Lower limb rehabilitation training equipment

Abstract

The present invention provides a lower limb rehabilitation training device, comprising: a training mechanism, the training mechanism comprising: a first main shaft, a first crank, a transition section, a second crank and a second main shaft, a first pedal and a second pedal connected in sequence; a motor, the rotating shaft of the motor is coaxially connected to the first main shaft, and the first pedal and the second pedal move along an elliptical trajectory under the drive of the motor; and a controller, the controller is used to compare the current current of the motor with the preset current and adjust the speed of the motor to the target speed according to the comparison result. Compared with the existing technology, the process of converting the parameters detected by the sensor is reduced, so the calculation speed of the controller can be improved. In addition, since the sensor is not installed, the influence of the sensor's own accuracy or installation accuracy is also reduced. For the product, the installation of the sensor is reduced, the structural setting for installing the sensor can be reduced, the design cycle is shortened, the production efficiency is improved, and the cost of the product is reduced.

Description

Technical Field

[0001] The present invention relates to the field of medical rehabilitation equipment, and in particular to lower limb rehabilitation training equipment. Background Art

[0002] Nowadays, rehabilitation equipment has gradually entered people's lives.

[0003] A lower limb rehabilitation training device is provided for a user to perform rehabilitation training on the lower limbs. The lower limb rehabilitation training device is provided with a motor that can provide power to drive the user's lower limbs to complete rehabilitation movements.

[0004] Lower limb rehabilitation training equipment often includes detection devices such as torque sensors or speed sensors. These devices monitor the user's motion state, ensuring that the motor's operating parameters meet the user's motion state. However, using multiple sensors to detect the user's motion state increases computational complexity and reduces detection speed. Furthermore, the accuracy of the detection devices themselves or their installation can lead to inaccurate results, resulting in a poor user experience. Summary of the Invention

[0005] In order to at least partially solve the problems existing in the prior art, the present invention provides a lower limb rehabilitation training device, comprising: a training mechanism, the training mechanism comprising: a first main shaft, a first crank, a transition section, a second crank and a second main shaft, a first pedal and a second pedal connected in sequence, the first main shaft and the second main shaft extend along the central axis and are spaced apart from each other, the first crank comprises a first crank arm and a first crank journal, the second crank comprises a second crank arm and a second crank journal, the first crank journal and the second crank journal are located on both sides of the central axis, the first crank arm is connected between the first main shaft and the first crank journal, and the second crank The arm is connected between the second main shaft and the second crank journal, and the transition section is connected between the first crank journal and the second crank journal; and the first pedal and the second pedal, the first pedal is pivotally connected to the first crank journal, and the second pedal is pivotally connected to the second crank journal, and the first pedal and the second pedal both adopt a crankshaft slider mechanism or a crankshaft rocker mechanism; the motor, the rotating shaft of the motor is coaxially connected to the first main shaft, and the first pedal and the second pedal move along an elliptical trajectory under the drive of the motor; and the controller, the controller is used to compare the current current of the motor with the preset current and adjust the speed of the motor to the target speed according to the comparison result.

[0006] It can be seen from this that the lower limb rehabilitation training equipment provided in the embodiment of the present invention adjusts the motor speed based on the detection result of the current. Compared with the existing technology, by setting devices such as sensors for detecting the speed on the motor or the training mechanism, the operation speed of the controller can be improved because the process of converting the parameters detected by the sensor is reduced. In addition, since the sensor is not installed, the influence of the sensor's own accuracy or installation accuracy is also reduced. For the product, the installation of sensors is reduced, the structural settings for installing sensors can be reduced, the design cycle is shortened, the production efficiency is improved, and the cost of the product is reduced.

[0007] Exemplarily, the controller is specifically configured to adjust the speed of the motor to the target speed when the absolute value of the difference between the current current and the preset current is greater than or equal to the preset difference and the duration is greater than a preset time.

[0008] Exemplarily, the controller is specifically used to: loop the following operations until the absolute value of the difference between the current current and the preset current is less than or equal to the preset difference: when the difference between the current current and the preset current is greater than the preset difference, reduce the speed of the motor and redetermine the current current; and / or when the difference between the preset current and the current current is greater than the preset difference, increase the speed of the motor and redetermine the current current.

[0009] Exemplarily, the controller is further configured to: reduce the rotational speed of the motor by a first predetermined amount each time the rotational speed of the motor is reduced; and / or increase the rotational speed of the motor by a second predetermined amount each time the rotational speed of the motor is increased.

[0010] Exemplarily, the controller is further configured to compare a current of the motor with a preset current and adjust the torque of the motor to a target torque according to the comparison result.

[0011] Exemplarily, the controller is specifically configured to adjust the torque of the motor to the target torque when the absolute value of the difference between the current current and the preset current is greater than or equal to the preset difference and the duration is greater than a preset time.

[0012] Exemplarily, the controller is specifically used to: loop the following operations until the absolute value of the difference between the current current and the preset current is less than or equal to the preset difference: when the difference between the current current and the preset current is greater than the preset difference, reduce the torque of the motor and redetermine the current current; and / or when the difference between the preset current and the current current is greater than the preset difference, increase the torque of the motor and redetermine the current current.

[0013] Exemplarily, the controller is further configured to: reduce the torque of the motor by a third predetermined amount each time the torque of the motor is reduced; and / or increase the rotational speed of the motor by a fourth predetermined amount each time the torque of the motor is increased.

[0014] Exemplarily, the rotating shaft of the motor is a through shaft, and the first main shaft passes through one end of the through shaft and is connected to the through shaft at the other end of the through shaft.

[0015] Exemplarily, the lower limb rehabilitation training equipment also includes a first bracket and a second bracket arranged opposite to each other along the central axis, and the first bracket and the second bracket are respectively provided with a first axial hole and a second axial hole extending along the central axis, the first crank, the transition section, the second crank, the first pedal and the second pedal are located between the first bracket and the second bracket, the first main shaft can be pivotally passed through the first axial hole and extend to the outside of the first bracket, the motor is connected to the first main shaft on the outside of the first bracket, and the second main shaft can be pivotally connected to the second axial hole.

[0016] Exemplarily, the motor is a permanent magnet brushless synchronous motor, which includes a stator and a rotor arranged in the stator, the stator including a stator core and a stator winding arranged on the inner circumferential surface of the stator core along the circumferential direction, and the rotor including a rotor core and a plurality of permanent magnets arranged on the outer circumferential surface of the rotor core along the circumferential direction.

[0017] Exemplarily, a plurality of stator teeth are provided on the inner circumferential surface of the stator core and are arranged spaced apart along its circumferential direction. The stator winding is wound on the plurality of stator teeth and stator slots are defined between two adjacent stator teeth, wherein the least common multiple of the total number of stator slots and the total number of permanent magnets is greater than or equal to 2000.

[0018] Exemplarily, the stator winding adopts fractional concentrated winding.

[0019] Exemplarily, the outer surface of the permanent magnet is arc-shaped in a cross section perpendicular to the central axis, and there is a predetermined distance between the center of the arc and the center of the rotor.

[0020] Exemplarily, the predetermined spacing is greater than or equal to 25 mm.

[0021] Exemplarily, the motor also includes an encoder, which is electrically connected to the controller. The encoder includes: a magnetic code disk or an optical code disk; and a circuit board, on which an acquisition chip and a signal processing circuit are integrated. The acquisition chip is used to collect change information of the magnetic code disk or the optical code disk, and the signal processing circuit is used to process the change information and output position information. The controller is used to receive the position information and generate speed parameters.

[0022] Exemplarily, the encoder is an absolute value encoder greater than or equal to 14 bits.

[0023] This summary introduces a series of simplified concepts that will be further described in the detailed description. This summary is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0024] The advantages and features of the present invention are described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The following drawings of the present invention are hereby incorporated into the present invention for understanding the present invention. The drawings show embodiments of the present invention and their descriptions, and are used to explain the principles of the present invention. In the drawings,

[0026] Figure 1 is a perspective view of a lower limb rehabilitation training device according to an exemplary embodiment of the present invention;

[0027] Figure 2 for Figure 1 A rear view of the lower limb rehabilitation training device is shown;

[0028] Figure 3 for Figure 1 Another stereoscopic view of the lower limb rehabilitation training device, wherein other components such as the pedals are omitted;

[0029] Figure 4 for Figure 1 A top view of the lower limb rehabilitation training device;

[0030] Figure 5 for Figure 4 Cross-sectional view of lower limb rehabilitation training in;

[0031] Figure 6 for Figure 5 A partial enlarged view of the lower limb rehabilitation training;

[0032] Figure 7 is a schematic diagram of a motor according to an exemplary embodiment of the present invention; and

[0033] Figure 8 for Figure 7 A partial enlarged view of the motor.

[0034] The above drawings include the following reference numerals:

[0035] 100. Training mechanism; 110. First main shaft; 120. First crank; 121. First crank arm; 122. First crank journal; 130. Transition section; 140. Second crank; 141. Second crank arm; 142. Second crank journal; 150. Second main shaft; 160. First pedal; 170. Second pedal; 200. Motor; 210. Stator; 211. Stator teeth; 212. Stator slots; 220. Rotor; 221. Permanent magnet; 300. Coupling; 410. First bracket; 420. Second bracket. DETAILED DESCRIPTION

[0036] In the following description, a large amount of detail is provided to facilitate a thorough understanding of the present invention. However, it will be appreciated by those skilled in the art that the following description merely illustrates preferred embodiments of the present invention, and that the present invention may be practiced without one or more of these details. Furthermore, to avoid confusion with the present invention, some technical features well known in the art have not been described in detail.

[0037] The present invention provides a lower limb rehabilitation training device, such as Figure 1-4 As shown. The lower limb rehabilitation training device may include a training mechanism 100, a motor 200, and a controller. The training mechanism 100 may include a first main shaft 110, a first crank 120, a transition section 130, a second crank 140, and a second main shaft 150 connected in sequence. The training mechanism 100 may also include a first pedal 160 and a second pedal 170.

[0038] The first main shaft 110 and the second main shaft 150 may extend along the central axis OO and be spaced apart from each other. The first crank 120 may include a first crank arm 121 and a first crank journal 122. The second crank 140 may include a second crank arm 141 and a second crank journal 142. The first crank journal 122 and the second crank journal 142 may be located on either side of the central axis. The first crank arm 121 may be connected between the first main shaft 110 and the first crank journal 122. The second crank arm 141 may be connected between the second main shaft 150 and the second crank journal 142. The transition section 130 may be connected between the first crank journal 122 and the second crank journal 142.

[0039] In such Figure 2 In the embodiment shown, the first main shaft 110 and the second main shaft 150 can be arranged at two ends of the training mechanism 100. The axis of the first main shaft 110 and the axis of the second main shaft 150 can both be coaxially arranged with the central axis OO. The axis of the first crank journal 122 can be arranged parallel to the central axis OO. The axis of the second crank journal 142 can also be arranged parallel to the central axis OO. The first crank journal 122 and the second crank journal 142 can be arranged on both sides of the central axis OO and at equal distances from the central axis. The transition section 130 includes a connecting piece of any structure for connecting the first crank journal 122 and the second crank journal 142. In the example Figure 2 In the illustrated embodiment, the transition section 130 may be a connecting rod with an inclined angle, one end of the connecting rod being connected to the first crank journal 122 , the other end of the connecting rod being connected to the second crank journal 142 , and the central axis OO may pass through the center of the connecting rod.

[0040] For ease of description, the first crank 120 and the second crank 140 will be collectively referred to as cranks, the first crank arm 121 and the second crank arm 141 will be collectively referred to as crank arms, and the first crank journal 122 and the second crank journal 142 will be collectively referred to as crank journals. The crank may include a crank of any structure. In some embodiments, the angle between the crank arm and the crank journal may be a right angle or an angle of any angle. The crank journal may perform a circular motion around the central axis with the crank arm as a radius. It will be understood that the distance from the first crank journal 122 to the central axis OO may be equal to the distance from the second crank journal 142 to the central axis OO.

[0041] The first pedal 160 is pivotally connected to the first crank journal 122. The second pedal 170 is pivotally connected to the second crank journal 142. The first pedal 160 and the second pedal 170 can both adopt a crankshaft slider mechanism or a crankshaft rocker mechanism.

[0042] When the first pedal 160 and the second pedal 170 utilize a slider crank mechanism, one end of the crank arm can be connected to the main shaft and rotate about the central axis. The other end of the crank arm can be connected to the slider via a connecting rod. The slider can slide in a horizontal plane and move linearly. The first pedal 160 and the second pedal 170 can be mounted on the connecting rod. As the crank arm rotates about the central axis OO, the movement trajectory of the first pedal 160 and the second pedal 170 can form a nearly elliptical shape.

[0043] When the first pedal 160 and the second pedal 170 utilize a crankshaft-rocker mechanism, the crankshaft-rocker mechanism may include two connecting rod frames and a connecting rod connected between the two connecting rod frames. A crank arm may serve as one of the connecting rod frames, one of which is rotatable about a central axis OO. The first pedal 160 and the second pedal 170 may be mounted on the connecting rod. As the crank arm rotates about the central axis, the motion paths of the first pedal 160 and the second pedal 170 may form a substantially elliptical shape.

[0044] The principles and structures of the above mechanisms are well known to those skilled in the art, and through the above description, those skilled in the art can understand the general structure of the training mechanism 100. For the sake of brevity, no further details will be given.

[0045] The motor 200 may include a servo motor, a synchronous motor, or a DD direct drive motor. The motor's shaft may be coaxially connected to the first main shaft 110. Alternatively, the motor's shaft may be connected to the second main shaft 150. The first pedal 160 and the second pedal 170 are driven by the motor 200 to move along an elliptical trajectory.

[0046] The controller can be used to compare the current current of the motor with the preset current, and adjust the speed of the motor 200 to the target speed based on the comparison result. It should be noted that the current current can be the actual current flowing through the motor during operation. The preset current can be the current that the controller expects to flow through the motor when controlling the rotation of the motor. In an embodiment where the motor 200 is a servo motor, the controller can be used to drive the motor 200 to rotate by sending a signal to the motor 200. The controller can control the speed of the motor 200 by adjusting the size of the preset current, and the preset current can be the rated current of the motor under normal operation. The greater the speed of the motor, the greater the required rated current, and the smaller the speed of the motor, the smaller the required rated current.

[0047] In some embodiments, the preset current may be a fixed value, that is, a current preset in the controller. Of course, in other embodiments, the preset current may also be a current calculated by the controller based on parameters input by the user into the controller. The parameters input into the controller may include rated voltage, motor frequency, load, desired speed, etc.

[0048] In the lower limb rehabilitation training device, which is a device that actively drives the user to simulate running, the user can input the desired speed and load (that is, the user's weight parameter) into the controller. The controller can calculate the preset current for controlling the motor operation under the input parameters, and control the motor rotation by the preset current. The user can stand on the first pedal 160 and the second pedal 170. The motor 200 works and starts to drive the training mechanism 100 to rotate. The user's feet can follow the first pedal 160 and the second pedal 170 to simulate the running posture.

[0049] When the user's body function is normal, the user can move along the movement trajectory of the first pedal 160 and the second pedal 170, and the motor 200 can work normally under the preset current. At this time, the current current of the motor can be equal to the preset current or within an acceptable fluctuation range.

[0050] For example, consider the case where a user experiences a cramp while simulating a running pose. This cramp may be caused by the motor rotating too fast at the preset current, preventing the user's body from adapting to the current intensity of the exercise. When a cramp occurs, a part of the user's body stiffens, causing the user to pause at a certain point in their movement. This increases the reaction force exerted on the motor. When the motor is forced to slow down or stop, the current flowing through it increases. After comparing the current with the preset current, the controller can reduce the motor's speed to a target speed to accommodate the user's exercise intensity at the target speed. It should be noted that the motor's target speed is adjusted by the preset current; that is, when the preset current is reduced, the motor's speed under normal operation also decreases. If the user's body can adapt to the exercise intensity after the speed reduction, the cramp will resolve as the motor rotates, and the motor's current will now match the adjusted preset current. If the user's cramps persist, the controller can further reduce the preset current to lower the motor's target speed, or even reverse the motor's rotation to alleviate the user's cramps.

[0051] It is understandable that the above description is only based on the situation where the user has a spasm during exercise. If the user's motor function is enhanced during exercise, or when inputting parameters to the controller, the weight value or motor speed and other parameters are mistakenly input too small, then the corresponding preset current value will also be reduced accordingly. Under this smaller preset current value, the motor actively driving the user to move will likely be transformed into the user actively driving the motor to rotate, and then the current current flowing through the motor will also likely be smaller than the preset current. After comparing the current current with the preset current, the controller can increase the motor speed to a target speed greater than the current speed, so that the motor speed matches the user's movement.

[0052] It can be seen from this that the lower limb rehabilitation training equipment provided in the embodiment of the present invention adjusts the motor speed based on the detection result of the current. Compared with the existing technology, by setting devices such as sensors for detecting the speed on the motor or the training mechanism, the operation speed of the controller can be improved because the process of converting the parameters detected by the sensor is reduced. In addition, since the sensor is not installed, the influence of the sensor's own accuracy or installation accuracy is also reduced. For the product, the installation of sensors is reduced, the structural settings for installing sensors can be reduced, the design cycle is shortened, the production efficiency is improved, and the cost of the product is reduced.

[0053] It is understandable that the controller can be built using electronic components such as timers, comparators, registers, digital logic circuits, etc., or can be implemented using processor chips such as single-chip microcomputers, microprocessors, programmable logic controllers (PLCs), digital signal processors (DSPs), field programmable gate arrays (FPGAs), programmable logic arrays (PLA), application-specific integrated circuits (ASICs) and their peripheral circuits.

[0054] Exemplarily, the controller is specifically used to adjust the speed of the motor to the target speed when the absolute value of the difference between the current current and the preset current is greater than or equal to the preset difference and the duration is greater than the preset time. That is to say, it is not the case that the controller reduces the speed of the motor 200 as soon as the current current is greater than the preset current, nor that the controller increases the speed of the motor 200 as soon as the current current is less than the preset current. Instead, the speed of the motor is controlled to be adjusted to the target speed only after the difference between the current current and the preset current is maintained for a period of time. In this way, the impact of external factors on the fluctuation of the motor load can be reduced. Among them, external factors may include low machining accuracy or low installation accuracy of structural parts. If the user occasionally pauses or freezes intermittently during exercise, the controller will not immediately adjust according to the current fluctuation caused by it. This can improve the judgment accuracy of the controller, thereby improving the user experience.

[0055] For example, the controller may be configured to reduce the motor speed and redetermine the current current when the difference between the current current and the preset current is greater than the preset difference. The controller may also be configured to increase the motor speed and redetermine the current current when the difference between the preset current and the current current is greater than the preset difference. Furthermore, the controller may be configured to repeat the above operations until the absolute value of the difference between the current current and the preset current is less than or equal to the preset difference.

[0056] In this example, if the preset difference is positive and the difference between the current current and the preset current is greater than the preset difference, the controller will control the motor to reduce its speed because the current current is greater than the preset difference. The condition for reducing the speed is to reduce the preset current value. After the controller reduces the preset current value and the motor reduces its speed, it continues to compare the current current after the speed reduction with the preset current value after the speed reduction, and repeats the above operation until the difference between the current current value after the motor speed change and the preset current value at that speed is within the preset difference range, at which point the controller completes regulating the motor speed.

[0057] The lower limb rehabilitation training device with this configuration can automatically adjust the rotational speed of the motor by comparing the current current with the preset current, thereby improving the degree of automation of the lower limb rehabilitation training device.

[0058] It should be noted that the controller may adjust the preset current not smoothly but at a variable rate depending on the difference between the current and the preset current. For example, when the difference between the current and the preset current is large, the controller may first adjust the current significantly, followed by a smaller, more refined adjustment. Of course, the adjustment process can be customized based on user needs and is not specifically limited.

[0059] Exemplarily, the controller can also be used to reduce the speed of the motor by a first predetermined amount each time the speed of the motor is reduced; and / or increase the speed of the motor by a second predetermined amount each time the speed of the motor is increased. That is to say, the speed of the motor can be changed in a step-by-step manner each time, rather than being similar to stepless speed regulation. Among them, the first predetermined amount and the second predetermined amount can be set according to the actual use needs of the user, and the first predetermined amount and the second predetermined amount can be equal or different. If the values of the first predetermined amount and the second predetermined amount are small, the controller can adjust the speed of the motor more finely. If the values of the first predetermined amount and the second predetermined amount are large, the controller can adjust the speed of the motor less finely to adapt to a variety of occasions. In this way, the amount of calculation of the controller when adjusting the motor speed can be reduced, the speed of controlling the motor speed can be increased, the response time can be reduced, and the user experience can be improved.

[0060] Based on the above description, the external parameters of the motor may include not only the rotational speed, but also the torque of the motor. For example, the relationship between the torque of the motor and the preset current is similar to the relationship between the rotational speed of the motor and the preset current, and both are positively correlated. Those skilled in the art can understand the controller's adjustment of the torque based on the controller's adjustment of the motor speed, and the specific description will not be repeated here. In this way, the lower limb rehabilitation training equipment provided in the embodiment of the present invention can adjust the torque based on the detection results from the current. Compared with the prior art, by arranging devices such as torque sensors on the motor or the training mechanism, the calculation speed of the controller can be improved because the process of converting the parameters detected by the sensor is reduced. In addition, since the torque sensor is not installed, the influence of the torque sensor's own accuracy or installation accuracy on the torque sensor is also reduced. For the product, the installation of the torque sensor is reduced, the structural setting for installing the torque sensor can be reduced, the design cycle is shortened, the production efficiency is improved, and the cost of the product is reduced.

[0061] For example, Figure 5-6As shown, the rotating shaft of the motor 200 can be a through shaft. The first main shaft 110 can be inserted from one end of the through shaft and connected to the through shaft at the other end of the through shaft. The first main shaft 110 can be inserted into the rotating shaft of the motor 200. Compared with the case where the rotating shaft of the motor is a solid shaft and the first main shaft 110 is connected to the solid shaft, the distance between the motor 200 and the first main shaft 110 can be shortened. In addition, since the first main shaft 110 is inserted into the rotating shaft of the motor 200, the connection length between the first main shaft 110 and the rotating shaft of the motor 200 is longer, so the strength of the motor torque transmission can be improved. Moreover, since the structural strength of the connection is high, the torque of the force transmission can also be increased, reducing the possibility of fracture between the first main shaft 110 and the rotating shaft of the motor 200.

[0062] For example, a coupling 300 is provided between the first main shaft 110 and the through shaft. The coupling 300 may include any existing or future coupling, and those skilled in the art may reasonably select one according to actual use, without specific limitation. Figure 6 The coupling 300 may be provided at the end of the first main shaft 110 . In other embodiments, the coupling 300 may also be connected to other parts of the first main shaft 110 .

[0063] Exemplarily, the lower limb rehabilitation training device also includes a first bracket 410 and a second bracket 420 arranged relative to each other along the central axis. The first bracket 410 and the second bracket 420 may be respectively provided with a first axial hole and a second axial hole extending along the central axis OO. The first crank 120, the transition section 130, the second crank 140, the first pedal 160 and the second pedal 170 may be located between the first bracket 410 and the second bracket 420. The first main shaft 110 can be pivotally passed through the first axial hole and extend to the outside of the first bracket 410. The motor is connected to the first main shaft 110 on the outside of the first bracket 410, and the second main shaft 150 is pivotally connected to the second axial hole. In the example Figure 3 In the illustrated embodiment, the first bracket 410 and the second bracket 420 can be used to install the training mechanism and enable the training mechanism 100 to pivot around the central axis OO. In order to extend the length of the first main shaft 110, the motor 200 is arranged on the outside of the first bracket 410. In this way, the length of the first main shaft 110 can be increased. The increase in the length of the first main shaft 110 can increase the elasticity of the first main shaft 110 and reduce the fluctuations that may be generated when the motor 200 drives the training mechanism 100 to rotate. In addition, by providing the coupling, it is also possible to reduce the damage caused by hard connection when the first main shaft 110 is connected to the motor 200.

[0064] For example, Figure 7As shown, the motor can be a permanent magnet brushless synchronous motor. The motor can include a stator 210 and a rotor 220 arranged in the stator 210. The stator 210 can include a stator core and a stator winding (not shown) arranged on the inner peripheral surface of the stator core along the circumferential direction. The rotor 220 can include a rotor core and a plurality of permanent magnets 221 arranged on the outer peripheral surface of the rotor core along the circumferential direction. In other words, the motor 200 can be an inner rotor motor. The advantage of the inner rotor motor is that the stator winding is arranged on the external stator 210, and when the motor instantaneously generates a large current, the stator winding has a good heat dissipation effect. Especially when the motor 200 is used in a lower limb rehabilitation training device, since the above-mentioned motor load increase may often occur, a large current may often appear in the motor. If the current is too large, the stator winding will also generate more heat, and the inner rotor motor can solve the heat dissipation problem well.

[0065] For example, a plurality of stator teeth 211 can be provided on the inner circumferential surface of the stator core, spaced apart along its circumference. The stator winding can be wound around the plurality of stator teeth 211, and stator slots 212 are defined between adjacent stator teeth. The least common multiple of the total number of stator slots 212 and the total number of permanent magnets 221 is greater than or equal to 2000. The greater the least common multiple of the slots, the smaller the fluctuation generated when the motor rotates one revolution. This reduces the fluctuating current generated by the motor itself during operation and improves the controller's detection of the current in the motor.

[0066] For example, the stator winding can employ fractional concentrated winding. Multiple stator teeth 211 can be provided on the inner circumference of the stator core, spaced apart along its circumference. Stator slots are defined between adjacent stator teeth 211. In other words, the stator teeth 211 and stator slots 212 are arranged sequentially. The stator core can also include a barrel-shaped housing, with the bases of the stator teeth 211 connected to the housing and the ends of the stator teeth 211 extending toward the stator axis. Winding coils can be wound around the stator teeth 211. In concentrated winding, after each winding coil is wound around its corresponding stator tooth 211, it can be wound around the next adjacent stator tooth 211 without having to cross over adjacent stator teeth. This ensures that the winding coils do not overlap and are well insulated from each other. Furthermore, the coil ends can be shortened, which better controls the axial length of the drive motor, further reducing the size of the drive motor, which helps lower product costs, and effectively controls the heat generation of the drive motor.

[0067] For example, the outer surface of the permanent magnet 221 may be arc-shaped in a cross section perpendicular to the central axis. There is a predetermined distance between the center of the arc and the center of the rotor. In some embodiments, as Figure 8As shown, permanent magnet 221 can be a "bread magnet." A predetermined spacing between the center of the outer surface of the permanent magnet and the center of the rotor can better cooperate with the sine wave control algorithm. The sine wave control algorithm is well known to those skilled in the art and will not be described in detail here. Preferably, the predetermined spacing can be greater than or equal to 25 mm to cooperate with the motor of the lower limb rehabilitation training device.

[0068] For example, the motor may further include an encoder. The encoder may be electrically connected to the controller. The encoder may include a magnetic or optical code disk and a circuit board. The circuit board may be integrated with an acquisition chip and a signal processing circuit. The acquisition chip may be used to collect change information from the magnetic or optical code disk. The signal processing circuit may be used to process the change information and output position information. The controller may be used to receive the position information and generate a speed parameter.

[0069] For example, a magnetic code disk can be a ring-shaped magnetic grid formed by multiple sequentially arranged magnetic poles. A Hall effect sensor chip and signal processing circuit can be integrated on a circuit board. The Hall effect sensor chip collects information about magnetic pole changes from the magnetic code disk, and the signal processing circuit processes this information and outputs position information.

[0070] The encoder's axis of rotation can be coaxial with the rotor's axis. Rotating the rotor drives the encoder's rotation. The Hall effect sensor chip can accurately measure the rotor's rotation angle based on the magnetic pole changes detected by the magnetic code disk.

[0071] Encoders with optical and magnetic code disks operate on similar principles. The difference lies in the optical code disk's light-transmitting grating, and the acquisition chip can be a photosensor. The photosensor receives light through the grating. A signal processing circuit processes the light changes and outputs position information.

[0072] By setting the encoder, the operating parameters of the motor can be detected, and the accuracy of controlling the motor can be improved through the detection results of the encoder.

[0073] The detection of the rotation parameters of the motor by the encoder is well known to those skilled in the art and will not be described in detail.

[0074] Preferably, the encoder may be an absolute value encoder with a value greater than or equal to 14 bits. An absolute value encoder with a value greater than or equal to 14 bits can improve the accuracy of the encoder in determining the rotation angle of the rotor 220 .

[0075] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front", "back", "up", "down", "left", "right", "horizontal", "vertical", "vertical", "horizontal", "top", "bottom", etc. are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside" and "outside" refer to the inside and outside relative to the outline of each component itself.

[0076] For ease of description, area-relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the regional positional relationship between one or more components or features shown in the figures and other components or features. It should be understood that area-relative terms include not only the orientation of the components as described in the figures, but also different orientations in use or operation. For example, if the components in the drawings are inverted as a whole, the situation where the components are "above other components or features" or "above other components or features" will include the situation where the components are "below other components or structures" or "below other components or structures". Thus, the exemplary term "above" may include both the orientations "above" and "below". In addition, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document is intended to include all of these situations.

[0077] 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, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, parts, components and / or combinations thereof.

[0078] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0079] The present invention has been described through the above-described embodiments. However, it should be understood that the above-described embodiments are for illustrative and illustrative purposes only and are not intended to limit the present invention to the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments and that various variations and modifications may be made based on the teachings of the present invention, all of which fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A lower limb rehabilitation training device, characterized in that: include: A training institution, comprising: a first main shaft, a first crank, a transition section, a second crank and a second main shaft, a first pedal and a second pedal connected in sequence, the first main shaft and the second main shaft extending along a central axis and spaced apart from each other, the first crank comprising a first crank arm and a first crank journal, the second crank comprising a second crank arm and a second crank journal, the first crank journal and the second crank journal being located on either side of the central axis, the first crank arm being connected between the first main shaft and the first crank journal, the second crank arm being connected between the second main shaft and the second crank journal, the transition section being connected between the first crank journal and the second crank journal; and A first pedal and a second pedal, wherein the first pedal is pivotally connected to the first crank journal, and the second pedal is pivotally connected to the second crank journal, and both the first pedal and the second pedal adopt a crankshaft slider mechanism or a crankshaft rocker mechanism; a motor, wherein a rotating shaft of the motor is coaxially connected to the first main shaft, and the first pedal and the second pedal are driven by the motor to move along an elliptical trajectory; and A controller is used to compare the current of the motor with a preset current and adjust the speed of the motor to a target speed according to the comparison result.

2. The lower limb rehabilitation training device according to claim 1, characterized in that: The controller is specifically configured to adjust the rotation speed of the motor to the target rotation speed when the absolute value of the difference between the current current and the preset current is greater than or equal to the preset difference and the duration is greater than a preset time.

3. The lower limb rehabilitation training device according to claim 1, characterized in that: The controller is specifically used for: The following operations are performed in a loop until the absolute value of the difference between the current and the preset current is less than or equal to the preset difference: When the difference between the current current and the preset current is greater than the preset difference, reducing the rotation speed of the motor and re-determining the current current; and / or When the difference between the preset current and the current current is greater than the preset difference, the rotation speed of the motor is increased, and the current current is re-determined.

4. The lower limb rehabilitation training device according to claim 3, characterized in that: The controller is also used for: reducing the speed of the motor by a first predetermined amount each time the speed of the motor is reduced; and / or The rotation speed of the motor is increased by a second predetermined amount each time the rotation speed of the motor is increased.

5. The lower limb rehabilitation training device according to claim 1, characterized in that: The controller is further configured to compare a current of the motor with a preset current and adjust the torque of the motor to a target torque according to a comparison result.

6. The lower limb rehabilitation training device according to claim 5, characterized in that: The controller is specifically configured to adjust the torque of the motor to the target torque when the absolute value of the difference between the current current and the preset current is greater than or equal to the preset difference and the duration is greater than a preset time.

7. The lower limb rehabilitation training device according to claim 5, characterized in that: The controller is specifically used for: The following operations are performed in a loop until the absolute value of the difference between the current and the preset current is less than or equal to the preset difference: When the difference between the current current and the preset current is greater than the preset difference, reducing the torque of the motor and re-determining the current current; and / or When the difference between the preset current and the current current is greater than the preset difference, the torque of the motor is increased and the current current is re-determined.

8. The lower limb rehabilitation training device according to claim 7, characterized in that: The controller is also used for: reducing the torque of the motor by a third predetermined amount each time the torque of the motor is reduced; and / or The rotation speed of the motor is increased by a fourth predetermined amount each time the torque of the motor is increased.

9. The lower limb rehabilitation training device according to claim 1, characterized in that: The rotating shaft of the motor is a through shaft, and the first main shaft passes through one end of the through shaft and is connected to the through shaft at the other end of the through shaft.

10. The lower limb rehabilitation training device according to claim 1, characterized in that: It also includes a first bracket and a second bracket arranged opposite to each other along the central axis, and the first bracket and the second bracket are respectively provided with a first axial hole and a second axial hole extending along the central axis, the first crank, the transition section, the second crank, the first pedal and the second pedal are located between the first bracket and the second bracket, the first main shaft can pivotally pass through the first axial hole and extend to the outside of the first bracket, the motor is connected to the first main shaft on the outside of the first bracket, and the second main shaft can pivotally connect to the second axial hole.

11. The lower limb rehabilitation training device according to claim 1, characterized in that: The motor is a permanent magnet brushless synchronous motor, which includes a stator and a rotor arranged in the stator. The stator includes a stator core and a stator winding arranged on the inner circumferential surface of the stator core along the circumferential direction. The rotor includes a rotor core and a plurality of permanent magnets arranged on the outer circumferential surface of the rotor core along the circumferential direction.

12. The lower limb rehabilitation training device according to claim 11, characterized in that: A plurality of stator teeth are arranged on the inner circumferential surface of the stator core at intervals along the circumferential direction thereof, the stator winding is wound around the plurality of stator teeth, and stator slots are defined between two adjacent stator teeth. The least common multiple of the total number of the stator slots and the total number of the permanent magnets is greater than or equal to 2000.

13. The lower limb rehabilitation training device according to claim 11, characterized in that: The stator winding adopts fractional concentrated winding.

14. The lower limb rehabilitation training device according to claim 11, characterized in that: The outer surface of the permanent magnet is arc-shaped in a cross section perpendicular to the central axis, and a predetermined distance exists between the center of the arc and the center of the rotor.

15. The lower limb rehabilitation training device according to claim 14, characterized in that: The predetermined distance is greater than or equal to 25 mm.

16. The lower limb rehabilitation training device according to claim 11, characterized in that: The motor further includes an encoder, which is electrically connected to the controller and includes: a magnetic or optical code disk; and A circuit board is integrated with an acquisition chip and a signal processing circuit. The acquisition chip is used to acquire the change information of the magnetic code disk or the optical code disk. The signal processing circuit is used to process the change information and output position information. The controller is used to receive the position information and generate a speed parameter.

17. The lower limb rehabilitation training device according to claim 16, characterized in that: The encoder is an absolute value encoder with a bit greater than or equal to 14 bits.

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