CN116421927A

CN116421927A - Reluctance device and exoskeleton equipment

Info

Publication number: CN116421927A
Application number: CN202310557994.6A
Authority: CN
Inventors: 朱瀚琦; 柯志锋
Original assignee: Shenzhen Yingyinsi Power Technology Co ltd
Current assignee: Shenzhen Yingyinsi Power Technology Co ltd
Priority date: 2023-05-16
Filing date: 2023-05-16
Publication date: 2023-07-14

Abstract

The application provides a magnetic resistance device and exoskeleton equipment relates to the technical field of exoskeleton wearing. A magneto resistive device comprises a first component and a second component which can rotate relatively; the first assembly includes a permanent magnet; the second component comprises an electric conduction piece and a magnetic conduction piece; the magnetic resistance device also comprises an adjusting module, wherein the adjusting module is used for adjusting the opposite areas of the conductive piece and the magnetic conductive piece; when the limb applies driving force to the rotor through movement, the first component and the second component relatively rotate, so that the conductive piece generates eddy under the action of the magnetic field of the permanent magnet; the induced magnetic field generated by the eddy current interacts with the magnetic field of the permanent magnet, thereby generating resistance for blocking the movement of the limb; the magnetic conduction piece is used for guiding the magnetic induction wire of the permanent magnet to pass through the electric conduction piece. The magnetic resistance device belongs to a passive device, and the generated resistance can be adjusted.

Description

Reluctance device and exoskeleton equipment

Technical Field

The application relates to the technical field of exoskeleton wearing, in particular to a magnetic resistance device and exoskeleton equipment.

Background

Resistance training refers to the exercise of muscles while overcoming external resistance, and is mainly used for restoring and developing the strength of muscles, etc. Wherein, athletes or fitness enthusiasts can improve muscle strength or perform muscle rehabilitation through resistance training.

Exoskeleton devices are wearable mechanical devices that can provide resistance to movement of a limb, thereby achieving resistance training. The exoskeleton device for resistance training includes a resistance module that applies resistance to a moving limb when the limb is in motion after the exoskeleton device is worn on the limb.

The resistance module is divided into an active module and a passive module:

the active module generates resistance through a motor and the like, wherein the resistance can be adjusted by controlling the motor, but the motor needs to be driven by a power supply, so that the active module needs to be provided with the power supply, and the problems of large volume, heavy weight and the like of the active module are caused;

the passive module generates resistance through the movement of limbs, and power is not needed, so compared with the active module, the passive module has smaller volume and lighter weight, but the existing passive module has the problem that the resistance is not adjustable, thereby being incapable of meeting the use requirements under different scenes.

Disclosure of Invention

An object of the present application is to overcome the drawbacks of the prior art, and to provide a magneto-resistive device and an exoskeleton device for solving the problems in the prior art.

To solve the above problems, a first aspect of embodiments of the present application provides a magnetoresistive device, including a first component and a second component that can rotate relatively; one of the first and second components is for being driven by a limb of a user, and this component is named a rotor;

the first assembly includes a permanent magnet; the second component comprises an electric conduction piece and a magnetic conduction piece;

the magnetic resistance device also comprises an adjusting module, wherein the adjusting module is used for driving the conductive piece or the magnetic conductive piece so as to adjust the opposite areas of the conductive piece and the magnetic conductive piece;

when the limb applies driving force to the rotor through movement, the first component and the second component relatively rotate, so that the conductive piece generates vortex under the action of the magnetic field of the permanent magnet; the induced magnetic field generated by the eddy currents interacts with the magnetic field of the permanent magnet, thereby creating a resistance against the movement of the limb; the magnetic conduction piece is used for guiding the magnetic induction wire of the permanent magnet to pass through the conductive piece.

In a possible embodiment, the magnetic resistance device further comprises a housing, the adjustment module is rotatably connected with the housing, and the first assembly and the second assembly are both installed in the housing;

the conductive piece is rotatably connected with the magnetic conductive piece; the adjusting module is used for driving the conductive piece or the magnetic conductive piece to rotate so as to adjust the opposite areas of the conductive piece and the magnetic conductive piece; a plurality of gaps which are distributed at intervals along the circumferential direction of the conductive piece and the magnetic conductive piece are arranged on the conductive piece and the magnetic conductive piece; the opposite surface sizes of the conductive piece and the magnetic conductive piece are in positive correlation with the opposite surface sizes of the notch.

In one possible implementation manner, the adjusting module comprises a connecting piece and a movable piece, wherein the connecting piece is arranged on the conductive piece or the magnetic conductive piece, and the movable piece is movably connected with the connecting piece;

the shell is provided with a guide structure for guiding the adjusting module, and the connecting piece is slidably connected with the guide structure;

at least two mounting positions are arranged on the guide structure; the installation position is used for the movable piece to be detachably installed in so that the adjusting module and the shell are relatively fixed; when the movable piece is positioned at different installation positions, the opposite areas of the conductive piece and the magnetic conductive piece are different.

In one possible embodiment, the connector comprises a first connector portion and a second connector portion;

the first connecting part is used for being connected with the conductive piece or the magnetic conductive piece;

the movable piece is sleeved on the second connecting part along the sleeving direction, and the movable piece is connected with the second connecting part in a sliding manner along the sleeving direction;

the guide structure comprises a penetrating track, and the first connecting part penetrates through the track and is slidably connected with the track; the width of the track is smaller than the dimension of the movable piece along the width direction of the track;

the installation position is provided with a plug hole, and the movable piece is used for being inserted into the plug hole.

In one possible implementation manner, a containing hole is formed in the movable piece, a containing space is formed between the inner wall of the containing hole and the side wall of the second connecting part, and an elastic piece is arranged in the containing space;

one end of the second connecting part far away from the first connecting part is provided with a fixing piece;

one end of the elastic piece is abutted against the bottom surface of the accommodating hole, and the other end of the elastic piece is abutted against the fixed piece, wherein the elastic piece is used for applying an acting force towards the first connecting part to the movable piece;

when the movable piece is positioned outside the plug hole and is right opposite to the plug hole, the elastic piece acts on the movable piece to enable the movable piece to slide on the second connecting portion, so that the movable piece is driven to be inserted into the plug hole and positioned.

In a possible embodiment, the magnetic resistance device further comprises a transmission mechanism in transmission connection with the rotor, the transmission mechanism being used for increasing the resistance.

In one possible embodiment, the transmission comprises a planetary gear transmission.

In a possible embodiment, the magnetic resistance device further comprises a detection module for detecting a rotation parameter of the rotor.

In one possible embodiment, the detection module comprises a magnetic encoder.

A second aspect of an embodiment of the present application provides an exoskeleton device comprising a wearing part and a magneto resistive device as described above;

the wearing part is used for being worn on limbs of a user, and is in transmission connection with the rotor of the magnetic resistance device.

The beneficial effects of this application include:

the application provides a magnetic resistance device, including but relative pivoted first subassembly and second subassembly, first subassembly includes the permanent magnet, and the second subassembly includes electrically conductive piece and magnetic conduction piece, wherein, can adjust electrically conductive piece and magnetic conduction piece both just to the size of area through adjusting the module.

When the limb applies driving force to the rotor through movement, the first component and the second component relatively rotate, so that the conductive piece generates eddy under the action of the magnetic field of the permanent magnet; the induced magnetic field generated by the eddy currents interacts with the magnetic field of the permanent magnet, thereby creating resistance against the movement of the limb. Because the rotor is driven by limbs, in order to overcome the resistance generated by the magnetic resistance device, the muscle is required to send out more force to drive the rotor, so that the aim of resistance training is fulfilled.

The magnetic conduction piece is used for guiding the magnetic induction line of the permanent magnet to pass through the conductive piece, wherein the quantity of the magnetic induction line of the permanent magnet passing through the conductive piece can be changed by adjusting the opposite areas of the conductive piece and the magnetic conduction piece, so that the adjustment of the generated resistance is realized.

The magnetic resistance device belongs to a passive device, and the generated resistance can be adjusted.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1a shows a first schematic diagram of a magnetoresistive device;

FIG. 1b shows a second schematic view of the magnetoresistive device of FIG. 1 a;

FIG. 2 shows an exploded view of the magnetoresistive device of FIG. 1 a;

FIG. 3 shows a schematic view of a permanent magnet;

FIG. 4 shows a first cross-sectional view of the magnetic field device of FIG. 1 a;

FIG. 5 is a schematic diagram showing the positional relationship between the conductive member and the magnetically conductive member when the facing area of the conductive member is maximized;

FIG. 6 is a schematic diagram showing the positional relationship between an electrically conductive member and a magnetically conductive member when the facing area is minimized;

FIG. 7 shows a second cross-sectional view of the magnetic field device of FIG. 1 a;

FIG. 7a shows a partial enlarged view of FIG. 7;

fig. 8 shows an exploded view of a transmission.

Description of main reference numerals:

10-magneto-resistive means; 110-a first component; 111-rotating a disc; 1111-a first shaft; 1112-a second shaft body; 112-permanent magnets; 1121-a first magnet; 1122-a second magnet; 120-a second component; 121-a conductive member; 1211-a connecting ear; 122-magnetic conduction piece; 1221-raised rings; 1222-a connecting arm; 200-adjusting the module; 210-a connector; 211-a first connection; 212-a second connection; 220-moving parts; 230-accommodation space; 240-elastic member; 251-annular baffle; 252-fixing screws; 300-a shell; 301-a first support bearing; 302-a second support bearing; 310-cover; 311-a third support bearing; 312-fourth support bearings; 320-guiding structure; 321-orbit; 322-plug holes; 400-transmission mechanism; 411-mounting cavity; 412-an inner protrusion; 421—small pulleys; 422-large pulleys; 423-synchronous belt; 431-sun gear; 432-planetary gear; 433-an inner gear ring; 4331-concave sections; 434-a planet carrier; 435-planetary shaft; 441-end caps; 442-first connection bearing; 443-a second connecting bearing; 444-gland; 445-a connecting cap; 446-flange; 500-a detection module; 510-detecting a magnet; 511-mount; 520-circuit board.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

Examples

Referring to fig. 1a, 1b and 2, in this embodiment, a magneto resistive device 10 is provided.

The magneto resistive device 10 comprises a first component 110 and a second component 120 which are relatively rotatable. One of the first and

second components

110, 120 is for being driven by a limb of a user, and this component is named a rotor.

For convenience of description, the present embodiment will be described taking the first assembly 110 as a rotor. In other embodiments, the second assembly 120 may be configured as a rotor as desired.

Referring to fig. 2 and 3, the first assembly 110 includes a rotating disc 111 and a permanent magnet 112. The rotating disc 111 may be made of a magnetically conductive material, so that the rotating disc 111 may be magnetized by the permanent magnet 112, thereby increasing the strength of the magnetic field generated by the permanent magnet 112.

As shown in fig. 2, the second assembly 120 includes an electrically conductive member 121 and a magnetically conductive member 122. Wherein, the opposite areas of the conductive member 121 and the magnetic conductive member 122 are adjustable.

The magnetic resistance device 10 further includes an adjusting module 200, where the adjusting module 200 is configured to drive the conductive member 121 or the magnetically conductive member 122 to adjust the facing areas of the conductive member 121 and the magnetically conductive member 122.

In this embodiment, the conductive member 121 may be made of a material with high conductivity such as copper, and the magnetic conductive member 122 may be made of a material with magnetic conductivity such as iron. The conductive member 121 and the magnetic conductive member 122 may be disc-shaped, and the central axes of the conductive member 121, the magnetic conductive member 122 and the rotating disc 111 may be parallel or collinear, wherein, referring to fig. 4, the rotating disc 111, the permanent magnet 112, the conductive member 121 and the magnetic conductive member 122 are sequentially disposed from top to bottom.

When the limb applies a driving force to the first component 110 through movement, the first component 110 and the second component 120 rotate relatively, so that the conductive piece 121 generates eddy current under the action of the magnetic field of the permanent magnet 112; the induced magnetic field created by the eddy currents interacts with the magnetic field of the permanent magnet 112, thereby creating resistance against limb movement.

Since the magnetic conductive member 122 can conduct magnetic current, the magnetic induction line of the permanent magnet 112 can be guided by the magnetic conductive member 122.

The magnetic conductive member 122 may guide the magnetic induction line of the permanent magnet 112 through the conductive member 121. When the conductive member 121 rotates relative to the permanent magnet 112, the conductive member 121 cuts the magnetic induction line of the permanent magnet 112 and thereby generates eddy current. Wherein, by adjusting the facing areas of the conductive member 121 and the magnetic conductive member 122, the number of magnetic induction lines of the permanent magnet 112 passing through the conductive member 121 can be changed, thereby changing the size of the generated vortex, and thus realizing the adjustment of the size of the generated resistance.

Referring to fig. 3, in the present embodiment, the permanent magnet 112 includes a first magnet 1121 and a second magnet 1122, and the north pole of the first magnet 1121 and the south pole of the second magnet 1122 are all oriented on the same side, wherein the first magnet 1121 and the second magnet 1122 are alternately disposed on the rotating disc 111 in sequence along a circumferential direction. The first magnet 1121 and the second magnet 1122 may be fixed to the rotating disk 111 by adhesive or the like. The first magnet 1121 and the second magnet 1122 may be magnets of the same brand as N45.

In this embodiment, the north pole of the first magnet 1121 and the south pole of the second magnet 1122 are both oriented on the same side of the conductive member 121.

The permanent magnet 112 is arranged in the above manner, and the non-uniformity of the magnetic field generated by the permanent magnet 112 can be improved. Because the magnetic field generated by the permanent magnet 112 is uneven, when the first component 110 rotates relative to the second component 120, the magnetic field intensity of each part of the conductive member 121 is continuously changed along with the rotation of the permanent magnet 112, wherein under the action of electromagnetic induction, the conductive member 121 can generate larger eddy current, and correspondingly, the intensity of the induction magnetic field generated by the eddy current is also stronger, so that larger resistance is provided for the limb.

In this embodiment, the magneto resistive device 10 includes an adjustment module 200 and a housing 300, the adjustment module 200 is rotatably connected to the housing 300, and the first assembly 110 and the second assembly 120 are both mounted in the housing 300.

The rotating disc 111 of the first assembly 110 is provided with a first shaft 1111 and a second shaft 1112, and the first shaft 1111 and the second shaft 1112 are disposed at two ends of the rotating disc 111. Wherein the rotating disc 111, the first shaft 1111 and the second shaft 1112 may be of an integral structure.

As shown in fig. 4, the first shaft body 1111 is sleeved with a first support bearing 301, and the second shaft body 1112 is sleeved with a second support bearing 302, wherein the first support bearing 301 and the second support bearing 302 are both installed in the casing 300. The first support bearing 301 and the second support bearing 302 may be any suitable type of bearing as required, for example, the first support bearing 301 may be a ball bearing, etc., and the second support bearing 302 may be a thrust bearing, etc.

With continued reference to fig. 4, the housing 300 further includes a cover 310, wherein the second shaft 1112 is inserted into the cover 310, and the second shaft 1112 is rotatably connected to the cover 310 through a third support bearing 311. The third support bearing 311 may be a suitable type of bearing, for example, a ball bearing, etc., as needed.

In this embodiment, the conductive member 121 and the magnetic conductive member 122 are rotatably connected, wherein the two members can be coaxially disposed. The adjusting module 200 is used for driving the conductive member 121 or the magnetic conductive member 122 to rotate so as to adjust the facing areas of the conductive member 121 and the magnetic conductive member 122.

For convenience of description, in this embodiment, the adjusting module 200 is used to drive the magnetic conductive member 122 to rotate. In other embodiments, the adjusting module 200 may be used to rotate the conductive element 121.

As shown in fig. 4, 5 and 6, protruding rings 1221 may be disposed on two sides of the magnetic conductive member 122, and the conductive member 121 is sleeved on the protruding ring 1221 on one side and is rotationally connected to the protruding ring 1221. Only one side of the raised ring 1221 is shown in fig. 5 and 6 due to the view angle.

Referring to fig. 5 and 6, the conductive member 121 and the magnetic conductive member 122 are provided with a plurality of gaps circumferentially spaced apart from each other. The facing areas of the conductive member 121 and the magnetic conductive member 122 are in positive correlation with the facing areas of the notches.

As shown in fig. 5, the conductive member 121 and the magnetically conductive member 122 have the largest facing areas, and correspondingly, the facing areas of the notches are also the largest. At this time, the number of magnetic induction lines of the permanent magnet 112 passing through the conductive member 121 is the largest, and accordingly, the resistance that can be generated by the magneto resistive device 10 is larger.

As shown in fig. 6, the facing areas of the conductive member 121 and the magnetically conductive member 122 are the smallest, and correspondingly, the facing areas of the notches are the smallest. At this time, the number of magnetic induction lines of the permanent magnet 112 passing through the conductive member 121 is minimized, and accordingly, the resistance that can be generated by the magneto resistive device 10 is smaller.

When the magnetic conductive member 122 rotates relative to the conductive member 121, the magnetic conductive member 122 rotates about a rotation axis, which is the central axis of the conductive member 121 and the magnetic conductive member 122 in this embodiment. When the second assembly 120 is projected in a direction parallel to the central axes of the conductive member 121 and the magnetically conductive member 122, the area of the overlapping portion of the conductive member 121 and the magnetically conductive member 122 is the facing area of the conductive member 121 and the magnetically conductive member 122. Corresponding to the above. When the second component 120 is projected in a direction parallel to the central axes of the conductive member 121 and the magnetically conductive member 122, the area of the overlapping portion of the gaps of the conductive member 121 and the magnetically conductive member 122 is the facing area of the gaps of the conductive member 121 and the magnetically conductive member 122.

Referring to fig. 4, 5 and 6, the circumferential edge of the conductive member 121 is convexly provided with a plurality of connection lugs 1211 spaced apart, wherein the connection lugs 1211 are provided with through holes for passing bolts.

When assembling, the bolts pass through the through holes on the cover 310 and the connecting lugs 1211 and then are fixedly connected with the casing 300 through screw threads, thereby realizing the fixation among the casing 300, the cover 310 and the conductive member 121. The protruding ring 1221 of the magnetic conductive member 122 opposite to the conductive member 121 is sleeved with a fourth support bearing 312, and the fourth support bearing 312 is mounted on the cover 310. The fourth support bearing 312 may be a suitable type of bearing, for example, a ball bearing, etc. as needed.

As shown in fig. 7 and 7a, the adjusting module 200 includes a connecting member 210 and a movable member 220, the connecting member 210 is disposed on the magnetic conductive member 122, and the movable member 220 is movably connected with the connecting member 210. It should be noted that, in other embodiments, if the adjusting die can be used to rotate the conductive member 121, the connecting member 210 is disposed on the conductive member 121.

Referring to fig. 1a and 1b, a guide structure 320 for guiding the adjustment module 200 is provided on the cabinet 300, and the connection member 210 is slidably connected with the guide structure 320.

At least two mounting locations are provided on the guide structure 320. The mounting position is for the movable member 220 to be detachably mounted therein, so that the adjusting module 200 is relatively fixed with respect to the cabinet 300. When the movable member 220 is located at different mounting positions, the opposite areas of the conductive member 121 and the magnetically conductive member 122 are different.

In this embodiment, the guiding structure 320 is provided with two mounting positions, where the two mounting positions correspond to the relative positional relationship between the conductive member 121 and the magnetically conductive member 122 in fig. 5 and 6, respectively. In fig. 1a and 1b, the moveable member 220 is mounted in one of the mounting locations. In other embodiments, a plurality of mounting positions may be further added between the two mounting positions.

As shown in fig. 7a, the connector 210 includes a first connection portion 211 and a second connection portion 212.

The first connection portion 211 is configured to be connected to the magnetic conductive member 122. Referring to fig. 7a, a clamping groove is formed in the first connecting portion 211, a connecting arm 1222 is protruding from a circumferential edge of the magnetic conductive member 122, and the connecting arm 1222 is inserted into the clamping groove, wherein the connecting arm 1222 and the clamping groove can be fixedly connected by interference fit or the like.

The movable member 220 is sleeved on the second connecting portion 212 along the sleeving direction, wherein the movable member 220 is slidably connected with the second connecting portion 212 along the sleeving direction. Referring to fig. 7a, the sleeving direction is parallel to the length direction of the second connecting portion 212, i.e., the direction indicated by the arrow in the drawing.

In this embodiment, the guide structure 320 includes a penetrating rail 321, and the first connection portion 211 penetrates the rail 321 and is slidably connected to the rail 321. The width of the track 321 is smaller than the dimension of the movable member 220 along the width direction of the track 321, so that the movable member 220 cannot enter the track 321, for example, when the movable member 220 is cylindrical, the outer diameter of the movable member 220 is larger than the width of the track 321.

For fixing the movable element 220, the mounting location is provided with a socket 322, wherein the movable element 220 is intended to be plugged into the socket 322. The plugging holes 322 are in one-to-one correspondence with the mounting positions, wherein the two plugging holes 322 are respectively arranged at two ends of the rail 321.

In this embodiment, the movable member 220 is provided with an accommodating hole therein, an accommodating space 230 is formed between an inner wall of the accommodating hole and a side wall of the second connecting portion 212, and an elastic member 240 is disposed in the accommodating space 230. The elastic member 240 may employ a compression spring.

The second connecting portion 212 is provided with the mounting far away from the one end of first connecting portion 211, and wherein, the mounting includes annular separation blade 251 and set screw 252, is provided with the screw hole that is used for with set screw 252 threaded connection on the second connecting portion 212.

Referring to fig. 7a, the assembly process of the adjusting module 200 and the magnetic conductive member 122 is as follows:

fixedly connecting the clamping groove of the first connecting part 211 with the connecting arm 1222 of the magnetic conductive member 122;

the compression spring is placed in the accommodating space 230 and sleeved on the second connecting part 212;

placing the annular baffle 251 on top of the second connection portion 212;

the set screw 252 passes through the annular blocking piece 251 and is in threaded connection with a threaded hole on the second connecting portion 212.

After the fixing screw 252 is fixed to the second connecting portion 212, the annular shutter 251 is fixed accordingly. One end of the elastic member 240 abuts against the bottom surface of the accommodating hole, the other end abuts against the annular blocking piece 251 of the fixed member, and the elastic member 240 is used for applying a force to the movable member 220 toward the first connecting portion 211. Referring to fig. 7a, the elastic member 240 is parallel to the direction indicated by the arrow and faces the first connecting portion 211.

When the movable member 220 is located outside the insertion hole 322 and opposite to the insertion hole 322, the elastic member 240 acts on the movable member 220 to slide the movable member 220 on the second connecting portion 212, so as to drive the movable member 220 to be inserted into the insertion hole 322 and achieve positioning, thereby achieving relative fixation between the magnetic conductive member 122 and the housing 300.

When the resistance is required to be adjusted, an external force is used to pull the movable piece 220 along the length direction of the second connecting portion 212, so that the movable piece 220 is separated from the current plug hole 322; keeping the movable piece 220 in a pulled-out state, and driving the movable piece 220 to drive the adjusting module 200 to slide along the track 321; when the movable member 220 moves to another installation position, the external force is removed, wherein the movable member 220 can be automatically inserted into the corresponding insertion hole 322 under the action of the elastic member 240. By providing the elastic member 240, the movable member 220 can be automatically inserted into the insertion hole 322 and positioned, simplifying the adjustment process.

In this embodiment, the magneto resistive device 10 further comprises a transmission mechanism 400, wherein the transmission mechanism 400 is in transmission connection with the rotor, and the transmission mechanism 400 is used for increasing the resistance.

As shown in fig. 4 and 8, the transmission mechanism 400 is mounted on the casing 300.

The transmission mechanism 400 comprises a small belt wheel 421, a large belt wheel 422 and a synchronous belt 423, wherein the synchronous belt 423 is wound on the small belt wheel 421 and the large belt wheel 422, and the small belt wheel 421 is connected with the first shaft 1111 in a synchronous rotation mode.

The small belt wheel 421 and the first shaft 1111 are coaxially arranged, and can be synchronously connected in a rotating way through interference fit and the like. When the small pulley 421 rotates, the first shaft 1111 rotates in synchronization therewith, thereby rotating the first assembly 110.

The timing belt 423 may be made of rubber or the like. The timing belt 423 is wound around the small pulley 421 and the large pulley 422, and the timing belt 423 is placed in tension. When the large belt wheel 422 rotates, the synchronous belt 423 moves along with the large belt wheel 422 under the action of static friction force, and then the small belt wheel 421 is driven to rotate; as the small pulley 421 rotates, the first shaft 1111 rotates in synchronization, thereby rotating the first assembly 110. When the first component 110 rotates, the second component 120 is in a changing magnetic field, so that the second component 120 generates eddy current and generates a reaction force for blocking the rotation of the first component 110, i.e. a resistance for blocking the movement of the limb under the action of electromagnetic induction.

The faster the first member 110 rotates, the greater the eddy current generated and, correspondingly, the greater the reaction force resisting the rotation of the first member 110. This means that the user can vary the amount of resistance by controlling the speed of movement of the limb.

By changing the gear ratio, an increase in the rotational speed of the first assembly 110 and thus an increase in drag can be achieved.

In this embodiment, the small pulley 421 has a smaller diameter than the large pulley 422. Since the small pulley 421 and the large pulley 422 are driven by the timing belt 423, the linear velocity of the outer peripheral surfaces of the small pulley 421 and the large pulley 422 contacting the timing belt 423 is the same, and since the small pulley 421 has a smaller diameter than the large pulley 422, the angular velocity of the small pulley 421 is greater than that of the large pulley 422 as a result of the relationship between the linear velocity and the angular velocity, and thus the rotational speed of the first assembly 110 can be increased.

In this embodiment, the transmission 400 further includes a planetary gear transmission.

The planetary gear transmission includes a planetary gear 432 train. The planetary gear 432 includes a sun gear 431, a planetary gear 432, and an annulus gear 433, the annulus gear 433 being fixed relative to the second assembly 120.

As shown in fig. 8, the outer peripheral surface of the ring gear 433 may be provided with a plurality of inner concave portions 4331 distributed at equal intervals, and inner convex portions 412 corresponding to the inner concave portions 4331 one by one are provided on the inner wall of the mounting cavity 411 of the casing 300, wherein the mounting and positioning of the ring gear 433 may be achieved by the cooperation between the inner concave portions 4331 and the inner convex portions 412. When the ring gear 433 is mounted, the inner concave part 4331 is aligned with the inner convex part 412, and then the ring gear 433 is press-fitted into the mounting cavity 411 of the casing 300, the inner concave part 4331 is embedded into the inner convex part 412, and at the same time, the outer wall of the ring gear 433 is in interference fit with the inner wall of the mounting cavity 411 of the casing 300, thus fixing the ring gear 433 is achieved.

In the present embodiment, the planet gears 432 are distributed in an annular array with respect to the rotation axis of the sun gear 431, wherein the planet gears 432 are rotatably disposed on the planet carrier 434. The planet carrier 434 is provided with a planet axle 435, wherein the planet 432 is rotatably mounted to the planet carrier 434 by means of the planet axle 435.

The ring gear 433 is arranged coaxially with the sun gear 431, wherein both the ring gear 433 and the sun gear 431 are in mesh with the planet gears 432.

In this embodiment, the large pulley 422 is rotationally coupled to the sun gear 431 in synchronization. The large pulley 422 can be fixedly connected with the sun gear 431 through screw connection, so that synchronous rotation connection between the large pulley and the sun gear 431 is realized.

Referring to fig. 8, the transmission mechanism 400 further includes an end cap 441, a first connection bearing 442, a second connection bearing 443, a gland 444, and a connection cap 445. The end cap 441 may be fixedly connected to the planet carrier 434 by means of screw connection or the like; a first connecting bearing 442 is installed in the installation cavity 411 for rotatably supporting the planet carrier 434; the second connection bearing 443 can be sleeved on the axle of the sun gear 431 for rotatably supporting the sun gear 431; the gland 444 is used to cover the outside of the mounting cavity 411, and can limit the planetary gear 432 system so that the planetary gear 432 system is limited inside the mounting cavity 411; the connection cover 445 may be fixedly coupled to the flange 446 outside the mounting cavity 411 by a screw connection or the like.

The planet carrier 434 is fixedly connected with the end cover 441, wherein the planet carrier 434 or the end cover 441 is in transmission connection with the limb of the user through a transmission link and other structures. When the limb moves, the planet carrier 434 is driven to rotate; as the carrier 434 rotates, the sun gear 431 correspondingly rotates; the sun gear 431 drives the large belt wheel 422 to rotate, wherein the large belt wheel 422 drives the small belt wheel 421 to rotate under the action of the synchronous belt 423; since the first assembly 110 is rotationally coupled to the small pulley 421 in synchronization, the first assembly 110 rotates in synchronization with the rotation of the small pulley 421.

Seen from the direction of the limb transmission to the rotor, the planet carrier 434 is used as an input member, and the rotor is used as an output member, so that speed-increasing transmission is realized, and the rotating speed of the rotor is increased; in the direction of the rotor's limb, the rotor acts as an input and the carrier 434 acts as an output, thereby providing torque multiplication transmission and increasing resistance to the limb.

The magneto resistive device 10 proposed in this embodiment comprises a first component 110 and a second component 120, the first component 110 being connected to a limb of a user via a transmission 400. When the limbs of the trainer swing, the transmission mechanism 400 drives the first component 110 to rotate, wherein in the transmission process, the transmission mechanism 400 realizes speed-increasing transmission, so that the first component 110 obtains a larger rotating speed, vortex generated in the second component 120 is improved, damping amplification is realized, and better training effect can be obtained when the trainer performs resistance training.

When the first assembly 110 rotates relative to the second assembly 120, the second assembly 120 generates a vortex, which in turn generates a reaction force against the first assembly 110 to resist the rotation of the first assembly 110. At this time, the reaction force of the second component 120 to the first component 110 is taken as an input, wherein the action of the transmission mechanism 400 realizes the speed reduction and torque increase effects, so that the resistance generated by the vortex is amplified, the limb of the user can receive larger resistance when moving, and the purpose of resistance training is achieved.

In this embodiment, the magnetic resistance device 10 further includes a detection module 500, where the detection module 500 is configured to detect a rotation parameter of the rotor. The rotation parameters may include a rotation speed and a rotation angle.

The detection module 500 includes a magnetic encoder. The magnetic encoder includes a detection magnet 510, a hall sensor and a circuit board 520, wherein the hall sensor can be mounted on the circuit board 520, and the circuit board 520 is fixedly arranged on the cover 310.

The end of the second shaft body 1112 is provided with a concave hole, a mounting seat 511 is arranged in the concave hole, and the detecting magnet 510 is fixed in the mounting seat 511. When the first component 110 rotates, the detecting magnet 510 rotates synchronously with the first component 110, wherein the rotation parameters of the detecting magnet 510 and the first component 110 are the same.

The hall sensor is communicatively coupled to the circuit board 520. When the detecting magnet 510 rotates, the hall sensor detects the change of the magnetic field of the detecting magnet 510, so that the data of the rotation speed and the rotation angle of the detecting magnet 510 can be obtained, wherein the detected data is transmitted to the circuit board 520 and can be obtained by a user through analysis processing.

In this embodiment, an exoskeleton device is also provided, comprising the above-mentioned magneto resistive device 10.

Further, the exoskeleton device further comprises a wearing part, the wearing part is used for being worn on a limb of a user, and the wearing part is in transmission connection with the rotor of the reluctance device. The wearing part can be worn on the limb through structures such as a binding belt, and when the limb moves, the rotor is driven by the limb and rotates.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims

1. A magneto resistive device comprising a first assembly and a second assembly which are rotatable relative to each other; one of the first and second components is for being driven by a limb of a user, and this component is named a rotor;

2. The reluctance machine of claim 1, further comprising a housing, the adjustment module rotatably coupled to the housing, the first and second assemblies each mounted in the housing;

3. The reluctance machine according to claim 2, wherein the adjustment module comprises a connecting member and a movable member, the connecting member being disposed on the conductive member or the magnetically permeable member, the movable member being movably connected to the connecting member;

4. A magneto resistive device according to claim 3, wherein the connection comprises a first connection and a second connection;

5. The reluctance device according to claim 4, wherein the movable member is internally provided with a receiving hole, a receiving space is formed between an inner wall of the receiving hole and a side wall of the second connecting portion, and an elastic member is provided in the receiving space;

6. The reluctance machine of claim 1, further comprising an actuator drivingly coupled to the rotor, the actuator configured to increase the resistance.

7. The magnetoresistive device of claim 6, wherein the transmission mechanism comprises a planetary gear transmission mechanism.

8. The reluctance machine of claim 1, further comprising a detection module for detecting a rotational parameter of the rotor.

9. The magnetoresistive device of claim 8, wherein the detection module comprises a magnetic encoder.

10. Exoskeleton device, characterized by comprising a wearing part and a magneto resistive device according to any one of claims 1 to 9;