Multi-modal training apparatus and control method and device thereof

Abstract

The invention provides a multi-modal training apparatus and a control method and device thereof, training equipment in the training apparatus realizes uniform wire arrangement of a connecting wire on a roller by using a movable wire arrangement mechanism in transmission connection with the roller, and the connecting wire is connected with wearable equipment for training. A driving motor in the training equipment can provide movement assistance or resistance for a user wearing the wearable equipment based on different training modes, meanwhile, energy charging of a power source can be achieved based on rotation of a roller, and redundant electric energy is consumed through a bleeder resistor. The instrument provided by the scheme provides multiple modes of motion functions, can realize an all-around training effect, ensures that the connecting wires on the roller can be uniformly and smoothly discharged and recycled by moving the wire arranging mechanism and the transmission mechanism, ensures the stability of the equipment and the fluency of user experience, and improves the training efficiency. The energy charging type power supply and the bleeder resistor are combined, so that the energy efficiency of the equipment is improved, and the safety guarantee is provided.

Description

Technical Field

[0001] The present invention belongs to the technical field of sports training equipment, and in particular relates to a multi-modal training device and a control method and device thereof. Background Art

[0002] In recent years, fitness and sports training have gradually become an important part of modern lifestyle. With the increasing demand for fitness and sports training, various sports equipment have been widely used in gyms, sports centers and home training. People's requirements for exercise effects, exercise methods and sports equipment performance are also increasing.

[0003] Although sports equipment can provide users with sports training effects, most sports equipment only has a single training method, which is difficult to meet the needs of users in diversified training. In addition, the exercise patterns of sports equipment are generally more complicated and lack effective safety measures. When performing high-intensity training, users are prone to injuries due to loss of control of the movement or equipment failure.

[0004] In addition, some sports equipment uses ropes, wire ropes and other cords to achieve assisted sports training, but the arrangement and retraction of the ropes are often uneven and not smooth, which can easily cause wear and uneven stretching of the connecting wires, thereby affecting the training effect and the service life of the equipment. In severe cases, it may even cause harm to the user. Summary of the invention

[0005] In order to overcome the defects of the above-mentioned prior art, the present invention proposes a multimodal training apparatus, including a training device, wherein the training device includes a roller surrounded by a connecting wire, and the two ends of the connecting wire are respectively connected to the roller and a wearable device, so that when a user wearing the wearable device moves in a direction away from the training device, the roller is driven to rotate through the connecting wire;

[0006] The connecting line between the drum and the wearable device is passed through the movable cable arrangement mechanism, and the drum and the movable cable arrangement mechanism are connected by a transmission mechanism, so that when the drum rotates, the movable cable arrangement mechanism is driven by the transmission mechanism to reciprocate and realize uniform cable arrangement;

[0007] The training device further comprises a driving motor driving the roller, and a charging power supply and a discharge resistor electrically connected to the driving motor in turn; in a first mode, the driving motor is used to convert the mechanical energy of the roller rotating in a first clockwise direction into the electrical energy of the charging power supply when the user moves in a first direction, and selectively applies a force to the roller, thereby providing resistance to the user's movement in the first direction; the discharge resistor is used to release the electrical energy in the charging power supply that exceeds a preset value;

[0008] In the second mode, the drive motor is used to drive the roller to rotate in a second clockwise direction to recover the connecting line and provide assistance to the user to move in the second direction when the user moves in the second direction; the second direction is opposite to the first direction, and the second clockwise direction is opposite to the first clockwise direction.

[0009] Specifically, the movable cable arrangement mechanism includes a screw rod, a guide rod arranged parallel to the screw rod, and a slider slidably arranged on the screw rod and the guide rod, and the connecting wire is passed through the slider;

[0010] The transmission mechanism includes a transmission belt, a first pulley connected to the first end of the screw rod, and a second pulley coaxially connected to one side of the roller corresponding to the first pulley, the other side of the roller is connected to the drive motor, and the first pulley and the second pulley are connected through the transmission belt.

[0011] Specifically, the multimodal training apparatus further comprises a fixing bracket detachably connected to the training device, the fixing bracket being detachably connected to the counterweight member so as to fix the training device when the counterweight member is connected;

[0012] The fixed bracket includes a fixed rod detachably connected to the training device and a telescopic rod slidably connected to the fixed rod, a first support rod for mounting the counterweight and a second support rod for supporting the fixed rod and the counterweight are fixedly arranged on the fixed rod, a locking mechanism for locking the fixed rod is arranged on the outer side of a connecting port of the training device for connecting the fixed rod, and a roller is arranged on a side of the training device away from the connecting port.

[0013] Preferably, the training device includes a plurality of push-button switches connected to the drive motor and a communication module connected to the drive motor, and the communication module is connected to the remote device signal so that the drive motor adjusts the switch, direction, speed and / or working mode based on the push-button instructions of each push-button switch and / or the remote control instructions transmitted by the remote device through the communication module, and sends the data of the drive motor to the remote device through the communication module.

[0014] The present invention also proposes a control method, which is applied to the bidirectional training device as described above, and the method comprises:

[0015] In response to a first control instruction, determine a first force applied to the drum by the drive motor, so as to provide resistance to movement of a user wearing the wearable device in the first direction, and at the same time charge the rechargeable power supply based on the rotation of the drum in the first clockwise direction by the drive motor, and consume the electric energy in the rechargeable power supply exceeding the preset amount value by the discharge resistor;

[0016] In response to the second control instruction, a second force applied to the drum by the drive motor is determined, so that the drum rotates in the second clockwise direction and drives the movable cable arrangement mechanism to move back and forth, so as to evenly recycle the connecting wire on the drum and provide assistance to the user's movement in the second direction.

[0017] Specifically, the “determining, in response to a first control instruction, a first force applied to the drum by the driving motor” includes:

[0018] In response to the first control instruction, obtaining a force value of a third force applied by the user to the drum through the connecting line;

[0019] The first acting force is determined based on the first control instruction and the third acting force; the acting force value of the first acting force is smaller than the third acting force in the first clockwise direction.

[0020] Further, the “determining the first force based on the first control instruction and the third force” includes:

[0021] Determine whether the force value of the third force in the first clockwise direction is less than a preset force value;

[0022] If the judgment result is yes, the direction of action of the first force is determined to be the second clockwise direction, and the force value of the first force is determined based on the current third force and the first control instruction to offset the inertial force toward the first direction when the user stops moving in the first direction.

[0023] Furthermore, the method further comprises:

[0024] After determining the first force, re-determine the first force in response to a newly received first control instruction, and determine a first change rate by using the currently determined first force and the previously determined first force, so that the driving motor changes the applied force from the previously determined first force to the currently determined first force based on the first change rate;

[0025] After determining the second force, the second force is redetermined in response to a newly received second control instruction, and a second change rate is determined by the currently determined second force and the previously determined second force, so that the drive motor changes the applied force from the previously determined second force to the currently determined second force based on the second change rate.

[0026] Preferably, the training device comprises a plurality of key switches connected to the drive motor and a communication module connected to the drive motor, the communication module is connected to a remote device signal, the first control instruction and the second control instruction are generated based on the key signals of the key switches and / or the communication signals transmitted by the remote device through the communication module, and the method further comprises:

[0027] The working data of the driving motor is collected to determine the motion data of the user based on the working data, and the working data and the motion data are sent to the remote device through the communication module.

[0028] The present invention also proposes a control device, which is applied to the above-mentioned bidirectional training device, and the device comprises:

[0029] a first control module, configured to determine, in response to a first control instruction, a first force applied to the drum by the drive motor, so as to provide resistance to movement of a user wearing the wearable device in the first direction, and to charge the rechargeable power supply by the drive motor based on the rotation of the drum in the first clockwise direction, and to consume electric energy in the rechargeable power supply exceeding the preset value through the discharge resistor;

[0030] The second control module is used to respond to the second control instruction, determine the second force applied to the drum by the drive motor, so that the drum rotates in the second clockwise direction and drives the movable cable arrangement mechanism to move back and forth, so as to evenly recycle the connecting wire on the drum, and at the same time provide assistance for the user's movement in the second direction.

[0031] The present invention has at least the following beneficial effects:

[0032] The multimodal training device proposed by the present invention has bidirectional movement and power-assistance functions, which can enable the user to exercise in two directions, and provide resistance or power assistance according to the user's movement direction, so that the training is more diversified, and can simulate a variety of movement modes, thereby improving the versatility and comprehensiveness of the training. Through the configuration of the charging power supply and the discharge resistor, the mechanical energy of the user during exercise can be converted into electrical energy, and the movement resistance can be flexibly adjusted through the driving motor to meet different training needs. The connecting wires are managed by the mobile cable arrangement mechanism, and the transmission mechanism can ensure that the cable arrangement is uniform and orderly. During the user's exercise, it is ensured that the cable will not affect the movement smoothness due to winding or relaxation, which can effectively optimize the user's use experience.

[0033] Furthermore, the multimodal training device proposed in the present invention can ensure that the connecting wires always remain smooth and tidy during the movement through the precise design of the screw rod, the guide rod and the slider in the mobile cable arrangement mechanism, effectively prevent the cables from being excessively worn due to friction or unbalanced movement, improve the durability and stability of the device, and ensure the training safety of the user. The fixed bracket detachably connected to the training device and the counterweight installed in a detachable manner are easy to store, making the assembly, storage and transportation of the device more convenient, and convenient to adjust the weight to adapt to training of different intensities. Through the design of two pillars on the fixed bracket, the fixed bracket can play a role in stabilizing and fixing the training device. Through the adjustable telescopic rod and the roller, the user can move the multimodal training device at any time. Through the key switch and the communication module connected to the driving device, the user can use the key or the operation interface of the remote device to adjust the device, and can receive feedback data on the operation of the device and the user's movement, which greatly improves the convenience and interactivity of the use of the device.

[0034] On this basis, the training method proposed in the present invention can adjust the resistance according to the user's real-time exercise situation. The adaptive adjustment method can ensure that the resistance matches the user's actual force output, thereby optimizing the training effect. The change rate can be recalculated and a smooth transition can be achieved when the control instruction changes, ensuring a smoother training process and avoiding sudden changes in force that cause discomfort or danger to the user. When the user is about to stop exercising, the method can detect and adjust the output force value in time, thereby eliminating the influence of inertia when the user stops moving, improving the safety and comfort of exercise, and avoiding excessive reverse force or unnecessary impact force. Local control of the key switch and signal control of the remote device can provide flexible operation methods, allowing users to adjust training parameters according to personal needs. Communication with the remote device allows users to monitor their own training data in real time, providing opportunities for data analysis and improvement, enhancing the personalization of training and achieving continuous tracking of training effects.

[0035] Therefore, the present invention provides a multimodal training device and a control method and device thereof. The device proposed in the scheme of the present invention provides multiple modes of motion functions, which can achieve all-round training effects. The mobile cable arrangement mechanism and the transmission mechanism ensure that the connecting wires on the drum can be discharged and recovered evenly and smoothly, thereby ensuring the stability of the equipment and the smoothness of the user experience. The combination of the charging power supply and the discharge resistor increases the energy efficiency of the equipment and provides safety protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0037] Figure 1 A schematic diagram of the overall structure of the multimodal training device provided in Example 1;

[0038] Figure 2 This is a structural example diagram of a multimodal training device in a fixed state;

[0039] Figure 3 It is a schematic diagram of the structure of the fixed handle;

[0040] Figure 4 It is a structural schematic diagram of a counterweight plate;

[0041] Figure 5 It is a structural diagram of the training equipment;

[0042] Figure 6 This is a schematic diagram of the structure of the training device after removing part of the shell;

[0043] Figure 7 is a schematic diagram of the structure of the training device from another angle;

[0044] Figure 8 is a schematic diagram of the internal structure of the training device;

[0045] Fig. 9 is a schematic diagram of the internal structure of the training device from another angle;

[0046] FIG. 10( a ) and FIG. 10( b ) are both flowcharts of the training method proposed in Example 2;

[0047] Fig.11 A flow chart of a method for determining a first force;

[0048] Fig.12 This is a schematic diagram of the module structure of the training device proposed in Example 3.

[0049] Reference numerals

[0050] 1-training equipment; 2-fixed bracket; 11-roller; 12-movable cable arrangement mechanism; 13-driving motor; 14-chargeable power supply; 15-discharge resistor; 16-cooling fan; 17-first side plate; 18-second side plate; 19-housing; 21-fixed rod; 22-weight plate; 23-first support rod; 24-second support rod; 25-telescopic rod; 26-handle; 111-connecting wire; 121-screw rod; 122-guide rod; 123-slider; 131-driving module; 171-first pulley; 172-second pulley; 173-transmission belt; 174-fastening wheel; 191-connecting port; 192-second locking mechanism; 193-second fastener; 194-clamping portion; 195-wire outlet; 196-perspective window; 197-button switch; 198-roller; 211-first locking mechanism; 212-clamping slot; 221-installation slot;

[0051] 100 - first control module; 200 - first speed change module; 210 - judgment unit; 220 - compensation unit; 300 - second control module; 400 - second speed change module; 500 - signal module. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] Hereinafter, various embodiments of the present invention will be described more fully. The present invention may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present invention to the specific embodiments disclosed herein, but the present invention should be understood to cover all adjustments, equivalents and / or alternatives falling within the spirit and scope of the various embodiments of the present invention.

[0054] Hereinafter, the term "include" or "may include" used in various embodiments of the present invention indicates the presence of disclosed functions, operations or elements, and does not limit the addition of one or more functions, operations or elements. In addition, as used in various embodiments of the present invention, the terms "include", "have" and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the presence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0055] In various embodiments of the present invention, the expression "or" or "at least one of A or / and B" includes any combination or all combinations of the words listed at the same time. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0056] The expressions (such as "first", "second", etc.) used in various embodiments of the present invention may modify the various constituent elements in various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used for the purpose of distinguishing an element from other elements. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, without departing from the scope of various embodiments of the present invention, the first element may be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0057] It should be noted that in the present invention, unless otherwise clearly specified and defined, the terms such as "installation", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] In the present invention, those skilled in the art need to understand that the terms indicating orientation or positional relationship herein are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0059] The terms used in various embodiments of the present invention are only used for the purpose of describing specific embodiments and are not intended to limit various embodiments of the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise limited, all terms used here (including technical terms and scientific terms) have the same meaning as the meaning generally understood by those of ordinary skill in the art to which the various embodiments of the present invention belong. The terms (such as the terms defined in the dictionary generally used) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in various embodiments of the present invention.

[0060] Example 1

[0061] Please refer to Figure 1-Figure 1 0, this embodiment provides a multimodal training device, comprising a training device 1 and a fixing bracket 2 detachably connected to the training device 1, the fixing bracket 2 being detachably connected to the counterweight to fix the training device 1 when the counterweight is connected; the training device 1 comprises a roller 11 surrounded by a connecting wire 111, and the two ends of the connecting wire 111 are respectively connected to the roller 11 and the wearable device;

[0062] The connecting line 111 between the drum 11 and the wearable device is passed through the movable cable arrangement mechanism 12, and the drum 11 and the movable cable arrangement mechanism 12 are connected by a transmission mechanism, so that when the drum 11 rotates, the movable cable arrangement mechanism 12 is driven to move back and forth through the transmission mechanism to achieve uniform cable arrangement;

[0063] The training device 1 also includes a driving motor 13 that drives the connected roller 11. The driving motor 13 is used to provide motion resistance for a user wearing the wearable device based on a first training mode, or to provide motion assistance for the user based on a second training mode; the training device 1 also includes a charging power supply 14 and a discharge resistor 15 that are electrically connected to the driving motor 13 in sequence. The driving motor 13 is also used to convert the mechanical energy of the rotation of the roller 11 into electrical energy of the charging power supply 14; the discharge resistor 15 is used to release electrical energy in the charging power supply that exceeds a preset value.

[0064] In this embodiment, when the user wearing the wearable device moves in a first direction away from the training device 1, the roller 11 is driven to rotate in a first clockwise direction through the connecting line 111;

[0065] In the first mode, the driving motor 13 is used to selectively apply a force to the roller 11 when the user moves in the first direction, thereby providing resistance to the user's movement in the first direction. At this time, the mechanical energy of the roller 11 in the first clockwise direction is converted by the driving motor 13 into electrical energy of the charging power supply 14;

[0066] In the second mode, the drive motor 13 is used to drive the drum 11 to rotate in a second clockwise direction to recycle the connecting line 111 and provide the user with assistance in moving in the second direction; the second direction is opposite to the first direction, and the second clockwise direction is opposite to the first clockwise direction.

[0067] In a specific embodiment, when the user moves in the first direction, the connecting line 111 is stretched from the position of the roller 11 in the first direction, and the roller 11 rotates in the first clockwise direction based on the driving of the connecting line 111. At this time, the driving motor 13 may not work or provide resistance to make the roller 11 rotate in the second clockwise direction, so as to ensure that the connecting line 111 remains in a tensioned state during the stretching process;

[0068] When the user moves in the second direction, the connecting wire 111 will be recovered to the drum 11. At this time, the driving motor 13 will provide driving assistance to rotate the drum 11 in the second clockwise direction, so that the connecting wire 111 is recovered to the drum 11 and the user is provided with assistance for moving in the second direction. At the same time, the rotation of the drum 11 will drive the reciprocating movement of the movable cable arrangement mechanism 12 through the transmission mechanism, so that the connecting wire 111 recovered to the drum 11 can be evenly distributed.

[0069] It should be noted that the driving motor 13 generally has a high rotation speed, but too high a rotation speed will cause the drum 11 to rotate too fast, making it difficult to control the accuracy and stability of the movement. Preferably, the driving motor 13 is connected to a driving module 131 and a reducer. The speed of the motor is reduced by the reducer to increase the output torque. The driving motor 13 can achieve smoother and more precise control. By converting the high speed of the motor into a low-speed output, the power output by the motor is more effectively transmitted to the drum 11, improving the rotation control accuracy of the drum 11 and increasing the driving force of the drum 11, thereby avoiding excessive speed and instability that may occur when the motor directly drives the drum 11, and the transition of the drum 11 during the winding process will be smoother, reducing vibration and impact caused by high speed; in a specific embodiment, the driving motor 13 includes a stepping motor, and the reducer connected to the driving motor 13 includes a planetary reducer.

[0070] Specifically, the first support rod 23 and the second support rod 24 are both columnar structures. In a specific embodiment, the counterweight member includes a counterweight plate 22 with a mounting groove 221 at the center, so that the counterweight plate 22 can be mounted on the first support rod 23 or the second support rod 24 through the mounting groove 221 to achieve the connection between the fixed rod 21 and the counterweight member; the counterweight member is used to provide stability for the equipment and prevent the equipment from tilting or moving during use. The detachable design allows the user to easily adjust the weight of the counterweight plate 22 according to actual needs.

[0071] In a specific embodiment, the first support rod 23 and the second support rod 24 are integrally formed. The design of the two support rods being integrally formed avoids multiple connections and welding, simplifies the number of components, thereby reducing production costs, reduces the risk of loosening or damage to the connection parts, helps reduce stress concentration and the occurrence of failures, and improves the overall structural strength.

[0072] Specifically, the fixed bracket 2 further includes a telescopic rod 25 connected to the fixed rod 21, and the telescopic rod 25 can be stretched in a first direction to extend the length of the fixed bracket 2, or contracted in a second direction to reduce the length of the fixed bracket 2;

[0073] In this embodiment, a hollow structure is provided inside the fixed rod 21 so that the telescopic rod 25 can be slidably set inside the fixed rod 21. Since the fixed rod 21 usually needs to provide support, and the design of the hollow structure helps to reduce the weight of the fixed rod 21 itself, the hollow structure can reduce the use of materials without affecting its strength and stability, reduce the weight of the overall device, and thus improve the portability and operability of the device. Moreover, the hollow design of placing the telescopic rod 25 inside the fixed rod 21 will not increase the external volume of the device, and can effectively save external space. Compared with storage designs such as folding structures, it can more effectively avoid the telescopic rod 25 being exposed to the outside and occupying additional space, which helps to make the device compact and improves the convenience during storage and carrying.

[0074] Furthermore, one end of the fixed rod 21 connected to the telescopic rod 25 is provided with a first locking mechanism 211 for fixing the telescopic length of the telescopic rod 25. The first locking mechanism 211 may include but is not limited to a snap-on locking mechanism, a spring locking mechanism, a latch locking mechanism, a threaded locking mechanism and a magnetic locking mechanism; in a specific embodiment, the first locking mechanism 211 includes a snap-on locking mechanism.

[0075] The training device 1 is provided with a connection port 191 which is detachably connected to the fixed rod 21, and a second locking mechanism 192 is provided on the outer periphery of the connection port 191 for fixing the connection between the training device 1 and the fixed rod 21. Through the second locking mechanism 192, the training device 1 and the fixed rod 21 can be quickly and firmly connected and disassembled, thereby improving the convenience and safety of use. In this embodiment, the second locking mechanism 192 includes a second fastener 193 rotatably connected to the training device 1, and a protruding fastening portion 194 is provided on the second fastener 193, and a fastening groove 212 is provided on the fixed rod 21 corresponding to the fastening portion 194.

[0076] Specifically, the movable cable arrangement mechanism 12 includes a screw rod 121, a guide rod 122 arranged parallel to the screw rod 121, and a slider 123 slidably arranged on the screw rod 121 and the guide rod 122, and the connecting wire 111 is passed through the slider 123;

[0077] The transmission mechanism includes a transmission belt 173, a first pulley 171 connected to the first end of the screw rod 121, and a second pulley 172 coaxially connected to one side of the drum 11 corresponding to the first pulley 171, the other side of the drum 11 is connected to the driving motor 13, and the first pulley 171 and the second pulley 172 are connected to each other through the transmission belt 173;

[0078] The screw rod 121 can convert the power of the transmission belt 173 into mechanical motion, so that the slider 123 reciprocates along the axial direction of the screw rod 121. The screw rod 121 drives the slider 123 by means of threaded engagement, thereby ensuring that the slider 123 has a precise motion trajectory;

[0079] The guide rod 122 arranged parallel to the screw rod 121 can play the role of guiding the sliding of the slider 123 together with the guide rod 122, and can ensure that the slider 123 does not deviate or get stuck when reciprocating along the screw rod 121 and the guide rod 122, so that the cable arrangement mechanism can operate accurately and smoothly; in addition, the guide rod 122 can also provide stable support during the movement of the slider 123, reduce the friction between the slider 123 and the screw rod 121, and at the same time reduce wear and tear, thereby increasing the service life of the equipment.

[0080] Specifically, the training device 1 further includes a first side plate 17 and a second side plate 18, a first end of the screw rod 121 and a first end of the guide rod 122 are connected to the first side plate 17, a second end of the screw rod 121 and a second end of the guide rod 122 are connected to the second side plate 18, and the roller 11 is rotatably arranged between the first side plate 17 and the second side plate 18; in this embodiment, the first pulley 171 and the second pulley 172 can be arranged on a side of the first side plate 17 away from the second side plate 18;

[0081] The first side plate 17 and the second side plate 18 constitute the support frame of the training device 1, which plays the role of supporting, positioning and stabilizing the structure, and provides a stable structural foundation. The two ends of the screw rod 121 and the guide rod 122 are respectively connected to the first side plate 17 and the second side plate 18, so that they can reciprocate on the fixed support points. In this embodiment, the two ends of the roller 11 can also be fixed by the side plates, so that the position of the roller 11 can also be effectively fixed, preventing the roller 11 from shifting or loosening, and maintaining the position and stability of the roller 11.

[0082] Specifically, the second pulley 172 and the first pulley 171 have a specific radius ratio. The radius ratio of the second pulley 172 and the first pulley 171 determines the transmission ratio between the drum 11 and the screw rod 121, and directly affects the movement rate relationship between the drum 11 and the screw rod 121. When the radius of the first pulley 171 is smaller than that of the second pulley 172, the rotation speed of the drum 11 is slower than that of the screw rod 121, and when the radius of the first pulley 171 is larger than that of the second pulley 172, the rotation speed of the drum 11 is faster than that of the screw rod 121. At the same time, the rotation speed of the screw rod 121 relative to the drum 11 determines the sliding speed of the slider 123 on the screw rod 121; in this embodiment, the radius of the first pulley 171 is larger than that of the second pulley 172.

[0083] Preferably, the training device 1 proposed in this embodiment also includes a fastening wheel 174 abutting against the transmission belt 173. The fastening wheel 174 can ensure that the transmission belt 173 maintains appropriate tension by contacting the transmission belt 173. At the same time, the fastening wheel 174 can make the transmission belt 173 run along a predetermined trajectory, ensuring the correct running trajectory of the transmission belt 173 and avoiding deviation of the transmission belt.

[0084] Furthermore, the training device 1 proposed in this embodiment also includes a heat dissipation fan 16, and the air outlet of the heat dissipation fan 16 is arranged directly opposite the drive motor 13 and the discharge resistor 15, so that the drive motor 13 and the discharge resistor 15 can operate within a safe temperature range, thereby ensuring the safety of the training device 1; in this embodiment, the drive motor 13, the discharge resistor 15 and the heat dissipation fan 16 are all arranged on the side of the second side plate 18 away from the first side plate 17.

[0085] Specifically, the training device 1 proposed in this embodiment further includes a housing 19, and the drum 11, the transmission mechanism, the movable cable arrangement mechanism 12, the drive motor 13 and other components are all arranged inside the housing 19, and a perspective window 196 is opened on the housing 19 at a position corresponding to the drum 11, and a wire outlet 195 is opened on the housing 19 at a position corresponding to the movable cable arrangement mechanism 12, and the connecting wire 111 is passed through the wire outlet 195;

[0086] The shell 19 can protect the various components in the training device 1 and prevent external dust and other substances from entering the interior of the training device 1, thereby ensuring the stable operation of the training device 1. The design of the perspective window 196 allows the user to easily observe the internal operation of the training device 1 during use. Through the perspective window 196, the user can determine whether the connecting line 111 is evenly wound around the roller 11, or whether the internal operation of the training device 1 is smooth, which is helpful for the maintenance, debugging and troubleshooting of the training device 1.

[0087] Optionally, the training device 1 is provided with a plurality of key switches 197 connected to the drive motor 13 to adjust the switch, direction, speed and / or working mode of the drive motor 13 based on the key instructions of each key switch 197. In this embodiment, the key switch 197 is arranged on the surface of the shell 19 and a key switch 197 connected to the drive motor 13 is also arranged. The user can conveniently adjust the working state of the drive motor 13 through the key switch 197, which not only improves the portability of the device, but also can quickly stop the operation of the device in an emergency, thereby ensuring the safety of the user and the device.

[0088] Furthermore, the training device 1 also includes a communication module connected to the drive motor 13, and the communication module is connected to the remote device signal to adjust the switch, direction, speed and / or working mode of the drive motor 13 based on the remote control instructions transmitted by the remote device through the communication module, and send the data of the drive motor 13 to the remote device through the communication module.

[0089] Preferably, a handle portion 26 is provided at one end of the telescopic rod 25 away from the fixed rod 21. Since the movement of the telescopic rod 25 usually requires a certain amount of force or manual operation, the handle portion 26 serves as a support point, which allows the user to have better control during operation and avoids the difficulty of directly touching the telescopic rod 25 with hands. Especially when the surface of the telescopic rod 25 is relatively smooth or the shape is not convenient for grasping, the handle portion 26 can provide a more comfortable use experience and increase the ease of use and comfort of the device; therefore, when using the fixed bracket 2 proposed in this embodiment, the user can quickly and conveniently stretch or retract the telescopic rod 25 through the handle portion 26, thereby adjusting the overall length of the fixed bracket 2.

[0090] Correspondingly, the shell 19 of the training device 1 away from the connecting port 191 is provided with a roller 198, so that the user can easily move the training device 1 through the handle portion 26 on the fixed bracket 2 and the roller 198 on the training device 1 when the fixed bracket 2 is connected to the training device 1, thereby adjusting the training position at any time during the training process.

[0091] Example 2

[0092] This embodiment proposes a training method, which is applied to the multimodal training device proposed in Embodiment 1. Please refer to FIG. 10( a ) and FIG. 10( b ). The method comprises:

[0093] S100: In response to the first control instruction, determine a first force applied to the drum by the driving motor, so as to provide resistance to the movement of the user wearing the wearable device in the first direction, and charge the charging power supply by the driving motor based on the rotation of the drum in the first clockwise direction, and consume the electric energy in the charging power supply exceeding the preset amount value through the discharge resistor;

[0094] S200: After determining the first force, redetermine the first force in response to a newly received first control instruction, and determine a first change rate through the currently determined first force and the previously determined first force, so that the drive motor changes the applied force from the previously determined first force to the currently determined first force based on the first change rate.

[0095] Accordingly, the method further comprises:

[0096] S300: In response to the second control instruction, determine the second force applied to the drum by the driving motor, so that the drum rotates in a second clockwise direction and drives the movable cable arrangement mechanism to move back and forth, so as to evenly recycle the connecting wires on the drum and provide assistance for the user's movement in the second direction.

[0097] S400: After determining the second force, redetermine the second force in response to a newly received second control instruction, and determine a second change rate through the currently determined second force and the previously determined second force, so that the drive motor changes the applied force from the previously determined second force to the currently determined second force based on the second change rate.

[0098] Specifically, step S100 and step S200 correspond to the first mode, and step S300 and step S400 correspond to the second mode.

[0099] Specifically, the action direction of the first action force may be the first clockwise direction or the second clockwise direction. When the action direction of the first action force is the first clockwise direction, the action value of the first action force should be less than the action value of the third action force applied by the user to the drum through the connecting line; the action direction of the second action force is fixed to the second clockwise direction;

[0100] Preferably, the method proposed in this embodiment can preset several force threshold intervals. When the force needs to be changed in step S200 or step S400, the change rate is determined by the force threshold interval of the currently determined force and the force threshold interval of the previously determined force, as well as the number of intervals between the force threshold interval of the currently determined force and the force threshold interval of the previously determined force.

[0101] Specifically, the training method proposed in this embodiment obtains the force value of the third force applied by the user to the roller through the connecting line, and determines the first force based on the first control instruction and the third force; the force value of the first force is smaller than the third force in the first clockwise direction.

[0102] For further information, please refer to Fig.11 , “determining a first force based on a first control instruction and a third force”, comprising:

[0103] S210: Determine whether the force value of the third force in the first clockwise direction is less than a preset force value.

[0104] If the judgment result is yes, execute step S220.

[0105] S220: Determine the direction of action of the first force as the second clockwise direction, and determine the force value of the first force based on the current third force and the first control instruction to offset the inertial force toward the first direction when the user stops moving in the first direction.

[0106] It should be noted that during the exercise, when the user stops moving in the first direction, inertia force will be generated, which makes the movement unable to stop immediately. The method proposed in this embodiment can reduce the user's sense of resistance and help the user control the movement more smoothly by redetermining the first force to compensate for the movement caused by the inertia force.

[0107] Furthermore, the method proposed in this embodiment can also collect the working data of the driving motor to determine the user's motion data based on the working data, and send the working data and motion data to the remote device through the communication module; thus, the user can conveniently view the data of the equipment and his own motion data through terminals such as mobile phones, and make appropriate adjustments.

[0108] Preferably, when the working data of the driving motor meets the first preset condition and / or the motion data of the user meets the second preset condition, the method proposed in this embodiment can cause the training device to issue an alarm prompting the user to turn off the training device.

[0109] Example 3

[0110] This embodiment proposes a training device, which is applied to the multimodal training device proposed in Example 1 to implement the training method proposed in Example 2. Fig.12 , the device comprises:

[0111] The first control module 100 is used to determine, in response to the first control instruction, a first force applied to the drum by the driving motor, so as to provide resistance to the movement of the user wearing the wearable device in the first direction, and at the same time charge the charging power supply based on the rotation of the drum in the first clockwise direction by the driving motor, and consume the electric energy in the charging power supply exceeding the preset amount value through the discharge resistor;

[0112] The first speed change module 200 is used to redetermine the first force in response to the newly received first control instruction after determining the first force, and determine a first change rate by using the currently determined first force and the previously determined first force, so that the driving motor changes the applied force from the previously determined first force to the currently determined first force based on the first change rate;

[0113] The second control module 300 is used to determine, in response to the second control instruction, a second force applied to the drum by the driving motor, so that the drum rotates in a second clockwise direction and drives the movable cable arrangement mechanism to move back and forth, so as to evenly recycle the connecting wires on the drum, and provide assistance for the user to move in the second direction;

[0114] The second speed change module 400 is used to redetermine the second force in response to a newly received second control instruction after determining the second force, and to determine a second change rate through the currently determined second force and the previously determined second force, so that the drive motor changes the applied force from the previously determined second force to the currently determined second force based on the second change rate.

[0115] The signal module 500 is used to receive the first control instruction and the second control instruction transmitted by the key switch and / or the remote device, and collect the working data of the drive motor to determine the user's motion data based on the working data, and send the working data and motion data to the remote device.

[0116] Specifically, the first control module 100 and the first speed change module 200 correspond to the first mode, and the second control module 300 and the second speed change module 400 correspond to the second mode.

[0117] Specifically, the direction of action of the first force can be the first clockwise direction or the second clockwise direction. When the direction of action of the first force is the first clockwise direction, the force value of the first force should be smaller than the force value of the third force applied by the user to the drum through the connecting line; the direction of action of the second force is fixed to the second clockwise direction.

[0118] Preferably, when the working data of the driving motor meets the first preset condition and / or the motion data of the user meets the second preset condition, the signal module 500 can cause the training device to issue an alarm prompting the user to turn off the training device.

[0119] Specifically, the first speed change module 200 obtains the force value of the third force applied by the user to the drum through the connecting line, and determines the first force based on the first control instruction and the third force; the force value of the first force is less than the third force in the first clockwise direction, and the first speed change module 200 specifically includes:

[0120] A determination unit 210, configured to determine whether a force value of the third force in the first clockwise direction is less than a preset force value;

[0121] The compensation unit 220 is used to determine the direction of action of the first force as the second clockwise direction when the judgment result of the judgment unit 210 is yes, and determine the force value of the first force based on the current third force and the first control instruction, so as to offset the inertial force toward the first direction when the user stops moving in the first direction.

[0122] In summary, the present invention provides a multimodal training device and a control method and device thereof. The device proposed in the scheme of the present invention provides multiple modes of motion functions, which can achieve all-round training effects. The mobile cable arrangement mechanism and the transmission mechanism ensure that the connecting wires on the drum can be discharged and recovered evenly and smoothly, thereby ensuring the stability of the equipment and the smoothness of the user experience. The combination of the charging power supply and the discharge resistor increases the energy efficiency of the equipment and provides safety protection.

[0123] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multimodal training device, characterized in that: The training device comprises a roller surrounded by a connecting wire, wherein two ends of the connecting wire are respectively connected to the roller and a wearable device, so that when a user wearing the wearable device moves in a direction away from the training device, the roller is driven to rotate through the connecting wire; The connecting line between the drum and the wearable device is passed through the movable cable arrangement mechanism, and the drum and the movable cable arrangement mechanism are connected by a transmission mechanism, so that when the drum rotates, the movable cable arrangement mechanism is driven by the transmission mechanism to reciprocate and realize uniform cable arrangement; The training device further comprises a driving motor driving the roller, and a charging power supply and a discharge resistor electrically connected to the driving motor in turn; in a first mode, the driving motor is used to convert the mechanical energy of the roller rotating in a first clockwise direction into the electrical energy of the charging power supply when the user moves in a first direction, and selectively applies a force to the roller, thereby providing resistance to the user's movement in the first direction; the discharge resistor is used to release the electrical energy in the charging power supply that exceeds a preset value; In the second mode, the drive motor is used to drive the roller to rotate in a second clockwise direction to recover the connecting line and provide assistance to the user to move in the second direction when the user moves in the second direction; the second direction is opposite to the first direction, and the second clockwise direction is opposite to the first clockwise direction.

2. The multimodal training device according to claim 1, characterized in that: The movable cable arrangement mechanism comprises a screw rod, a guide rod arranged parallel to the screw rod, and a slider slidably arranged on the screw rod and the guide rod, and the connecting wire is passed through the slider; The transmission mechanism includes a transmission belt, a first pulley connected to the first end of the screw rod, and a second pulley coaxially connected to one side of the roller corresponding to the first pulley, the other side of the roller is connected to the drive motor, and the first pulley and the second pulley are connected through the transmission belt.

3. The multimodal training device according to claim 1, characterized in that: Also included is a fixing bracket detachably connected to the training device, the fixing bracket being detachably connected to the counterweight to fix the training device when connected to the counterweight; The fixed bracket includes a fixed rod detachably connected to the training device and a telescopic rod slidably connected to the fixed rod, a first support rod for mounting the counterweight and a second support rod for supporting the fixed rod and the counterweight are fixedly arranged on the fixed rod, a locking mechanism for locking the fixed rod is arranged on the outer side of a connecting port of the training device for connecting the fixed rod, and a roller is arranged on a side of the training device away from the connecting port.

4. The multimodal training device according to claim 1, characterized in that: The training device includes a plurality of push-button switches connected to the drive motor and a communication module connected to the drive motor. The communication module is connected to a remote device signal so that the drive motor adjusts the switch, direction, speed and / or working mode based on the push-button instructions of each push-button switch and / or the remote control instructions transmitted by the remote device through the communication module, and sends the data of the drive motor to the remote device through the communication module.

5. A control method, characterized in that: Applied to the multimodal training apparatus according to any one of claims 1 to 4, the method comprising: In response to a first control instruction, determine a first force applied to the drum by the drive motor, so as to provide resistance to movement of a user wearing the wearable device in the first direction, and at the same time charge the rechargeable power supply based on the rotation of the drum in the first clockwise direction by the drive motor, and consume the electric energy in the rechargeable power supply exceeding the preset amount value by the discharge resistor; In response to the second control instruction, a second force applied to the drum by the drive motor is determined, so that the drum rotates in the second clockwise direction and drives the movable cable arrangement mechanism to move back and forth, so as to evenly recycle the connecting wire on the drum and provide assistance to the user's movement in the second direction.

6. The control method according to claim 5, characterized in that: The “determining, in response to the first control instruction, a first force applied to the drum by the driving motor” includes: In response to the first control instruction, obtaining a force value of a third force applied by the user to the drum through the connecting line; The first acting force is determined based on the first control instruction and the third acting force; the acting force value of the first acting force is smaller than the third acting force in the first clockwise direction.

7. The control method according to claim 6, characterized in that: The “determining the first force based on the first control instruction and the third force” includes: Determining whether the force value of the third force in the first clockwise direction is less than a preset force value; If the judgment result is yes, the direction of action of the first force is determined to be the second clockwise direction, and the force value of the first force is determined based on the current third force and the first control instruction to offset the inertial force toward the first direction when the user stops moving in the first direction.

8. The control method according to claim 7, characterized in that: The method further comprises: After determining the first force, re-determine the first force in response to a newly received first control instruction, and determine a first change rate by using the currently determined first force and the previously determined first force, so that the driving motor changes the applied force from the previously determined first force to the currently determined first force based on the first change rate; After determining the second force, the second force is redetermined in response to a newly received second control instruction, and a second change rate is determined by the currently determined second force and the previously determined second force, so that the drive motor changes the applied force from the previously determined second force to the currently determined second force based on the second change rate.

9. The control method according to claim 5 or 8, characterized in that: The training device includes a plurality of key switches connected to the drive motor and a communication module connected to the drive motor, the communication module is connected to a remote device signal, the first control instruction and the second control instruction are generated based on the key signals of the key switches and / or the communication signals transmitted by the remote device through the communication module, and the method further includes: The working data of the driving motor is collected to determine the motion data of the user based on the working data, and the working data and the motion data are sent to the remote device through the communication module.

10. A control device, characterized in that: Applicable to the bidirectional training device according to any one of claims 1 to 4, the device comprising: a first control module, configured to determine, in response to a first control instruction, a first force applied to the drum by the drive motor, so as to provide resistance to movement of a user wearing the wearable device in the first direction, and to charge the rechargeable power supply by the drive motor based on the rotation of the drum in the first clockwise direction, and to consume electric energy in the rechargeable power supply exceeding the preset value through the discharge resistor; The second control module is used to respond to the second control instruction, determine the second force applied to the drum by the drive motor, so that the drum rotates in the second clockwise direction and drives the movable cable arrangement mechanism to move back and forth, so as to evenly recycle the connecting wire on the drum, and at the same time provide assistance for the user's movement in the second direction.

Images