Treadmill with start assist and method of start assist

Abstract

The application discloses a running machine with rotary inertia kinetic energy recovery and a starting assisting method thereof. The rotating shaft (10) of the running machine is of a hollow structure, and a rotary transmission structure (20), an energy storage lock control mechanism (30) containing energy storage springs (31) and a matching driving structure (40) are arranged in the inner cavity. When the machine is stopped, the energy storage lock control mechanism (30) gradually approaches the rotary transmission structure (20) in the axial direction, and each energy storage spring (31) is compressed and locked one by one, so that the residual inertia kinetic energy of the running belt and the rotating shaft (10) is step by step accumulated and recovered. When the machine is started again, the energy storage springs (31) are unlocked and released simultaneously, the recovered energy is transmitted to the rotating shaft (10) through the rotary transmission structure (20) in the same direction as the starting, the torque of the main motor is superposed to compensate the peak torque of the starting belt, the initial output power of the main motor is reduced, and energy saving and consumption reduction are realized.

Description

Technical Field

[0001] This invention relates to the field of energy recovery technology for fitness equipment and rotating devices, specifically to a treadmill with start-up assistance and its start-up assistance method. Background Technology

[0002] Treadmills are widely used rotary fitness equipment in home and commercial fitness venues. The running belt is wound between front and rear rollers, and the roller shaft of the front roller is the shaft that drives the running belt. This shaft is driven by the main motor via a transmission belt. Treadmill operation has two significant characteristics: First, high start-stop frequency—a single machine can start and stop dozens of times per day, and users frequently pause and restart during use. Second, it is a typical example of load-bearing start-up. At startup, it must overcome the static friction resistance between the running belt and the running board, the static resistance torque of the transmission system, and the additional load from the user's weight. Its instantaneous torque requirement is much higher than during stable operation. Therefore, the main motor must be selected based on the peak starting torque, and it operates under loads far below its rated output capacity for extended periods, resulting in high installed power and energy consumption.

[0003] On the other hand, after the treadmill stops, the rotating components such as the running belt, front and rear rollers, and motor rotor still retain considerable rotational inertial energy. The running belt of a typical treadmill slides for 2 to 4 meters due to inertia. Almost all of this kinetic energy is dissipated as heat through sliding friction between the belt and the running board, and bearing friction, resulting in extremely low recovery and utilization rates. Therefore, recovering the rotational inertial energy after the treadmill stops and using it for torque compensation during the next start-up is an important direction for energy conservation and consumption reduction in this type of equipment.

[0004] For the storage and reuse of rotational kinetic energy, existing technologies mainly include the following types of solutions.

[0005] One type is the elastic energy storage scheme. For example, Chinese patent document CN2277368Y, "High-Speed ​​Bicycle with Spring Energy Storage," discloses a bicycle in which the energy storage spring is connected to the pedal axle. The pedal wheel engages or disengages with a transition wheel via partially circumferential teeth. When disengaged, the human force is stored in the spring; when engaged, the power stored in the spring and the human force jointly drive the bicycle. The shortcomings of this scheme are: firstly, the energy source is the active work done by the rider rather than the residual inertial kinetic energy after the equipment stops; secondly, both energy storage and release occur periodically during equipment operation, failing to address the problem of capturing inertial energy during shutdown.

[0006] Another type is the flywheel electromechanical energy storage solution. For example, Chinese patent document CN103904816A, "Flywheel Energy Storage Device, Wind Power Generation System and Vehicle Energy Regenerative Braking System," discloses a flywheel energy storage device that stores and regenerates rotational kinetic energy through the cooperation of a motor and a flywheel. The shortcomings of this solution are: it requires a conversion from "mechanical energy to electrical energy to mechanical energy," relying on power electronic components such as converters and controls, resulting in high conversion losses and system complexity; the flywheel often operates in a continuous coupling mode, bringing constant additional resistance; and the recovered energy is stored in the form of electrical energy or flywheel speed, making it difficult to directly output as mechanical assist torque in the same direction as the start-up at the moment the equipment restarts.

[0007] Another type of start-up assistance scheme uses a single elastic element wound for energy storage. When the power equipment stops, the inertia of the rotating components causes a single torsion spring or disc spring to wound and store energy. When the equipment restarts, the spring is released to assist in starting, and the coupling is released after startup. The drawbacks of this scheme are: the energy storage element is a single elastic element, and at the moment of stopping, all the inertial kinetic energy is concentrated on this single elastic element. On the one hand, the shaft bears a large reverse torque from the beginning of energy storage, resulting in abrupt braking and poor cushioning, which significantly changes the user's accustomed stopping feel when used in treadmills; on the other hand, the single element bears the entire impact load, leading to stress concentration and easy fatigue failure; and the total stored energy is limited by the stroke and stiffness of the single spring, making it difficult to increase the total stored energy and released torque without significantly increasing the volume.

[0008] It is evident that current technology lacks a solution that can recover the rotational inertial energy of the running belt and rollers in a step-by-step manner with low resistance after the treadmill stops, lock and store it, and release it directly in the same direction as the start-up when the machine is restarted to compensate for the starting torque. Summary of the Invention

[0009] To address the shortcomings of the existing technology, this invention provides a treadmill with rotational inertial energy recovery and its starting assistance method. This treadmill can recover the residual rotational inertial energy of the running belt and rollers after stopping, and transmit this energy back in the same direction as the starting direction during restart to compensate for the starting torque. This reduces the high instantaneous torque required for starting under load and decreases the initial output power of the main motor, thus achieving energy saving and consumption reduction. Furthermore, it overcomes the shortcomings of existing technologies where the direction of inertial energy recovery is opposite to the starting drive direction, making it difficult to directly use for starting assistance; the energy storage capacity of a single elastic energy storage component is limited, and the resistance to stopping is concentrated; and the inertial energy at stop is mostly dissipated as frictional heat, resulting in a low recovery rate.

[0010] To achieve the above objectives, the present invention adopts the following technical solution: A treadmill with rotational inertial energy recovery includes a frame, a running belt, a rotating shaft that drives the running belt, and a main motor that drives the rotating shaft. The rotating shaft has a hollow structure, and a rotational inertial energy recovery and starting assistance device is provided in the inner cavity of the rotating shaft. The rotational inertial energy recovery and starting assistance device includes: a rotational transmission structure connected to the inner wall of the rotating shaft; and an energy storage locking mechanism that is separable from the rotational transmission structure and includes multiple energy storage springs. The energy storage locking mechanism can be adjusted by the rotational transmission structure. The rotating shaft rotates to compress the energy storage spring and lock it in a compressed state to accumulate and recover the rotational inertial kinetic energy of the running belt and the rotating shaft after they stop. When the rotating shaft restarts, the spring force of the energy storage spring is released and transmitted back to the rotating shaft via the rotary transmission structure. It works in conjunction with the drive structure and is connected to the energy storage locking mechanism to drive the energy storage locking mechanism to move axially toward the rotary transmission structure to cooperate in energy storage. After the rotating shaft starts, it drives the energy storage locking mechanism to exit the rotary transmission structure. During the process of the energy storage locking mechanism gradually approaching the rotary transmission structure along the axial direction under the drive of the cooperating drive structure, the multiple energy storage springs are compressed and locked one by one by the rotary transmission structure; each of the energy storage springs unlocks synchronously and releases forcefully when the rotating shaft starts again, so that the recovered rotational inertial kinetic energy is transmitted back out in the same direction as the starting of the rotating shaft, and is superimposed with the active torque output by the main motor to jointly drive the running belt to start.

[0011] Furthermore, the rotary transmission structure includes a mounting ring assembly connected to the inner wall of the rotating shaft. The inner wall of the mounting ring assembly is provided with a plurality of circumferentially spaced and axially extending compression locking pins. The energy storage locking mechanism further includes a docking chassis and a connecting push seat located on the side of the docking chassis facing the rotary transmission structure. The connecting push seat is circumferentially spaced with a plurality of radially extending telescopic channels. The number and spacing angle of the telescopic channels are consistent with the number and spacing angle of the compression locking pins. Each telescopic channel is connected to an energy storage force transmission component via the energy storage spring. An electromagnetic locking control assembly for locking the energy storage spring in a compressed state and releasing the lock is provided between the energy storage force transmission component and the bottom of the telescopic channel. The energy storage force transmission component and the compression locking pins engage in a compression-pushing cooperation to transmit force bidirectionally between the rotating shaft and the energy storage spring.

[0012] Preferably, the electromagnetic lock control assembly is a power-off retention type electromagnetic lock, including a permanent magnet that provides holding force and a coil that provides unlocking force; after the energy storage spring is compressed into place, the magnetic force of the permanent magnet holds the energy storage force transmission member at the bottom of the telescopic channel without continuous power supply, and the lock is released when the coil is energized to generate a reverse magnetic field to counteract the magnetic force of the permanent magnet.

[0013] Preferably, the energy storage and force transmission component is hook-shaped, having an integrally formed straight section and an arc-shaped section. The straight section is slidably installed within the telescopic channel, and the arc-shaped section is positioned towards the compression locking post. The end of the arc-shaped section is located downstream of the connection between the arc-shaped section and the straight section along the rotation direction initiated by the rotating shaft. When accumulating and recovering rotational inertial kinetic energy, the arc-shaped section slides and compresses the compression locking post to compress the energy storage spring. When unlocking and releasing, the end of the arc-shaped section abuts against the outer peripheral wall of the compression locking post, driving the compression locking post to rotate in the same direction as the starting of the rotating shaft, so as to output an auxiliary torque in the same direction as the starting.

[0014] Furthermore, the point on the compression locking pin closest to the center of the mounting ring assembly and located on a radial straight line is the radial inner fixed point; the energy storage force transmission member has a predetermined position, at which the energy storage spring drives the energy storage force transmission member to pop out in a straight line direction that deviates from the line connecting the radial inner fixed point and the center of the mounting ring assembly, and the energy storage force transmission member forms compression with the outer peripheral wall of the compression locking pin during the popping process; when the energy storage force transmission member is in the locked state, a radial gap is formed between the outermost vertex of the energy storage force transmission member and the radial inner fixed point.

[0015] Furthermore, each of the telescopic channels is provided with multiple sets of matching energy storage springs, energy storage force transmission components and electromagnetic locking components spaced apart along the axial direction; each set of energy storage springs, energy storage force transmission components and electromagnetic locking components located at the same axial position and arranged circumferentially constitutes a set of energy storage units; when the energy storage locking mechanism gradually approaches the rotary transmission structure along the axial direction, each set of energy storage units is compressed and locked row by row to store energy in stages.

[0016] Furthermore, the mating drive structure includes a clutch assembly, a rotary motor, and an axial electric actuator connected sequentially along the axial direction. The clutch assembly is an electromagnetic clutch connected to the docking chassis, used to separably transmit the rotational kinetic energy of the rotary motor to drive the energy storage force transmission component to rotate to the predetermined position, or to drive the energy storage force transmission component to reverse and actively compress the energy storage spring. The axial electric actuator is used to push the energy storage locking mechanism to approach or exit the rotary transmission structure along the axial direction. The end of the axial electric actuator away from the rotary motor is connected to a second static mounting shaft, which passes through the rotating shaft via a second bearing and is rigidly connected to the frame, providing a circumferential positioning and bearing path for the mating drive structure.

[0017] Furthermore, the axial end face of the compression locking column facing the energy storage locking mechanism has an arc-shaped guide section, so that when the energy storage force transmission member is aligned with the axial end face, it can smoothly slide along the arc-shaped guide section and complete the compression energy storage.

[0018] Preferably, at least one of the compression locking pins is embedded with a Hall sensor, which is located on the peripheral wall of the compression locking pin, deflected by 8° to 20° from the radial inner fixed point in a direction opposite to the rotation direction started by the rotating shaft. The end of the energy storage force transmission member facing the compression locking pin is embedded with a permanent magnet. The Hall sensor is electrically connected to all the electromagnetic locking control components, and is activated after receiving a signal that all the electromagnetic locking control components have completed locking. When the permanent magnet rotates back to its sensing area, it outputs a positioning signal to cut off the power of the rotating motor and stop the energy storage force transmission member at the predetermined position.

[0019] Furthermore, the treadmill also includes a control system, which is connected to the rotation speed detection component of the rotating shaft, the clutch assembly, and the rotary motor, and is configured to: collect the rotation speed of the rotating shaft; when the rotation speed of the rotating shaft rises to a preset stable threshold and is maintained for 0.2s to 0.5s, control the clutch assembly to disconnect; and before the clutch assembly disconnects, control the rotary motor to run in a speed following mode with torque limiting, following the rotation speed of the rotating shaft; the preset stable threshold is the rotation speed of the rotating shaft at a running belt speed of 0.8km / h to 2.0km / h.

[0020] The present invention also provides a starting assistance method for the above-mentioned treadmill, comprising the following steps: S1. Stop Energy Storage: After receiving the stop command, the cooperating drive structure drives the energy storage locking mechanism to gradually approach and enter the rotary transmission structure along the axial direction, so that the rotary transmission structure, which rotates with the inertia of the shaft, compresses and locks the multiple energy storage springs one by one in the compressed state, thereby accumulating and recovering the rotational inertial kinetic energy of the running belt and the shaft after the stop in stages. S2. Start-up preparation: After all the energy storage springs are locked, the energy storage locking mechanism is driven by the cooperating drive structure to rotate to a predetermined position and stop in the opposite direction to the starting direction of the rotating shaft. At the predetermined position, the elastic force generated when the energy storage spring is released can be converted into torque that drives the rotating shaft to rotate in the starting direction through the rotary transmission structure. S3, Energy Release Assist Start: Upon receiving the start command, all the energy storage springs unlock synchronously and release in unison. The released elastic potential energy is transmitted back to the rotating shaft through the rotary transmission structure in the same direction as the start of the rotating shaft to form an auxiliary torque. This auxiliary torque is superimposed with the active torque output by the main motor to jointly drive the rotating shaft and the running belt to start. S4. Exit after startup: The rotational speed of the shaft is collected. When the rotational speed of the shaft rises to a preset stable threshold and is maintained for a preset delay, the energy storage locking mechanism is driven by the cooperating drive structure to gradually exit the rotary transmission structure along the axial direction during the rotation process of the rotary transmission structure.

[0021] Further, step S1 specifically includes: the axial electric push rod pushes the energy storage locking mechanism to gradually enter the inner cavity of the mounting ring assembly along the axial direction; during the entry process, if the energy storage force transmission member abuts against the axial end face of the compression locking column, the energy storage force transmission member smoothly slides along the arc-shaped guide section and synchronously completes compression energy storage; if the energy storage force transmission member enters from between two adjacent compression locking columns, the compression locking column rotates back to the energy storage force transmission member with the inertial kinetic energy of the rotating shaft, and then slides along the surface of the arc-shaped section to compress the energy storage spring; when the energy storage spring is compressed to within the sensing distance of the electromagnetic locking assembly, the electromagnetic locking assembly is energized to attract and lock the energy storage force transmission member to the bottom of the telescopic channel, completing the potential energy accumulation of a group of energy storage units; with the continuous feeding of the axial electric push rod, subsequent groups of energy storage units are locked row by row according to the above process.

[0022] Furthermore, step S1 also includes replenishing energy storage: if the locking signal of all the electromagnetic locking components is not received after the rotating shaft stops rotating, the clutch component is engaged, the rotary motor is started to drive the energy storage locking mechanism to rotate actively, and the energy storage force transmission component actively squeezes the compression locking column to complete the compression and locking of the remaining sets of energy storage springs; and in step S1, the axial electric push rod is fed at a low speed and uniform speed, and the rotation speed of the rotating shaft and the load of the axial electric push rod are collected in real time. When the rate of decrease of the rotation speed of the rotating shaft exceeds the set value, it is determined that a wedging trend has occurred, and the axial electric push rod is controlled to retract to unload the force and then feed again; the stopping inertial sliding distance of the running belt is controlled between 0.8m and 1.5m.

[0023] The beneficial effects of this invention are as follows: (1) Low hysteresis recovery: The energy storage lock control mechanism gradually approaches the drive structure and compresses and locks the energy storage springs one by one. At any given moment, only a single or a few energy storage springs participate in the resistance. The reverse resistance of the shaft is distributed and remains very small. The energy absorption is smooth and gentle, and the running belt is free from impact and jerking, without changing the user's accustomed stopping feel. (2) Joint start-up: When the treadmill starts again, all the energy storage springs unlock simultaneously and release in unison. Their limited torques are superimposed and converged at the same moment, outputting a considerable starting auxiliary torque. This torque is superimposed with the active torque of the main motor to drive the shaft to start, compensate for the high instantaneous torque required for starting under load, reduce the initial output power of the main motor, and create conditions for the main motor to be de-capacitated. (3) Same direction output: By using the separable cooperation between the rotary transmission structure and the energy storage lock control mechanism, and the offset pushing relationship between the hook-shaped energy storage force transmission component and the compression lock column, the compression sliding direction of the energy storage stage and the pushing support direction of the energy release stage are decoupled from each other, and the recovered energy can be transmitted back out in the same direction as the start-up, thus structurally resolving the inherent contradiction that the inertial energy recovery direction is opposite to the start-up drive direction. (4) Step-by-step buffering and enhanced protection: Inertial energy is transferred to different energy storage units in batches, which matches the energy output characteristics of gradual inertia decay, disperses load and impact stress, reduces the instantaneous force on a single component, extends the life of transmission components, and at the same time reduces energy dissipation in the form of frictional heat and improves recycling rate. (5) Adaptable to treadmill operating conditions: The device is built into the inner cavity of the rotating shaft, without taking up extra space in the frame and without changing the external structure and operation of the treadmill; energy storage and start-up preparation are completed automatically after the machine stops, and the user can get immediate assistance by pressing the start button again, and the start-up response is faster. Attached Figure Description

[0024] Figure 1 This is a flowchart of the treadmill start-up assistance method of the present invention; Figure 2 This is a flowchart of step S1, stopping and storing energy, in the treadmill start-up assistance method of the present invention; Figure 3 This is a schematic diagram of the rotating inertial kinetic energy recovery and starting assistance device of the present invention installed in the inner cavity of the rotating shaft; Figure 4 This is an exploded structural diagram of the rotary transmission structure, energy storage locking mechanism and cooperating drive structure of the present invention; Figure 5 This is a radial cross-sectional view of the energy storage and force transmission component of the present invention, which is telescopically connected to the connecting push base via an energy storage spring. Figure 6 A schematic diagram of the initial state structure for the energy storage lock of this invention; Figure 7 for Figure 6 A schematic diagram of the structure after which locking and energy storage are completed and the energy storage and force transmission component stops at the predetermined position; Figure 8 for Figure 7 A schematic diagram of the structure when the unlocking, energy release, and energy storage force transmission components push and compress the locking pin.

[0025] The markings in the diagram are as follows: 10 rotating shaft, 20 rotary transmission structure, 21 mounting ring assembly, 22 compression locking pin, 221 arc-shaped guide section, 222 Hall sensor, 30 energy storage locking control mechanism, 31 energy storage spring, 32 docking chassis, 33 connecting push seat, 331 telescopic channel, 34 energy storage force transmission component, 341 straight section, 342 arc-shaped section, 343 permanent magnet, 35 electromagnetic locking control assembly, 40 cooperating drive structure, 41 clutch assembly, 42 rotary motor, 43 axial electric push rod, 51 first bearing, 52 first static mounting shaft, 61 second bearing, 62 second static mounting shaft, 70 control system; the compression force F1 exerted by the compression locking pin 22 on the arc-shaped section 342 during the energy storage stage and its radial component F11 compressing the energy storage spring 31; the elastic force F2 exerted by the energy storage spring 31 on the compression locking pin 22 during the energy release stage and its tangential component F21 driving the mounting ring assembly 21 to rotate. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. In the following embodiments, a home and commercial treadmill are used as examples, and the rotating shaft 10 is taken as the roller shaft of the front roller that drives the running belt. The starting rotation direction of the rotating shaft 10 is... Figure 6 The clockwise direction shown is used as an example for illustration, but the scope of protection of this invention is not limited thereto.

[0027] The rotating shaft 10 described in this invention generally refers to a shaft component in a treadmill that rotates synchronously with the running belt and carries its rotational inertial kinetic energy. Besides the front roller shaft, it can also be the rear roller shaft, the output shaft of the main motor, or an intermediate transmission shaft between the front and rear rollers. The hollow structure of the rotating shaft 10 can be a hollow cavity integrally formed by the shaft itself, or an inner cavity formed by splicing a solid shaft section with a hollow sleeve, or by adding a hollow extension sleeve to the shaft end. For ease of description, the starting rotation direction of the rotating shaft 10 will be used below. Figure 6 Taking the clockwise direction shown as an example; when the starting rotation direction of the rotating shaft 10 is counterclockwise, the offset direction and rotation direction of each component of the present invention can be set in a mirror symmetrical manner, and the principle is exactly the same.

[0028] Example 1:

[0029] This embodiment provides a treadmill with rotational inertial energy recovery, which includes a frame, a control panel, a running belt wound between the front and rear rollers, a running plate supporting the running belt, and a main motor driving the front roller via a transmission belt (all of the above components are conventional structures of treadmills and are not shown in the figure). The roller shaft of the front roller is the rotating shaft 10 described in this invention. The rotating shaft 10 has a hollow structure, and its inner cavity is provided with a rotational inertial energy recovery and starting assistance device.

[0030] The device uses a rotary transmission structure 20 connected to the inner wall of the rotating shaft 10, which allows the treadmill to rotate with the rotating shaft 10 after it stops. This transfers the inertial kinetic energy of the running belt and rollers to the energy storage and locking mechanism 30, compressing the energy storage spring 31 on it to generate elastic force and lock it in place, thereby accumulating and recovering the rotational inertial kinetic energy. When the treadmill is started again, the locking state is released, releasing the elastic force of the energy storage spring 31. The elastic force is then transmitted back to the rotating shaft 10 through the rotary transmission structure 20, assisting in the output of the starting torque.

[0031] refer to Figure 3 The rotational inertial kinetic energy recovery and starting assist device is installed in the inner cavity of the rotating shaft 10, and includes: The rotary transmission structure 20 is connected to the inner wall of the rotating shaft 10 and rotates synchronously with the rotating shaft 10. It is used to transmit rotary torque bidirectionally between the rotating shaft 10 and the energy storage lock control mechanism 30: when storing energy during shutdown, it transmits the inertial rotary torque of the rotating shaft 10 to the energy storage lock control mechanism 30; when releasing energy to assist startup, it transmits the elastic torque released by the energy storage spring 31 back to the rotating shaft 10. The energy storage locking mechanism 30 is separable from the rotary transmission structure 20, and includes an energy storage spring 31 (e.g., Figure 5 As shown), it is used to carry and lock the recovered energy: the rotary transmission structure 20 rotates with the rotating shaft 10 to compress the energy storage spring 31, so that it generates elastic force and locks, thus completing energy storage. At the same time, it can automatically unlock and release the elastic force at a predetermined position, and transmit the elastic force back to the rotating shaft 10 through the rotary transmission structure 20 to realize starting assistance. It works in conjunction with the drive structure 40 and is connected to the energy storage lock control mechanism 30. It is used to drive the energy storage lock control mechanism 30 to approach the rotary transmission structure 20 and cooperate with it to complete energy storage. It is also used to drive the rotating shaft 10 to exit the rotary transmission structure 20 after the shaft is started.

[0032] Specifically, refer to Figure 4 The rotary transmission structure 20 includes a mounting ring assembly 21 formed by multiple ring frames coaxially connected side by side. The outer periphery of the mounting ring assembly 21 is fixedly connected to the inner wall of the rotating shaft 10 and rotates synchronously with the rotating shaft 10. Its fixing method can be interference fit, key connection, spline connection, screw fastening, welding, or integral molding with the rotating shaft 10. The end of the mounting ring assembly 21 facing away from the energy storage locking mechanism 30 is supported and centered by a first static mounting shaft 52 and a first bearing 51 (e.g., ...). Figure 3 As shown in the figure, to ensure that the mounting ring assembly 21 is coaxial with the rotating shaft 10 and that the axial positioning is reliable; the inner wall of the mounting ring assembly 21 is provided with an axially arranged compression locking pin 22, which is the only force transmission part between the rotary transmission structure 20 and the energy storage locking mechanism 30.

[0033] Combined Figure 6For reference, multiple compression locking pins 22 are evenly spaced along the circumference, and the number can be 2 to 12, preferably 3 to 6. In this embodiment, four are preferably provided. The outer circumferential surface of the compression locking pin 22 that contacts the energy storage and force transmission component 34 is a convex arc-shaped surface. It can be a cylindrical pin, a convex pin with an arc-shaped outer circumferential surface, or an elliptical pin. It can also be a composite column formed by fitting a needle roller bearing or a wear-resistant bushing on the pin shaft to further reduce sliding friction.

[0034] refer to Figure 4 , Figure 5 The energy storage locking mechanism 30 includes a docking chassis 32 that cooperates with the driving structure 40. A connecting pusher 33 is provided on the side of the docking chassis 32 facing the rotary transmission structure 20. The connecting pusher 33 has multiple radially extending telescopic channels 331 formed at equal intervals along its circumference. The number and spacing angle of the telescopic channels 331 are consistent with those of the compression locking pin 22. An energy storage force transmission component 34 is connected inside the energy storage force transmission component 34 via an energy storage spring 31. An electromagnetic locking component 35 (e.g., an electromagnetic locking control assembly 35) is also provided between the bottom of the energy storage force transmission component 34 and the bottom of the telescopic channels 331. Figure 5 As shown, the energy storage spring 31 is used to lock the compressed state to store energy and to release the spring force when unlocked. In this embodiment, the power supply and locking status feedback signals of each electromagnetic lock control component 35 are led out through a conductive slip ring disposed between the docking chassis 32 and the housing of the axial electric push rod 43 and connected to the control system 70.

[0035] The energy storage spring 31 generally refers to an energy storage element that stores elastic potential energy in a compressed state. It can be a cylindrical helical compression spring, or a disc spring assembly, wave spring, rectangular section helical spring, polyurethane elastomer, or rubber elastic element, etc., with equivalent compression energy storage function. In this embodiment, a cylindrical helical compression spring is preferred. The electromagnetic locking component 35 generally refers to a component that can hold the energy storage force transmission component 34 in the compressed position by means of electromagnetic force and can release the holding. It can be an electromagnetic chuck (electromagnet), an electromagnetically driven pin or pawl mechanism, an electromagnetic clutch locking disc, or a locking pin driven by a shape memory alloy.

[0036] More preferably, the electromagnetic lock control component 35 adopts a power-off retention type electromagnetic lock. With this type of electromagnetic lock, the energy storage lock control mechanism 30 does not consume any electrical energy during the entire standby period from when the treadmill stops until the next start, which is compatible with the energy-saving purpose of the present invention.

[0037] refer to Figure 4The cooperating drive structure 40 sequentially includes a clutch assembly 41, a rotary motor 42, and an axial electric push rod 43. The clutch assembly 41 is an electromagnetic clutch connected to the docking chassis 32, used for the separable transmission of the rotational kinetic energy of the rotary motor 42. On one hand, it drives the energy storage and transmission component 34 to rotate to a predetermined position and stop, so that after releasing the spring force, it can form a pushing action with the compression locking column 22, generating a rotational torque to achieve starting assistance. On the other hand, when the inertia of the rotating shaft 10 is insufficient to tighten all the energy storage and transmission components 34, it can drive the energy storage and transmission components 34 to actively reverse and compress the energy storage spring 31, ensuring stable and reliable potential energy storage. The axial electric push rod 43 is used to push the energy storage and locking mechanism 30 into the mounting ring assembly 21, so that the energy storage and transmission component 34 and the compression locking column 22 are in the same axial position, and the relative rotation of the two can achieve compression energy storage or release assistance of the energy storage spring 31. (Reference) Figure 3 The end of the axial electric actuator 43 away from the rotary motor 42 is connected to a second static mounting shaft 62. The second static mounting shaft 62 passes through the second bearing 61 and is rigidly connected to the frame of the treadmill, so that the housing of the drive structure 40 remains relatively stationary when the shaft 10 rotates, providing a fixed fulcrum for axial feeding and rotary drive, and bearing all circumferential reaction forces during energy storage and release.

[0038] The clutch assembly 41, in addition to the electromagnetic clutch, can also be an electromagnetic jaw clutch, a friction plate clutch, or an electromagnetic powder clutch. In this embodiment, an electromagnetic clutch is preferred. The rotary motor 42 can be a stepper motor, a servo motor, a DC geared motor, or a brushless DC motor. The axial electric push rod 43 generally refers to a linear drive component that provides axial linear feed. It can be an electric push rod, or a combination of a lead screw and nut pair and a stepper motor, a gear and rack mechanism, a linear motor, or a cylinder or hydraulic cylinder.

[0039] For ease of description, the radial inner fixed point is defined first: the point on the compression locking pin 22 that is closest to the center of the mounting ring group 21 and is located on the straight line of the radius of the mounting ring group 21 is called the radial inner fixed point of the compression locking pin 22.

[0040] like Figure 7 As shown, when the energy storage and force transmission component 34 stops at the predetermined position, the straight direction of the energy storage spring 31 popping out deviates from the line connecting the radial inner fixed point and the center of the mounting ring group 21. That is, the energy storage and force transmission component 34 is offset by an angle relative to the compression locking pin 22 in the rotation direction started by the rotating shaft 10 and is not directly opposite it. Therefore, during the popping process, it will form a compression effect with the outer peripheral wall of the compression locking pin 22.

[0041] The purpose of this offset is as follows: if the energy storage and force transmission component 34 is directly opposite the compression locking pin 22, that is, the ejection direction falls exactly on the line connecting the radial inner fixed point and the center of the circle, then all the elastic force points towards the center of the circle along the radial direction, and does not generate any torque on the mounting ring assembly 21. Therefore, the elastic potential energy cannot be converted into the rotational torque of the rotating shaft 10. Only after the offset, when the elastic force F2 acts on the outer arc of the compression locking pin 22, can it be decomposed into a tangential component F21 perpendicular to the radial direction (e.g., ...). Figure 7 As shown), the product of the tangential component force and the radius of the mounting ring assembly 21 is the auxiliary torque for driving the rotating shaft 10 to rotate in the starting direction. Similarly, the force F1 exerted by the squeezing locking pin 22 on the arc-shaped segment 342 during the energy storage stage is also decomposed into a radial component F11 pointing towards the bottom of the telescopic channel 331 along the contact surface of the arc-shaped segment 342 (as shown). Figure 6 As shown in the figure, the radial component force is the effective force of the compression energy storage spring 31.

[0042] Meanwhile, when in the locked state, the outermost vertex of the energy storage force transmission member 34 forms a stable radial gap with the radial inner fixed point. That is, the outer circle envelope formed by the rotation of the energy storage force transmission member 34 in the locked state is located within the circle where the radial inner fixed point of each extrusion lock post 22 is located, so that there is no motion interference during the subsequent driving of the energy storage force transmission member 34 to rotate to the predetermined position, thereby enabling the energy storage lock control mechanism 30 to freely cross each extrusion lock post 22 and rotate to any circumferential angle in the locked state.

[0043] Therefore, through the above structure, the energy storage and force transmission component 34 can be smoothly rotated to the predetermined position, and then the lock is released and the elastic force of the energy storage spring 31 is released. With the help of this elastic force, the energy storage and force transmission component 34 is pushed out and pressed against the outer peripheral wall of the locking column 22, and the auxiliary torque is output.

[0044] Further, refer to Figure 4 , Figure 5 Each telescopic channel 331 contains multiple sets of matching energy storage springs 31, energy storage force transmission components 34, and electromagnetic locking control components 35 arranged axially at intervals. Multiple energy storage springs 31, energy storage force transmission components 34, and electromagnetic locking control components 35 located at the same axial position and arranged circumferentially constitute an energy storage unit. As the energy storage locking control mechanism 30 gradually approaches the rotary transmission structure 20, each set of energy storage units is compressed and locked row by row, achieving step-by-step energy storage. After all the energy storage springs 31 have been compressed and stored, the total accumulated potential energy is sufficient to provide considerable auxiliary torque for starting the rotating shaft 10.

[0045] In some embodiments, the number of energy storage units arranged axially can be 2 to 10, preferably 3 to 6. The number of energy storage springs 31, energy transmission components 34, and electromagnetic locking components 35 in each energy storage unit group is consistent with the number of compression locking pins 22, and the axial distance between two adjacent energy storage units is adapted to the axial distance between two adjacent ring frames in the mounting ring group 21. Taking 4 compression locking pins 22 and 4 energy storage units as an example, the device contains a total of 16 sets of mutually matching energy storage springs 31, energy transmission components 34, and electromagnetic locking components 35.

[0046] The compression stroke of a single energy storage spring 31 is 15mm to 25mm. When compressed to the full position, the elastic potential energy stored in a single energy storage spring 31 is 1.0J to 3.0J. When all energy storage units are unlocked and released simultaneously, the auxiliary torque acting on the rotating shaft 10 is 15N·m to 40N·m.

[0047] The energy storage unit's row-by-row energy storage structure has the following two functions: First, it matches the energy output characteristics of gradually decaying inertia: the residual kinetic energy of the rotating shaft 10 after stopping decreases from large to small in stages. Each row of energy storage units intervenes in turn, buffering and recovering the residual kinetic energy from large to small in stages. This not only disperses the load and impact stress and reduces the instantaneous force on a single component, but also reduces the energy loss in the form of frictional heat. Second, the energy storage lock control mechanism 30 advances row by row along the axial direction, pushing the individual energy storage force transmission component 34 and the compression lock column 22 to compress and store energy. At any given time, only one or a few energy storage force transmission components 34 participate in the resistance. The reverse resistance experienced by the rotating shaft 10 is distributed and remains very small. The energy storage process does not produce additional sluggishness or hesitation, and the feel of the treadmill stopping normally is almost imperceptible.

[0048] Furthermore, the energy-storing force transmission member 34 will automatically stop after rotating to the predetermined position only after all the energy-storing springs 31 have completed locking and energy storage. To achieve this function, at least one compression locking column 22 is embedded with a sensing sensor. The sensing sensor is located in the end region of the compression locking column 22 near the energy-storing locking mechanism 30, and is located on the peripheral wall position deflected at an angle from the radial inward fixed point in the direction opposite to the rotation direction started by the rotating shaft 10. The sensing sensor is electrically connected to all electromagnetic locking components 35, and its position sensing function can only be activated after it receives a signal that all electromagnetic locking components 35 have completed locking. By limiting the proximity sensing area, when the energy-storing force transmission member 34 rotates to pass through the sensing area of ​​the sensing sensor, the sensing sensor outputs a positioning signal, and the control system 70 cuts off the power output of the rotary motor 42, ensuring that the energy-storing force transmission member 34 automatically stops at the predetermined position.

[0049] Preferably, refer to Figure 5The energy storage and force transmission component 34 is configured as a hook-shaped structure, having an integrally formed straight section 341 and an arc-shaped section 342. The straight section 341 is slidably installed within the telescopic channel 331, and the arc-shaped section 342 is used to cooperate with the compression locking pin 22 (e.g., Figure 6 , Figure 7 As shown), the end of the arc-shaped segment 342, rotating along the axis 10, is located downstream of the junction of the arc-shaped segment 342 and the straight segment 341; Figure 6 Taking the clockwise start of the rotating shaft 10 as an example, the connecting part is located on the counterclockwise side of the end of the arc segment 342 (left side in the figure).

[0050] Therefore, whether the locking pin 22 actively rotates to achieve locking, the energy storage and force transmission component 34 actively rotates to complete locking, or the energy storage and force transmission component 34 actively rotates to a predetermined position, the rotary motor 42 can maintain a uniform driving direction opposite to the starting direction of the rotating shaft 10 (counterclockwise in the diagram) before releasing the stored energy, without needing to reverse direction. Additionally, refer to... Figure 6 Furthermore, during the energy storage process, the squeezing and sliding direction of the energy storage force transmission component 34 is from the connection point with the straight section 341 towards the end of the arc section 342. The continuous squeezing action generated by the smooth sliding of the two components forms a radial component force F11, compressing the energy storage spring 31. This relative motion sequence effectively prevents the energy storage force transmission component 34 from jamming at the end of the arc section 342, ensuring continuous and smooth energy storage for multiple energy storage units. (Reference) Figure 7 At the same time, it can ensure that during the unlocking and energy release phase, the force relationship is reversed, so that after the energy storage spring 31 releases its elastic force, the end of the arc-shaped section 342 can form an effective pushing fulcrum with the outer wall of the compression lock column 22. By utilizing the mechanical characteristics that the end can easily form a bite and lock, a force is applied to the compression lock column 22, driving the compression lock column 22 to rotate in the same direction as the starting of the rotating shaft 10 (clockwise in the figure), thereby realizing the starting assistance of the rotating shaft 10.

[0051] Furthermore, the sensing sensor can be a Hall sensor, an inductive proximity switch, a capacitive proximity switch, a photoelectric sensor, or a magnetic encoder. In this embodiment, a Hall sensor 222 is preferred to better adapt to working conditions with vibration and dust. It is embedded in the pressing lock pin 22 at a position deflected by 8° to 20° from the radial inner fixed point in the direction opposite to the rotation direction started by the rotating shaft 10. The end face of the arc segment 342 is fitted with a permanent magnet 343. Only when the end of the arc segment 342 rotates back to the limited sensing area of ​​the Hall sensor 222 will the positioning signal be output. The deflection angle of 8° to 20° ensures that the positioning signal is issued before the energy storage force transmission element 34 passes over the pressing lock pin 22, leaving a stopping margin for the rotary motor 42, and also ensures that the ejection direction of the energy storage force transmission element 34 after stopping is sufficient to deviate from the radial inner fixed point to form an effective tangential component force F21.

[0052] To ensure smooth extrusion between the extrusion locking pin 22 and the energy storage and force transmission component 34, refer to Figure 4 The compression locking pin 22 has an arc-shaped guide section 221 on its axial end face facing the energy storage locking mechanism 30. Its function is that when the energy storage force transmission member 34 enters the mounting ring group 21 and is exactly facing the end face, the energy storage force transmission member 34 will not be rigidly pressed against the end face and stop feeding. Instead, it will be gradually pressed towards the bottom of the telescopic channel 331 along the arc-shaped guide section 221, and the compression energy storage will be completed at the same time as the axial entry is completed, thereby avoiding the risk of axial jamming and wedging.

[0053] In this embodiment, the control system 70 is integrated with the treadmill's control panel and is electrically connected to the rotation speed detection component of the shaft 10, the clutch assembly 41, the rotary motor 42, the axial electric push rod 43, and each electromagnetic lock control assembly 35. The real-time rotation speed of the shaft 10 can be obtained by reusing the speed measurement signal from the treadmill's main motor and then calculating it in conjunction with the transmission ratio. The control system 70 can be a microcontroller control board, a programmable logic controller, or an embedded control module. It can be integrated with the original control panel of the treadmill as in this embodiment, or it can be set up independently and interact with the original control system of the treadmill via a communication interface. The rotation speed detection component can be a Hall effect speed sensor, a photoelectric encoder, or a rotary transformer.

[0054] Example 2:

[0055] Based on the treadmill described in Embodiment 1, this embodiment provides a treadmill start-up assistance method, referencing... Figure 1 The overall process shown is as follows: 1. Shutdown and Energy Storage Phase During normal operation of the treadmill, the rotary transmission structure 20 and the energy storage locking mechanism 30 are separated. (Reference) Figure 2When the user presses the stop button, the axial electric actuator 43 automatically starts, pushing the energy storage locking mechanism 30 towards the rotary transmission structure 20. During the pushing process, the energy storage locking mechanism 30 slowly enters the hollow inner cavity of the mounting ring assembly 21. At this time, two entry contact conditions may occur: one is that each energy storage force transmission component 34 just abuts against each compression locking column 22, so it can enter along the arc-shaped guide section 221 and simultaneously achieve compression energy storage; the other is that each energy storage force transmission component 34 enters from between two adjacent compression locking columns 22, and the compression locking column 22 moves clockwise with the inertial kinetic energy of the rotating shaft 10. The needle rotates back to the position of the energy storage force transmission component 34, and then slides along the surface of its arc segment 342 to compress the energy storage spring 31. When the length of the energy storage spring 31 is compressed to the sensing distance of the electromagnetic locking control component 35, the electromagnetic locking control component 35 is energized and activated, adsorbing the energy storage force transmission component 34 to the bottom of the telescopic channel 331, maintaining the locked state of the energy storage spring 31, thereby realizing the potential energy accumulation of a single energy storage unit. As the axial electric push rod 43 continues to move axially, subsequent multiple energy storage units are locked in rows according to the above process, and finally the overall energy storage of the energy storage locking control mechanism 30 is completed.

[0056] It should be noted that in this stage, the clutch assembly 41 is in the disengaged state by default, and the energy storage lock control mechanism 30 is not constrained by the rotary motor 42 in the circumferential direction. The physical mechanism on which energy storage depends is that the rotating shaft 10 is still rotating inertia, and the compression lock pin 22 has a large instantaneous tangential velocity difference relative to the energy storage force transmission component 34 in the feed. When the two come into contact, they act in the form of short-term impact. Its radial component force F11 is sufficient to "hammer" the energy storage force transmission component 34 into the sensing distance of the electromagnetic lock control assembly 35 and trigger the adsorption lock. Even if the energy storage lock control mechanism 30 is pushed by the tangential component force and drifts slightly in the circumferential direction during this process, it will not affect the completion of a single lock. If the inertial kinetic energy of the rotating shaft 10 is too low (such as light load stop) causing some impact windows to be insufficient to press to the sensing distance, or if the circumferential drift of the energy storage lock control mechanism 30 is too large and the remaining spring misses the compression opportunity, then the following supplementary energy storage sub-step will complete the task.

[0057] It should be noted that if the circumferential force generated by the rotation of the compression locking column 22 causes the energy storage locking mechanism 30 to rotate passively, resulting in the energy storage spring 31 being unable to fully compress and lock; or if the inertial kinetic energy of the running belt and roller is small, and the movement stops before all energy storage units have been stored; at this time, the control system 70 can determine the working condition by identifying the locking feedback signal of not collecting all electromagnetic locking components 35, and then activate the clutch component 41 to establish a power connection between the energy storage locking mechanism 30 and the rotary motor 42, and then start the rotary motor 42 to drive the energy storage locking mechanism 30 to rotate in the opposite direction to the starting direction of the rotating shaft 10 (counterclockwise in the figure), and use the active rotation of the energy storage force transmission component 34 to complete the remaining compression energy storage process.

[0058] 2. Start-up Preparation Phase The purpose of this stage is to rotate all the energy storage and force transmission components 34 to a predetermined position, that is, to squeeze the locking pin 22 upstream of the starting direction and offset it by an angle, so as to ensure that an effective tangential force is generated at the moment of unlocking; the rotation direction is opposite to the starting direction, and its feasibility depends on the radial clearance in the aforementioned locked state.

[0059] To shorten the treadmill's start-up response time and improve start-up speed, the energy storage transmission component 34 is pre-adjusted to a predetermined position before unlocking and releasing energy. Regardless of the relative position of the compression locking column 22 and the energy storage transmission component 34 when they finally stop, this can be achieved through the following process: After completing the locking and energy storage in the above stage, the control system 70 receives feedback signals from all electromagnetic locking components 35, and the Hall sensor 222 automatically activates its sensing function. Then, the control system 70 determines the circuit status of the rotary motor 42. If the energy storage stage relies entirely on the inertia of the rotating shaft 10 to complete energy storage, the energy storage locking mechanism 30 should not have established a power connection with the rotary motor 42. At this time, the control system... The assembly component 41 automatically engages to complete the power docking. If the energy storage stage relies on the energy storage lock control mechanism 30 to actively rotate and replenish the energy storage of the remaining energy storage unit, then the power connection should have been established at this time, and the rotation drive process can be directly entered. Therefore, the rotary motor 42 then drives the energy storage force transmission component 34 to rotate counterclockwise. During the rotation process, the radial gap between the energy storage force transmission component 34 and the compression lock column 22 in the locked state is used to ensure smooth movement without interference. When it rotates to the sensing area of ​​the Hall sensor 222, the Hall sensor 222 outputs a positioning signal, and the control system 70 cuts off the power output of the rotary motor 42 to ensure that the energy storage force transmission component 34 automatically stops at the predetermined position.

[0060] 3. Energy release to assist in the start-up phase After the treadmill stops, it automatically reaches the above-mentioned start-up preparation state. When the user uses the treadmill again and presses the start button, the main motor is triggered by the start button and starts synchronously. At the same time, the clutch assembly 41 remains engaged, the rotary motor 42 switches to zero-speed position holding mode (stalled mode) and is energized, providing a rigid support point for the energy storage lock control mechanism 30. All electromagnetic lock control assemblies 35 are simultaneously de-energized and unlocked, releasing the compression limit of each energy storage spring 31, releasing the total elastic potential energy accumulated in the energy storage lock control mechanism 30, thereby pushing all energy storage force transmission components 34 to pop outward along the telescopic channel 331. During the pop-out process, the end of the arc-shaped section 342 first abuts against the outer wall of the compression lock column 22 to transmit force, and then moves along the outer wall of the compression lock column 22. The peripheral walls slide relative to each other and continuously generate a pushing effect; while the energy storage locking mechanism 30, under the power connection constraint of the rotary motor 42, will not reverse due to the reaction force generated by the squeezing locking column 22. That is, the rotary motor 42 acts as the fulcrum of the elastic reaction force at this time. Without this constraint, the elastic force will push the energy storage locking mechanism 30 in reverse and do useless work, which can ensure that the elastic potential energy is fully transferred to the rotating shaft 10; although the torque of a single energy storage force transmission component 34 acting on the squeezing locking column 22 is limited, when all energy storage force transmission components 34 are released at the same time, a large torque can be output at the moment of starting the rotating shaft 10; this auxiliary torque is superimposed and cooperated with the active torque output by the main motor of the treadmill to jointly drive the rotating shaft 10 to rotate and drive the running belt to complete the start.

[0061] Therefore, this device exhibits an asymmetric action characteristic of "energy storage in stages and energy release in sync", which balances the smoothness of the energy recovery process with the strong boost output.

[0062] 4. Startup and Exit Phase After startup, each energy storage force transmission component 34 remains in the extended state and is located between two adjacent compression locking columns 22. The control system 70 collects the rotation speed of the rotating shaft 10 in real time. When its rotation speed is greater than or equal to the preset stable speed threshold and is maintained for a preset delay, the rotary motor 42 switches from the stall mode to the speed following mode with torque limiting, controls the clutch assembly 41 to de-energize, and cuts off the power connection between the rotary motor 42 and the docking chassis 32. During the period when the rotation speed of the rotating shaft 10 increases to the speed threshold, the rotary motor 42 rotates clockwise and follows the rotation speed of the rotating shaft 10 synchronously to avoid the energy storage force transmission component 34 and the compression locking column 22 from coming into contact due to the speed difference before reaching the speed threshold and generating a counter-load. After the power connection is cut off, as the rotating shaft 10 rotates normally, the compression locking column 22 will gradually approach the energy storage force transmission component 34 and push it to rotate synchronously. In conjunction with the axial electric push rod 43, it drives the energy storage locking control mechanism 30 to move away from the rotary transmission structure 20, thereby realizing the gradual and smooth withdrawal of the energy storage locking control mechanism 30 during the following rotation process.

[0063] The preset stable speed threshold is the rotational speed of the shaft 10 when the running belt speed is between 0.8 km / h and 2.0 km / h, and the preset delay is between 0.2 s and 0.5 s. After exiting, the rotary transmission structure 20 and the energy storage lock control mechanism 30 return to their separated state, the treadmill operates normally, and waits for the next stop command.

[0064] It should be noted that although the above solution utilizes electrical components such as the axial electric actuator 43 and the rotary motor 42, resulting in energy consumption for the recovery and release of rotational inertia, these are all short-term, minimal-powered operations, and the drives are lightly loaded components, resulting in extremely low energy consumption per cycle. Furthermore, in conjunction with the aforementioned power-off retention electromagnetic lock control component 35, there is no power consumption during standby. In contrast, the main motor of the treadmill needs to output peak torque every time it starts under load, resulting in significant energy loss per cycle. In summary, the energy-saving gain from inertial kinetic energy recovery outweighs the power consumption of the drive mechanism, and the entire machine still achieves energy-saving effects.

[0065] To further improve the completeness of this starting assistance device and method in treadmill applications, the following design is also made.

[0066] (1) Optimization control of treadmill gliding distance This scheme adopts a structure in which multiple energy storage units store energy sequentially, which can absorb the residual kinetic energy of the rotating shaft 10 in a smooth and graded manner. Therefore, the stopping and sliding distance can be controlled between 0.8m and 1.5m while taking into account the smoothness of operation. Although this range is similar to the national standard emergency braking limit, it relies on gradual energy storage to buffer deceleration and avoids the strong jerking caused by rigid locking. It can fully capture the low-speed residual torque during the decay process and at the same time distribute the instantaneous impact load of the transmission components.

[0067] (2) Anti-jamming protection during the extrusion energy storage stage The outer arc surface of the arc segment 342 facing the compression lock post 22 is also embedded with a ball bearing, so that when it makes contact and slides with the outer wall of the compression lock post 22, it can reduce sliding friction and ensure smooth relative movement; the ball bearing is embedded in the outer arc surface of the arc segment 342 and does not interfere with the position of the permanent magnet 343 embedded in the end face of the arc segment 342.

[0068] The contact surfaces of the extrusion locking pin 22 and the arc segment 342 are preferably made of wear-resistant and low-friction materials or treated with wear-resistant and low-friction materials, such as surface nitriding, hard chrome plating, spraying molybdenum disulfide or polytetrafluoroethylene coating. Alternatively, the contact parts can be made of powder metallurgy oil-containing materials, polyoxymethylene (POM) or polyether ether ketone (PEEK) and other self-lubricating engineering plastics.

[0069] The axial electric actuator 43 is fed at a low and uniform speed to avoid a sharp increase in contact stress caused by rapid advancement.

[0070] Electrical monitoring is adopted: the control system 70 collects the rotational speed of the shaft 10 and the load of the axial electric push rod 43 in real time; when the rotational speed of the shaft 10 drops rapidly, it is determined that there is a wedging trend, and the axial electric push rod 43 is slightly retracted to relieve the force and then pushed forward again.

[0071] It should be noted that although this invention uses a treadmill as an example, it is also applicable to elliptical trainers, rowing machines, exercise bikes, rehabilitation training devices, and other rotating fitness equipment, as well as rotating equipment with frequent start-stop cycles, such as roller winding machines, belt conveyors, small mixing equipment, small centrifugal fans, circulating water pumps, centrifuges, grinders, and electric roller shutters. Any rotating equipment with a hollow shaft or a shaft that can be fitted with a hollow extension sleeve, and which retains considerable rotational inertial energy after stopping, can use the rotational inertial energy recovery and start-up assistance device and method described in this invention.

[0072] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Obviously, those skilled in the art, after understanding the content and principles of the present invention, may make various modifications and changes in form and detail without departing from the principles and structure of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A treadmill with rotational inertial kinetic energy recovery, comprising a frame, a running belt, a rotating shaft (10) for driving the running belt, and a main motor for driving the rotating shaft (10), characterized in that: The rotating shaft (10) has a hollow structure. The inner cavity of the rotating shaft (10) is provided with a rotary inertial kinetic energy recovery and starting assistance device. The device includes: a rotary transmission structure (20) connected to the inner wall of the rotating shaft (10); and an energy storage locking mechanism (30) that can be separated from and cooperated with the rotary transmission structure (20), including multiple energy storage springs (31). The energy storage locking mechanism (30) can compress the energy storage springs (31) and lock them in a compressed state by rotating the rotating shaft (10) with the rotary transmission structure (20). When the rotating shaft (10) is restarted, the energy storage springs (31) can be unlocked and released and the elastic force of the energy storage springs (31) can be transmitted back to the rotating shaft (10) through the rotary transmission structure (20). The cooperating drive structure (40) is connected to the energy storage lock control mechanism (30); wherein, as the energy storage lock control mechanism (30) gradually approaches the rotary transmission structure (20) along the axial direction under the drive of the cooperating drive structure (40), the multiple energy storage springs (31) are compressed and locked one by one by the rotary transmission structure (20); each of the energy storage springs (31) is unlocked and released in unison when the rotating shaft (10) is restarted, so that the recovered rotational inertial kinetic energy is transmitted back out in the same direction as the starting of the rotating shaft (10).

2. The treadmill according to claim 1, characterized in that: The rotary transmission structure (20) includes a mounting ring assembly (21) connected to the inner wall of the rotating shaft (10). The inner wall of the mounting ring assembly (21) is provided with a plurality of circumferentially spaced and axially extending compression locking pins (22). The energy storage locking mechanism (30) also includes a docking chassis (32) and a connecting push seat (33) located on the side of the docking chassis (32) facing the rotary transmission structure (20). The connecting push seat (33) is circumferentially spaced with a plurality of radially extending telescopic channels (331). The number of telescopic channels (331) is... The number and spacing angle of the compression locking pins (22) are consistent with those of the compression locking pins (22). Each telescopic channel (331) is connected to an energy storage force transmission member (34) via the energy storage spring (31). An electromagnetic locking control assembly (35) for locking the energy storage spring (31) in a compressed state and releasing the lock is provided between the energy storage force transmission member (34) and the bottom of the telescopic channel (331). The energy storage force transmission member (34) and the compression locking pins (22) are in a compression-pushing cooperation to transmit force bidirectionally between the rotating shaft (10) and the energy storage spring (31).

3. The treadmill according to claim 2, characterized in that: The electromagnetic lock control assembly (35) is a power-off retention type electromagnetic lock, including a permanent magnet that provides holding force and a coil that provides unlocking force; after the energy storage spring (31) is compressed into place, the magnetic force of the permanent magnet holds the energy storage force transmission member (34) at the bottom of the telescopic channel (331); when the coil is energized to generate a reverse magnetic field to counteract the magnetic force of the permanent magnet, the energy storage force transmission member (34) is unlocked.

4. The treadmill according to claim 2, characterized in that: The energy storage and force transmission component (34) is hook-shaped and has an integrally formed straight section (341) and arc section (342). The straight section (341) is slidably installed in the telescopic channel (331). The arc section (342) is positioned towards the compression lock column (22), and the end of the arc section (342) is located downstream of the connection between the arc section (342) and the straight section (341) along the rotation direction started by the rotating shaft (10). When accumulating and recovering rotational inertial kinetic energy, the arc section (342) slides and compresses the compression lock column (22) to compress the energy storage spring (31). When unlocking and releasing, the end of the arc section (342) pushes against the outer peripheral wall of the compression lock column (22), driving the compression lock column (22) to rotate in the same direction as the starting of the rotating shaft (10) to output an auxiliary torque in the same direction as the starting.

5. The treadmill according to claim 4, characterized in that: The point on the compression locking post (22) closest to the center of the mounting ring group (21) and located on a radial straight line is the radial inner fixed point; the energy storage force transmission member (34) has a predetermined position, at which the energy storage spring (31) drives the energy storage force transmission member (34) to pop out in a straight line direction that deviates from the line connecting the radial inner fixed point and the center of the mounting ring group (21), and the energy storage force transmission member (34) forms a compression with the outer peripheral wall of the compression locking post (22) during the pop-out process; when the energy storage force transmission member (34) is in the locked state, a radial gap is formed between the outermost vertex of the energy storage force transmission member (34) and the radial inner fixed point.

6. The treadmill according to claim 2, characterized in that: Each telescopic channel (331) is provided with multiple sets of matching energy storage springs (31), energy storage force transmission components (34) and electromagnetic locking components (35) spaced apart along the axial direction; each set of energy storage springs (31), energy storage force transmission components (34) and electromagnetic locking components (35) located at the same axial position and arranged circumferentially constitutes a set of energy storage units; when the energy storage locking mechanism (30) gradually approaches the rotary transmission structure (20) along the axial direction, each set of energy storage units is compressed and locked row by row to store energy step by step.

7. The treadmill according to claim 5, characterized in that: The cooperating drive structure (40) includes a clutch assembly (41), a rotary motor (42), and an axial electric actuator (43) connected sequentially along the axial direction. The clutch assembly (41) is an electromagnetic clutch connected to the docking chassis (32) and is used to separably transmit the rotational kinetic energy of the rotary motor (42) to drive the energy storage force transmission component (34) to rotate to the predetermined position or drive the energy storage force transmission component (34) to reverse and actively compress the energy storage spring (31). The axial electric actuator (43) is used to push the energy storage locking mechanism (30) to approach or exit the rotary transmission structure (20) along the axial direction. The end of the axial electric actuator (43) away from the rotary motor (42) is connected to a second static mounting shaft (62). The second static mounting shaft (62) passes through the rotating shaft (10) via a second bearing (61) and is rigidly connected to the frame, providing a bearing path for the circumferential positioning of the cooperating drive structure (40).

8. A method for assisting the start of a treadmill, applied to the treadmill as described in any one of claims 5 to 7, characterized in that, Includes the following steps: S1, Stop Energy Storage: After receiving the stop command, the energy storage locking mechanism (30) is driven by the cooperating drive structure (40) to gradually approach and enter the rotary transmission structure (20) along the axial direction, so that the rotary transmission structure (20) rotating with the inertia of the shaft (10) will compress and lock the multiple energy storage springs (31) one by one in the compressed state, thereby accumulating and recovering the rotational inertial kinetic energy of the running belt and the shaft (10) after the stop in stages; S2, Start-up preparation: After all the energy storage springs (31) have been locked, the energy storage lock control mechanism (30) is driven by the cooperating drive structure (40) to rotate in the opposite direction to the starting direction of the rotating shaft (10) to the predetermined position and stop; S3, Energy Release and Start-up: Upon receiving the start-up command, all the energy storage springs (31) are unlocked and released in unison. The released elastic potential energy is transmitted back to the rotating shaft (10) via the rotary transmission structure (20) in the same direction as the start-up of the rotating shaft (10) to form an auxiliary torque. This auxiliary torque is superimposed with the active torque output by the main motor to drive the rotating shaft (10) to rotate and start the running belt. S4. Exit after startup: The rotational speed of the rotating shaft (10) is collected. When the rotational speed of the rotating shaft (10) rises to a preset stable threshold and is maintained for a preset delay, the energy storage lock control mechanism (30) is driven by the cooperating drive structure (40) to gradually exit the rotary transmission structure (20) along the axial direction during the process of rotating with the rotary transmission structure (20).

9. The method according to claim 8, characterized in that: In step S1, the axial electric push rod (43) pushes the energy storage locking mechanism (30) to gradually enter the inner cavity of the mounting ring assembly (21) along the axial direction, so that the energy storage force transmission member (34) and the compression locking column (22) compress the energy storage spring (31) into the sensing distance of the electromagnetic locking assembly (35) through sliding compression. The electromagnetic locking assembly (35) is energized to attract and lock the energy storage force transmission member (34) to the bottom of the telescopic channel (331). As the axial electric actuator (43) continues to feed, the subsequent sets of energy storage springs (31) arranged along the axial direction are compressed and locked one by one in the above process.

10. The method according to claim 9, characterized in that: Step S1 also includes a supplementary energy storage sub-step: if the locking feedback signal of all the electromagnetic locking components (35) is not received after the rotating shaft (10) stops rotating, the clutch component (41) is engaged, the rotary motor (42) is started to drive the energy storage locking mechanism (30) to actively rotate in the opposite direction to the starting direction of the rotating shaft (10), and the energy storage force transmission component (34) actively squeezes the compression lock column (22) to complete the compression and locking of the remaining energy storage springs (31); and in step S1, the axial electric push rod (43) feeds at a low speed and uniform speed, and the rotation speed of the rotating shaft (10) is collected in real time. When its descent rate exceeds the set value, it is determined that a wedging trend has occurred, and the axial electric push rod (43) is controlled to retract and unload the force before feeding again.

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