Mute joint gear applied to robot

Abstract

The invention discloses a mute joint gear applied to a robot, relates to the technical field of medical instruments, and solves the problems that although a joint gear applied to a robot in the prior art can partially reduce noise, the joint gear is high in cost, short in service life (a harmonic reducer is prone to fatigue), remarkable in temperature rise and the like. An applied rehabilitation robot comprises a robot body. The robot body comprises a bottom support, a pair of shank rod pieces arranged on the bottom support, thigh rod pieces arranged on the shank rod pieces, hip supporting rod pieces arranged on the two thigh rod pieces and side rod pieces perpendicularly fixed to the bottom support, and the inner sides of the side rod pieces are connected with the hip supporting rod pieces. The plurality of integrated joints are respectively arranged on each shank rod piece and each thigh rod piece; according to the mute joint gear, the multiple continuous micro-arc segments are adopted to replace traditional involutes, meshing impact can be reduced, the tooth surface contact strength is improved, tooth surface friction can be remarkably reduced, and meshing noise is effectively restrained.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a silent joint gear used on a robot. Background Art

[0002] Rehabilitation medical robots are medical robots that assist the human body with limb movements, enabling functions such as walking assistance, rehabilitation therapy, weight-bearing walking, and labor reduction. They integrate knowledge from multiple disciplines, including mechanical engineering, electronic engineering, computer science, and biomedical engineering, and are a key application of modern technology in the field of rehabilitation medicine. They primarily include exoskeleton rehabilitation robots, end-of-line traction rehabilitation robots, and assisted standing rehabilitation robots.

[0003] At present, the existing robot joint gears have the following main problems in application: Issue 1: Noise and vibration. Traditional involute gears generate high-frequency noise (>50dB) due to impact and friction during meshing, impacting the human-machine interaction experience. Improper tooth profile design (such as standard involute gears) leads to unstable meshing and resonance, which can cause psychological stress for patients, particularly in medical rehabilitation settings.

[0004] Problem 2: Rigid transmission defects. The backlash and rigid impact of traditional involute gear transmissions can easily lead to non-smooth joint movement, posing a safety hazard (such as sudden load changes during rehabilitation training).

[0005] Problem 3: The conflict between size and efficiency. Traditional involute gears use multi-stage reduction or complex damping structures to reduce noise, resulting in bulky joints and reduced transmission efficiency (<85%), making it difficult to meet the lightweight requirements of humanoid robots.

[0006] In summary, although the silent joint gears used in rehabilitation robots in the existing technology can partially reduce noise, they have problems such as high cost, short life (harmonic reducers are prone to fatigue), and significant temperature rise. Summary of the Invention

[0007] The present invention provides a silent joint gear for use on a robot, which can solve the problems of silent joint gears used on rehabilitation robots in the prior art, although they can partially reduce noise, but have high costs, short lifespan (harmonic reducers are prone to fatigue), and significant temperature rise.

[0008] To achieve the above objectives, according to an embodiment of a first aspect of the present invention, a silent joint gear for use on a robot is provided, comprising a robot body, wherein the robot body includes a bottom bracket, a pair of shank rods disposed on the bottom bracket, a thigh rod disposed on each shank rod, a hip support rod disposed on the two thigh rods, and a side rod vertically fixed to the bottom bracket and connected on its inner side to the hip support rod; Also includes: A plurality of integrated joints are respectively provided on each calf rod and each thigh rod, each of the integrated joints being provided with a pair of meshingly connected silent joint gears; The silent joint gears in each integrated joint adopt a micro-segment tooth design, and their tooth tops and tooth roots have micro-segment profiles.

[0009] A further improvement is that the micro-segment profile of each silent joint gear is arc-shaped.

[0010] Compared with the prior art, the present invention has the following beneficial effects: The present invention adopts a micro-segment tooth design for the silent joint gears in each integrated joint of the rehabilitation robot. Specifically: the micro-segment profiles of the tooth top and tooth root adopt multiple continuous micro-arc segment high-order curves to replace the traditional involute. The micro-segment silent joint gear is composed of a large number of "zero points" with zero relative sliding, and has the characteristics of convex upper and concave lower, and concave-convex meshing. It not only improves the contact strength of the tooth surface, but also significantly reduces the friction of the tooth surface, and effectively suppresses the meshing noise. At the same time, the micro-segment tooth profile is based on the micro-segment gear, combined with the advantages of the double circular arc tooth profile, with the advantages of "8"-shaped closed meshing line, full tooth profile meshing, high rolling-slip ratio, etc., which can ensure the continuous meshing of the gears, thereby greatly reducing the impact, achieving vibration reduction and noise reduction, and smoother transmission. This joint solution is often used in large-scale devices such as hydraulics, but has not been used in the robotics industry, especially the rehabilitation medical robot and humanoid robot industries). BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic diagram of the entire structure of the rehabilitation robot of the present invention; Figure 2 It is a schematic structural diagram of the meshing connection of a pair of micro-segment gears of the present invention.

[0012] Markings in the figure: 1. Bottom bracket; 2. Calf rod; 3. Integrated joint; 31. Silent joint gear; 4. Thigh rod; 5. Hip support rod; 6. Side rod. DETAILED DESCRIPTION

[0013] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0014] like Figure 1As shown, a silent joint gear used in a robot includes a robot body, the robot body including a bottom bracket 1, a pair of shank rods 2 provided on the bottom bracket 1, a thigh rod 4 provided on each shank rod 2, a hip support rod 5 provided on the two thigh rods 4, and a side rod 6 vertically fixed to the bottom bracket 1 and connected to the hip support rod 5 on its inner side; It also includes a plurality of integrated joints 3, which are respectively provided on each calf rod 2 and each thigh rod 4, and each integrated joint 3 is provided with a pair of meshing and silent joint gears 31; In this embodiment, specifically, the silent joint gear 31 in each integrated joint 3 adopts a micro-segment tooth design; Advantage 1: High bending strength. The micro-segment profiles of the tooth top and tooth root use multiple continuous micro-arc segments of high-order curves instead of traditional involutes to reduce meshing impact. Advantage 2: Extremely high contact strength. The micro-segment silent joint gear 31 is composed of a large number of "zero points" with zero relative sliding, with the characteristics of convex upper and concave lower, and concave-convex meshing. This not only improves the contact strength of the tooth surface, but also significantly reduces tooth surface friction and effectively suppresses meshing noise. Advantage 3: Higher transmission efficiency. The micro-segment tooth profile, based on micro-segment gears and combined with the advantages of a double-arc tooth profile, features an "8"-shaped closed meshing line, full tooth profile engagement, and a high rolling-slip ratio. This ensures continuous gear engagement, significantly reducing impact, vibration, and noise, resulting in smoother transmission.

[0015] The joint solution of the present invention can be widely used in humanoid robots, such as rehabilitation robots, humanoid robots, household robots, and elderly care robots, etc. These humanoid robot devices can be universally used.

[0016] It should be noted that this application document only aims to improve the existing technology of silent joint gears used in robots, which can partially reduce noise but have the disadvantages of high cost, short life (harmonic reducers are prone to fatigue), and significant temperature rise. It does not involve improvements in other aspects. The above embodiments do not limit specific dimensions.

[0017] The above embodiments are only used to illustrate the technical method of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A silent joint gear for use on a robot, comprising a robot body, the robot body comprising a bottom bracket (1), a pair of shank rods (2) arranged on the bottom bracket (1), a thigh rod (4) arranged on each shank rod (2), a hip support rod (5) arranged on the two thigh rods (4), and a side rod (6) vertically fixed to the bottom bracket (1) and connected to the hip support rod (5) on its inner side; It is characterized by: Also includes: A plurality of integrated joints (3) are respectively provided on each calf rod (2) and each thigh rod (4), and each integrated joint (3) is provided with a pair of meshingly connected silent joint gears (31); The silent joint gear (31) in each integrated joint (3) adopts a micro-segment tooth shape design, and its tooth top and tooth root have a micro-segment profile.

2. The silent joint gear used in a robot according to claim 1, characterized in that: The micro-segment profile of each silent joint gear (31) is in the shape of an arc.

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