WO2023004680A1 - 一种将电机扭矩转换为阻力负载的健身康复设备 - Google Patents

一种将电机扭矩转换为阻力负载的健身康复设备 Download PDF

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Publication number
WO2023004680A1
WO2023004680A1 PCT/CN2021/109235 CN2021109235W WO2023004680A1 WO 2023004680 A1 WO2023004680 A1 WO 2023004680A1 CN 2021109235 W CN2021109235 W CN 2021109235W WO 2023004680 A1 WO2023004680 A1 WO 2023004680A1
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Prior art keywords
servo motor
fitness
frame
torque
resistance load
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PCT/CN2021/109235
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English (en)
French (fr)
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刘楠
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刘楠
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Application filed by 刘楠 filed Critical 刘楠
Priority to PCT/CN2021/109235 priority Critical patent/WO2023004680A1/zh
Publication of WO2023004680A1 publication Critical patent/WO2023004680A1/zh

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
    • A63B21/045—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters having torsion or bending or flexion element
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances

Definitions

  • the present application relates to a body training device, in particular to a fitness rehabilitation device that converts motor torque into resistance load.
  • Fitness equipment is a kind of equipment used for people's daily exercise
  • rehabilitation equipment is a kind of equipment that can be used for patients to restore their healthy functions. Except for the different application scenarios, the two kinds of equipment are basically similar in form.
  • the present application provides a fitness rehabilitation device that converts motor torque into resistance load.
  • a fitness rehabilitation device that converts motor torque into resistance load provided by this application adopts the following technical scheme:
  • a fitness rehabilitation device that converts motor torque into a resistance load, comprising a support frame, a servo motor fixedly mounted on the support frame, and a transmission frame mounted on the servo motor base;
  • a linear slide rail is mounted on the transmission frame, and a slider is slidably connected to the linear slide rail, and a mounting joint for assembling fitness accessories is provided on the surface of the slider away from the linear slide rail;
  • the output shaft of the servo motor is equipped with a driving wheel, and both ends of the linear slide rail are equipped with reversing wheels, and the driving wheel and the two reversing wheels are covered with a transmission chain/belt.
  • the slider is connected in series on the transmission chain/belt; the servo motor generates torque after being powered on, and the torque is transmitted to the slider through the transmission chain/belt.
  • the servo motor when in use, directly install the fitness accessories on the installation joint, turn on the servo motor, the servo motor will generate torque, and transmit the torque to the slider through the transmission chain/belt, providing resistance for people to exercise, and
  • the torque of the servo motor and the rotation (trend) direction of the servo motor the resistance applied on the slider can be adjusted to match the load required by different people for exercise and the needs of pushing, pulling and other directions, and the adjustment is more convenient , and no additional counterweights of different weights are required, making transportation more convenient.
  • the side of the installation joint away from the slider is provided with an installation interface for inserting fitness accessories, and the installation joint is provided with a first limiter for fixing the position of the fitness accessories in the installation interface.
  • the transmission frame is installed on the base of the servo motor through the turntable bearing, and the transmission frame is rotatably matched with the servo motor through the turntable bearing.
  • the bracket and the servo motor are in a relatively static state.
  • the rotation of the transmission frame relative to the servo motor can be directly operated to adjust the angle of the transmission frame to meet the needs of people exercising at different angles.
  • the transmission frame and the servo motor can be fixed in a relatively static state through the fixing member, thereby fixing the positions of the transmission frame and the servo motor without affecting people's exercise use.
  • the support frame includes a fixed frame and a cross slide, and the two sets of linear slides of the cross slide are fixed and placed horizontally and vertically respectively, and the two ends of the two sets of linear slides are correspondingly assembled
  • the servo motor is fixedly installed on one of the linear sliding tables.
  • the cross slide can adjust the servo motor to move along the length direction of the two linear slides, thereby adjusting the servo motor to be located at any position of the support frame, so as to meet the exercise needs of people of different heights, and the use is more flexible.
  • the support frame includes a mounting plate, and a plurality of mounting slots are arranged in a rectangular shape on the mounting plate, and the base of the servo motor and the transmission frame installed on the base of the servo motor are installed on any One of the installation slots.
  • a bottom plate is fixedly connected to the lower side of the support frame.
  • a brake is also included, the brake includes a fixed part and a movable part hinged on the fixed part, a displacement sensor is mounted on the rotating shaft of the movable part, and the displacement sensor communicates with the connected to the servo motor, the displacement sensor collects the movement direction and displacement of the movable part and transmits the collected data to the controller, and the controller outputs a control signal after receiving the data collected by the displacement sensor to control the torque of the servo motor.
  • the controller After receiving the data collected by the displacement sensor, the controller outputs a control signal, and the servo motor acts after receiving the control signal to adjust The output torque of the servo motor can then adjust the load applied to the slider, reduce the resistance when people exercise, and avoid injuries to people due to sudden conditions during the exercise process.
  • the operation is more flexible and the safety is higher.
  • the bottom plate is a folded plate
  • the folded plate includes an inner plate and an outer plate hinged to each other, and the outer plate is fixedly connected with the support frame.
  • the bottom plate can increase the support with the support frame.
  • the inner plate and the outer plate can also be operated to rotate around the hinge axis of the two, so that the bottom plate can be stored, saving the floor space , which is convenient for storage and transportation.
  • the two support frames there are two support frames, two inner plates and two outer plates, the two support frames are arranged opposite each other, and the two inner plates are assembled together through hinge rotation .
  • a support frame is suitable for rehabilitation training, and is also suitable for the occasion of unilateral exercise.
  • the arrangement of the two supporting frames is more suitable for fitness and meets the needs of people for exercising.
  • This application can transmit the torque output by the servo motor to the slider through the transmission chain/belt, thereby replacing the existing counterweight to provide people with resistance during training, without the need to configure counterweight for each fitness and rehabilitation equipment block, which makes the transportation more convenient; at the same time, it also simplifies the structure of fitness and rehabilitation equipment. Only by adjusting the output torque of the servo motor, the multi-level load adjustment can be realized, and the applicability of the crowd is wider, and the load adjustment is more convenient;
  • the setting of the installation joint and the universal joint allows people to choose whether to install the fitness accessories on the installation joint for linear motion training, or to install the fitness accessories on the universal joint for rotational motion training, which is more flexible and wider in use ;
  • the setting of the turntable bearing can realize the adjustment of the rotation angle of the transmission frame, so that the transmission frame can be adjusted to a suitable angle for training as required, and the operation is more convenient.
  • Fig. 1 is a schematic diagram of the structure of the fitness rehabilitation equipment of the present application.
  • Fig. 2 is a schematic cross-sectional view showing the connection structure of the motor and the drive frame.
  • FIG. 3 is an enlarged schematic view of point A in FIG. 2 .
  • Fig. 4 is a schematic diagram showing the structure of the fitness rehabilitation equipment when it is installed on the base plate.
  • Fig. 5 is a schematic structural diagram showing that there are two fitness rehabilitation equipment.
  • Fig. 6 is a schematic diagram showing the structure of the fitness equipment installed between two fitness rehabilitation equipment.
  • Fig. 7 is a schematic diagram showing the way of connecting the fitness equipment and the universal joint.
  • the embodiment of the present application discloses a fitness rehabilitation device that converts motor torque into a resistance load.
  • the fitness rehabilitation equipment includes a support frame 1 , a servo motor 2 installed on the support frame 1 and a transmission frame 3 installed on the base of the servo motor 2 .
  • the transmission frame 3 is a triangular frame, and a mounting hole 34 through which the output shaft of the servo motor 2 passes is opened at one corner of the triangle.
  • the base of the servo motor 2 can be the casing of the servo motor 2 itself, or an additional mounting seat for installing the servo motor 2 .
  • a linear slide rail 31 is fixedly connected to the transmission frame 3, and the linear slide rail 31 is located on a side of the transmission frame 3 opposite to the installation hole 34, and a slide block 32 is slidably connected to the linear slide rail 31.
  • the side of the slider 32 that is away from the linear slide rail 31 is fixedly connected with a mounting joint 35 for installing the fitness accessories 6, and a device is provided between the output shaft of the servo motor 2 and the slider 32 to transmit the torque generated by the servo motor 2 to the slider 32.
  • the transmission member 33 on.
  • transmission member 33 comprises drive wheel 331 that is fixedly connected on the output shaft of servo motor 2, is all rotatably connected with reversing wheel 332 at both ends of linear slide rail 31, sets on drive wheel 331 and reversing wheel 332 A transmission chain/belt 333 is provided, and the slider 32 is connected in series on the transmission chain/belt 333 .
  • the output shaft of the servo motor 2 will make the driving wheel 331 have a tendency to rotate, and the driving wheel 331 will make the slider 32 have a tendency to slide along the length direction of the linear slide rail 31 through the transmission chain/belt 333.
  • the resistance applied on the slider 32 can be adjusted by adjusting the output torque of the servo motor 2, which is more convenient to adjust.
  • an installation interface 351 for inserting the fitness accessory 6 is provided at the end of the installation joint 35 away from the slider 32. By inserting the fitness accessory 6 into the installation interface 351, the fitness accessory 6 and the installation joint 35 can be realized. detachable connection. When exercising, people can install fitness accessories 6 of different shapes and specifications on the mounting joint 35 for exercising according to needs, which makes the use more flexible.
  • the installation joint 35 is provided with a first limiting member 36 for fixing the position of the fitness accessory 6 in the installation interface 351 .
  • a first limiting member 36 for fixing the position of the fitness accessory 6 in the installation interface 351 .
  • an embedding hole (not shown in the figure) is provided on the side wall of the installation joint 35, and the first limiting member 36 is installed in the embedding hole, and one end thereof is exposed to the outside world for people to operate, and the other end extends into the installation interface.
  • a first limiting hole 61 for inserting the first limiting member 36 is opened on the side wall of the fitness accessory 6 at the same time.
  • one end of the first limiting member 36 located in the installation interface 351 is also inserted into the first limiting hole 61 , thereby fixing the position of the fitness accessory 6 in the installation interface 351 .
  • first limiting member 36 can be selected from a spring pin or a bolt, which is cheap and easy to purchase.
  • a guide groove 62 connected to the first limiting hole 61 is provided at the end of the fitness accessory 6.
  • the first One end of the limiting member 36 located in the installation interface 351 can slide into the first limiting hole 61 along the guide groove 62, which makes the installation more convenient.
  • one end of the first stopper 36 located in the installation interface 351 can be smoothly plugged and matched with the fitness accessory 6, and a positioning pin is fixed on the inner wall of the installation interface 351.
  • a positioning groove 63 for the positioning bar 353 to slide in is provided on the outer wall of the fitness accessory 6, so as to facilitate the installation and positioning of the initial angle of the fitness accessory 6.
  • the transmission frame 3 and the servo motor 2 can be placed in a relatively static state directly through the fixing member 39, thereby fixing the position of the transmission frame 3 on the servo motor 2, and people can directly pass the fitness equipment installed on the slider 32. Accessory 6 for training, very flexible to use. While the drive frame 3 can rotate around the output shaft of the servo motor 2, the resistance of the output shaft of the servo motor 2 will not be increased, so that the torque output by the servo motor 2 can be completely transmitted to the slider 32, and the load adjustment is more accurate.
  • the second limiting member 393 can be selected from spring pins or bolts. By changing the position of the second limiting member 393 on the transmission frame 3, the transmission frame 3 can be fixed on the base of the servo motor 2 or The coordination relationship between the transmission frame 3 and the servo motor 2 support is released, and the operation is more convenient.
  • first linear slide 12 and the second linear slide 13 can also be linear motors and other power components capable of linear motion.
  • the cross slide can also be installed in other ways, as long as the servo motor 2 can be adjusted horizontally and vertically.
  • the support frame 1 When in use, the support frame 1 can be directly fixed on the wall or the support frame 1 can be fixed on the ground through bolts, which is convenient for people to train. Of course, the support frame 1 can also be directly placed on the ground, which is convenient for moving the position of the fitness rehabilitation equipment. Referring to FIG. 4 , in order to prevent the support frame 1 from overturning due to excessive force during exercise when the support frame 1 is placed directly on the ground, a bottom plate 4 is also provided on the lower side of the support frame 1 .
  • the bottom plate 4 is a folding plate, including an inner plate 42 and an outer plate 41 hinged to each other, two inner plates 42 are provided, and the two inner plates 42 are hinged by a hinge, and the outer plate 41 is provided with two,
  • the two outer plates 41 are hinged on opposite sides of the two inner plates 42 , and the lower side of the support frame 1 is fixedly connected to one of the outer plates 41 .
  • the outer plate 41 and the inner plate 42 can provide support for the support frame 1.
  • people can also directly train on the inner plate 42, so that the force exerted by people acts on the inside of the fitness rehabilitation equipment, so as to avoid excessive force caused by people
  • the support frame 1 is lifted or the support frame 1 is toppled over.
  • the two outer panels 41 can be operated relatively close together, and the two inner panels 42 will be arched upwards for storage, saving floor space and making storage more convenient.
  • a universal wheel 43 is fixedly connected to the lower side of each outer plate 41 , and the universal wheel 43 is installed at both ends of the outer plate 41 to facilitate the movement of the outer plate 41 .
  • a plurality of universal wheels 43 located at each end of the outer plate 41 are provided along the width direction of the outer plate 41, wherein a universal wheel 43 located on the side away from the inner plate 42 is a brake universal wheel 43, which can be locked and fixed. The effect of preventing the outer plate 41 from sliding during the exercise process, and a plurality of universal wheels 43 can also increase the support of the outer plate 41, and the support is more firm.
  • the bottom of the inner board 42 is flush with the bottom of the universal wheel 43, so that when the outer board 41 and the inner board 42 are deployed side by side, the inner board 42 can directly contact with the ground, providing the people who stand on the inner board 42 for exercise. Support, support strength is better.
  • a first accommodating groove 421 is opened on one of the inner panels 42,
  • the first accommodating groove 421 is located on one side close to the other inner plate 42 and its length direction is consistent with the length direction of the inner plate 42 .
  • the second accommodating groove 422 and the second accommodating groove 422 are opened on the two inner plates 42 at the same time, and a support rod 44 is ball-hinged at the connection between the first accommodating groove 421 and the second accommodating groove 422 .
  • the support rod 44 When the outer plate 41 and the inner plate 42 are deployed side by side, the support rod 44 is placed in the second accommodation groove 422, and the free end of the second support rod 44 will abut against the second accommodation groove 422 away from the first accommodation. One end of the slot 421 , thereby fixing the relative position between the two inner plates 42 .
  • a connecting panel 45 is rotated and connected, and the connecting panel 45 is located near the inner panel 42.
  • One side of the outer plate 41 is provided with a fixing groove 451 on one side of the connecting plate 45 , and a fixing column 46 is fixedly connected to the end surface of the other inner plate 42 .
  • the connecting plate 45 is operated to rotate around the hinged shaft with the inner plate 42, so that the connecting plate 45 is rotated to the fixed column 46 until the fixed column 46 is embedded in the fixed groove 451, thereby the two One end of each inner plate 42 away from its hinge shaft is connected together, and the transportation is more stable.
  • One support frame 1 can be provided to meet people's need for rehabilitation exercises. When people need to exercise, two support frames 1 can also be provided.
  • the two support frames 1 when there are two support frames 1 , the two support frames 1 are arranged opposite to each other, and the two support frames 1 are respectively fixedly installed on two outer plates 41 .
  • the fitness accessories 6 can be installed between the two support frames 1, or the fitness accessories 6 on the two support frames 1 can be operated on both sides of people respectively, so as to meet people's fitness needs.
  • the third limiting member 54 for fixing the position of the fitness accessory 6 in the universal interface 51 is installed on the universal joint 5, and the third limiting member 54 can also be selected.
  • the fitness accessory 6 is provided with the second limiting hole 64 for the insertion of the third limiting member 54, and the fitness can be fixed by inserting the third limiting member 54 into the second limiting hole 64. The position of the accessory 6 in the universal interface 51.
  • the structure of the universal joint 5 can be consistent with the structure of the installation joint 35, and can also be different from the structure of the installation joint 35, as long as the installation and positioning of the fitness accessories 6 can be realized.
  • the displacement sensor is connected with the servo motor 2 through the PLC controller, the displacement sensor can collect the motion direction and displacement of the movable part 72 and transmit the collected data to the PLC controller, and the PLC controller receives the displacement sensor
  • the collected data outputs a control signal, and the servo motor 2 acts after receiving the control signal to realize the adjustment of the output torque of the servo motor 2 , thereby adjusting the load applied by the servo motor 2 on the slider 32 .
  • the displacement sensor can be an encoder, or a Hall sensor or a point device, as long as the output torque of the servo motor 2 can be changed by changing the rotation direction and displacement of the movable part 72 .
  • brake 7 can be pedal type, is placed on the base plate 4, when people need to change the size of load when carrying out the exercise of upper body, directly through the movable part 72 of foot brake 7, movable part 72 will be around When the hinge shaft of the fixed part 71 rotates, the displacement sensor will collect the rotation direction and rotation angle of the movable part 72, and transmit the detection result to the PLC controller, and the PLC controller will adjust the output torque of the servo motor 2 to realize the adjustment of the load .
  • the brake 7 can also be hand-held.
  • the brake 7 can be installed in a suitable position, such as on the hand-held bar of the fitness accessory 6.
  • the hand can operate the movable part 72 to rotate around the hinged axis with the fixed part 71, and the displacement sensor will collect the rotation direction and rotation angle of the movable part 72, and transmit the detection result to the PLC controller, and the PLC controller will adjust The output torque of the servo motor 2 realizes the regulation of the load.
  • a buckle 73 with a semicircular cross section is fixedly connected to the side of the fixed part 71 away from the movable part 72, and the two sides of the open end of the buckle 73 An elastic opening is formed, and when the hand-held brake 7 needs to be installed in a suitable position, the buckle 73 can be directly clamped in a suitable position, and the installation and disassembly are very convenient.
  • brake 7 also can comprise pedal type and hand-held type at the same time, the displacement sensor on the two brakes 7 is connected with servomotor 2 through PLC controller simultaneously, when the movable part 72 of any one brake 7 among them When rotation occurs, the displacement sensor installed on the rotating shaft of the movable part 72 transmits the rotating direction and the rotating range of the movable part 72 to the PLC controller, thereby adjusting the output torque of the servo motor 2, which is more convenient and flexible to use.
  • the support rod 44 can be directly rotated out from the second accommodating groove 422 and put into the first accommodating groove 421, and the locking function of the brake universal wheel 43 is released at the same time, Operate the two outer plates 41 to be relatively close together, and the two inner plates 42 will be arched upward until the two inner plates 42 are in a vertical state and fit each other, and then the connecting plate 45 is operated to rotate, so that the fixing groove 451 of the connecting plate 45 is engaged.
  • the fixing column 46 the relative position between the two inner panels 42 is fixed to realize storage, which is convenient for storing and transporting the fitness rehabilitation equipment.

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

一种将电机扭矩转换为阻力负载的健身康复设备，包括支撑框(1)、固定安装在支撑框(1)上的伺服电机(2)以及安装在伺服电机(2)机座上的传动架(3)；在传动架(3)上装配有一条直线滑轨(31)，直线滑轨(31)上滑动连接有滑块(32)，滑块(32)背离直线滑轨(31)的表面上设置有用于装配健身配件(6)的安装接头(35)；伺服电机(2)的输出轴上装配有驱动轮(331)，直线滑轨(31)的两端均装配有换向轮(332)，驱动轮(331)和两换向轮(332)上套设有传动链/带(333)，滑块(32)串联在传动链/带(333)上；伺服电机(2)上电后产生扭矩，扭矩通过传动链/带(333)传递至滑块(32)上。该健身康复设备具有便于运输，且在锻炼时便于对负载进行调节的效果。

Description

一种将电机扭矩转换为阻力负载的健身康复设备 技术领域
本申请涉及一种人体训练器材，尤其是涉及一种将电机扭矩转换为阻力负载的健身康复设备。
背景技术
健身器械是一种用于人们日常锻炼的器械，康复器械是可以用于患者恢复健康机能锻炼的器械，两种器械除在应用场景上不太相同外，基本上表现形式是类似的。
现有的健身康复设备，在实际使用时往往是通过增加或者减少配重块的数量，来满足不同人们在使用时所需的不同强度，这也意味着在生产制造时，除了制造健身康复设备外，还需要额外配备不同重量的配重块。但是较多配重块的设置，一方便将导致运输不便，另一方面在使用时也需要循环更换不同的配重块以适用不同锻炼强度的需要，操作非常不便。
实用新型内容
为了便于运输，且在锻炼时便于对负载进行调节，本申请提供一种将电机扭矩转换为阻力负载的健身康复设备。
本申请提供的一种将电机扭矩转换为阻力负载的健身康复设备采用如下的技术方案：
一种将电机扭矩转换为阻力负载的健身康复设备，包括支撑框、固定安装在所述支撑框上的伺服电机以及安装在所述伺服电机机座上的传动架；
在所述传动架上装配有一条直线滑轨，所述直线滑轨上滑动连接有滑块，所述滑块背离所述直线滑轨的表面上设置有用于装配健身配件的安装接头；
所述伺服电机的输出轴上装配有驱动轮，所述直线滑轨的两端均装配有换向轮，所述驱动轮和两所述换向轮上套设有传动链/带，所述滑块串联在所述传动链/带上；所述伺服电机上电后产生扭矩，所述扭矩通过所述传动链/带传递至所述滑块上。
通过采用上述技术方案，使用时，直接将健身配件安装在安装接头上，开启伺服电机，伺服电机将产生扭矩，并通过传动链/带将扭矩传递至滑块上，为人们锻炼提供阻力，且通过调节伺服电机的扭矩和伺服电机的转动(趋势)方向，即可调节施加在滑块上的阻力，以匹配不同人群锻炼的所需的负载以及推举、提拉等方向的需要，调节更加方便，且无需再额外配备不同重量的配重块，运输更加方便。
可选的，所述安装接头远离所述滑块的一侧开设有供健身配件插入的安装接口，所述安装接头上设置有固定健身配件在安装接口内位置的第一限位件。
通过采用上述技术方案，通过将健身配件插入安装接口中，并通过第一限位件固定住健身配件和安装接头的相对位置，即可实现健身配件的安装，以适应不同样式健身配件的安装需求，满足人们对于身体不同位置锻炼的需要。
可选的，所述传动架通过转盘轴承安装在所述伺服电机的机座上，所述传动架通过所述转盘轴承与所述伺服电机转动配合，所述传动架上设置有使所述传动架和所述伺服电机处于相对静止状态的固定件。
通过采用上述技术方案，当需要调节传动架的角度时，直接操作传动架相对于伺服电机转动，就可以实现对传动架角度的调节，满足人们不同角度锻炼的需要。调节完成后，通过固定件可以固定传动架和伺服电机处于相对静止状态，从而固定住传动架和伺服电机的位置不影响人们的锻炼使用。
可选的，所述伺服电机的输出轴上安装有用于安装健身配件的通用接头。
通过采用上述技术方案，当人们需要进行旋转运动的锻炼时，可以直接将健身配件安装在伺服电机输出轴上的通用接头上，伺服电机输出轴将输出一个旋转的扭矩，为人们提供旋转的负载，便于人们进行旋转运动的锻炼。
可选的，所述支撑框包括固定架和十字滑台，所述十字滑台的两组直线滑台固接且分别沿水平和竖直放置，两组所述直线滑台的两端对应装配于所述固定架上，所述伺服电机固定安装在其中一组直线滑台上。
通过采用上述技术方案，通过十字滑台可以调节伺服电机沿两个直线滑台的长度方向运动，从而调节伺服电机位于支撑框任意的位置，以适应不同高度人们的锻炼需要，使用更加灵活。
可选的，所述支撑框包括一安装板，所述安装板上呈矩形陈列分布有多个安装槽，所述伺服电机的机座以及安装在所述伺服电机机座上的传动架安装在任一所述安装槽内。
通过采用上述技术方案，通过将伺服电机以及传动架安装在不同位置的安装槽内，即可改变伺服电机和传动架在支撑框上的位置，以适应不同高度人们的锻炼需要，使用更加灵活。
可选的，所述支撑框下侧固接有底板。
通过采用上述技术方案，人们在训练时可以直接在底板上进行锻炼，使得人们在锻炼时施加的力都作用在健身康复设备内部，避免将支撑框抬起或者是锻炼时用力过大导致支 撑框倾倒。
可选的，还包括刹车器，所述刹车器包括固定部以及铰接在所述固定部上的活动部，所述活动部的转轴上装配有位移传感器，所述位移传感器通过控制器与所述伺服电机连接，所述位移传感器采集所述活动部的运动方向和位移量并将采集到的数据传递至控制器，所述控制器接收到位移传感器采集到的数据后输出控制信号以控制所述伺服电机的扭矩。
通过采用上述技术方案，在人们锻炼过程中，如果感到锻炼吃力，或者是需要调整锻炼姿势时，可以直接按压刹车器，从而带动活动部绕与固定部的铰接轴转动，位移传感器将采集到活动部转动的位移量，并将采集到的活动部的运动方向与位移量信息传递至控制器，控制器接收到位移传感器采集的数据后输出控制信号，伺服电机接收到控制信号后动作，从而调节伺服电机的输出扭矩，进而调节施加在滑块上的负载，减轻人们锻炼时的阻力，避免锻炼过程中由于突发状态而对人们造成伤害，操作更加灵活，安全性更高。
可选的，所述底板为折叠板，所述折叠板包括相互铰接的内板和外板，所述外板与所述支撑框固定连接。
通过采用上述技术方案，常态下，底板可以增加与支撑框的支撑，当使用完毕后，也可以操作内板和外板绕两者的铰接轴转动，就可以将底板收纳起来，节省占地面积，方便了收纳和运输。
可选的，所述支撑框设置有两个，所述内板和所述外板均设置有两个，两个所述支撑框相对设置，两个所述内板通过合页转动装配在一起。
通过采用上述技术方案，一个支撑框适用于康复训练，也适用于单侧锻炼的场合。两个支撑框的设置，更加适用于健身，满足人们锻炼的需要。
综上所述，本申请包括以下至少一种有益技术效果：
1.本申请通过传动链/带可以将伺服电机输出的扭矩传递至滑块上，从而代替现有的配重块为人们提供训练时的阻力，而无需为每个健身及康复器械配置配重块，使得运输更加方便；同时也简化了健身及康复器械的构造，仅通过调节伺服电机的输出扭矩即可实现多级负载的调节，人群适用性更广，负载调节更加方便；
2.安装接头和通用接头的设置使得人们可以选择将健身配件安装在安装接头上进行直线运动的训练，还是将健身配件安装在通用接头上进行旋转运动的训练，使用更加灵活，使用范围更广；
3.转盘轴承的设置可以实现对传动架转动角度的调节，使得可以根据需要将传动架调整至合适的角度进行训练，操作更加方便。
附图说明
图1是本申请健身康复设备结构所做的示意图。
图2是为了体现电机和传动架连接结构所做的剖面示意图。
图3是图2中A处的放大示意图。
图4是为了体现健身康复设备安装在底板上时的结构示意图。
图5是为了体现健身康复设备设置有两个时的结构示意图。
图6是为了体现健身器械安装在两个健身康复设备之间时的结构示意图。
图7是为了体现健身器械和通用接头连接方式所做的示意图。
附图标记说明：1、支撑框；11、固定架；12、第一直线滑台；13、第二直线滑台；2、伺服电机；3、传动架；31、直线滑轨；32、滑块；33、传动件；331、驱动轮；332、换向轮；333、传动链/带；34、安装孔；35、安装接头；351、安装接口；352、嵌入孔；353、定位条；36、第一限位件；39、固定件；3911、插孔；392、转盘轴承；3921、内圈盘环；3922、外圈盘环；393、第二限位件；4、底板；41、外板；42、内板；421、第一容置槽；422、第二容置槽；43、万向轮；44、支撑杆；45、连接板；451、固定槽；46、固定柱；5、通用接头；51、通用接口；54、第三限位件；6、健身配件；61、第一限位孔；62、导向槽；63、定位槽；64、第二限位孔；7、刹车器；71、固定部；72、活动部；73、卡扣。
具体实施方式
以下结合附图1-7对本申请作进一步详细说明。
本申请实施例公开一种将电机扭矩转换为阻力负载的健身康复设备。参照图1，健身康复设备包括支撑框1、安装在支撑框1上的伺服电机2以及安装在伺服电机2机座上的传动架3。其中，传动架3为三角形框架，在其三角形的一个角处开设有供伺服电机2输出轴穿过的安装孔34。伺服电机2的机座可以为伺服电机2本身的壳体，也可以为额外增加的用于安装伺服电机2的安装座。
参照图1，在传动架3上固接有一条直线滑轨31，直线滑轨31位于传动架3上正对安装孔34的一条边上，在直线滑轨31上滑动连接有滑块32，滑块32背离直线滑轨31的一侧固接有用于安装健身配件6的安装接头35，在伺服电机2输出轴和滑块32之间设置有将伺服电机2产生的扭矩传递至滑块32上的传动件33。当伺服电机2开启时，伺服电机2的输出轴将输出一个扭矩，并通过传动件33将扭矩传输至滑块32上，变成人们锻炼时的负载，满足人们锻炼的需要。无需再额外配备配重块，大大简化了健身及康复器械的结构；且 通过调节伺服电机2的输出扭矩即可调节负载的大小，调节负载时更加方便。
参照图1，传动件33包括固接在伺服电机2输出轴上的驱动轮331，在直线滑轨31的两端均转动连接有换向轮332，在驱动轮331和换向轮332上套设有传动链/带333，滑块32串联在传动链/带333上。当给伺服电机2通电时，伺服电机2输出轴将使驱动轮331具有转动的趋势，驱动轮331通过传动链/带333使滑块32具有一个沿着直线滑轨31长度方向滑动的趋势，从而为人们的锻炼提供阻力，大大简化了健身康复设备的构造。且通过调节伺服电机2的输出扭矩即可调节施加在滑块32上的阻力，调节更加方便。
其中驱动轮331和换向轮332可选用链轮，传动链/带333可选用链条。当然，驱动轮331和换向轮332也可选用带轮，传动链/带333可选用皮带。
参照图2和图3，在安装接头35远离滑块32的一端开设有供健身配件6插入的安装接口351，通过将健身配件6插入安装接口351中，即可实现健身配件6和安装接头35的可拆卸连接。人们在锻炼时可以根据需要将不同形状规格的健身配件6安装在安装接头35上进行锻炼，使用更加灵活。
其中为了固定住健身配件6在安装接口351中的位置，在安装接头35上设置有固定健身配件6在安装接口351内位置的第一限位件36。具体的，在安装接头35侧壁上开设有嵌入孔(图中未示出)，第一限位件36安装在嵌入孔中，且其一端露至外界便于人们操作，另一端伸入安装接口351中，同时在健身配件6侧壁上开设有供第一限位件36嵌入的第一限位孔61。当将健身配件6插入安装接口351中时，第一限位件36位于安装接口351内的一端也插入第一限位孔61中，从而固定住健身配件6在安装接口351中的位置。
其中第一限位件36可选用弹簧销，也可以选用螺栓，价格便宜，购买方便。
同时，为了便于人们将健身配件6插入安装接口351中，在健身配件6端部开设有连通至第一限位孔61的导向槽62，当将健身配件6插入安装接口351中时，第一限位件36位于安装接口351中的一端可以顺着导向槽62滑动至第一限位孔61中，安装更加方便。当需要将健身配件6从安装接口351中拔出时，直接操作第一限位件36向远离安装接口351的方向滑动，解除第一限位件36和健身配件6的连接关系即可。
其中，为了便于在将健身配件6插入安装接口351内时，第一限位件36位于安装接口351中的一端可以顺利的与健身配件6插接配合，在安装接口351内壁处固接有定位条353，同时在健身配件6外壁上开设有供定位条353滑入的定位槽63，便于实现健身配件6初始角度的安装定位。
参照图2和图3，在传动架3和伺服电机2之间设置有转盘轴承392，传动架3通过 转盘轴承392与伺服电机2转动配合。具体的，伺服电机2的输出轴穿设在转盘轴承392的内孔中且两者同轴互不接触。转盘轴承392可选用交叉滚子式转盘轴承，包括同轴且相对转动的内圈盘环3921和外圈盘环3922，伺服电机2的机座端面与内圈盘环3921固接，传动架3与外圈盘环3922固接。当然，也可以使伺服电机2的的机座端面与外圈盘环3922固接，传动架3与内圈盘环3921固接，只要能够实现传动架3与伺服电机2的转动配件即可。在传动架3上还设置有使传动架3和伺服电机2处于相对静止状态的固定件39。使用时，人们可以直接操作传动架3带动外圈盘环3922相对于内圈盘环3921转动，从而使得传动架3相对于伺服电机2转动，以调节传动架3的初始角度，满足不同锻炼的需要。调整完成后，可以直接通过固定件39使得传动架3和伺服电机2处于相对静止状态，从而固定住传动架3在伺服电机2上的位置，人们直接就可以通过安装在滑块32上的健身配件6进行训练，使用非常灵活。在满足传动架3可以绕伺服电机2输出轴转动的同时还不会增加伺服电机2输出轴的阻力，使得伺服电机2输出的扭矩可以完全传递至滑块32上，负载调节更加精准。
参照图1，固定件39包括安装在传动架3上的第二限位件393，第二限位件393贯穿传动架3相对的两侧，同时在伺服电机2的机座上开设有供第二限位件393一端嵌入的插孔3911，插孔3911环绕伺服电机2输出轴的轴线均匀开设有多个，通过将第二限位件393与插孔3911配合即可固定住传动架3与伺服电机2的位置。且当转动传动架3至不同角度时，可以直接将第二限位件393与不同位置的插孔3911配合，使用更加灵活。
其中，第二限位件393可选用弹簧销，也可以选用螺栓，通过改变第二限位件393在传动架3上的位置即可将传动架3固定在伺服电机2的机座上或者是解除传动架3与伺服电机2机座的配合关系，操作更加方便。
参照图1，伺服电机2以及安装在伺服电机2上的传动架3可以安装在支撑框1的任意位置，具体的，支撑框1包括矩形框状的固定架11以及安装在固定架11内的十字滑台，十字滑台包括第一直线滑台12和第二直线滑台13，第一直线滑台12和第二直线滑台13分别水平和竖直放置，且第一直线滑台12的两端固接在固定架11相对的两侧，第二直线滑台13滑动连接在固定架11相对的两侧，其中第二直线滑台13固接在第一直线滑台12的滑台上，伺服电机2固接在第二直线滑台13的滑台上，通过第一直线滑台12和第二直线滑台13可以调节伺服电机2的位置，使得伺服电机2可以移动至任意位置，满足不同高度人们的锻炼需要。
可以理解的是，第一直线滑台12和第二直线滑台13也可以为直线电机等其他能够 进行直线运动的动力元器件。十字滑台也可以选用其他安装方式，只要能够实现对伺服电机2进行水平和竖直两个方向的调节即可。
在本申请的另一示例中，支撑框也可以包括一安装板(图中未示出)，在安装板上呈矩形陈列分布有多个安装槽(图中未示出)，伺服电机2的机座以及安装在伺服电机2机座上的传动架3同时可拆卸安装在任一安装槽内，通过将伺服电机2与不同位置的安装槽配合，可以调整伺服电机2的安装位置，满足不同安装高度的需求。
使用时，可以直接将支撑框1固定在墙壁上或者是通过螺栓将支撑框1固接在地面上，便于人们训练。当然，也可以直接将支撑框1放置在地面上，便于移动健身康复设备的位置。参照图4，为了避免在将支撑框1直接放置在地面上时，人们锻炼过程中用力过大而使得支撑框1翻倒，在支撑框1下侧还设置有底板4。
参照图4，底板4为折叠板，包括相互铰接的内板42和外板41，内板42设置有两个，两个内板42之间通过合页铰接，外板41设置有两个，两个外板41铰接在两个内板42相背的一侧，支撑框1下侧固接在其中一个外板41上。外板41和内板42可以为支撑框1提供支撑，使用时，人们也可以直接在内板42上进行训练，使得人们施加的力都作用在健身康复设备内部，避免人们用力过大而将支撑框1抬起或者使支撑框1发生倾倒。使用完毕后，可以操作两个外板41相对靠近，两个内板42将向上拱起收纳，节省占地空间，收纳更加方便。
其中，在每个外板41的下侧均固接有万向轮43，万向轮43安装在外板41的两端，便于对外板41进行移动。位于外板41每端的万向轮43均沿外板41的宽度方向设置有多个，其中位于远离内板42一侧的一个万向轮43为刹车万向轮43，可以起到锁死固定的作用，防止在锻炼过程中外板41发生滑动，而多个万向轮43也可以增加外板41的支撑，支撑更加牢固。
同时，内板42的底部与万向轮43的底部平齐，使得当外板41和内板42并排展开时，内板42可以直接与地面接触，为站在内板42上锻炼的人们提供支撑，支撑强度更好。
参照图4和图5，当外板41和内板42并排放置展开时，为了固定住两个内板42之间的相对位置，在其中一个内板42上开设有第一容置槽421，第一容置槽421位于靠近另一内板42的一侧且其长度方向与内板42的长度方向一致，在内板42上表面开设有与第一容置槽421垂直连通的第二容置槽422，第二容置槽422同时开设在两个内板42上，在第一容置槽421和第二容置槽422连通处球铰接有支撑杆44。当将外板41和内板42并排展开放置时，将支撑杆44放置在第二容置槽422内，第二支撑杆44自由端将抵接在第二容置 槽422远离第一容置槽421的一端，从而固定住两个内板42之间的相对位置。当需要对健身康复设备收纳时，直接操作支撑杆44从第二容置槽422内转动至第一容置槽421内，此时即可操作两个外板41相对靠近，两个内板42连接处将向上拱起，使得两个支撑框1相对靠拢收纳，直至最终两个内板42相互贴合，完成收纳，节省占地面积，运输更加方便。
同时，为了避免两个内板42收纳在一起后，在运输过程中相互转动而影响正常的运输工作，在其中一个内板42端面处转动连接有连接板45，连接板45位于内板42靠近外板41的一侧，在连接板45一侧开设有固定槽451，在另一个内板42端面处固接有固定柱46。当将两个内板42收纳在一起后，操作连接板45绕与内板42的铰接轴转动，使得连接板45转动至固定柱46处，直至固定柱46嵌入固定槽451中，从而将两个内板42远离其铰接轴的一端连接在一起，运输更加稳定。
支撑框1可以设置有一个，满足人们康复锻炼的需要。当人们需要健身锻炼时，支撑框1也可以设置有两个。
参照图5，当支撑框1设置有两个时，两个支撑框1相对设置，两个支撑框1分别固定安装在两个外板41上。使用时，可以在两个支撑框1之间安装健身配件6，或者是人们的两侧分别操作两个支撑框1上的健身配件6，满足人们健身的需要。
可以理解的是，支撑框1也可以设置有多个，具体的可以根据实际需要进行组装，在此不再一一阐述。
参照图6和图7，在伺服电机2输出轴上也可以固接有通用接头5，以供人们进行旋转运动的锻炼。在通用接头5远离伺服电机2的一端开设有供健身配件6插入的通用接口51。当需要进行旋转运动的锻炼时，直接将健身配件6插入支撑框1的通用接头5内，然后操作伺服电机2上电，伺服电机2输出轴将传递至健身配件6一个旋转的负载，从而使得人们可以操作健身配件6转动来克服伺服电机2施加的负载，达到旋转锻炼的目的。
其中，为了固定住健身配件6在通用接口51中的位置，在通用接头5上安装有固定健身配件6在通用接口51中位置的第三限位件54，第三限位件54也可以选用弹簧销或螺栓，同时在健身配件6上开设有供第三限位件54插入的第二限位孔64，通过将第三限位件54插入第二限位孔64中即可固定住健身配件6在通用接口51中的位置。
其中，通用接口51的截面可以为正多边形，第二限位孔64开设在健身配件6的每侧壁上，使得可以操作健身配件6在任意角度插入通用接口51中，以适应不同初始位置操作的需要。本申请以通用接头5的截面为正四边形为例进行说明。
可以理解的是，通用接头5的结构可以与安装接头35的结构一致，也可以与安装接 头35的结构不一样，只要能够实现对健身配件6的安装定位即可。
当人们在锻炼时需要调整自身姿势时，或者是在锻炼过程中，如果出现突发状态无法用力时，亦或者是锻炼感到吃力时，阻力较大的健身配件6将对锻炼人员造成伤害。参照图4，健身康复设备还包括刹车器7，刹车器7包括固定部71和铰接在固定部71上的活动部72，在固定部71和活动部72的转动轴上安装有位移传感器(图中未示出)，位移传感器通过PLC控制器与伺服电机2连接，位移传感器可以采集活动部72的运动方向和位移量并将采集到的数据传递至PLC控制器，PLC控制器接收到位移传感器采集的数据后输出控制信号，伺服电机2接收到控制信号后动作，实现对伺服电机2输出扭矩的调节，从而调节伺服电机2施加在滑块32上的负载。
其中，位移传感器可选用编码器，也可以选用霍尔传感器或者是点位器等，只要能够实现通过改变活动部72的转动方向和位移量以改变伺服电机2的输出扭矩即可。
参照图4，刹车器7可以为脚踩式的，放置在底板4上，当人们进行上半身的锻炼需要改变负载的大小时，直接通过脚踩刹车器7的活动部72，活动部72将绕与固定部71的铰接轴转动，位移传感器将采集活动部72的转动方向和转动角度，并将检测结果传输至PLC控制器，PLC控制器将调节伺服电机2的输出扭矩，实现对负载的调节。
参照图3，刹车器7也可以为手握式的，在进行锻炼时，可以将刹车器7安装在合适位置，例如健身配件6的手握杆上，当人们进行腿部的锻炼需要改变负载的大小时，手部可以操作活动部72绕与固定部71的铰接轴转动，位移传感器将采集活动部72的转动方向和转动角度，并将检测结果传输至PLC控制器，PLC控制器将调节伺服电机2的输出扭矩，实现对负载的调节。
其中，为了便于将手握式的刹车器7安装在合适的位置，在其固定部71远离活动部72的一侧固接有截面为半圆形的卡扣73，卡扣73开口端的两侧形成弹性开口，当需要将手握式的刹车器7安装在合适的位置时，直接将卡扣73卡在合适位置即可，安装拆卸都非常方便。
当然，刹车器7也可以同时包括脚踩式的和手握式的，两个刹车器7上的位移传感器同时通过PLC控制器与伺服电机2连接，当其中任意一个刹车器7的活动部72发生转动时，安装在该活动部72转动轴上的位移传感器则将活动部72的转动方向和转动幅度传输至PLC控制器，从而调节伺服电机2的输出扭矩，使用更加方便灵活。
实施例一种将电机扭矩转换为阻力负载的健身康复设备的实施原理为：使用时，人们可以直接选择合适的健身配件6安装在安装接头35或者是通用接头5上，然后开启伺服 电机2，伺服电机2将给滑块32一个扭矩。例如，当人们向上推动滑块32时，伺服电机2输出轴将通过传动件33给滑块32一个向下运动趋势的力，从而达到锻炼的效果。当需要对健身康复设备进行运输时，可以直接将支撑杆44从第二容置槽422中转出，并放入第一容置槽421中，同时解除刹车万向轮43的锁死功能，操作两个外板41相对靠近，两个内板42将向上拱起，直至两个内板42呈竖直状态并相互贴合，然后操作连接板45转动，使得连接板45的固定槽451卡在固定柱46上，从而固定住两个内板42之间的相对位置，实现收纳，便于对健身康复设备进行收纳和运输。
以上均为本申请的较佳实施例，并非依此限制本申请的保护范围，故：凡依本申请的结构、形状、原理所做的等效变化，均应涵盖于本申请的保护范围之内。

Claims (10)

  1. 一种将电机扭矩转换为阻力负载的健身康复设备，其特征在于：包括支撑框(1)、固定安装在所述支撑框(1)上的伺服电机(2)以及安装在所述伺服电机(2)机座上的传动架(3)；
    在所述传动架(3)上装配有一条直线滑轨(334)，所述直线滑轨(334)上滑动连接有滑块(32)，所述滑块(32)背离所述直线滑轨(334)的表面上设置有用于装配健身配件(6)的安装接头(35)；所述伺服电机(2)的输出轴上装配有驱动轮(331)，所述直线滑轨(334)的两端均装配有换向轮(332)，所述驱动轮(331)和两所述换向轮(332)上套设有传动链/带(333)，所述滑块(32)串联在所述传动链/带(333)上；所述伺服电机(2)上电后产生扭矩，所述扭矩通过所述传动链/带(333)传递至所述滑块(32)上。
  2. 根据权利要求1所述的一种将电机扭矩转换为阻力负载的健身康复设备，其特征在于：所述安装接头(35)远离所述滑块(32)的一侧开设有供健身配件(6)插入的安装接口(351)，所述安装接头(35)上设置有固定健身配件(6)在安装接口(351)内位置的第一限位件(36)。
  3. 根据权利要求1所述的一种将电机扭矩转换为阻力负载的健身康复设备，其特征在于：所述传动架(3)通过转盘轴承(392)安装在所述伺服电机(2)的机座上，所述传动架(3)通过所述转盘轴承(392)与所述伺服电机(2)转动配合，所述传动架(3)上设置有使所述传动架(3)和所述伺服电机(2)处于相对静止状态的固定件(39)。
  4. 根据权利要求1所述的一种将电机扭矩转换为阻力负载的健身康复设备，其特征在于：所述伺服电机(2)的输出轴上安装有用于安装健身配件(6)的通用接头(5)。
  5. 根据权利要求1-4任意一项所述的一种将电机扭矩转换为阻力负载的健身康复设备，其特征在于：所述支撑框(1)包括固定架(11)和十字滑台，所述十字滑台的两组直线滑台固接且分别沿水平和竖直放置，两组所述直线滑台的两端对应装配于所述固定架上，所述伺服电机(2)固定安装在其中一组直线滑台上。
  6. 根据权利要求1-4任意一项所述的一种将电机扭矩转换为阻力负载的健身康复设备，其特征在于：所述支撑框(1)包括一安装板，所述安装板上呈矩形陈列分布有多个安装槽，所述伺服电机(2)的机座以及安装在所述伺服电机(2)机座上的传动架(3)安装在任一所述安装槽内。
  7. 根据权利要求1-4任意一项所述的一种将电机扭矩转换为阻力负载的健身康复设备，其特征在于：所述支撑框(1)下侧固接有底板(4)。
  8. 根据权利要求1-4任意一项所述的一种将电机扭矩转换为阻力负载的健身康复设备，其特征在于：还包括刹车器(7)，所述刹车器(7)包括固定部(71)以及铰接在所述固定部(71)上的活动部(72)，所述活动部(72)的转轴上装配有位移传感器，所述位移传感器通过控制器与所述 伺服电机(2)连接，所述位移传感器采集所述活动部(72)的运动方向和位移量并将采集到的数据传递至控制器，所述控制器接收到位移传感器采集到的数据后输出控制信号以控制所述伺服电机(2)的扭矩。
  9. 根据权利要求7所述的一种将电机扭矩转换为阻力负载的健身康复设备，其特征在于：所述底板(4)为折叠板，所述折叠板包括相互铰接的内板(42)和外板(41)，所述外板(41)与所述支撑框(1)固定连接。
  10. 根据权利要求9所述的一种将电机扭矩转换为阻力负载的健身康复设备，其特征在于：所述支撑框(1)设置有两个，两个所述支撑框(1)相对设置，所述内板(42)和所述外板(41)均设置有两个，两个所述内板(42)通过合页转动装配在一起。
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