WO2023206509A1 - Two-sided reverse output mechanism, and rehabilitation training and digital fitness apparatus having same - Google Patents

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

Bilateral reverse output mechanism and rehabilitation training and digital fitness equipment having the same Technical field

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.

Background technique

In real life, power output mechanisms take many forms, among which motors are the most common.

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.

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.

Contents of the invention

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.

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.

Illustratively, the reversing mechanism is a gear reversing mechanism or a belt reversing mechanism.

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.

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.

For example, the driving gear, the driven gear and the intermediate gear are all bevel gears.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

Exemplarily, the stator slot is an inclined slot inclined by n stator slot pitches, where n is less than 1.

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.

Illustratively, the encoder is an absolute value encoder greater than or equal to 14 bits.

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.

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.

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.

By way of example, both the first adapting part and the second adapting part are footrests.

Illustratively, the first link and the second link extend in the same direction from the central axis in the initial position.

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.

The advantages and features of the present invention will be described in detail below with reference to the accompanying drawings.

Description of the drawings

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,

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; and

FIG. 10 is a front view of the double-sided reverse output device in FIG. 1 .

Among them, the above-mentioned drawings include the following reference signs:

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.

Detailed ways

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.

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.

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. 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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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 .

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.

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.

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.

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.

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.

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.

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.

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)

1. A bilateral reverse output device used in rehabilitation training and digital fitness equipment, which is characterized by including:

   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;

   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.
2. 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.
3. The double-sided reverse output device according to claim 1, wherein the reversing mechanism is a gear reversing mechanism or a pulley reversing mechanism.
4. 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.
5. 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.
6. 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.
7. 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.
8. 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.
9. 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.
10. 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.
11. 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.
12. 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.
13. 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.
14. 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.
15. 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.
16. 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.
17. 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.
18. 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.
19. 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.
20. 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.
21. 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.
22. 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.
23. 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. .
24. 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.
25. 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.
26. 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.
27. 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.
28. The bilateral reverse output device according to claim 1, wherein the motor further includes an encoder, and the encoder includes:

    Magnetic code disk or optical code disk; and

    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.
29. The bilateral reverse output device according to claim 28, wherein the encoder is an absolute value encoder greater than or equal to 14 bits.
30. 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.
31. 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,

    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.
32. 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.
33. 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.

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