Joint training equipment

Abstract

The present invention provides a joint training device. The joint training device includes: a motor, the motor includes a motor housing and a rotor, the rotor is arranged in the motor housing and is pivotable relative to the motor housing around a central axis, the rotor has a first rotation output end and a second rotation output end arranged relatively along the central axis, the motor housing is provided with a limiting member, the rotor has a first limit rotation position that is offset against the first limiting member and a second limit rotation position that is offset against the second limiting member; and a controller, the controller is used to determine whether the rotor is located at the first limit rotation position or the second limit rotation position according to the current current of the motor and control the rotor to rotate in the opposite direction of the current rotation direction. The rotor of the motor can swing back and forth between the first limit rotation position and the second limit rotation position. This can prevent the rotor rotation angle from exceeding the limit angle that the ankle joint can rotate, thereby preventing damage to the user. In addition, the active swinging back and forth of the rotor can achieve the effect of ankle joint rehabilitation training.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation equipment, and in particular to a joint training device. Background Art

[0002] Currently, limited joint mobility is a common phenomenon due to various reasons. To restore motor function, rehabilitation training is necessary for the restricted joints. Clinically, joint training equipment can be used to treat patients with this condition.

[0003] Existing ankle training equipment typically includes a base and a foot adapter. The foot adapter is a structural component that contacts the human body and can be used to secure the foot. The foot adapter is pivotally connected to a driver mounted on the base. Driven by the driver, the foot adapter moves around a central pivot axis within a certain angle range (in a healthy state, the normal range of ankle joint mobility is between -25° and 45°), thereby driving the ankle joint to flex and extend, achieving ankle rehabilitation training.

[0004] Existing joint training equipment mostly only serves to assist in fixation and limit the movement trajectory. When users perform ankle rehabilitation training, they need to actively twist the ankle joint. However, for users with functional disorders, existing joint training equipment cannot achieve the training effect. Summary of the Invention

[0005] In order to at least partially solve the problems existing in the prior art, the present invention provides a joint training device. The joint training device includes: a motor, the motor includes a motor housing and a rotor, the rotor is arranged in the motor housing and is pivotable relative to the motor housing around the central axis, the rotor has a first rotation output end and a second rotation output end arranged relatively along the central axis, the motor housing is provided with a limiting member, the limiting member has a first limiting portion and a second limiting portion, the first limiting portion and the second limiting portion are located at the ends of the limiting member in the circumferential direction around the central axis, the rotor has a first limit rotation position counteracting the first limiting portion and a second limit rotation position counteracting the second limiting portion; a first adapter, the first adapter has a first rotating arm and a first adapter base, the first adapter base is connected to one end of the first rotating arm, the other end of the first rotating arm is connected to the first rotation output end, the first adapter It can rotate around the central axis under the drive of the motor; the second adapter, the second adapter has a second rotating arm and a second adapter base, the second adapter base is connected to one end of the second rotating arm, and the other end of the second rotating arm is connected to the second rotation output end, the second adapter can rotate around the central axis under the drive of the motor, wherein the distance from the foot fixing plane of the first adapter base to the central axis and the distance from the foot fixing plane of the second adapter base to the central axis are adapted to the distance from the sole surface of the foot to the ankle respectively fixed on the first adapter base and the second adapter base; and a controller, the controller is used to determine whether the rotor is at the first limit rotation position or the second limit rotation position according to the current current of the motor and control the rotor to rotate in the opposite direction of the current rotation direction.

[0006] With the joint training device having this configuration, the rotor of the motor can swing back and forth between a first extreme rotation position and a second extreme rotation position. On the one hand, the limiting member limits the rotation angle of the rotor, preventing the rotor's rotation angle from exceeding the extreme rotation angle of the ankle joint, thereby preventing damage to the user. On the other hand, the active back-and-forth swinging of the rotor can drive the user's ankle joint to rotate, thereby achieving the effect of ankle joint rehabilitation training. Moreover, with the joint training device having this configuration, the basis for adjusting the rotation direction of the rotor comes from the detection result of the current. Compared with the existing technology, by providing devices such as position detection sensors on the motor or training device, 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 sensor is not installed, the influence of the sensor's own accuracy or installation accuracy on the sensor 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 control the rotor to rotate in the reverse direction when the current reaches a preset current and lasts longer than a first preset time, and the preset current A is greater than the rated current A1 and less than the locked-rotor current A2.

[0008] Exemplarily, 1.5A1≤A≤0.8A2.

[0009] Exemplarily, the controller is further configured to control the rotor to rotate in the reverse direction after staying at the first limit rotation position or the second limit rotation position for a second predetermined time.

[0010] Exemplarily, the rotor includes a first cavity that passes through the rotor along the central axis, the limit member extends into the first cavity, and the inner wall of the first cavity respectively abuts against the first limit portion and the second limit portion when at the first extreme rotation position and the second extreme rotation position.

[0011] Exemplarily, the rotor includes a rotor inner ring, a rotor outer ring, a first limiting spoke and a second limiting spoke, the rotor inner ring is arranged inside the rotor outer ring, the first limiting spoke and the second limiting spoke extend along the radial direction of the rotor and are connected between the rotor outer ring and the rotor inner ring, and the rotor inner ring, the rotor outer ring, the first limiting spoke and the second limiting spoke together form a first cavity.

[0012] Exemplarily, the angle between the first limiting spoke and the second limiting spoke is 180 degrees, and the angle between the perpendicular line segment from the first limiting portion to the central axis and the perpendicular line segment from the second limiting portion to the central axis is 110 degrees.

[0013] Exemplarily, the rotor inner ring, the rotor outer ring, the first limiting spoke and the second limiting spoke further enclose a second cavity that is not connected to the first cavity, and a reinforcing spoke connected between the rotor inner ring and the rotor outer ring is provided in the second cavity.

[0014] Exemplarily, the motor housing includes a main body, a first end cover and a second end cover. The rotor is located in a mounting hole that passes through the main body along the direction of the central axis. The first end cover and the second end cover are respectively connected to the main body at both ends of the mounting hole along the direction of the central axis. The limit member passes through the first cavity and is connected between the first end cover and the second end cover.

[0015] Exemplarily, the first end cover is provided with a first through hole, the second end cover is provided with a second through hole, the limiting member is a cylindrical structure with openings at both ends, and the edges of the first through hole and the second through hole are respectively docked with the edges of the openings at both ends of the limiting member.

[0016] Exemplarily, the projections of the first through hole and the second through hole on a plane perpendicular to the central axis are arc-shaped holes, and the arc-shaped hole includes a first arc line, a second arc line, a first circular edge and a second circular edge. The first arc line and the second arc line are both centered on the central axis and are spaced apart. The first circular edge and the second circular edge are located at both ends of the arc-shaped hole and are both tangently connected to the first arc line and the second arc line.

[0017] Exemplarily, the motor further includes a stator fixed in the motor housing, and the rotor is disposed radially inward of the stator.

[0018] Exemplarily, the motor housing and the base of the joint training device are an integrated piece.

[0019] Exemplarily, the motor is a permanent magnet brushless synchronous motor, the stator includes a stator core and a stator winding arranged on the inner circumference of the stator core along the circumferential direction, and the rotor includes a rotor core and a plurality of permanent magnets arranged on the outer circumference of the rotor core along the circumferential direction.

[0020] 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 1000.

[0021] Exemplarily, an angle is formed between an extension direction of the stator slot and an extension direction of the central axis, and the angle is greater than or equal to 6° and less than or equal to 9°.

[0022] Exemplarily, the stator winding adopts fractional concentrated winding.

[0023] Exemplarily, the permanent magnet is a Halbach array type permanent magnet.

[0024] Exemplarily, each permanent magnet includes a first magnet and a second magnet whose magnetic poles are perpendicular to each other; and in two adjacent permanent magnets, the magnetic poles of the first magnet are in opposite directions, and the magnetic poles of the second magnet are in opposite directions.

[0025] Exemplarily, the rotor has a rotor shaft, which is a hollow shaft extending along a central axis, and the first rotation output end and the second rotation output end are arranged on the rotor shaft.

[0026] 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 the speed parameters of the rotor.

[0027] Exemplarily, the encoder is an absolute value encoder with greater than or equal to 19 bits.

[0028] Exemplarily, the encoder is fixed on the motor housing and sleeved on the first rotation output end or the second rotation output end.

[0029] 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.

[0030] The advantages and features of the present invention are described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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,

[0032] Figure 1-2 are multiple perspective views of a joint training device according to an exemplary embodiment of the present invention;

[0033] Figure 3 for Figure 1 Another perspective view of the joint training device is shown, with the end caps hidden;

[0034] Figure 4 for Figure 3 A front view of the joint training device is shown with the end caps and adapter removed;

[0035] Figure 5 is a perspective view of a rotor according to an exemplary embodiment of the present invention;

[0036] Figure 6 for Figure 5 A front view of the rotor is shown;

[0037] Figure 7 is a schematic diagram of a motor according to an exemplary embodiment of the present invention; and

[0038] Figure 8 for Figure 7 A partial enlarged view of the motor.

[0039] The above drawings include the following reference numerals:

[0040] 10. Joint training equipment; 100. Motor; 110. Motor housing; 111. Limiting member; 111a. First limiting portion; 111b. Second limiting portion; 112. Main body; 113. First end cover; 113a. First through hole; 114. Second end cover; 114a. Second through hole; 120. Rotor; 121. First cavity; 122. Second cavity; 123. Rotor inner ring; 124. Rotor outer ring; 125. First limiting spoke; 126. Second limiting spoke; 127. Reinforcing spoke; 128. Permanent magnet; 129. Rotor shaft; 130. Stator; 131. Stator tooth pole; 132. Stator slot; 200. First adapter; 210. First rotating arm; 220. First adapter base; 300. Second adapter; 310. Second rotating arm; 320. Second adapter base. DETAILED DESCRIPTION

[0041] 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.

[0042] The present invention provides a joint training device 10, such as Figure 1-2 The joint training device 10 may include a motor 100, a first adapter 200, a second adapter 300 and a controller.

[0043] The motor 100 may include a motor housing 110 and a rotor 120. Figure 3-4 As shown. The rotor 120 can be arranged in the motor housing 110 and can pivot relative to the motor housing 110 around the central axis. The rotor 120 can have a first rotation output end (not shown) and a second rotation output end (not shown) arranged opposite to each other along the central axis. In some embodiments, the first rotation output end and the second rotation output end can be the output shaft of the motor and can also include the rotor shaft described below. The motor housing 110 can be provided with a limit member 111. The limit member 111 can have a first limit portion 111a and a second limit portion 111b. The first limit portion 111a and the second limit portion 111b can be located at the ends of the limit member 111 in the circumferential direction around the central axis. The rotor 120 can have a first limit rotation position and a second limit rotation position. When the rotor 120 is in the first limit rotation position, it can abut against the first limit portion 111a. When the rotor 120 is in the second limit rotation position, it can abut against the second limit portion 111b. In some embodiments, a stopper may be provided on the rotor 120 for contacting the limiting member 111 when the rotor 120 is at the first limit rotation position and the second limit rotation position.

[0044] The first adapter 200 and the second adapter 300 can be used to fix the foot. The first adapter 200 can have a first rotating arm 210 and a first adapter base 220. The first adapter base 220 can be connected to one end of the first rotating arm 210. The other end of the first rotating arm 210 can be connected to the first rotating output end. The first adapter 200 can be rotated around the central axis under the drive of the motor 100. The second adapter 300 can have a second rotating arm 310 and a second adapter base 320. The second adapter base 320 can be connected to one end of the second rotating arm 310. The other end of the second rotating arm 310 can be connected to the second rotating output end. The second adapter 300 can be rotated around the central axis under the drive of the motor 100.

[0045] The first adapter base 220 and the second adapter base 320 each have a foot-fixing plane. The distance from the foot-fixing plane of the first adapter base 220 to the central axis matches the distance from the sole of the foot fixed to the first adapter base 220 to the ankle. The distance from the foot-fixing plane of the second adapter base 320 to the central axis matches the distance from the sole of the foot fixed to the second adapter base 320 to the ankle. Typically, after a user secures their foot to the first adapter base 220 or the second adapter base 320, the ankle joint is aligned with the central axis. This allows the ankle joint to rotate along with the adapter to which it is attached when the first adapter 200 or the second adapter 300 rotates about the central axis.

[0046] The controller can be used to determine whether the rotor 120 is at the first limit rotation position or the second limit rotation position according to the current current of the motor 100, and it can also control the rotor 120 to rotate in the opposite direction of the current rotation direction. Figure 3 As shown, during the clockwise rotation of the rotor 120, when the rotor rotates through a certain angle, the spokes on the rotor 120 will be able to counteract the first limiting portion 111a of the limiting member 111. At this time, the motor is forced to stop, and the current flowing through the motor will increase. The controller can determine that the rotor is at the first extreme rotation position based on the current current, and the controller can control the rotor 120 to reverse. As a result, the rotor 120 in the motor will be able to swing back and forth between the first extreme rotation position and the second extreme rotation position. The foot fixed on the first adapter 200 or the second adapter 300 will be able to follow the swing of the rotor to realize the rotation process from stretching the foot to lifting the foot, thereby achieving rehabilitation training for the ankle joint.

[0047] It is understandable that the above embodiment only describes the motor actively driving the ankle joint to rotate. In other embodiments, the user can also actively rotate the ankle joint to overcome the resistance generated by the motor rotation, thereby utilizing the resistance generated by the motor to increase ankle muscle strength.

[0048] With this joint training device, the motor's rotor 120 can swing back and forth between a first and second extreme rotational position. On the one hand, the position limiter 111 limits the rotation angle of the rotor 120, preventing it from exceeding the ankle joint's maximum rotational angle and thus preventing injury to the user. On the other hand, the active swinging of the rotor 120 can drive the user's ankle joint to rotate, thereby achieving a rehabilitation training effect. Furthermore, with this joint training device, the direction of rotor rotation is adjusted based on the current detection results. Compared to existing technologies, by installing devices such as position detection sensors on the motor or training device, the controller's computing speed can be increased because the process of converting the parameters detected by the sensors is reduced. Furthermore, since no sensors are installed, the effects of the sensors' own accuracy or installation accuracy are also reduced. For the product, reducing the number of sensors required can reduce the structural requirements for sensor installation, shortening the design cycle, improving production efficiency, and reducing product costs.

[0049] It should be noted that this joint training device can also help patients perform ankle pump exercises in clinical medicine. Ankle pump exercises use the ankle joint to act like a pump, promoting blood circulation and lymphatic return in the lower limbs. They are also crucial for functional recovery in bedridden patients and those following surgery. Ankle pump exercises can also prevent varicose veins and reduce the possibility of thrombosis.

[0050] The controller can be built with electronic components such as timers, comparators, registers, digital logic circuits, etc., or it 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.

[0051] In addition, it should be noted that in Figure 1-2 In the illustrated embodiment, the first rotating arm 210 of the first adapter 200 and the second rotating arm 310 of the second adapter 300 are located in the same plane, and the first adapter 200 and the second adapter 300 rotate synchronously, so that the user can perform rehabilitation training on the ankle joints of both feet at the same time, thereby improving training efficiency.

[0052] Exemplarily, the controller can be specifically used to control the rotor 120 to rotate in the opposite direction when the current reaches a preset current and lasts for more than a first preset time T1. The preset current A can be greater than the rated current A1 and less than the stall current A2. The rated current A1 is the current passed by the motor during normal operation. The stall current A2 is the current generated when the rotor is fixed and not allowed to rotate. If the stall current A2 lasts for a long time, it will cause irreversible damage to the motor. Through this setting, the controller can judge whether the rotor has rotated to the first rotation limit position or the second rotation limit position, thereby changing the rotation direction of the rotor. Preferably, 1.5A1≤A≤0.8A2.

[0053] For example, the controller can also be configured to control the rotor 120 to remain in the first or second extreme rotational position for a second predetermined time T2 before rotating in the opposite direction. In other words, the rotor can remain in the first or second extreme rotational position for a period of time. For the user, this allows the rotor 120 to rotate the ankle joint to the extreme position and then remain there, providing sufficient stretching and enhancing the effectiveness of rehabilitation training. Of course, the second predetermined time T2 can be adjusted according to the user's preference. The method for setting the second predetermined time T2 is well known to those skilled in the art and will not be further described.

[0054] For example, Figure 3-6 As shown, the rotor 120 may include a first cavity 121 that passes through the rotor 120 along the central axis. The limiting member 111 may extend into the first cavity 121. The inner wall of the first cavity 121 may respectively abut against the first limiting portion 111a and the second limiting portion 111b when the inner wall is at the first limit rotation position and the second limit rotation position. Figure 3 In the illustrated embodiment, when the rotor 120 rotates clockwise to the first rotational limit, the left inner wall of the first cavity 121 (as viewed in the figure) abuts against the first limiter 111a. When the rotor 120 rotates counterclockwise to the second rotational limit, the right inner wall of the first cavity 121 (as viewed in the figure) abuts against the second limiter 111b. This demonstrates that the abutment between the first cavity 121 on the rotor 120 and the limiter 111 achieves a limiting function, saving space and improving the integration of the motor 100.

[0055] For example, the rotor 120 may include a rotor inner ring 123, a rotor outer ring 124, a first limiting spoke 125, and a second limiting spoke 126. The rotor inner ring 123 may be disposed within the rotor outer ring 124. The first limiting spoke 125 and the second limiting spoke 126 may extend in the radial direction of the rotor 120 and be connected between the rotor outer ring 124 and the rotor inner ring 123. The rotor inner ring 123, the rotor outer ring 124, the first limiting spoke 125, and the second limiting spoke 126 may together form a first cavity 121. Figure 3 In the illustrated embodiment, when the rotor 120 rotates clockwise to the first limit rotation position, the inner wall of the first limit spoke 125 abuts against the first limit portion 111a. When the rotor 120 rotates counterclockwise to the second limit rotation position, the inner wall of the second limit spoke 126 abuts against the second limit portion 111b. This arrangement reduces the weight of the rotor 120, thereby reducing the load on the motor and ultimately reducing product size and cost.

[0056] For example, Figure 4 and 6 As shown, the included angle A between the first limiting spoke 125 and the second limiting spoke 126 can be 180 degrees. The included angle B between the perpendicular line segment from the first limiting portion 111a to the central axis and the perpendicular line segment from the second limiting portion 111b to the central axis can be 110 degrees. Thus, the structure of the first limiting spoke 125, the second limiting spoke 126, and the limiting member 111 can limit the rotation angle of the rotor 120. Furthermore, this arrangement allows the rotor 120 to rotate to a 70-degree angle, which is consistent with the rotation range of the human ankle joint. The structure is simple and easy to implement.

[0057] For example, the rotor inner ring 123, rotor outer ring 124, first limiting spokes 125, and second limiting spokes 126 may collectively form a second cavity 122 that is disconnected from the first cavity 121. Reinforcement spokes 127 may be disposed within the second cavity 122, connecting the rotor inner ring 123 and rotor outer ring 124. With this configuration, rotor 120 can reduce material usage while maintaining structural strength, thereby reducing the weight of rotor 120, alleviating motor load, and lowering product costs.

[0058] Exemplarily, the motor housing 110 may include a main body 112, a first end cover 113, and a second end cover 114. The main body 112 may have a mounting hole extending therethrough in the direction of the central axis. The rotor 120 may be located in the mounting hole. The first end cover 113 and the second end cover 114 may be connected to the main body 112 at both ends of the mounting hole in the direction of the central axis. The limiting member 111 may pass through the first cavity 121 and be connected between the first end cover 113 and the second end cover 114. In some embodiments, the limiting member 111 may be a bar connected between the first end cover 113 and the second end cover 114 to limit the rotation angle of the rotor 120. This structure is simple and easy to implement.

[0059] For example, Figure 1-2As shown, the first end cover 113 may be provided with a first through hole 113a. The second end cover 114 may be provided with a second through hole 114a. The limiting member 111 may be a cylindrical structure with openings at both ends. The edges of the first through hole 113a and the second through hole 114a are respectively docked with the edges of the openings at both ends of the limiting member 111. Thus, the limiting member 111 can not only play a limiting role, but also, since the limiting member 111 with a cylindrical structure is connected through the first end cover 113 and the second end cover 114, the limiting member 111 can also be used as a handle, which can facilitate users to hold the joint training device.

[0060] For example, Figure 4 As shown, the projections of the first through hole 113a and the second through hole 114a on a plane perpendicular to the central axis are arc-shaped holes. The arc-shaped hole may include a first arc line, a second arc line, a first rounded edge, and a second rounded edge. The first arc line and the second arc line may both be arranged with the central axis as an axis and spaced apart. The first rounded edge and the second rounded edge may be located at both ends of the arc-shaped hole and both be tangentially connected to the first arc line and the second arc line. In other words, the projections of the first through hole 113a and the second through hole 114a on a plane perpendicular to the central axis may be waist holes with an arc. This setting not only saves the size of the openings on the first end cover 113 and the second end cover 114, but also makes the shape ergonomic, making it convenient for users to carry.

[0061] For example, the motor 100 may further include a stator 130 fixed within the motor housing 110. The rotor 120 may be disposed radially inwardly of the stator 130, thereby forming an inner rotor motor. Because the rotor 120 of the joint training device frequently changes direction, an inner rotor motor has a smaller moment of inertia and is therefore more suitable for the use of the joint training device.

[0062] Exemplarily, the motor housing 110 and the base of the joint training device can be an integral piece. In some embodiments, the motor 110 can be embedded in the base, thereby improving the integration of the product, reducing the size of the product, and reducing the cost of the product.

[0063] For example, Figure 7-8As shown, the motor 100 can be a permanent magnet brushless synchronous motor. The stator 130 may 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 120 may include a rotor core and a plurality of permanent magnets 128 arranged on the outer peripheral surface of the rotor core along the circumferential direction. The stator winding is arranged on the external stator 130, and when the motor instantaneously generates a large current, the stator winding has a good heat dissipation effect. Especially when the motor 100 is used in a joint training device, since the above-mentioned motor load may often increase or commutate when reaching the limit rotation position, a large current may often appear in the motor. If the current is too large, the stator winding will also generate more heat, and a motor with this arrangement can solve the heat dissipation problem very well.

[0064] For example, a plurality of stator teeth 131 spaced apart along the circumference of the stator core may be provided on the inner circumferential surface of the stator core. The stator winding may be wound around the plurality of stator teeth 131, and stator slots 132 are defined between two adjacent stator teeth 131. The least common multiple of the total number of stator slots 132 and the total number of permanent magnets 128 is greater than or equal to 1000. The larger the least common multiple of the slot poles, the smaller the fluctuation generated when the motor rotates one circle, and the torque generated by each stator slot 132 can also be reduced, resulting in better stability. In this way, the fluctuating current generated by the motor itself during operation can be reduced, and the controller's detection of the current in the motor can be improved.

[0065] For example, the extension direction of the stator slots 132 can form an angle with the extension direction of the central axis. The angle can be greater than or equal to 6° and less than or equal to 9°. This arrangement can reduce the torque generated by each stator slot 132 and improve stability.

[0066] For example, the stator winding can employ fractional concentrated winding. Multiple stator teeth 131 can be provided on the inner circumference of the stator core, spaced apart along its circumference. Stator slots 132 are defined between adjacent stator teeth 131. In other words, the stator teeth 131 and stator slots 132 are arranged sequentially. The stator core can also include a barrel-shaped housing, with the bases of the stator teeth 131 connected to the housing and the ends of the stator teeth 131 extending toward the stator axis. Winding coils can be wound around the stator teeth 131. In concentrated winding, after each winding coil is wound around its corresponding stator tooth 131, it can be wound around the next adjacent stator tooth 131 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 permanent magnets 128 may be a Halbach array type permanent magnet. Halbach array permanent magnets can generate a unilateral magnetic field distribution, so the rotor 120 does not need to use magnetic materials to provide a path for the magnetic field. In other words, the rotor can be made of non-magnetic conductive materials, such as aluminum. This not only provides a wider range of materials for the rotor core, reducing the mass of the rotor 120, but also enables the rotor 120 to have a lower moment of inertia and higher response performance.

[0068] Furthermore, each permanent magnet 128 can include a first magnet and a second magnet with mutually perpendicular magnetic poles. In adjacent permanent magnets, the first magnet's magnetic poles are oriented in opposite directions, while the second magnet's magnetic poles are oriented in opposite directions. This regular arrangement of permanent magnets enhances the field strength per unit direction, thereby generating the strongest magnetic field with the minimum number of permanent magnets. In this embodiment, the magnets can be square strips measuring 3mm*3mm*14mm.

[0069] For example, rotor 120 may have a rotor shaft 129. Rotor shaft 129 may be a hollow shaft extending along a central axis. The first rotational output end and the second rotational output end may be disposed on rotor shaft 129. Rotor shaft 129 may be used to connect first adapter 200 and second adapter. By configuring the rotor shaft to be hollow, the weight of rotor 120 can be reduced, the moment of inertia can be lowered, and the load on the motor can be alleviated.

[0070] For example, the motor 100 may further include an encoder (not shown). 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 rotor speed parameters.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] By setting up an encoder, the operating parameters of the motor can be detected, and the detection results of the encoder can be used to improve the accuracy of controlling the motor. 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.

[0075] Preferably, the encoder may be an absolute value encoder with a value greater than or equal to 19 bits. An absolute value encoder with a value greater than or equal to 19 bits can improve the accuracy of the encoder in determining the rotation angle of the rotor 120 .

[0076] For example, the encoder can be fixed on the motor housing and sleeved on the first rotation output end or the second rotation output end. Figure 3 In the illustrated embodiment, the motor housing may be provided with an area for fixing and mounting an encoder. For example, the encoder may be fixed to the inner sidewall of the first end cap 113 or the second end cap 114. This arrangement can save installation space for the encoder and improve product integration.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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 joint training device, characterized in that: The joint training device comprises: A motor comprising a motor housing and a rotor, the rotor being disposed within the motor housing and pivotable relative to the motor housing about a central axis, the rotor having a first rotation output end and a second rotation output end oppositely disposed along the central axis, the motor housing being provided with a limit member, the limit member having a first limit portion and a second limit portion, the first limit portion and the second limit portion being located at ends of the limit member in a circumferential direction about the central axis, the rotor having a first limit rotation position abutting against the first limit portion and a second limit rotation position abutting against the second limit portion; a first adapter, the first adapter having a first rotating arm and a first adaptor base, the first adaptor base being connected to one end of the first rotating arm, the other end of the first rotating arm being connected to the first rotating output end, and the first adapter being rotatable around the central axis under the drive of the motor; a second adapter, the second adapter having a second rotating arm and a second adapter base, the second adapter base being connected to one end of the second rotating arm, the other end of the second rotating arm being connected to the second rotating output end, the second adapter being rotatable around the central axis under the drive of the motor, wherein the distance from the foot fixing plane of the first adapter base to the central axis and the distance from the foot fixing plane of the second adapter base to the central axis are adapted to the distance from the sole surface to the ankle of the foot fixed on the first adapter base and the second adapter base respectively; and A controller is used to determine whether the rotor is located at the first limit rotation position or the second limit rotation position according to the current current of the motor and control the rotor to rotate in the opposite direction of the current rotation direction.

2. The joint training device according to claim 1, characterized in that: The controller is specifically configured to control the rotor to rotate in the reverse direction when the current reaches a preset current and lasts longer than a first preset time, wherein the preset current A is greater than the rated current A1 and less than the locked-rotor current A2.

3. The joint training device according to claim 2, characterized in that: 1.5A1≤A≤0.8A2.

4. The joint training device according to claim 1, characterized in that: The controller is further configured to control the rotor to rotate in the reverse direction after staying at the first limit rotation position or the second limit rotation position for a second predetermined time.

5. The joint training device according to claim 1, characterized in that: The rotor includes a first cavity that passes through the rotor along the central axis. The limiting member extends into the first cavity. The inner wall of the first cavity respectively abuts against the first limiting portion and the second limiting portion when at the first limit rotation position and the second limit rotation position.

6. The joint training device according to claim 5, characterized in that: The rotor includes a rotor inner ring, a rotor outer ring, a first limiting spoke and a second limiting spoke. The rotor inner ring is arranged inside the rotor outer ring. The first limiting spoke and the second limiting spoke extend along the radial direction of the rotor and are connected between the rotor outer ring and the rotor inner ring. The rotor inner ring, the rotor outer ring, the first limiting spoke and the second limiting spoke together form the first cavity.

7. The joint training device according to claim 6, characterized in that: The included angle between the first limiting spoke and the second limiting spoke is 180 degrees, and the included angle between the perpendicular line segment from the first limiting portion to the central axis and the perpendicular line segment from the second limiting portion to the central axis is 110 degrees.

8. The joint training device according to claim 6, characterized in that: The rotor inner ring, the rotor outer ring, the first limiting spokes and the second limiting spokes further enclose and form a second cavity that is not connected to the first cavity. Reinforcement spokes connected between the rotor inner ring and the rotor outer ring are provided in the second cavity.

9. The joint training device according to claim 5, characterized in that: The motor housing includes a main body, a first end cover and a second end cover. The rotor is located in a mounting hole in the main body that passes through the main body along the direction of the central axis. The first end cover and the second end cover are respectively connected to the main body at both ends of the mounting hole along the direction of the central axis. The limit member passes through the first cavity and is connected between the first end cover and the second end cover.

10. The joint training device according to claim 9, characterized in that: The first end cover is provided with a first through hole, the second end cover is provided with a second through hole, the limiting member is a cylindrical structure with two ends open, and the edges of the first through hole and the second through hole are respectively connected to the edges of the openings at both ends of the limiting member.

11. The joint training device according to claim 10, characterized in that: The projections of the first through hole and the second through hole on a plane perpendicular to the central axis are arc-shaped holes, and the arc-shaped hole includes a first arc line, a second arc line, a first circular edge and a second circular edge. The first arc line and the second arc line are both centered on the central axis and are spaced apart. The first circular edge and the second circular edge are located at both ends of the arc-shaped hole and are both tangently connected to the first arc line and the second arc line.

12. The joint training device according to claim 1, characterized in that: The motor further includes a stator fixed in the motor housing, and the rotor is arranged on the radial inner side of the stator.

13. The joint training device according to claim 12, characterized in that: The motor housing and the base of the joint training device are integrated.

14. The joint training device according to claim 12, characterized in that: The motor is a permanent magnet brushless synchronous motor, the stator includes a stator core and a stator winding arranged on the inner circumferential surface of the stator core along the circumferential direction, and 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.

15. The joint training device according to claim 14, 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 1000.

16. The joint training device according to claim 15, characterized in that: An angle is formed between an extending direction of the stator slot and an extending direction of the central axis, and the angle is greater than or equal to 6° and less than or equal to 9°.

17. The joint training device according to claim 14, characterized in that: The stator winding adopts fractional concentrated winding.

18. The joint training device according to claim 14, characterized in that: The permanent magnet is a Halbach array type permanent magnet.

19. The joint training device according to claim 18, characterized in that: Each of the permanent magnets includes a first magnetic steel and a second magnetic steel whose magnetic poles are perpendicular to each other; and in two adjacent permanent magnets, the magnetic poles of the first magnetic steel are in opposite directions, and the magnetic poles of the second magnetic steel are in opposite directions.

20. The joint training device according to claim 1, characterized in that The rotor has a rotor shaft, which is a hollow shaft extending along the central axis. The first rotation output end and the second rotation output end are arranged on the rotor shaft.

21. The joint training device according to claim 1, wherein: 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 configured to receive the position information and generate a speed parameter of the rotor.

22. The joint training device according to claim 21, characterized in that The encoder is an absolute value encoder with a bit greater than or equal to 19 bits.

23. The joint training device according to claim 21, characterized in that The encoder is fixed on the motor housing and sleeved on the first rotation output end or the second rotation output end.

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