,还可以对患者的运动机能起到刺激的作用,提高康复训练的效果。相比现有技术中,两个转向不同的输出端需要通过两个电机来说,可以减少电机数量的设置,提高产品的集成度,缩小产品尺寸。对于单出轴电机与多输出轴减速机进行连接来说,结构简单,连接方便,成本低廉。对于双出轴电机来说,可以实现双侧反向输出的效果。With the double-sided reverse output device provided by the embodiment of the present invention, power can be transmitted to two output ends for connecting to the first adapter and the second adapter when one motor is used as the power source. Among them, the two output ends have the characteristics of coaxiality and opposite rotation directions. The bilateral reverse output device with this setting is used in rehabilitation training equipment to help patients perform coordinated training of bilateral limbs. Furthermore, since the rotation directions of the first adapter and the second adapter driven by the two output ends are opposite, which is different from the patient's normal usage habits, it can also stimulate the patient's motor function and improve the effect of rehabilitation training. Compared with the existing technology, two output ends with different directions need to pass through two motors, which can reduce the number of motor settings, improve product integration, and reduce product size. For the connection between a single output shaft motor and a multi-output shaft reducer, the structure is simple, the connection is convenient, and the cost is low. For double output shaft motors, the effect of reverse output on both sides can be achieved.
根据本发明的另一个方面,提供一种康复训练和数字健身设备,包括上文中任一种双侧反向输出装置、第一适配器和第二适配器,第一适配器 与转子的第一转动输出端固定,第二适配器与从动轮固定。According to another aspect of the present invention, a rehabilitation training and digital fitness equipment is provided, including any of the above bilateral reverse output devices, a first adapter and a second adapter, the first adapter being connected to the first rotation output end of the rotor Fixed, the second adapter is fixed with the driven wheel.
示例性地,第一适配器包括第一连杆和第一适配部,第一连杆的一端与第一转动输出端固定,第一适配部可枢转地连接在第一连杆的另一端,且第一连杆与中心轴线垂直,第二适配器包括第二连杆和第二适配部,第二连杆的一端与从动轮固定,第二适配部可枢转地连接在第二连杆的另一端,且第二连杆与中心轴线垂直。Exemplarily, the first adapter includes a first connecting rod and a first adapting part. One end of the first connecting rod is fixed to the first rotation output end, and the first adapting part is pivotably connected to the other end of the first connecting rod. One end, and the first connecting rod is perpendicular to the central axis, the second adapter includes a second connecting rod and a second adapting part, one end of the second connecting rod is fixed to the driven wheel, and the second adapting part is pivotably connected to the second connecting rod. The other end of the second connecting rod is perpendicular to the central axis.
示例性地,第一适配部和第二适配部均为脚踏。By way of example, both the first adapting part and the second adapting part are footrests.
示例性地,第一连杆和第二连杆在初始位置由中心轴线朝向相同方向延伸。Illustratively, the first link and the second link extend in the same direction from the central axis in the initial position.
在发明内容中引入了一系列简化形式的概念,这将在具体实施方式部分中进一步详细说明。本发明内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征,更不意味着试图确定所要求保护的技术方案的保护范围。This Summary introduces a series of concepts in a simplified form that are further described in the Detailed Description. The summary of the present invention is not intended to limit the key features and necessary technical features of the claimed technical solution, nor is it intended to determine the protection scope of the claimed technical solution.
以下结合附图,详细说明本发明的优点和特征。The advantages and features of the present invention will be described in detail below with reference to the accompanying drawings.
本发明的下列附图在此作为本发明的一部分用于理解本发明。附图中示出了本发明的实施方式及其描述,用来解释本发明的原理。在附图中,The following drawings of the present invention are hereby incorporated as a part for the understanding of the present invention. The drawings illustrate embodiments of the invention and their descriptions serve to explain the principles of the invention. In the attached picture,
图1为根据本发明的一个示例性实施例的双侧反向输出装置的立体图;Figure 1 is a perspective view of a double-sided reverse output device according to an exemplary embodiment of the present invention;
图2为图1所示的双侧反向输出装置剖视图;Figure 2 is a cross-sectional view of the bilateral reverse output device shown in Figure 1;
图3为根据本发明的一个示例性实施例的齿轮换向机构的示意图;Figure 3 is a schematic diagram of a gear reversing mechanism according to an exemplary embodiment of the present invention;
图4为根据本发明的另一个示例性实施例的齿轮换向机构的示意图;Figure 4 is a schematic diagram of a gear reversing mechanism according to another exemplary embodiment of the present invention;
图5a-5b为根据本发明的一个示例性实施例的带轮换向机构的示意图;Figures 5a-5b are schematic diagrams of a belt rotation mechanism according to an exemplary embodiment of the present invention;
图6为图2中的齿轮换向机构的剖视图;Figure 6 is a cross-sectional view of the gear reversing mechanism in Figure 2;
图7为图6中的齿轮换向机构的局部放大图;Figure 7 is a partial enlarged view of the gear reversing mechanism in Figure 6;
图8为根据本发明的一个示例性实施例的电机的剖视图;Figure 8 is a cross-sectional view of a motor according to an exemplary embodiment of the present invention;
图9为图8中的电机的局部放大图;以及Figure 9 is a partial enlarged view of the motor in Figure 8; and
图10为图1中的双侧反向输出装置的主视图。FIG. 10 is a front view of the double-sided reverse output device in FIG. 1 .
其中,上述附图包括以下附图标记:Among them, the above-mentioned drawings include the following reference signs:
1000、电机;1100、转子;1101、第一转动输出端;1102、第二转动输出端;1110、第一适配孔;1120、主动轮安装孔;1130、转子芯;1140、永磁体;1141、第一磁钢;1142、第二磁钢;1200、定子;1210、定子芯;1211、定子齿极;1212、定子槽;1300、电机壳体;2000、2000’、2000”、2000”’、换向机构;2100、2100’、2100”、2100”’、主动轮;2101、第一端面;2102、第二端面;2110、第一凸柱;2120、凸轴;2121、环形凹槽;2200、2200’、2200”、2200”’、从动轮;2201、第三端面;2202、第四端面;2210、凸轴安装孔;2220、第二凸柱;2221、第二适配孔;2300、2300’、2300”、2300”’、传动组件;2400、第一轴承;2500、卡箍;2600、换向机构壳体;2610、安装通孔;2700、传动组件枢转轴;2710、第二轴承;3100、第一适配器;3110、第一连杆;3120、第一适配部;3200、第二适配器;3210、第二连杆;3220、第二适配部。1000. Motor; 1100. Rotor; 1101. First rotation output end; 1102. Second rotation output end; 1110. First adapter hole; 1120. Driving wheel mounting hole; 1130. Rotor core; 1140. Permanent magnet; 1141 , the first magnet; 1142, the second magnet; 1200, stator; 1210, stator core; 1211, stator tooth pole; 1212, stator slot; 1300, motor shell; 2000, 2000', 2000", 2000" ', reversing mechanism; 2100, 2100', 2100", 2100"', driving wheel; 2101, first end face; 2102, second end face; 2110, first convex column; 2120, convex shaft; 2121, annular groove ; 2200, 2200', 2200", 2200"', driven wheel; 2201, third end face; 2202, fourth end face; 2210, camshaft mounting hole; 2220, second convex column; 2221, second adapter hole; 2300, 2300', 2300", 2300"', transmission assembly; 2400, first bearing; 2500, clamp; 2600, reversing mechanism housing; 2610, mounting through hole; 2700, transmission assembly pivot shaft; 2710, No. Two bearings; 3100, first adapter; 3110, first connecting rod; 3120, first adapting part; 3200, second adapter; 3210, second connecting rod; 3220, second adapting part.
在下文的描述中,提供了大量的细节以便能够彻底地理解本发明。然而,本领域技术人员可以了解,如下描述仅示例性地示出了本发明的优选实施例,本发明可以无需一个或多个这样的细节而得以实施。此外,为了避免与本发明发生混淆,对于本领域公知的一些技术特征未进行详细描述。In the following description, numerous details are provided to provide a thorough understanding of the invention. However, those skilled in the art will appreciate that the following description merely illustrates preferred embodiments of the invention and that the invention may be practiced without one or more such details. In addition, in order to avoid confusion with the present invention, some technical features well known in the art are not described in detail.
根据本发明的一个方面,提供了一种双侧反向输出装置。双侧反向输出装置包括电机1000和换向机构2000。如图1-2所示。换向机构2000可以设置在电机1000的内部也可以设置在电机100的外部。换向机构2000设置在电机1000的内部,可以使双侧反向输出装置整体结构更为紧凑,密封性好。换向机构2000设置在电机1000的外部,则可以使结构简单,加工成本低,易于实现。According to one aspect of the present invention, a double-sided reverse output device is provided. The double-sided reverse output device includes a motor 1000 and a reversing mechanism 2000. As shown in Figure 1-2. The reversing mechanism 2000 may be disposed inside the motor 1000 or outside the motor 100 . The reversing mechanism 2000 is arranged inside the motor 1000, which can make the overall structure of the bilateral reverse output device more compact and have good sealing performance. If the reversing mechanism 2000 is arranged outside the motor 1000, the structure can be simple, the processing cost is low, and the implementation is easy.
电机1000可以包括现有的或未来可能出现的任一种电机。电机1000可以包括转子1100。转子1100可以为电机1000的旋转部分,转子1100可以绕其中心轴线转动O-O。转子1100可以包括第一转动输出端1101和第二转动输出端1102。第一转动输出端1101和第二转动输出端1102可以 沿转子1100的中心轴线O-O相对设置。第一转动输出端1101和第二转动输出端1102可以绕中心轴线O-O转动。第一转动输出端1101和第二转动输出端1102在转子1100上可以具有多种结构,该结构可以为在转子1100的端部延伸出的平键轴或花键轴,还可以为在转子1100的端部设置的连接孔等。The electric machine 1000 may include any existing electric machine or any electric machine that may appear in the future. Electric machine 1000 may include a rotor 1100 . The rotor 1100 may be a rotating part of the motor 1000, and the rotor 1100 may rotate O-O around its central axis. The rotor 1100 may include a first rotational output end 1101 and a second rotational output end 1102 . The first rotation output end 1101 and the second rotation output end 1102 may be arranged oppositely along the central axis O-O of the rotor 1100. The first rotation output end 1101 and the second rotation output end 1102 can rotate around the central axis O-O. The first rotation output end 1101 and the second rotation output end 1102 can have various structures on the rotor 1100 . The structure can be a flat key shaft or a spline shaft extending from the end of the rotor 1100 , or it can be a spline shaft on the rotor 1100 . Connection holes provided at the end, etc.
换向机构2000可以包括主动轮2100、从动轮2200和传动组件2300。主动轮2100可以与转子1100的第二转动输出端1102同轴固定。主动轮2100可以随转子1100转动。固定方式可以包括螺纹连接、焊接或其他任意连接方式。从动轮2200绕中心轴线O-O可转动。也就是说主动轮2100、从动轮2200以及转子1100可以同轴设置,且均可绕中心轴线O-O转动。传动组件2300可以连接主动轮2100和从动轮2200。传动组件2300可以用于使从动轮2200相对于主动轮2100反向转动。换向机构2000可以包括齿轮换向机构、带轮换向机构或任意一种转动机构。在一些实施例中,换向机构2000可以为减速机,减速机可以具有输入端和输出端。输入端和输出端可以在减速机内的传动元件的作用下实现输出端与输入端的反向旋转。当然,换向机构2000不局限于减速机,下文还将对换向机构2000的其他实施例进行详细的描述。The reversing mechanism 2000 may include a driving wheel 2100, a driven wheel 2200 and a transmission assembly 2300. The driving wheel 2100 may be coaxially fixed with the second rotation output end 1102 of the rotor 1100 . The driving wheel 2100 can rotate with the rotor 1100. Fixing methods may include threaded connections, welding or any other connection methods. The driven wheel 2200 is rotatable around the central axis O-O. That is to say, the driving wheel 2100, the driven wheel 2200 and the rotor 1100 can be arranged coaxially, and can all rotate around the central axis O-O. The transmission assembly 2300 can connect the driving wheel 2100 and the driven wheel 2200. The transmission assembly 2300 may be used to reversely rotate the driven wheel 2200 relative to the driving wheel 2100 . The reversing mechanism 2000 may include a gear reversing mechanism, a belt reversing mechanism, or any kind of rotation mechanism. In some embodiments, the reversing mechanism 2000 may be a reducer, and the reducer may have an input end and an output end. The input end and the output end can achieve reverse rotation of the output end and the input end under the action of the transmission element in the reducer. Of course, the reversing mechanism 2000 is not limited to a reducer, and other embodiments of the reversing mechanism 2000 will be described in detail below.
其中,第一转动输出端1101可以用于连接第一适配器3100。从动轮2200可以用于连接第二适配器3200。在一些实施例中,第一适配器3100和第二适配器3200可以包括脚踏组件、手柄组件或是任意通过转动可以达到康复训练和数字键身的装置。Among them, the first rotation output end 1101 can be used to connect the first adapter 3100. The driven wheel 2200 can be used to connect the second adapter 3200. In some embodiments, the first adapter 3100 and the second adapter 3200 may include a foot pedal assembly, a handle assembly, or any device that can achieve rehabilitation training and numeric keypads through rotation.
在如图2所示的实施例中,当电机1000工作时,转子1100转动。转子1100可以绕中心轴线O-O以转动方向U转动。同时,转子1100可以带动第一适配器3100以及主动轮2100也以转动方向U转动。传动组件2300连接在主动轮2100和从动轮2200之间,转子1100的动力可以通过主动轮2100和传动组件2300传递至从动轮2200,最终使从动轮2200以及与从动轮2200连接的第二适配器绕中心轴线O-O以转动方向V转动。其中,转动方向U和转动方向V方向相反。In the embodiment shown in Figure 2, when the motor 1000 is operating, the rotor 1100 rotates. The rotor 1100 can rotate in the rotation direction U about the central axis O-O. At the same time, the rotor 1100 can drive the first adapter 3100 and the driving wheel 2100 to also rotate in the rotation direction U. The transmission assembly 2300 is connected between the driving wheel 2100 and the driven wheel 2200. The power of the rotor 1100 can be transmitted to the driven wheel 2200 through the driving wheel 2100 and the transmission assembly 2300, and finally the driven wheel 2200 and the second adapter connected to the driven wheel 2200 are rotated around. The central axis O-O rotates in the rotation direction V. Among them, the rotation direction U and the rotation direction V are opposite.
由于转子1100、主动轮2100和第一适配器3100相对固定连接,所以转子1100、主动轮2100和第一适配器3100可以同步转动。由于从动轮2200和第二适配器3200相对固定连接,所以从动轮2200和第二适配器3200 可以同步转动。为了方便对转速进行描述,仅以主动轮2100和从动轮2200的转动方向和转速进行描述。示例性地,由于第一适配器3100和第二适配器3200的用途不同,所以第一适配器3100和第二适配器3200的使用方式也可以不同。用户可以根据第一适配器3100和第二适配器3200的功能对换向机构2000进行合理地选择。在一些实施中,换向机构2000可以使主动轮2100和从动轮2200反向同步转动,也就是说换向机构2000仅改变主动轮2100和从动轮2200的转动方向,主动轮2100和从动轮2200具有相同的转速。在另一些实施例中,换向机构2000还可以使主动轮2100和从动轮2200反向异步转动,主动轮2100和从动轮2200可以具有不同的转速。在主动轮2100和从动轮2200具有不同的转速的实施例中,换向机构2000既可以充当减速器也可以充当加速器,本领域技术人员可以理解。Since the rotor 1100, the driving wheel 2100 and the first adapter 3100 are relatively fixedly connected, the rotor 1100, the driving wheel 2100 and the first adapter 3100 can rotate synchronously. Since the driven wheel 2200 and the second adapter 3200 are relatively fixedly connected, the driven wheel 2200 and the second adapter 3200 can rotate synchronously. In order to facilitate the description of the rotation speed, only the rotation direction and rotation speed of the driving wheel 2100 and the driven wheel 2200 are used for description. For example, since the first adapter 3100 and the second adapter 3200 have different uses, the first adapter 3100 and the second adapter 3200 may also be used in different ways. The user can reasonably select the reversing mechanism 2000 according to the functions of the first adapter 3100 and the second adapter 3200. In some implementations, the reversing mechanism 2000 can cause the driving wheel 2100 and the driven wheel 2200 to rotate synchronously in opposite directions. That is to say, the reversing mechanism 2000 only changes the rotation direction of the driving wheel 2100 and the driven wheel 2200. The driving wheel 2100 and the driven wheel 2200 have the same rotational speed. In other embodiments, the reversing mechanism 2000 can also cause the driving wheel 2100 and the driven wheel 2200 to rotate asynchronously in opposite directions, and the driving wheel 2100 and the driven wheel 2200 can have different rotational speeds. In an embodiment in which the driving wheel 2100 and the driven wheel 2200 have different rotational speeds, the reversing mechanism 2000 can act as both a reducer and an accelerator, as will be understood by those skilled in the art.
可以理解的是,主动轮2100与从动轮2200的转速跟以其两个轮与传动组件2300的传动比有关。优选地,主动轮2100与传动组件2300的传动比等于从动轮2200与传动组件2300的传动比。这样,经过传动组件2300的传动,从动轮2200的转动方向可以与主动轮2100的转动方向相反,且从动轮2200与主动轮2100具有相同的转速。以第一适配器3100和第二适配器3200用于训练用户的双侧肢体为例,主动轮2100和从动轮2200转速相同可以起到对双侧肢体平均训练的效果。当然可以理解的是,有特殊需求的用户也可以通过改变以上所述的传动比满足用户的需求。It can be understood that the rotational speeds of the driving wheel 2100 and the driven wheel 2200 are related to the transmission ratio of the two wheels and the transmission assembly 2300 . Preferably, the transmission ratio between the driving wheel 2100 and the transmission assembly 2300 is equal to the transmission ratio between the driven wheel 2200 and the transmission assembly 2300 . In this way, through the transmission of the transmission assembly 2300, the rotation direction of the driven wheel 2200 can be opposite to the rotation direction of the driving wheel 2100, and the driven wheel 2200 and the driving wheel 2100 have the same rotation speed. Taking the first adapter 3100 and the second adapter 3200 for training the user's bilateral limbs as an example, the same rotation speed of the driving wheel 2100 and the driven wheel 2200 can achieve an average training effect on both limbs. Of course, it is understandable that users with special needs can also change the above-mentioned transmission ratio to meet the user's needs.
由此可知,具有本发明实施例所提供的双侧反向输出装置,可以在一个电机为动力源的情况下,向两个用于连接于第一适配器3100和第二适配器3200的输出端传输动力。其中,两个输出端具有同轴以及转动方向相反的特点。具有该设置的双侧反向输出装置应用于康复训练设备中,可以帮助患者对双侧肢体进行协同训练。进一步地,由于两个输出端带动的第一适配器3100和第二适配3200的转动方向相反,与患者正常的使用习惯不同,还可以对患者的运动机能起到刺激的作用,提高康复训练的效果。相比现有技术中,两个转向不同的输出端需要通过两个电机来说,可以减少电机数量的设置,提高产品的集成度,缩小产品尺寸。对于单出轴电机与多输出轴减速机进行连接来说,结构简单,连接方便,成本低廉。对于双出轴电机来说,可以实现双侧反向输出的效果。It can be seen from this that the double-sided reverse output device provided by the embodiment of the present invention can transmit to two output ends connected to the first adapter 3100 and the second adapter 3200 when one motor is used as the power source. power. Among them, the two output ends have the characteristics of coaxiality and opposite rotation directions. The bilateral reverse output device with this setting is used in rehabilitation training equipment to help patients perform coordinated training of bilateral limbs. Furthermore, since the rotation directions of the first adapter 3100 and the second adapter 3200 driven by the two output ends are opposite, which is different from the patient's normal usage habits, it can also stimulate the patient's motor function and improve the efficiency of rehabilitation training. Effect. Compared with the existing technology, two output ends with different directions need to pass through two motors, which can reduce the number of motor settings, improve product integration, and reduce product size. For the connection between a single output shaft motor and a multi-output shaft reducer, the structure is simple, the connection is convenient, and the cost is low. For double output shaft motors, the effect of reverse output on both sides can be achieved.
在如图2-4所述的实施例中,换向机构可以为齿轮换向机构。主动轮 可以为主动齿轮。从动轮可以为从动齿轮,传动组件可以为中间齿轮。中间齿轮可以直接啮合在主动齿轮和从动齿轮之间。中间齿轮可以为单个齿轮,也可以为齿轮组。主动齿轮可以通过中间齿轮将动力传递至从动齿轮上。为了方便,下文将主动齿轮、从动齿轮和中间齿轮统称为齿轮。按照齿轮的形状分类,齿轮可以包括圆柱齿轮、锥齿轮或蜗杆等。按照齿型的分类,齿轮可以包括直齿齿轮、斜齿齿轮或人字齿齿轮等。当然,在中间齿轮为齿轮组的实施例中,也可以将多种齿轮进行组合实现主动齿轮与从动齿轮反向转动的效果。In the embodiment shown in Figures 2-4, the reversing mechanism may be a gear reversing mechanism. The driving wheel can be a driving gear. The driven wheel can be a driven gear, and the transmission component can be an intermediate gear. The intermediate gear can mesh directly between the driving gear and the driven gear. The intermediate gear can be a single gear or a gear set. The driving gear can transmit power to the driven gear through the intermediate gear. For convenience, the driving gear, driven gear and intermediate gear are collectively referred to as gears below. According to the classification of gear shape, gears can include cylindrical gears, bevel gears or worms, etc. According to the classification of tooth type, gears can include spur gears, helical gears or herringbone gears. Of course, in the embodiment where the intermediate gear is a gear set, a variety of gears can also be combined to achieve the effect of reverse rotation of the driving gear and the driven gear.
示例性地,如图3所示,主动齿轮和从动齿轮可以沿着中心轴线O-O间隔开设置。在一些实施例中,主动齿轮和从动齿轮可以面对面的设置。中间齿轮的枢转轴线Y-Y可以是固定的且可以垂直于中心轴线O-O。主动齿轮、从动齿轮和中间齿轮可以均为外啮合齿轮。在一些实施例中,主动轮2100’和从动轮2200’可以为圆柱齿轮,传动组件2300’可以为冠齿轮。圆柱齿轮的齿可以分布在其周面上(图中阴影部分表示齿)。冠齿轮的齿可以分布在端面上。在使用时,作为主动轮2100’的主动齿轮和作为从动轮2200’的从动齿轮可以面对面的设置。作为传动组件2300’的冠齿轮则可以设置在主动齿轮和从动齿轮的中间靠外侧部分。其中,冠齿轮的枢转轴线Y-Y可以与中心轴线O-O垂直相交。主动齿轮可以沿转动方向U转动。通过啮合连接,主动齿轮可以驱动冠齿轮沿转动方向W转动。冠齿轮可以再次通过啮合驱动从动齿轮沿转动方向V转动。这样,就可以起到使主动轮2100’和从动轮2200’反向转动的效果。以冠齿轮作为传动组件2300’的优点在于体积小,结构紧凑,传递扭矩大。For example, as shown in FIG. 3 , the driving gear and the driven gear may be spaced apart along the central axis O-O. In some embodiments, the driving gear and the driven gear may be disposed facing each other. The pivot axis Y-Y of the intermediate gear may be fixed and may be perpendicular to the central axis O-O. The driving gear, the driven gear and the intermediate gear can all be external gears. In some embodiments, the driving wheel 2100' and the driven wheel 2200' can be cylindrical gears, and the transmission assembly 2300' can be a crown gear. The teeth of the cylindrical gear can be distributed on its circumferential surface (the shaded area in the figure indicates the teeth). The teeth of the crown gear can be distributed on the end face. When in use, the driving gear as the driving wheel 2100' and the driven gear as the driven wheel 2200' can be arranged face to face. The crown gear as the transmission assembly 2300' can be disposed at the middle outer portion of the driving gear and the driven gear. Wherein, the pivot axis Y-Y of the crown gear may perpendicularly intersect with the central axis O-O. The driving gear can rotate in the rotation direction U. Through the meshing connection, the driving gear can drive the crown gear to rotate in the rotation direction W. The crown gear can drive the driven gear to rotate in the rotation direction V again through meshing. In this way, the driving wheel 2100' and the driven wheel 2200' can be reversely rotated. The advantages of using the crown gear as the transmission component 2300' are small size, compact structure, and large transmission torque.
优选地,如图2所示,主动轮2100、从动轮2200和传动组件2300可以均为锥形齿轮。锥形齿轮也可以叫伞齿轮,可以用于相交轴之间的传动。其中,主动轮2100和从动轮2200的中心轴线O-O可以与传动组件2300的枢转轴线Y-Y相交。锥形齿轮被大量用于工业传动领域,其优点在于制造和安装较为简单。Preferably, as shown in Figure 2, the driving wheel 2100, the driven wheel 2200 and the transmission assembly 2300 may all be bevel gears. Bevel gears, also called bevel gears, can be used for transmission between intersecting shafts. The central axis O-O of the driving wheel 2100 and the driven wheel 2200 may intersect with the pivot axis Y-Y of the transmission assembly 2300. Bevel gears are widely used in industrial transmission fields. Their advantage is that they are relatively simple to manufacture and install.
示例性地,在齿轮传动机构中,主动齿轮和从动齿轮中的一个可以为外啮合齿轮且另一个可以为内啮合齿轮。外啮合齿轮可以设置在内啮合齿轮的径向内侧。传动组件2300可以为中间齿轮,中间齿轮可以为外啮合齿轮。中间齿轮的枢转轴线可以是固定的且平行于中心轴线。如图4所示, 以换向机构2000”包括行星轮系为例,主动轮2100”可以为外啮合齿轮,从动轮2200”可以为内啮合齿轮,传动组件2300”可以为一个或多个作为行星轮的的外啮合齿轮,图4中的行星轮的数量为3个。当主动轮2100”沿转动方向U转动时,将可以带动作为传动组件2300”的行星轮沿转动方向W转动。其中,由于主动轮2100”和传动组件2300”为外啮合关系,所以转动方向U和转动方向W相反。行星轮的枢转轴线固定,那么此时的行星轮将可以驱动作为从动轮2200”的内啮合齿轮转动。从动轮2200”将可以沿转动方向V转动。由于从动轮2200”和传动组件2300”为内啮合关系,所以转动方向W和转动方向V相同。从而使得主动轮2100”与从动轮2200”可以反向转动。另外,通过改变行星轮与各个啮合齿轮的齿数比,以及控制行星轮的枢转轴线是否可绕中心轴线O-O转动,可以改变主动轮2100”和从动轮2200”的转速。For example, in the gear transmission mechanism, one of the driving gear and the driven gear may be an external gear and the other may be an internal gear. The external gear can be disposed radially inside the internal gear. The transmission assembly 2300 may be an intermediate gear, and the intermediate gear may be an external meshing gear. The pivot axis of the intermediate gear may be fixed and parallel to the central axis. As shown in Figure 4, taking the reversing mechanism 2000" including a planetary gear train as an example, the driving wheel 2100" can be an external meshing gear, the driven wheel 2200" can be an internal meshing gear, and the transmission assembly 2300" can be one or more as The external meshing gear of the planetary gear, the number of planetary gears in Figure 4 is 3. When the driving wheel 2100" rotates in the rotation direction U, it can drive the planetary gear as the transmission assembly 2300" to rotate in the rotation direction W. Among them, since the driving wheel 2100" and the transmission assembly 2300" are in an external meshing relationship, the rotation direction U and the rotation direction W are opposite. The pivot axis of the planet wheel is fixed, then the planet wheel at this time will be able to drive the internal gear as the driven wheel 2200" to rotate. The driven wheel 2200" will be able to rotate in the rotation direction V. Since the driven wheel 2200" and the transmission assembly 2300" are in an internal meshing relationship, the rotation direction W and the rotation direction V are the same. Thus, the driving wheel 2100" and the driven wheel 2200" can rotate in opposite directions. In addition, by changing the gear ratio of the planet wheel and each meshing gear, and controlling whether the pivot axis of the planet wheel can rotate around the central axis O-O, the rotation speeds of the driving wheel 2100" and the driven wheel 2200" can be changed.
示例性地,如图5a-5b所示,换向机构2000”’可以为带轮换向机构。主动轮2100”’可以为主动带轮。从动轮2200”’可以为从动带轮。传动组件2300”’可以包括中间带轮2310”’、第一传动带2320””和第二传动带2330”’。第一传动带2320”’可以连接主动轮2100”’和中间带轮2310”’。第二传动带2330”’可以连接中间带轮2310”’和从动轮2200”’。其中,第一传动带2320”’和第二传动带2330”’中的一个可以采用开口传动且另一个采用交叉传动。在如图5a-5b所示的实施例中,第一传动带2320”’为交叉传动,第二传动带2330”’为开口传动。当主动轮2100”’以转动方向U转动时,可以通过第一传动带2320”’将动力传递至中间带轮2310”’,由于第一传动带2320”’为交叉传动,所以中间带轮2310”’以转动方向W转动,其中,转动方向U和转动方向W反向。中间带轮2310”’可以再通过第二传动带2330”’将动力传递至从动轮2200”’,由于第二传动带2330”’为开口传动,所以从动轮2200”’可以与中间带轮2310”’同方向转动。从动轮2200”’的转动方向V与中间带轮2310”’的转动方向W相同。通过该实施例所述的传动结构,可以使得主动轮2100”’和从动轮2200”’都绕同一中心轴线转动,且转动方向相反。当然,可以理解的是,改变主动轮2100”’、中间带轮2310”’和从动轮2200”’的直径,可以改变主动轮2100”’和从动轮2200”’的转速,本领域技术人员熟知,不再赘述。For example, as shown in Figures 5a-5b, the reversing mechanism 2000"' can be a pulley reversing mechanism. The driving pulley 2100"' can be a driving pulley. The driven pulley 2200"' may be a driven pulley. The transmission assembly 2300"' may include an intermediate pulley 2310"', a first transmission belt 2320"" and a second transmission belt 2330"'. The first transmission belt 2320"' can connect the driving pulley 2100"' and the intermediate pulley 2310"'. The second transmission belt 2330"' can connect the intermediate pulley 2310"' and the driven pulley 2200"'. Among them, one of the first transmission belt 2320"' and the second transmission belt 2330"' may adopt open transmission and the other may adopt cross transmission. In the embodiment shown in Figures 5a-5b, the first transmission belt 2320"' is a cross transmission, and the second transmission belt 2330"' is an open transmission. When the driving wheel 2100"' rotates in the rotation direction U, the power can be transmitted to the intermediate pulley 2310"' through the first transmission belt 2320"'. Since the first transmission belt 2320"' is a cross transmission, the intermediate pulley 2310"' Rotate in the rotation direction W, where the rotation direction U and the rotation direction W are opposite. The intermediate pulley 2310"' can then transmit the power to the driven wheel 2200"' through the second transmission belt 2330"', because the second transmission belt 2330"' It is an open transmission, so the driven pulley 2200"' can rotate in the same direction as the intermediate pulley 2310"'. The rotation direction V of the driven pulley 2200"' is the same as the rotation direction W of the intermediate pulley 2310"'. As described in this embodiment The transmission structure can make the driving wheel 2100"' and the driven wheel 2200"' rotate around the same central axis and in opposite directions. Of course, it can be understood that the driving wheel 2100"', the intermediate pulley 2310"' and the The diameter of the driven wheel 2200"' can change the rotation speed of the driving wheel 2100"' and the driven wheel 2200"', which is well known to those skilled in the art and will not be described in detail.
示例性地,如图2所示,主动轮2100和从动轮2200中的一个上可以 设置有沿中心轴线O-O且朝向另一个延伸的凸轴2120,且另一个可枢转地套设在凸轴2120上。这样,通过设置凸轴2120,就可以使主动轮2100和从动轮2200枢转连接。在如图2中所示的实施例中,凸轴2120可以设置在主动轮2100上,这样,从动轮2200就可以套设在主动轮2100上。在使用时,从动轮2200可以在主动轮2100上的凸轴2120上转动。在现有技术中,通常是分别独立地设置主动轮2100的枢转轴和从动轮2200的枢转轴。这就导致两个枢转轴在加工过程中,容易产生误差,同轴度低。安装主动轮2100和从动轮2200之后,主动轮2100和从动轮2200的枢转轴线的同轴度也会较低,在换向机构2000转动过程中,容易产生振动、噪音以及不必要的磨损。不仅减少了产品的使用寿命,还影响了用户的使用体验。本发明实施例所提供的换向机构2000,可以提高主动轮2100和从动轮2200的同轴度,并且由于主动轮2100和从动轮2200通过凸轴2120连接,还可以提高主动轮2100和从动轮2200的结构强度,使主动轮2100和从动轮2200受凸轴2120的限制,减小了主动轮2100和从动轮2200在垂直于中心轴线O-O方向上的相对移动,提高了换向机构2000的机械性能和传动性能。For example, as shown in FIG. 2 , one of the driving wheel 2100 and the driven wheel 2200 may be provided with a cam shaft 2120 extending along the central axis O-O and toward the other, and the other one is pivotably sleeved on the cam shaft. 2120 on. In this way, by providing the camshaft 2120, the driving wheel 2100 and the driven wheel 2200 can be pivotally connected. In the embodiment shown in FIG. 2 , the camshaft 2120 can be disposed on the driving wheel 2100 , so that the driven wheel 2200 can be sleeved on the driving wheel 2100 . In use, the driven wheel 2200 can rotate on the camshaft 2120 on the driving wheel 2100. In the prior art, the pivot axis of the driving wheel 2100 and the pivot axis of the driven wheel 2200 are usually provided independently. This results in the two pivot axes being prone to errors and low coaxiality during the machining process. After the driving wheel 2100 and the driven wheel 2200 are installed, the coaxiality of the pivot axes of the driving wheel 2100 and the driven wheel 2200 will be low. During the rotation of the reversing mechanism 2000, vibration, noise and unnecessary wear will easily occur. Not only does it reduce the service life of the product, it also affects the user experience. The reversing mechanism 2000 provided by the embodiment of the present invention can improve the coaxiality between the driving wheel 2100 and the driven wheel 2200, and since the driving wheel 2100 and the driven wheel 2200 are connected through the camshaft 2120, it can also improve the coaxiality between the driving wheel 2100 and the driven wheel. The structural strength of 2200 makes the driving wheel 2100 and the driven wheel 2200 restricted by the camshaft 2120, which reduces the relative movement of the driving wheel 2100 and the driven wheel 2200 in the direction perpendicular to the central axis O-O, and improves the mechanical stability of the reversing mechanism 2000. performance and transmission.
示例性地,如图6所示,主动轮2100可以包括O-O中心轴线相对设置的第一端面2101和第二端面2102。从动轮2200可以包括中心轴线O-O相对设置的第三端面2201和第四端面2202。第二端面2102可以与第三端面2201面对面设置。第一端面2101可以与转子1100的第二转动输出端固定1102。第二端面2102可以设置有沿中心轴线O-O延伸的凸轴2120。第三端面2201可以设置有沿中心轴线O-O延伸的凸轴安装孔2210。凸轴2120可枢转地与凸轴安装孔2210连接。在如图6所示的实施例中,仅示出了凸轴2120设置在具有锥齿轮的齿轮换向机构中,可以理解的是,在其他齿轮换向机构或带轮换向机构中,只要主动轮2100和从动轮2200同轴设置,也可以参考使用该结构。具有该结构的换向机构2000,可以提高主动轮2100和从轮动2200的同轴度,结构简单,易于实现。For example, as shown in FIG. 6 , the driving wheel 2100 may include a first end surface 2101 and a second end surface 2102 with opposite central axes of O-O. The driven wheel 2200 may include a third end surface 2201 and a fourth end surface 2202 that are opposite to each other along the central axis O-O. The second end surface 2102 may be disposed facing the third end surface 2201. The first end surface 2101 may be fixed 1102 with the second rotation output end of the rotor 1100 . The second end surface 2102 may be provided with a convex shaft 2120 extending along the central axis O-O. The third end surface 2201 may be provided with a convex shaft mounting hole 2210 extending along the central axis O-O. The convex shaft 2120 is pivotally connected to the convex shaft mounting hole 2210. In the embodiment shown in Figure 6, it is only shown that the convex shaft 2120 is provided in a gear reversing mechanism with a bevel gear. It can be understood that in other gear reversing mechanisms or pulley reversing mechanisms, as long as the active The wheel 2100 and the driven wheel 2200 are coaxially arranged, and this structure can also be used as a reference. The reversing mechanism 2000 with this structure can improve the coaxiality between the driving wheel 2100 and the driven wheel 2200. The structure is simple and easy to implement.
示例性地,凸轴安装孔2210内可以设置有第一轴承2400。第一轴承2400的外圈可以与凸轴安装孔2210的内周壁固定连接。凸轴2120的端部可以插接在第一轴承2400的内圈中且与内圈固定连接。第一轴承2400可以包括现有的或为来可能出现的任一种轴承,例如滚珠轴承、滚子轴承或 滚针轴承等。设置有第一轴承2400的换向机构2000可以减少从动轮2200与凸轴2120之间的摩擦力,使得从动轮2200可以更加顺滑在凸轴2120上转动,还可以减少从动轮2200在转动过程中产生的噪音,提高用户的使用体验。For example, the first bearing 2400 may be disposed in the convex shaft mounting hole 2210 . The outer ring of the first bearing 2400 may be fixedly connected to the inner peripheral wall of the convex shaft mounting hole 2210. The end of the convex shaft 2120 can be inserted into the inner ring of the first bearing 2400 and fixedly connected with the inner ring. The first bearing 2400 may include any existing or future bearing, such as a ball bearing, a roller bearing or a needle bearing, etc. The reversing mechanism 2000 provided with the first bearing 2400 can reduce the friction between the driven wheel 2200 and the camshaft 2120, so that the driven wheel 2200 can rotate on the camshaft 2120 more smoothly, and can also reduce the rotation process of the driven wheel 2200. The noise generated in the device improves the user experience.
示例性地,如图7所示,凸轴2120可以为具有第一直径D1和第二直径D2的台阶轴。其中,第一直径D1可以小于第二直径D2。第一轴承2400可以过盈配合在具有第一直径D1的台阶轴上。在具有第一直径的台阶轴的外周壁上可以设置有环形凹槽2121。环形凹槽2121内可以设置有卡箍2500。第一轴承2400可以穿设在具有第一直径的台阶轴上。第一轴承2400可以夹设在第二直径的台阶轴的侧壁与卡箍2500之间。具有该设置的凸轴2120,可以使第一轴承2400牢固地安装在凸轴2120上,避免第一轴承2400在凸轴2120的轴向方向上移动,提高从动轮2200在凸轴2120上转动时的平稳度,减少从动轮2200在转动过程中产生的噪音。For example, as shown in FIG. 7 , the convex shaft 2120 may be a stepped shaft having a first diameter D1 and a second diameter D2. Wherein, the first diameter D1 may be smaller than the second diameter D2. The first bearing 2400 may be an interference fit on the stepped shaft having the first diameter D1. An annular groove 2121 may be provided on the outer peripheral wall of the stepped shaft having the first diameter. A clamp 2500 can be disposed in the annular groove 2121. The first bearing 2400 may be threaded on the stepped shaft having the first diameter. The first bearing 2400 may be sandwiched between the side wall of the second diameter stepped shaft and the clamp 2500 . With the camshaft 2120 having this arrangement, the first bearing 2400 can be firmly installed on the camshaft 2120, preventing the first bearing 2400 from moving in the axial direction of the camshaft 2120, and improving the efficiency of the driven wheel 2200 when rotating on the camshaft 2120. The smoothness of the driven wheel 2200 reduces the noise generated during the rotation of the driven wheel 2200.
示例性地,如图2所示,转子1100的第二转动输出端1102处可以设置有沿中心轴线O-O延伸的主动轮安装孔1120。主动轮2100上可以设置有沿中心轴线O-O延伸第一凸柱2110。第一凸柱2110可以插接在主动轮安装孔1120内且与主动轮安装孔1120固定。在一些实施例中,第一凸柱2110可以通过螺纹、卡扣或焊接等方式与主动轮安装孔1120固定连接,从而使转子1100与主动轮2100可以同步转动。For example, as shown in FIG. 2 , the second rotation output end 1102 of the rotor 1100 may be provided with a driving wheel mounting hole 1120 extending along the central axis O-O. The driving wheel 2100 may be provided with a first protruding column 2110 extending along the central axis O-O. The first protruding post 2110 can be inserted into the driving wheel mounting hole 1120 and fixed with the driving wheel mounting hole 1120 . In some embodiments, the first boss 2110 can be fixedly connected to the driving wheel mounting hole 1120 by means of threads, buckles, or welding, so that the rotor 1100 and the driving wheel 2100 can rotate synchronously.
在如图2所示的实施例中,转子1100和主动轮2100可以通过螺纹连接。螺纹连接结构简单,易于实现。In the embodiment shown in FIG. 2 , the rotor 1100 and the driving wheel 2100 may be connected through threads. The threaded connection structure is simple and easy to implement.
在一个优选的实施例中,转子1100与主动轮2100之间可以设置有联轴器(未示出)。主动轮2100可以通过联轴器连接至转子1100上。设置联轴器可以方便转子1100与主动轮2100拆装,方便用户对产品进行维修和维护。In a preferred embodiment, a coupling (not shown) may be provided between the rotor 1100 and the driving wheel 2100 . The driving wheel 2100 may be connected to the rotor 1100 through a coupling. Setting the coupling can facilitate the disassembly and assembly of the rotor 1100 and the driving wheel 2100, making it convenient for users to repair and maintain the product.
进一步地,联轴器可以为免键轴衬。免键轴衬是一种靠摩擦联接的工具。免键轴衬可以将螺栓连接的紧固力通过锥面转换为对内径侧面的表面压力,同时不需要费时的轴和连轴部的键加工,组装时的磨合作业可以使轴和连轴部牢固连接。免键轴衬为本领域技术人员所熟知的,不再赘述。在如图2所示的实施例中,免键轴衬的外圈可以与转子1100和主动轮2100 中的一个固定连接。免键轴衬的内圈可以与转子1100和主动轮2100中的另一个固定连接。其中,固定连接的连接力可以是免键轴衬分别与转子1100和主动轮2100之间的摩擦力。通过使用免键轴衬连接转子1100和主动轮2100,可以减少安装工序,提高安装质量和安装效率。Further, the coupling can be a keyless bushing. Keyless bushing is a tool that relies on friction connection. The keyless bushing can convert the tightening force of the bolt connection into surface pressure on the inner diameter side through the tapered surface. At the same time, it does not require time-consuming key processing of the shaft and the connecting shaft. The grinding work during assembly can make the shaft and the connecting shaft Connect firmly. Keyless bushings are well known to those skilled in the art and will not be described in detail. In the embodiment shown in FIG. 2 , the outer ring of the keyless bushing may be fixedly connected to one of the rotor 1100 and the driving wheel 2100 . The inner ring of the keyless bushing can be fixedly connected with the other one of the rotor 1100 and the driving wheel 2100 . The connection force of the fixed connection may be the friction force between the keyless bushing and the rotor 1100 and the driving wheel 2100 respectively. By using a keyless bushing to connect the rotor 1100 and the driving wheel 2100, the installation process can be reduced and the installation quality and efficiency can be improved.
示例性地,如图2所示,转子1100的第一转动输出端1101处可以设置有沿转子1100的中心轴线O-O延伸的第一适配孔1110。第一适配孔1110可以用于与第一适配器3100固定连接。第一适配器3100可以插接在第一适配孔1110内。设置第一适配孔1110可以方便第一适配器3100与转子1100的连接,还可以提高第一适配器3100与转子1100的同轴度。For example, as shown in FIG. 2 , the first rotation output end 1101 of the rotor 1100 may be provided with a first adapting hole 1110 extending along the central axis O-O of the rotor 1100 . The first adapting hole 1110 may be used for fixed connection with the first adapter 3100 . The first adapter 3100 can be plugged into the first adapting hole 1110 . Providing the first adapting hole 1110 can facilitate the connection between the first adapter 3100 and the rotor 1100, and can also improve the coaxiality between the first adapter 3100 and the rotor 1100.
示例性地,第一适配孔1110可以与主动轮安装孔1120连通且形成沿中心轴线O-O贯通的内径均匀的孔。也就是说,转子1100可以为具有通轴,这样,不仅可以方便第一适配器3100和主动轮2100安装,还可以减少转子1100的材料,从而减轻转子110的质量,减少转动惯量。For example, the first adapting hole 1110 may be communicated with the driving wheel mounting hole 1120 and form a hole with a uniform inner diameter penetrating along the central axis O-O. That is to say, the rotor 1100 can have a through shaft, which not only facilitates the installation of the first adapter 3100 and the driving wheel 2100, but also reduces the material of the rotor 1100, thereby reducing the mass of the rotor 110 and reducing the rotational inertia.
示例性地,换向机构2000可以包括换向机构壳体2600。在换向机构壳体2600上可以设置有沿中心轴线O-O延伸的从动轮安装通孔2610。从动轮2200上可以设置有沿中心轴线O-O延伸的第二凸柱2220。第二凸柱2220可枢转地插接在从动轮安装通孔2610内。具有该设置的换向机构2000,从动轮2200可以与换向机构壳体2600枢转连接,提高从动轮2200在转动过程中的稳定性,避免单纯仅靠主动轮2100上的凸轴2120支撑从动轮所带来的受力不均的情况。By way of example, the reversing mechanism 2000 may include a reversing mechanism housing 2600 . The reversing mechanism housing 2600 may be provided with a driven wheel mounting through hole 2610 extending along the central axis O-O. The driven wheel 2200 may be provided with a second boss 2220 extending along the central axis O-O. The second protruding post 2220 is pivotably inserted into the driven wheel mounting through hole 2610. With the reversing mechanism 2000 having this arrangement, the driven wheel 2200 can be pivotally connected to the reversing mechanism housing 2600, thereby improving the stability of the driven wheel 2200 during rotation and avoiding the need to rely solely on the camshaft 2120 on the driving wheel 2100 to support the driven wheel. The uneven force caused by the moving wheel.
进一步地,第二凸柱2220上可以设置有沿中心轴线O-O延伸的第二适配孔2221。第二适配孔2221可以用于与第二适配器3200固定连接。设置第二适配孔2221可以方便第二适配器3200与从动轮2200的连接,还可以提高第二适配器3200与从动轮2200的同轴度。Further, the second protruding column 2220 may be provided with a second adapting hole 2221 extending along the central axis O-O. The second adapting hole 2221 may be used for fixed connection with the second adapter 3200 . Providing the second adapting hole 2221 can facilitate the connection between the second adapter 3200 and the driven wheel 2200, and can also improve the coaxiality between the second adapter 3200 and the driven wheel 2200.
示例性地,转子1100的第一转动输出端1101可以设置有用于与第一适配器3100连接的第一适配孔1110。从动轮2200上可以设置有用于与第二适配器3200连接的第二适配孔2221。第一适配孔1110可以与第二适配孔2221具有相同的构造。在一些实施例中,第一适配孔1110和第二适配孔2221可以具有相同的内径,这样,在第一适配器3100和第二适配器3200具有相同的结构的基础上,第一适配器3100和第二适配器3200可以替换 使用,提高第一适配器3100和第二适配器3200的互换性。Exemplarily, the first rotation output end 1101 of the rotor 1100 may be provided with a first adapting hole 1110 for connection with the first adapter 3100 . The driven wheel 2200 may be provided with a second adapting hole 2221 for connecting with the second adapter 3200 . The first adapting hole 1110 may have the same configuration as the second adapting hole 2221. In some embodiments, the first adapting hole 1110 and the second adapting hole 2221 may have the same inner diameter. In this way, on the basis that the first adapter 3100 and the second adapter 3200 have the same structure, the first adapter 3100 and the second adapting hole 2221 have the same inner diameter. The second adapter 3200 can be used interchangeably to improve the interchangeability of the first adapter 3100 and the second adapter 3200.
示例性地,电机1000还可以包括电机壳体1300和定子1200。定子1200可以通过热压固定在电机壳体1300内。转子1100可以穿设在定子1200内。在一些实施例中,可以在定子1200与电机壳体1300安装前,先对电机壳体1300进行加热,使电机壳体1300受热膨胀。这样,电机壳体1300的内径与定子1200的外径之间就可能产生便于安装的缝隙。将定子1200放入至电机壳体1300内后,待电机壳体1300冷却,电机壳体1300与定子1200将可以紧密连接在一起。这样,可以减少在电机壳体1300与定子1200之间设置连接件,而且,还可以提高电机壳体1300与电子1200之间的对中性,提高电机1000的安装精度,从而有利于提高电机1000的性能。Exemplarily, the motor 1000 may further include a motor housing 1300 and a stator 1200. The stator 1200 may be fixed within the motor housing 1300 by hot pressing. The rotor 1100 may be inserted into the stator 1200 . In some embodiments, before the stator 1200 and the motor housing 1300 are installed, the motor housing 1300 can be heated to cause the motor housing 1300 to expand due to heat. In this way, a gap may be formed between the inner diameter of the motor housing 1300 and the outer diameter of the stator 1200 to facilitate installation. After the stator 1200 is placed into the motor housing 1300, after the motor housing 1300 cools down, the motor housing 1300 and the stator 1200 can be tightly connected together. In this way, the number of connecting parts between the motor housing 1300 and the stator 1200 can be reduced, and the alignment between the motor housing 1300 and the electronics 1200 can also be improved, thereby improving the installation accuracy of the motor 1000, thereby helping to improve Motor 1000 performance.
示例性地,在电机1000包括电机壳体1300,换向机构2000包括换向机构壳体2600的实施例中,转子1100可以设置在电机壳体1300内,主动轮2100、从动轮2200和传动组件2300可以设置在换向机构壳体2600内。电机壳体1300和换向机构壳体2600可以为一体件。一体件可以包括电机壳体1300与换向机构壳体2600作为一体件生产加工,还可以包括在电机1000与换向机构2000连接之后形成不可拆卸的一体结构。其中,电机壳体1300和换向机构壳体2600可以通过铸造形成一体件,还可以通过焊接等方式形成一体件。电机壳体1300和换向机构壳体2600为一体件可以提高双侧反向输出装置的一体结构,提高使用过程中的可靠性。For example, in an embodiment in which the motor 1000 includes a motor housing 1300 and the reversing mechanism 2000 includes a reversing mechanism housing 2600, the rotor 1100 may be disposed in the motor housing 1300, the driving wheel 2100, the driven wheel 2200 and The transmission assembly 2300 may be disposed within the reversing mechanism housing 2600. The motor housing 1300 and the reversing mechanism housing 2600 may be one piece. The integrated part may include the motor housing 1300 and the reversing mechanism housing 2600 being produced and processed as one piece, or may include forming a non-detachable integrated structure after the motor 1000 and the reversing mechanism 2000 are connected. Among them, the motor housing 1300 and the commutation mechanism housing 2600 can be formed into an integrated piece by casting, or can also be formed into an integrated piece by welding or other methods. The motor housing 1300 and the reversing mechanism housing 2600 are integrated to improve the integrated structure of the bilateral reverse output device and improve the reliability during use.
示例性地,换向机构壳体2600内可以设置有传动组件枢转轴2700。传动组件2300可枢转地套设在传动组件枢转轴2700上。在一些实施例中,传动组件枢转轴2700可以为设置在换向机构壳体2600内部的凸轴。传动组件枢转轴2700可以与换向机构壳体2600铸造连接。By way of example, a transmission assembly pivot shaft 2700 may be disposed within the reversing mechanism housing 2600 . The transmission assembly 2300 is pivotably sleeved on the transmission assembly pivot shaft 2700. In some embodiments, the transmission assembly pivot shaft 2700 may be a convex shaft disposed inside the reversing mechanism housing 2600 . The transmission assembly pivot shaft 2700 may be connected to the reversing mechanism housing 2600 by casting.
示例性地,传动组件枢转轴2700上可以套设有第二轴承2710。第二轴承2710的内圈可以与传动组件枢转轴2700的外周壁固定连接。传动组件2300可以与第二轴承2710的外圈固定连接。设置第二轴承2710可以减小传动组件枢转轴2700与传动组件2300之间的摩擦力,使传动组件2300转动更为顺滑,提高换向机构2000的工作效率,减少换向机构2000工作时产生的噪音。For example, the second bearing 2710 can be sleeved on the pivot shaft 2700 of the transmission assembly. The inner ring of the second bearing 2710 may be fixedly connected with the outer peripheral wall of the transmission assembly pivot shaft 2700. The transmission assembly 2300 may be fixedly connected with the outer ring of the second bearing 2710. Providing the second bearing 2710 can reduce the friction between the pivot shaft 2700 of the transmission assembly and the transmission assembly 2300, make the transmission assembly 2300 rotate more smoothly, improve the working efficiency of the reversing mechanism 2000, and reduce the generation of the reversing mechanism 2000 when it is working. noise.
示例性地,如图8所示,电机1000还可以包括定子1200。定子1200与转子1100可以同轴设置。定子1200可以包括定子芯1210及设置于定子芯1210上的定子绕组。在一个实施例中,定子绕组可以包括绕在定子芯1210上面的铜线。转子1100可以包括转子芯1130及依次排列于转子芯1130上的多个永磁体1140。多个永磁体1140可以依次排列于转子芯1130的外圆周上。定子1200与转子1100可以同轴设置且在定子1200与转子1100之间可以形成气隙。电机1000通电后,可以在定子绕组周围形成一个绕驱动电机几何轴线旋转的磁场。该几何轴线可以是定子1200和转子1100的轴线。该磁场可以驱动转子1100上的永磁体1140转动,从而带动转子1100转动。电机1000的性能和永磁体1140的数量、永磁体1140的磁通强度、电机输入电压大小等因素有关。本发明实施例中的电机1000,永磁体1140可以为海尔贝克阵列型永磁体。海尔贝克阵列可以通过将不同充磁方向的永磁体按照一定规律排列,就可以在磁体一侧汇聚磁力线,而在另一侧削弱磁力线,从而获得比较理想的单边磁场。通过该种规律排列的永磁体,可以增强单位方向上的场强,从而达到用最少量的永磁体1140产生最强的磁场。For example, as shown in FIG. 8 , the motor 1000 may further include a stator 1200 . The stator 1200 and the rotor 1100 may be arranged coaxially. The stator 1200 may include a stator core 1210 and stator windings disposed on the stator core 1210 . In one embodiment, the stator windings may include copper wire wound over the stator core 1210 . The rotor 1100 may include a rotor core 1130 and a plurality of permanent magnets 1140 sequentially arranged on the rotor core 1130 . The plurality of permanent magnets 1140 may be arranged in sequence on the outer circumference of the rotor core 1130. The stator 1200 and the rotor 1100 may be coaxially disposed and an air gap may be formed between the stator 1200 and the rotor 1100 . After the motor 1000 is energized, a magnetic field can be formed around the stator winding that rotates around the geometric axis of the drive motor. The geometric axis may be the axis of the stator 1200 and the rotor 1100 . The magnetic field can drive the permanent magnet 1140 on the rotor 1100 to rotate, thereby driving the rotor 1100 to rotate. The performance of the motor 1000 is related to the number of permanent magnets 1140, the magnetic flux intensity of the permanent magnets 1140, the size of the motor input voltage and other factors. In the motor 1000 in the embodiment of the present invention, the permanent magnets 1140 may be Halbach array type permanent magnets. The Halbeck array can arrange permanent magnets with different magnetization directions according to certain rules, so that the magnetic field lines can be gathered on one side of the magnet and weakened on the other side, thereby obtaining a more ideal unilateral magnetic field. Through such regularly arranged permanent magnets, the field strength in the unit direction can be enhanced, thereby generating the strongest magnetic field with the smallest amount of permanent magnets 1140.
相较于现有电机来说,具有海尔贝克阵列型永磁体的电机,可以在产生相同磁场的条件下,使用更少的永磁体,从而使电机内更多的空间用于增大转子半径。转子1100的半径越大,在相同的电磁力下所产生的扭矩也就越大。由于电机的输出扭矩增大,在组成本发明中的双侧反向输出装置时,就可以在双侧反向输出装置中无需设置中间装置(例如减速机等),从而使双侧反向输出装置的惯量减小,响应速度可以提高。而且,双侧反向输出装置在传递动力的过程中,还可以减少动力的损耗。进一步地,由于无需设置中间装置,还可以减小双侧反向输出装置的尺寸,使双侧反向输出装置的集成度更高。Compared with existing motors, motors with Halbach array permanent magnets can use fewer permanent magnets to generate the same magnetic field, thus leaving more space in the motor for increasing the rotor radius. The larger the radius of the rotor 1100, the greater the torque generated under the same electromagnetic force. Since the output torque of the motor increases, when forming the double-sided reverse output device of the present invention, there is no need to install an intermediate device (such as a reducer, etc.) in the double-sided reverse output device, thereby making the double-sided reverse output The inertia of the device is reduced and the response speed can be improved. Moreover, the bilateral reverse output device can also reduce power loss during the process of transmitting power. Furthermore, since there is no need to provide an intermediate device, the size of the double-sided reverse output device can also be reduced, making the double-sided reverse output device more highly integrated.
示例性地,定子绕组可以采用分数槽集中绕组。其中,在定子芯1210的内圆周上设有多个沿其周向间隔开布置的定子齿极1211。相邻两个定子齿极1211之间限定出定子槽1212。定子齿极1211上可以缠绕有绕组线圈。即定子齿极1211和定子槽1212依次设置。定子芯1210还可以包括桶状的壳体,定子齿极1211的根部与壳体连接,定子齿极1211的端部朝向定子的轴线延伸。绕组线圈可以缠绕在定子齿极1211上。在集中绕组中,每个 绕组线圈在相应的定子齿极1211上缠绕完后,可以进入相邻的下一个定子齿极1211上进行缠绕,而不必跨过相邻的定子齿极去进行缠绕。这样,绕组线圈无重叠,相互之间绝缘好。另外,线圈端部的长度可以更短,这样,就可以更好地控制电机在其轴向上的长度,进一步减小电机的尺寸,有利于降低产品成本,而且还可以很好地控制电机的发热。For example, the stator winding may adopt fractional slot concentrated winding. A plurality of stator tooth poles 1211 are provided on the inner circumference of the stator core 1210 and are spaced apart along its circumferential direction. A stator slot 1212 is defined between two adjacent stator tooth poles 1211 . The stator tooth pole 1211 may be wound with a winding coil. That is, the stator tooth poles 1211 and the stator slots 1212 are arranged in sequence. The stator core 1210 may also include a barrel-shaped housing, the root of the stator tooth pole 1211 is connected to the housing, and the end of the stator tooth pole 1211 extends toward the axis of the stator. The winding coil may be wound around the stator tooth poles 1211 . In concentrated winding, after each winding coil is wound on the corresponding stator tooth pole 1211, it can enter the next adjacent stator tooth pole 1211 for winding without having to cross the adjacent stator tooth pole for winding. In this way, the winding coils do not overlap and are well insulated from each other. In addition, the length of the coil end can be shorter, so that the length of the motor in its axial direction can be better controlled, further reducing the size of the motor, which is beneficial to reducing product costs, and can also better control the motor's fever.
示例性地,定子芯1210上可以设置有21个定子槽1212,转子芯1130上可以设置22个磁极,每个磁极可以包括一对海尔贝克阵列型永磁体。这样,定子槽1212的数量与磁极之间产生的最小公倍数就会很大。最小公倍数越大,转子1100每转动一圈所被划分的份数就越多,这样,力矩波动较小,电机转动时就会相对较平稳,而且还可以减小电机的齿槽力矩。For example, the stator core 1210 may be provided with 21 stator slots 1212, and the rotor core 1130 may be provided with 22 magnetic poles, and each magnetic pole may include a pair of Halbach array permanent magnets. In this way, the least common multiple between the number of stator slots 1212 and the magnetic poles will be very large. The larger the least common multiple, the more parts the rotor 1100 is divided into each revolution. In this way, the torque fluctuation is smaller, the motor will rotate relatively smoothly, and the cogging torque of the motor can also be reduced.
示例性地,永磁体1140可以沿转子1100的轴向长度比定子芯1210的轴向长度大10%。这样,可以提高永磁体1140所产生的磁场,从而提高电机的转矩。For example, the permanent magnets 1140 may be 10% larger along the axial length of the rotor 1100 than the axial length of the stator core 1210 . In this way, the magnetic field generated by the permanent magnet 1140 can be increased, thereby increasing the torque of the motor.
示例性地,定子槽1212还可以设置为斜槽,也就是说定子槽1212与定子的轴线呈有一定的夹角,不平行。其中,定子槽1212的倾斜量可以为n个定子槽距,其中n小于1。定子槽1212具有相互连通的第一端和第二端,若定子槽1212不倾斜,那么由第一端开始,沿定子的轴线延伸即为该定子槽1212的第二端。若倾斜量n为1,那么由该定子的第一端开始,沿定子的轴线延伸,将达到相邻定子槽的第二端,这样以此类推。For example, the stator slot 1212 may also be configured as an inclined slot, that is to say, the stator slot 1212 forms a certain angle with the axis of the stator and is not parallel. The inclination amount of the stator slot 1212 may be n stator slot pitches, where n is less than 1. The stator slot 1212 has a first end and a second end that are connected with each other. If the stator slot 1212 is not inclined, then starting from the first end and extending along the axis of the stator is the second end of the stator slot 1212. If the inclination amount n is 1, then starting from the first end of the stator and extending along the axis of the stator, it will reach the second end of the adjacent stator slot, and so on.
具有该设置的电机,可以减少转子1100在转动时产生的振动和噪声,还可以减少转子1100在转动过程中产生的波动。The motor with this arrangement can reduce vibration and noise generated by the rotor 1100 during rotation, and can also reduce fluctuations generated by the rotor 1100 during rotation.
示例性地,n的取值范围为0.3~0.6。优选地,n可以为0.583。其中0.5为定子槽倾斜的槽距,0.083是考虑到制造工艺误差选取的安全余量。根据物理实验所得,由于定子绕组采用集中绕组的形式,所以,如果n为0.5,就可以把输出的力矩波动降低10倍以上,但同时输出的力矩只会降低8%~10%,该力矩波动已经可以满足正常使用的需要,但是如倾斜1个槽距,虽然力矩波动会进一步降低,但力矩也将要损失15%以上。综上,优选地,n可以选取0.583。For example, the value of n ranges from 0.3 to 0.6. Preferably, n may be 0.583. Among them, 0.5 is the slot pitch of the stator slot tilt, and 0.083 is the safety margin selected taking into account the manufacturing process error. According to physical experiments, since the stator winding adopts the form of concentrated winding, if n is 0.5, the output torque fluctuation can be reduced by more than 10 times, but at the same time the output torque will only be reduced by 8% to 10%. The torque fluctuation It can already meet the needs of normal use, but if it is tilted by 1 groove pitch, although the torque fluctuation will be further reduced, the torque will also be lost by more than 15%. In summary, preferably, n can be selected as 0.583.
示例性地,每个永磁体1140可以包括磁极方向相互垂直的第一磁钢1141和第二磁钢1142。在相邻排列的两个永磁体1140中,第一磁钢1141的磁极方向相反,第二磁钢1142的磁极方向相反,如图9所示。通过该种 规律排列的永磁体,可以增强单位方向上的场强,从而达到用最少量的永磁体产生最强的磁场。在一些实施例中,第一磁钢和第二磁钢的宽度可以为6.5mm,高度可以为3mm,其中宽度是指沿转子周向方向上的尺寸,高度是指沿转子径向方向上的尺寸。For example, each permanent magnet 1140 may include a first magnet 1141 and a second magnet 1142 whose magnetic pole directions are perpendicular to each other. Among the two adjacently arranged permanent magnets 1140, the magnetic pole directions of the first magnet 1141 are opposite, and the magnetic pole directions of the second magnet 1142 are opposite, as shown in FIG. 9 . Through this kind of regularly arranged permanent magnets, the field strength in the unit direction can be enhanced, thereby achieving the strongest magnetic field with the smallest amount of permanent magnets. In some embodiments, the width of the first magnet and the second magnet may be 6.5 mm, and the height may be 3 mm, where the width refers to the dimension along the circumferential direction of the rotor, and the height refers to the dimension along the radial direction of the rotor. size.
示例性地,第一磁钢1141和第二磁钢1142可以均为稀土磁钢。由于稀土磁钢具有高剩磁密度、高矫顽力和高磁能积的特点,可以容许所制成的电机具有较大的气隙长度和气隙密度,因而在永磁体安放和磁路结构设计上有很大灵活性,可以根据使用场合,制成与传统电机不同的结构形状和尺寸。这既可以进一步减少电机的质量和转动惯量,提高电机的反应灵敏度;又可以减少驱动电机转矩的脉动,增加运行的平稳性;还可以简化电机的结构和工艺。For example, the first magnet 1141 and the second magnet 1142 may both be rare earth magnets. Since rare earth magnet steel has the characteristics of high remanence density, high coercivity and high magnetic energy product, it can allow the motor to have a larger air gap length and air gap density. Therefore, in terms of permanent magnet placement and magnetic circuit structure design, It has great flexibility and can be made into different structural shapes and sizes from traditional motors according to the use occasion. This can further reduce the mass and moment of inertia of the motor and improve the response sensitivity of the motor; it can also reduce the pulsation of the drive motor torque and increase the smoothness of operation; it can also simplify the structure and process of the motor.
示例性地,电机还可以包括编码器。码器可以包括:磁码盘或光码盘以及电路板。电路板上可以集成有采集芯片和信号处理电路。采集芯片可以用于采集磁码盘或光码盘的变化信息。信号处理电路可以用于对变化信息进行处理,输出位置信息。Exemplarily, the motor may also include an encoder. The encoder can include: a magnetic or optical code disk and a circuit board. The circuit board can be integrated with an acquisition chip and a signal processing circuit. The acquisition chip can be used to collect the change information of the magnetic code disk or the optical code disk. The signal processing circuit can be used to process the change information and output position information.
以磁码盘为例,磁码盘可以为依次排列的多个磁极形成的环形磁栅。电路板上可以集成有霍尔元件采集芯片和信号处理电路。霍尔元件采集芯片可以用于采集磁码盘的磁极变化信息,信号处理电路可以用于对磁极变化信息进行处理,输出位置信息。Taking the magnetic code disk as an example, the magnetic code disk can be an annular magnetic grating formed by multiple magnetic poles arranged in sequence. The circuit board can be integrated with a Hall element acquisition chip and a signal processing circuit. The Hall element acquisition chip can be used to collect the magnetic pole change information of the magnetic code disk, and the signal processing circuit can be used to process the magnetic pole change information and output position information.
编码器的转动轴线可以和转子的轴线同轴。当转子1100转动时,可以带动编码器转动。霍尔元件采集芯片可以根据采集磁码盘的磁极变化信息对转子的转动角度精确测量。The axis of rotation of the encoder can be coaxial with the axis of the rotor. When the rotor 1100 rotates, the encoder can be driven to rotate. The Hall element acquisition chip can accurately measure the rotation angle of the rotor based on the magnetic pole change information collected from the magnetic code disk.
具有光码盘的编码器和具有磁码盘的编码器工作原理大体相同,区别在于光码盘上具有可供光线透过的光栅,采集芯片可以为光敏元件采集芯片。光敏元件采集芯片可通过光栅接收到光线。信号处理电路可以用于对光线变化信息进行处理,输出位置信息。The working principles of encoders with optical code disks and encoders with magnetic code disks are basically the same. The difference is that the optical code disk has a grating that allows light to pass through, and the acquisition chip can be a photosensitive element acquisition chip. The photosensitive element collection chip can receive light through the grating. The signal processing circuit can be used to process light change information and output position information.
编码器检测电机的转动参数是本领域技术人员所熟知的,不再进行赘述。The detection of rotation parameters of the motor by an encoder is well known to those skilled in the art and will not be described in detail.
优选地,编码器可以为大于或等于14位的绝对值编码器。大于或等于14位的绝对值编码器可以提高编码器对转子1100转动角度的精度。Preferably, the encoder may be an absolute value encoder greater than or equal to 14 bits. An absolute value encoder greater than or equal to 14 bits can improve the accuracy of the encoder to the rotation angle of the rotor 1100 .
根据本发明的另一个方面,提供一种康复训练和数字健身设备。康复训练和数字健身设备可以包括双侧反向输出装置、第一适配器3100和第二适配器3200。第一适配器3100可以与转子1100的第一转动输出端1101固定。第二适配器3200可以与从动轮2200固定。其中,第一适配器3100和第二适配器3200可以包括脚踏组件或手柄组件,用户可以根据训练内容选择合适的第一适配器3100和第二适配器3200。According to another aspect of the present invention, a rehabilitation training and digital fitness device is provided. The rehabilitation training and digital fitness device may include a bilateral reverse output device, a first adapter 3100 and a second adapter 3200. The first adapter 3100 may be fixed to the first rotation output end 1101 of the rotor 1100. The second adapter 3200 may be fixed with the driven wheel 2200. The first adapter 3100 and the second adapter 3200 may include foot components or handle components, and the user may select the appropriate first adapter 3100 and second adapter 3200 according to the training content.
示例性地,如图10所示,第一适配器3100可以包括第一连杆3110和第一适配部3120。第一连杆3110的一端可以与第一转动输出端1101固定。第一适配部3120可枢转地连接在第一连杆3110的另一端,且第一连杆3110与中心轴线O-O垂直。第二适配器3200可以包括第二连杆3210和第二适配部3220。第二连杆3210的一端可以与从动轮2200固定。第二适配部3220可枢转地连接在第二连杆3210的另一端,且第二连杆3210与中心轴线O-O垂直。以第一适配部3120和第二适配部3220均为脚踏为例。用户可以将双脚放置在脚踏上,利用电机1000的转动,驱动用户的下肢产生运动,达到训练的效果。当然,可以理解的是,在电机为伺服电机的实施例中,用户还可以对伺服电机的输出扭矩进行设置,当用户蹬踏脚踏时,电机可以产生与用户下肢运动方向相反的阻力,从而提高康复训练或是达到健身的效果。For example, as shown in FIG. 10 , the first adapter 3100 may include a first connecting rod 3110 and a first adapting portion 3120 . One end of the first connecting rod 3110 may be fixed with the first rotation output end 1101. The first adapting part 3120 is pivotally connected to the other end of the first link 3110, and the first link 3110 is perpendicular to the central axis O-O. The second adapter 3200 may include a second link 3210 and a second adapter part 3220. One end of the second link 3210 may be fixed to the driven wheel 2200 . The second adapting part 3220 is pivotally connected to the other end of the second link 3210, and the second link 3210 is perpendicular to the central axis O-O. Take, for example, that both the first adapting part 3120 and the second adapting part 3220 are foot pedals. The user can place both feet on the pedals and use the rotation of the motor 1000 to drive the user's lower limbs to move, thereby achieving a training effect. Of course, it can be understood that in the embodiment where the motor is a servo motor, the user can also set the output torque of the servo motor. When the user pedals, the motor can generate resistance in the opposite direction to the movement of the user's lower limbs, thereby Improve rehabilitation training or achieve fitness effects.
示例性地,第一连杆3110和第二连杆3210在初始位置可以由中心轴线O-O朝向相同方向延伸。如图10所示,图中的双侧反向输出装置处于初始位置,第一连杆3110和第二连杆3210的延伸方向都向下。由于第一适配器3100和第二适配器3200的转动方向相反,在第一适配器3100和第二适配器3200转动速度相同的情况下,第一适配器3100或第二适配器3200每转动半圈,将可以位于处于朝向相同方向的位置。以图10作为初始位置,第一适配器3100和第二适配器3200转动半圈之后将可以共同处于朝向上方的位置。这样可以最大程度地使第一适配器3100和第二适配器3200的运动轨迹区别于用户的使用习惯,有效刺激用户的运动机能,提高康复训练或是达到健身的效果。当然,可以理解的是,根据训练内容的不同,第一适配器3100和第二适配器3200的初始位置还可以具有多种情况,不再赘述。For example, the first link 3110 and the second link 3210 may extend in the same direction from the central axis O-O in the initial position. As shown in Figure 10, the double-sided reverse output device in the figure is in the initial position, and the extending directions of the first link 3110 and the second link 3210 are both downward. Since the first adapter 3100 and the second adapter 3200 rotate in opposite directions, when the first adapter 3100 and the second adapter 3200 rotate at the same speed, the first adapter 3100 or the second adapter 3200 can be positioned at positions facing the same direction. Taking FIG. 10 as the initial position, the first adapter 3100 and the second adapter 3200 will be in an upward position together after rotating half a turn. In this way, the motion trajectories of the first adapter 3100 and the second adapter 3200 can be distinguished from the user's usage habits to the greatest extent, effectively stimulating the user's motor functions, improving rehabilitation training or achieving fitness effects. Of course, it can be understood that, depending on the training content, the initial positions of the first adapter 3100 and the second adapter 3200 may also have various situations, which will not be described again.
在本发明的描述中,需要理解的是,方位词如“前”、“后”、“上”、“下”、 “左”、“右”、“横向”、“竖向”、“垂直”、“水平”和“顶”、“底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,在未作相反说明的情况下,这些方位词并不指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作,因此不能理解为对本发明保护范围的限制;方位词“内”、“外”是指相对于各部件本身的轮廓的内外。In the description of the present invention, it should be understood that directional words such as "front", "back", "upper", "lower", "left", "right", "horizontal", "vertical", "vertical" ", "horizontal", "top", "bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, without any contrary explanation. In the case of , these directional words do not indicate or imply that the device or component referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of the present invention; the directional words "within", " "Outside" refers to the inside and outside relative to the outline of each component itself.
为了便于描述,在这里可以使用区域相对术语,如“在……之上”、“在……上方”、“在……上表面”、“上面的”等,用来描述图中所示的一个或多个部件或特征与其他部件或特征的区域位置关系。应当理解的是,区域相对术语不但包含部件在图中所描述的方位,还包括使用或操作中的不同方位。例如,如果附图中的部件被整体倒置,则部件“在其他部件或特征上方”或“在其他部件或特征之上”的将包括部件“在其他部件或构造下方”或“在其他部件或构造之下”的情况。因而,示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。此外,这些部件或特征也可以其他不同角度来定位(例如旋转90度或其他角度),本文意在包含所有这些情况。For ease of description, area-relative terms may be used here, such as "on", "over", "on the surface of", "on", etc., to describe what is shown in the figure. The regional positional relationship of one or more parts or features to other parts or features. It will be understood that regionally relative terms encompass not only the orientation of components in the figures, but also different orientations in use or operation. For example, if an element in the figures is turned over as a whole, terms "above" or "on top of" other elements or features would include elements "below" or "beneath" the other elements or features. under the structure” situation. Thus, the exemplary term "over" may include both orientations "above" and "below." Additionally, these components or features may be oriented at different angles (e.g., rotated 90 degrees or other angles), all of which are intended to be included here.
需要注意的是,这里所使用的术语仅是为了描述具体实施方式,而非意图限制根据本申请的示例性实施方式。如在这里所使用的,除非上下文另外明确指出,否则单数形式也意图包括复数形式,此外,还应当理解的是,当在本说明书中使用术语“包含”和/或“包括”时,其指明存在特征、步骤、操作、部件、组件和/或它们的组合。It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular forms are also intended to include the plural forms unless the context clearly indicates otherwise. Furthermore, it will be understood that when the terms "comprises" and/or "includes" are used in this specification, they indicate There are features, steps, operations, parts, components and/or combinations thereof.
需要说明的是,本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象,而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换,以便这里描述的本申请的实施方式能够以除了在这里图示或描述的那些以外的顺序实施。It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein.
本发明已经通过上述实施例进行了说明,但应当理解的是,上述实施例只是用于举例和说明的目的,而非意在将本发明限制于所描述的实施例范围内。此外本领域技术人员可以理解的是,本发明并不局限于上述实施例,根据本发明的教导还可以做出更多种的变型和修改,这些变型和修改均落在本发明所要求保护的范围以内。本发明的保护范围由附属的权利要 求书及其等效范围所界定。The present invention has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of illustration and illustration, and are not intended to limit the present invention to the scope of the described embodiments. In addition, those skilled in the art can understand that the present invention is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present invention. These variations and modifications all fall within the scope of the protection claimed by the present invention. within the range. The protection scope of the present invention is defined by the appended claims and their equivalents.
Claims (33)
- 一种双侧反向输出装置,应用于康复训练和数字健身设备,其特征在于,包括:A bilateral reverse output device used in rehabilitation training and digital fitness equipment, which is characterized by including:电机,所述电机包括转子,所述转子具有沿中心轴线相对设置且绕所述中心轴线可转动的第一转动输出端和第二转动输出端,所述第一转动输出端用于连接第一适配器;A motor, the motor includes a rotor, the rotor has a first rotation output end and a second rotation output end that are oppositely arranged along a central axis and can rotate around the central axis, and the first rotation output end is used to connect the first rotation output end and the first rotation output end. adapter;换向机构,所述换向机构包括主动轮、从动轮和传动组件,所述主动轮与所述第二转动输出端同轴固定,所述从动轮绕所述中心轴线可转动,所述传动组件连接所述主动轮和所述从动轮,所述传动组件用于使所述从动轮相对于所述主动轮反向转动,所述从动轮用于连接第二适配器。Reversing mechanism, the reversing mechanism includes a driving wheel, a driven wheel and a transmission assembly, the driving wheel is coaxially fixed with the second rotation output end, the driven wheel is rotatable around the central axis, and the transmission component The assembly connects the driving wheel and the driven wheel, the transmission assembly is used to reversely rotate the driven wheel relative to the driving wheel, and the driven wheel is used to connect a second adapter.
- 根据权利要求1所述的双侧反向输出装置,其特征在于,所述主动轮与所述传动组件的传动比等于所述从动轮与所述传动组件的传动比。The double-sided reverse output device according to claim 1, wherein the transmission ratio between the driving wheel and the transmission component is equal to the transmission ratio between the driven wheel and the transmission component.
- 根据权利要求1所述的双侧反向输出装置,其特征在于,所述换向机构为齿轮换向机构或带轮换向机构。The double-sided reverse output device according to claim 1, wherein the reversing mechanism is a gear reversing mechanism or a pulley reversing mechanism.
- 根据权利要求1所述的双侧反向输出装置,其特征在于,所述换向机构为齿轮换向机构,所述主动轮为主动齿轮,所述从动轮为从动齿轮,所述传动组件为中间齿轮,所述中间齿轮直接啮合在所述主动齿轮和所述从动齿轮之间。The bilateral reverse output device according to claim 1, wherein the reversing mechanism is a gear reversing mechanism, the driving wheel is a driving gear, the driven wheel is a driven gear, and the transmission assembly It is an intermediate gear, and the intermediate gear is directly meshed between the driving gear and the driven gear.
- 根据权利要求4所述的双侧反向输出装置,其特征在于,所述主动齿轮和所述从动齿轮沿着所述中心轴线间隔开设置,所述中间齿轮的枢转轴线是固定的且垂直于所述中心轴线,所述主动齿轮、所述从动齿轮和所述中间齿轮均为外啮合齿轮。The double-sided reverse output device according to claim 4, wherein the driving gear and the driven gear are spaced apart along the central axis, and the pivot axis of the intermediate gear is fixed and Perpendicular to the central axis, the driving gear, the driven gear and the intermediate gear are all external meshing gears.
- 根据权利要求5所述的双侧反向输出装置,其特征在于,所述主动齿轮、所述从动齿轮和所述中间齿轮均为锥形齿轮。The double-sided reverse output device according to claim 5, wherein the driving gear, the driven gear and the intermediate gear are all bevel gears.
- 根据权利要求4所述的双侧反向输出装置,其特征在于,所述主动齿轮和所述从动齿轮中的一个为外啮合齿轮且另一个为内啮合齿轮,所述外啮合齿轮设置在所述内啮合齿轮的径向内侧,所述中间齿轮为外啮合齿轮,所述中间齿轮的枢转轴线是固定的且平行于所述中心轴线。The double-sided reverse output device according to claim 4, wherein one of the driving gear and the driven gear is an external meshing gear and the other is an internal meshing gear, and the external meshing gear is arranged on Radially inside the internal gear, the intermediate gear is an external gear, and the pivot axis of the intermediate gear is fixed and parallel to the central axis.
- 根据权利要求1所述的双侧反向输出装置,其特征在于,所述换向 机构为带轮换向机构,所述主动轮为主动带轮,所述从动轮为从动带轮,所述传动组件包括中间带轮、第一传动带和第二传动带,所述第一传动带连接所述主动带轮和所述中间带轮,所述第二传动带连接所述中间带轮和所述从动带轮,其中,所述第一传动带和所述第二传动带中的一个采用开口传动且另一个采用交叉传动。The bilateral reverse output device according to claim 1, wherein the reversing mechanism is a pulley reversing mechanism, the driving pulley is a driving pulley, the driven pulley is a driven pulley, and the driven pulley is a driven pulley. The transmission assembly includes an intermediate pulley, a first transmission belt and a second transmission belt. The first transmission belt connects the driving pulley and the intermediate pulley, and the second transmission belt connects the intermediate pulley and the driven belt. wheel, wherein one of the first transmission belt and the second transmission belt adopts open transmission and the other adopts cross transmission.
- 根据权利要求1所述的双侧反向输出装置,其特征在于,所述主动轮和所述从动轮中的一个上设置有沿所述中心轴线且朝向另一个延伸的凸轴,且所述另一个可枢转地套设在所述凸轴上。The double-sided reverse output device according to claim 1, wherein one of the driving wheel and the driven wheel is provided with a convex shaft extending along the central axis and toward the other, and the The other one is pivotably sleeved on the convex shaft.
- 根据权利要求9所述的双侧反向输出装置,其特征在于,所述主动轮包括所述中心轴线相对设置的第一端面和第二端面,所述从动轮包括所述中心轴线相对设置的第三端面和第四端面,所述第二端面与所述第三端面面对面设置,所述第一端面与所述转子的所述第二转动输出端固定,所述第二端面设置有沿所述中心轴线延伸的凸轴,所述第三端面设置有沿所述中心轴线延伸的凸轴安装孔,所述凸轴可枢转地与所述凸轴安装孔连接。The double-sided reverse output device according to claim 9, wherein the driving wheel includes a first end surface and a second end surface opposite to the central axis, and the driven wheel includes a first end surface opposite to the central axis. The third end face and the fourth end face, the second end face and the third end face are arranged face to face, the first end face is fixed to the second rotation output end of the rotor, and the second end face is provided with an edge along the The convex shaft extending along the central axis, the third end face is provided with a convex shaft mounting hole extending along the central axis, and the convex shaft is pivotally connected to the convex shaft mounting hole.
- 根据权利要求10所述的双侧反向输出装置,其特征在于,所述凸轴安装孔内设置有第一轴承,所述第一轴承的外圈与所述凸轴安装孔的内周壁固定连接,所述凸轴的端部插接在所述第一轴承的内圈中且与所述内圈固定连接。The double-sided reverse output device according to claim 10, characterized in that a first bearing is provided in the convex shaft mounting hole, and the outer ring of the first bearing is fixed to the inner peripheral wall of the convex shaft mounting hole. connection, the end of the convex shaft is inserted into the inner ring of the first bearing and is fixedly connected to the inner ring.
- 根据权利要求11所述的双侧反向输出装置,其特征在于,所述凸轴为具有第一直径和第二直径的台阶轴,其中所述第一直径小于所述第二直径,所述第一轴承过盈配合在具有所述第一直径的台阶轴上,在具有所述第一直径的台阶轴的外周壁上设置有环形凹槽,所述环形凹槽内设置有卡箍,所述第一轴承穿设在所述具有第一直径的台阶轴上,所述第一轴承夹设在所述第二直径的台阶轴的侧壁与所述卡箍之间。The double-sided reverse output device according to claim 11, wherein the convex shaft is a stepped shaft with a first diameter and a second diameter, wherein the first diameter is smaller than the second diameter, and the The first bearing is interference-fitted on the stepped shaft with the first diameter. An annular groove is provided on the outer peripheral wall of the stepped shaft with the first diameter. A clamp is provided in the annular groove. The first bearing is disposed on the stepped shaft with the first diameter, and the first bearing is sandwiched between the side wall of the stepped shaft with the second diameter and the clamp.
- 根据权利要求1所述的双侧反向输出装置,其特征在于,所述转子的所述第二转动输出端处设置有沿所述中心轴线延伸的主动轮安装孔,所述主动轮上设置有沿所述中心轴线延伸第一凸柱,所述第一凸柱插接在所述主动轮安装孔内且与所述主动轮安装孔固定。The double-sided reverse output device according to claim 1, characterized in that the second rotation output end of the rotor is provided with a driving wheel mounting hole extending along the central axis, and the driving wheel is provided with A first protruding column extends along the central axis, and the first protruding column is inserted into the driving wheel mounting hole and fixed with the driving wheel mounting hole.
- 根据权利要求13所述的双侧反向输出装置,其特征在于,所述转子与所述主动轮之间设置有联轴器,所述主动轮通过所述联轴器连接至所 述转子。The double-sided reverse output device according to claim 13, characterized in that a coupling is provided between the rotor and the driving wheel, and the driving wheel is connected to the rotor through the coupling.
- 根据权利要求14所述的双侧反向输出装置,其特征在于,所述联轴器为免键轴衬,所述免键轴衬的外圈与所述转子和所述主动轮中的一个固定连接,所述免键轴衬的内圈与所述转子和所述主动轮中的另一个固定连接。The double-sided reverse output device according to claim 14, characterized in that the coupling is a keyless bushing, and the outer ring of the keyless bushing is in contact with one of the rotor and the driving wheel. Fixed connection, the inner ring of the keyless bushing is fixedly connected with the other of the rotor and the driving wheel.
- 根据权利要求13所述的双侧反向输出装置,其特征在于,所述转子的所述第一转动输出端处设置有沿所述转子的中心轴线延伸的第一适配孔,所述第一适配孔用于与所述第一适配部固定连接。The double-sided reverse output device according to claim 13, wherein the first rotation output end of the rotor is provided with a first adapting hole extending along the central axis of the rotor, and the third An adapting hole is used for fixed connection with the first adapting part.
- 根据权利要求16所述的双侧反向输出装置,其特征在于,所述第一适配孔与所述主动轮安装孔连通且形成沿所述中心轴线贯通的内径均匀的孔。The double-sided reverse output device according to claim 16, wherein the first adapting hole is connected with the driving wheel mounting hole and forms a hole with a uniform inner diameter penetrating along the central axis.
- 根据权利要求1所述的双侧反向输出装置,其特征在于,所述换向机构包括换向机构壳体,在所述换向机构壳体上设置有沿所述中心轴线延伸的从动轮安装通孔,所述从动轮上设置有沿所述中心轴线延伸的第二凸柱,所述第二凸柱可枢转地插接在所述从动轮安装通孔内。The double-sided reverse output device according to claim 1, wherein the reversing mechanism includes a reversing mechanism housing, and a driven wheel extending along the central axis is provided on the reversing mechanism housing. and a mounting through hole. The driven wheel is provided with a second protruding column extending along the central axis, and the second protruding column is pivotably inserted into the driven wheel mounting through hole.
- 根据权利要求18所述的双侧反向输出装置,其特征在于,在所述第二凸柱上设置有沿所述中心轴线延伸的第二适配孔,所述第二适配孔用于与所述第二适配部固定连接。The double-sided reverse output device according to claim 18, wherein a second adapting hole extending along the central axis is provided on the second protruding column, and the second adapting hole is used for Fixedly connected to the second adapting part.
- 根据权利要求1所述的双侧反向输出装置,其特征在于,所述转子的所述第一转动输出端设置有用于与所述第一适配器连接的第一适配孔,所述从动轮上设置有用于与所述第二适配器连接的第二适配孔,所述第一适配孔与所述第二适配孔具有相同的构造。The double-sided reverse output device according to claim 1, wherein the first rotation output end of the rotor is provided with a first adapting hole for connecting with the first adapter, and the driven wheel A second adapting hole for connecting with the second adapter is provided on the second adapting hole, and the first adapting hole and the second adapting hole have the same structure.
- 根据权利要求1所述的双侧反向输出装置,其特征在于,所述电机还包括电机壳体和定子,所述定子热压固定在所述电机壳体内,所述转子穿设在所述定子内。The bilateral reverse output device according to claim 1, wherein the motor further includes a motor housing and a stator, the stator is hot-pressed and fixed in the motor housing, and the rotor is inserted through inside the stator.
- 根据权利要求1所述的双侧反向输出装置,其特征在于,所述电机包括电机壳体,所述转子设置在所述电机壳体内,所述换向机构还包括换向机构壳体,所述主动轮、所述从动轮和所述传动组件设置在所述换向机构壳体内,所述电机壳体和所述换向壳体为一体件。The double-sided reverse output device according to claim 1, wherein the motor includes a motor housing, the rotor is arranged in the motor housing, and the reversing mechanism further includes a reversing mechanism housing. The driving wheel, the driven wheel and the transmission assembly are arranged in the reversing mechanism housing, and the motor housing and the reversing housing are one piece.
- 根据权利要求22所述的双侧反向输出装置,其特征在于,所述换 向机构壳体内设置有传动组件枢转轴,所述传动组件可枢转地套设在所述传动组件枢转轴上。The bilateral reverse output device according to claim 22, characterized in that a transmission assembly pivot shaft is provided in the reversing mechanism housing, and the transmission assembly is pivotably sleeved on the transmission assembly pivot shaft. .
- 根据权利要求23所述的双侧反向输出装置,其特征在于,所述传动组件枢转轴上套设有第二轴承,所述第二轴承的内圈与所述传动组件枢转轴的外周壁固定连接,所述传动组件与所述第二轴承的外圈固定连接。The double-sided reverse output device according to claim 23, characterized in that a second bearing is sleeved on the pivot shaft of the transmission assembly, and the inner ring of the second bearing is in contact with the outer peripheral wall of the pivot shaft of the transmission assembly. Fixed connection: the transmission component is fixedly connected to the outer ring of the second bearing.
- 根据权利要求1所述的双侧反向输出装置,其特征在于,所述电机还包括定子,所述定子与所述转子同轴设置,所述定子包括定子芯及设置于所述定子芯上的定子绕组,所述转子包括转子芯及依次排列于所述转子芯上的多个永磁体,所述永磁体为海尔贝克阵列型永磁体,所述定子与所述转子同轴设置且在所述定子与所述转子之间形成气隙。The bilateral reverse output device according to claim 1, wherein the motor further includes a stator, the stator is coaxially arranged with the rotor, the stator includes a stator core and is disposed on the stator core. The stator winding, the rotor includes a rotor core and a plurality of permanent magnets arranged sequentially on the rotor core, the permanent magnets are Halbeck array type permanent magnets, the stator is coaxially arranged with the rotor and is located at the An air gap is formed between the stator and the rotor.
- 根据权利要求25所述的双侧反向输出装置,其特征在于,所述定子绕组采用分数槽集中绕组,其中,在所述定子芯的内圆周上设有多个沿其周向间隔开布置的定子齿极,相邻两个定子齿极之间限定出定子槽,所述定子齿极上缠绕有绕组线圈。The double-sided reverse output device according to claim 25, wherein the stator winding adopts fractional slot concentrated winding, wherein there are a plurality of stator cores spaced apart along the circumferential direction on the inner circumference of the stator core. There are stator tooth poles, a stator slot is defined between two adjacent stator tooth poles, and a winding coil is wound on the stator tooth poles.
- 根据权利要求26所述的双侧反向输出装置,其特征在于,所述定子槽为倾斜n个定子槽距的斜槽,其中n小于1。The double-sided reverse output device according to claim 26, wherein the stator slot is an inclined slot inclined by n stator slot pitches, where n is less than 1.
- 根据权利要求1所述的双侧反向输出装置,其特征在于,所述电机还包括编码器,所述编码器包括:The bilateral reverse output device according to claim 1, wherein the motor further includes an encoder, and the encoder includes:磁码盘或者光码盘;以及Magnetic code disk or optical code disk; and电路板,所述电路板上集成有采集芯片和信号处理电路,所述采集芯片用于采集所述磁码盘或光码盘的变化信息,所述信号处理电路用于对所述变化信息进行处理,输出位置信息。A circuit board. A collection chip and a signal processing circuit are integrated on the circuit board. The collection chip is used to collect the change information of the magnetic code disk or the optical code disk. The signal processing circuit is used to process the change information. Process and output location information.
- 根据权利要求28所述的双侧反向输出装置,其特征在于,所述编码器为大于或等于14位的绝对值编码器。The bilateral reverse output device according to claim 28, wherein the encoder is an absolute value encoder greater than or equal to 14 bits.
- 一种康复训练和数字健身设备,其特征在于,包括如权利要求1-29中任一项所述的双侧反向输出装置、第一适配器和第二适配器,所述第一适配器与所述转子的所述第一转动输出端固定,所述第二适配器与所述从动轮固定。A kind of rehabilitation training and digital fitness equipment, characterized in that it includes the bilateral reverse output device according to any one of claims 1-29, a first adapter and a second adapter, the first adapter and the The first rotation output end of the rotor is fixed, and the second adapter is fixed to the driven wheel.
- 根据权利要求30所述的康复训练和数字健身设备,其特征在于, 所述第一适配器包括第一连杆和第一适配部,所述第一连杆的一端与所述第一转动输出端固定,所述第一适配部可枢转地连接在所述第一连杆的另一端,且所述第一连杆与所述中心轴线垂直,The rehabilitation training and digital fitness equipment according to claim 30, wherein the first adapter includes a first connecting rod and a first adapting part, one end of the first connecting rod is connected to the first rotation output One end is fixed, the first adapting part is pivotably connected to the other end of the first link, and the first link is perpendicular to the central axis,所述第二适配器包括第二连杆和第二适配部,所述第二连杆的一端与所述从动轮固定,所述第二适配部可枢转地连接在所述第二连杆的另一端,且所述第二连杆与所述中心轴线垂直。The second adapter includes a second connecting rod and a second adapting part. One end of the second connecting rod is fixed to the driven wheel, and the second adapting part is pivotably connected to the second connecting rod. The other end of the rod, and the second connecting rod is perpendicular to the central axis.
- 根据权利要求31所述的康复训练和数字健身设备,其特征在于,所述第一适配部和所述第二适配部均为脚踏。The rehabilitation training and digital fitness equipment according to claim 31, characterized in that both the first adapting part and the second adapting part are foot pedals.
- 根据权利要求31所述的康复训练和数字健身设备,其特征在于,所述第一连杆和所述第二连杆在初始位置由所述中心轴线朝向相同方向延伸。The rehabilitation training and digital fitness device according to claim 31, wherein the first link and the second link extend from the central axis toward the same direction in the initial position.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2022/090621 WO2023206509A1 (en) | 2022-04-29 | 2022-04-29 | Two-sided reverse output mechanism, and rehabilitation training and digital fitness apparatus having same |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2022/090621 WO2023206509A1 (en) | 2022-04-29 | 2022-04-29 | Two-sided reverse output mechanism, and rehabilitation training and digital fitness apparatus having same |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2023206509A1 true WO2023206509A1 (en) | 2023-11-02 |
Family
ID=88517017
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2022/090621 WO2023206509A1 (en) | 2022-04-29 | 2022-04-29 | Two-sided reverse output mechanism, and rehabilitation training and digital fitness apparatus having same |
Country Status (1)
Country | Link |
---|---|
WO (1) | WO2023206509A1 (en) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007244539A (en) * | 2006-03-15 | 2007-09-27 | Sophia Precision Corp | Exercising device |
CN107736982A (en) * | 2017-10-20 | 2018-02-27 | 浙江睿索电子科技有限公司 | A kind of active-passive rehabilitation robot |
CN108273236A (en) * | 2018-02-09 | 2018-07-13 | 东北大学 | A kind of limbs joint rehabilitation training device |
CN112931272A (en) * | 2021-03-23 | 2021-06-11 | 海南浙江大学研究院 | Improve pork pig lean meat rate and resistant fodder of coarse feeding and feed equipment |
CN113629967A (en) * | 2021-08-02 | 2021-11-09 | 宁波普尔机电制造有限公司 | Direct-current brushless inner rotor motor with Halbach array |
-
2022
- 2022-04-29 WO PCT/CN2022/090621 patent/WO2023206509A1/en unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007244539A (en) * | 2006-03-15 | 2007-09-27 | Sophia Precision Corp | Exercising device |
CN107736982A (en) * | 2017-10-20 | 2018-02-27 | 浙江睿索电子科技有限公司 | A kind of active-passive rehabilitation robot |
CN108273236A (en) * | 2018-02-09 | 2018-07-13 | 东北大学 | A kind of limbs joint rehabilitation training device |
CN112931272A (en) * | 2021-03-23 | 2021-06-11 | 海南浙江大学研究院 | Improve pork pig lean meat rate and resistant fodder of coarse feeding and feed equipment |
CN113629967A (en) * | 2021-08-02 | 2021-11-09 | 宁波普尔机电制造有限公司 | Direct-current brushless inner rotor motor with Halbach array |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10250107B2 (en) | Magnetic-controlled generator with built-in controller | |
US20170326712A1 (en) | Driving Device And Power Tool Comprising Same | |
CN101883935B (en) | Drive unit having at least one transmission stage | |
JP2008109852A (en) | Double-rotor electromagnetic apparatus | |
JP2006050844A (en) | Structure of axial gap motor | |
JP2016537946A (en) | Electronically controlled AC / DC motor | |
WO2023206509A1 (en) | Two-sided reverse output mechanism, and rehabilitation training and digital fitness apparatus having same | |
CN114709975A (en) | Bilateral reverse output mechanism and rehabilitation training and digital fitness equipment with same | |
JP5032777B2 (en) | Torque transmission device | |
US6437470B1 (en) | Drum-type motor with inner gear | |
CN217769750U (en) | Bilateral reverse output device and rehabilitation training and digital fitness equipment with same | |
US20170047870A1 (en) | Magnetic-controlled generator with built-in controller | |
TWM646853U (en) | Intelligent tensile simulation device | |
CN208369436U (en) | A kind of moving-coil type unipolarity permanent magnet rotational alignment motor | |
CN100525021C (en) | Coreless motor | |
CN100588090C (en) | Electromagnetic harmonic wave drive action device | |
TW201924189A (en) | Electric machine with adjustable speed magnetic gear, use thereof, and electric vehicle with the same | |
CN204013053U (en) | Ball spline spindle motor | |
JPH0312065Y2 (en) | ||
CN108736675A (en) | A kind of moving-coil type unipolarity permanent magnet rotational alignment motor | |
US11873882B2 (en) | Transmission structure of coreless tubular motor | |
TW201328133A (en) | A magnetic coupling integrated with an axial-flux brushless motor | |
CN112165231A (en) | Complementary axial air gap flux permanent magnet switched reluctance motor | |
CN216086377U (en) | Motor direct-drive concentric triaxial mechanism | |
CN219643671U (en) | Double-output-shaft bidirectional stepping motor |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 22939356 Country of ref document: EP Kind code of ref document: A1 |