Joint motor component for exoskeleton

Abstract

The present invention provides a joint motor component for an exoskeleton. A joint motor component for an exoskeleton comprises: a housing, the housing is provided with a first mounting base extending along the housing surface and protruding from the housing surface; a power motor is arranged in the housing; a reducer is arranged in the housing, the reducer comprises an input shaft, an output shaft, a plurality of driving gears and a plurality of passive gears matched with the driving gears; at least one of the passive gears arranged on the input shaft is provided with a photoelectric sensor, at least one of the passive gears arranged on the output shaft is provided with a first electromagnetic sensor, a test gear is provided at the end of the output shaft adjacent to the second mounting base, the test gear is provided with a second electromagnetic sensor, and the first electromagnetic sensor and the second electromagnetic sensor are configured to respectively measure the induced electromotive force signal at the output shaft portion to obtain the torque of the output shaft. The present invention has a compact structure, reduces manufacturing costs, and is suitable for the application and promotion of exoskeleton robots.

Description

Technical Field

[0001] The invention relates to a motor component, in particular to a joint motor component for an exoskeleton, and belongs to the technical field of medical devices. Background Art

[0002] In recent years, exoskeleton robots have made great progress in the medical field due to their role in rehabilitation training for patients with limb disabilities. The motor components located in the joints of exoskeleton robots are important key components and an important source of power for exoskeleton robots.

[0003] The joint motor components used in existing exoskeleton robots generally adopt the method of using a motor to drive a conventional reduction mechanism. Among them, the reduction structure usually selects a standard harmonic reduction mechanism or a planetary reduction mechanism. Because the exoskeleton robot is a highly intelligent product, the joint motor components used in it have many sensor technology requirements, at least torque sensors, operating angle sensors, operating angular velocity sensors, etc. are required. In the prior art, the above sensors need to be installed separately and integrated in the joint motor components, which ultimately causes the joint motor components to be large in size and complex in structure, and have a high manufacturing cost. In addition, since the joint motor components in the prior art adopt a conventional structural combination, their application in exoskeleton robots also requires the redesign of mutually coordinated installation and connection mechanisms according to the overall motion support requirements, which further increases the structure and cost.

[0004] With the development of exoskeleton robot information and control technology, reducing the manufacturing cost of joint motor components and simplifying the installation structure are of great significance to solving the current development bottleneck of exoskeleton robots. Summary of the invention

[0005] Based on the above background, an object of the present invention is to provide a joint motor component for an exoskeleton to solve the problems described in the background technology.

[0006] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0007] A joint motor component for an exoskeleton, comprising:

[0008] A casing, wherein the casing is provided with a first mounting base extending along a surface of the casing and protruding from the surface of the casing;

[0009] A power motor is arranged in the casing, and the central axis of the output end of the power motor is perpendicular to the extension direction of the first mounting base on the surface of the casing;

[0010] A reducer is arranged in the housing, the reducer comprises an input shaft, an output shaft, a plurality of driving gears and a plurality of passive gears matched with the driving gears, the input shaft is connected to the power motor and is coaxially arranged with the output end of the power motor, the end of the output shaft is provided with a second mounting base perpendicular to the central axis of the output shaft, the plurality of driving gears and the plurality of passive gears are arranged alternately, at least one of the plurality of driving gears is arranged on one of the input shaft and the output shaft, at least one of the plurality of passive gears is arranged on the other of the input shaft and the output shaft, and each driving gear is meshed with a matching passive gear;

[0011] Among them, at least one of the passive gears arranged on the input shaft is provided with a photoelectric sensor, at least one of the passive gears arranged on the output shaft is provided with a first electromagnetic sensor, and a test gear is provided at the end of the output shaft adjacent to the second mounting base, the number of teeth of the test gear is the same as the number of teeth of the passive gear provided with the first electromagnetic sensor, and the test gear is provided with a second electromagnetic sensor, and the first electromagnetic sensor and the second electromagnetic sensor are configured to respectively measure the induced electromotive force signals at the output shaft to obtain the torque of the output shaft.

[0012] The operating speed and angular velocity of the joint motor component of the exoskeleton are measured by photoelectric sensors, and the output torque of the joint motor component of the exoskeleton is measured by a first electromagnetic sensor and a second electromagnetic sensor. The joint motor component of the exoskeleton has a compact structure and a small size, which reduces the manufacturing cost and is suitable for the application and promotion of exoskeleton robots.

[0013] Preferably, the power motor includes one or more of a brushless DC motor, a stepper motor, and a servo motor.

[0014] Preferably, the plurality of driving gears include a primary driving gear, a secondary driving gear and a tertiary driving gear, the plurality of passive gears include a primary passive gear, a secondary passive gear and a tertiary passive gear, the tertiary driving gear, the secondary passive gear and the primary driving gear are sequentially arranged on the input shaft along the direction of the output end of the power motor, and the tertiary passive gear, the secondary driving gear and the primary passive gear are sequentially arranged on the output shaft along the direction of the output end of the power motor.

[0015] Preferably, the input shaft is provided with a first sleeve sleeved on the surface of the input shaft, the first sleeve is clearance-matched with the input shaft, the third-stage driving gear and the second-stage passive gear are both fixedly connected to the surface of the first sleeve, and the output shaft is provided with a second sleeve sleeved on the surface of the output shaft, the second sleeve is clearance-matched with the output shaft, the second-stage driving gear and the first-stage passive gear are both fixedly connected to the surface of the second sleeve.

[0016] Preferably, the photoelectric sensor includes a light-emitting element and a photosensitive element, and the light-emitting element and the photosensitive element are respectively fixedly connected to the casing, and the light-emitting element and the photosensitive element are arranged relative to each other to form a light path therebetween, and the secondary passive gear is provided with a plurality of strip-shaped through holes equidistantly distributed along the circumference of the secondary passive gear, and the movement path of the strip-shaped through holes intersects with the light path.

[0017] Preferably, the first electromagnetic sensor and the second electromagnetic sensor calculate the torque of the output shaft by the following formula:

[0018]

[0019] Where T is the torque, θ is the torsion angle of the output shaft, which is obtained by the phase difference between the induced electromotive force signals at different parts of the two output shafts, G is the shear modulus of the output shaft material, and I p is the polar moment of inertia of the output shaft section.

[0020] Preferably, the photoelectric sensor is arranged at the outer edge end of the secondary passive gear away from the secondary driving gear, the first electromagnetic sensor is arranged at the outer edge end of the tertiary passive gear away from the tertiary driving gear, and the second electromagnetic sensor is arranged at the outer edge end of the test gear adjacent to the tertiary passive gear.

[0021] Preferably, bearings are provided between the input shaft and the casing, between the output shaft and the casing, and between the second bushing and the casing.

[0022] Preferably, the center line of the first mounting base, the center of the projection of the input shaft on the first mounting base, and the center of the projection of the output shaft on the second mounting base are on the same straight line.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] The present invention provides an exoskeleton joint motor component, which measures the operating speed and operating angular velocity of the exoskeleton joint motor component by means of a photoelectric sensor, and measures the output torque of the exoskeleton joint motor component by means of a first electromagnetic sensor and a second electromagnetic sensor. The exoskeleton joint motor component has a compact structure and a small size, which reduces the manufacturing cost and is suitable for the application and promotion of exoskeleton robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0026] Figure 1 It is a side view schematic diagram of the structure of the joint motor component for the exoskeleton of the present invention;

[0027] Figure 2 It is a schematic diagram of the main structure of the joint motor component for the exoskeleton of the present invention;

[0028] Figure 3 It is a schematic diagram of the internal structure of the joint motor component for the exoskeleton of the present invention;

[0029] Figure 4 It is a schematic diagram of the structure of the through hole in the present invention.

[0030] In the figure: 1, casing; 2, power motor; 3, reducer; 4, limb fixing plate; 5, limb fixing strap; 6, photoelectric sensor; 7, first electromagnetic sensor; 8, second electromagnetic sensor; 101, rear casing; 102, front end cover; 103, first mounting base; 301, input shaft; 302, output shaft; 303, first driving gear; 304, second driving gear; 305, third driving gear; 306, first passive gear; 307, second passive gear; 308, third passive gear; 309, first bushing; 310, second bushing; 311, bearing; 312, test gear; 313, second mounting base; 601, light emitting element; 602, photosensitive element; 603, through hole. DETAILED DESCRIPTION

[0031] The technical solution of the present invention is further described in detail below through specific embodiments and in conjunction with the accompanying drawings. It should be understood that the implementation of the present invention is not limited to the following embodiments, and any form of modification and / or change made to the present invention will fall within the protection scope of the present invention.

[0032] In the present invention, unless otherwise specified, all parts and percentages are weight units, and the equipment and raw materials used can be purchased from the market or are commonly used in the art. The methods in the following embodiments, unless otherwise specified, are conventional methods in the art. The components or equipment in the following embodiments, unless otherwise specified, are universal standard parts or components known to those skilled in the art, and their structures and principles are known to those skilled in the art through technical manuals or conventional experimental methods.

[0033] The embodiment of the present invention discloses a joint motor component for an exoskeleton, comprising a housing 1, a power motor 2 and a reducer 3. The housing 1 is provided with a first mounting base 103 extending along the surface of the housing 1 and protruding from the surface of the housing 1. The power motor 2 is arranged in the housing 1, and the central axis of the output end of the power motor 2 is perpendicular to the extension direction of the first mounting base 103 on the surface of the housing 1. The reducer 3 is arranged in the housing 1, and the reducer 3 comprises an input shaft 301, an output shaft 302, a plurality of driving gears and a plurality of passive gears matched with the driving gears. The input shaft 301 is connected to the power motor 2 and is coaxially arranged with the output end of the power motor 2. The end of the output shaft 302 is provided with a second mounting base 313 perpendicular to the central axis of the output shaft 302. The plurality of driving gears and the plurality of passive gears are arranged alternately, at least one of the plurality of driving gears is arranged on one of the input shaft 301 and the output shaft 302, and at least one of the plurality of passive gears is arranged on the other of the input shaft 301 and the output shaft 302, and each driving gear is meshed with a matching passive gear. Among them, at least one of the passive gears arranged on the input shaft 301 is provided with a photoelectric sensor 6, at least one of the passive gears arranged on the output shaft 302 is provided with a first electromagnetic sensor 7, and a test gear 312 is provided at the end of the output shaft 302 adjacent to the second mounting base 313, and the number of teeth of the test gear 312 is the same as the number of teeth of the passive gear provided with the first electromagnetic sensor 7, and the test gear 312 is provided with a second electromagnetic sensor 8, and the first electromagnetic sensor 7 and the second electromagnetic sensor 8 are configured to respectively measure the induced electromotive force signal at the output shaft 302 to obtain the torque of the output shaft 302. The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0034] like Figure 1-3 The exoskeleton joint motor component shown can be placed in the joint of the upper limb or lower limb of the human body. The exoskeleton joint motor component includes a housing 1, a power motor 2 and a reducer 3. The power motor 2 and the reducer 3 are both arranged in the housing 1. The reducer 3 includes an input shaft 301, an output shaft 302, three driving gears and three passive gears matched with the driving gears. Of course, other multi-stage reduction methods can also be used to increase or decrease the number of driving gears and passive gears.

[0035] The housing 1 includes a rear housing 101 and a front cover 102. The rear housing 101 is made of aluminum alloy material, and of course, stainless steel material can also be used. The rear housing 101 has an installation cavity, and the front of the rear housing 101 is open for installing the reducer 3. Two installation holes are opened at the rear of the rear housing 101, one for installing the power motor 2, and the other for installing the output shaft 302. The front cover 102 is arranged at the front of the rear housing 101, and is used to cover the front opening of the rear housing 101. Two installation holes are opened on the surface of the front cover 102, one for installing the input shaft 301, and the other for installing the output shaft 302. The housing 1 is provided with a first installation base 103 extending along the surface of the housing 1 and protruding from the surface of the housing 1. Specifically, the first installation base 103 is arranged on the front cover 102 and extends along the edge direction of the front cover 102. The first installation base 103 is used to install the limb fixing plate 4, and the upper part of the joint motor component of the exoskeleton can be placed on the human limbs in conjunction with the limb fixing strap 5.

[0036] The power motor 2 includes a brushless DC motor, which is widely available and has low cost. Of course, a stepper motor or a servo motor can also be selected according to the accuracy and control requirements. The central axis of the output end of the power motor 2 is perpendicular to the extension direction of the first mounting base 103 on the surface of the housing 1. The input shaft 301 is connected to the power motor 2 and is coaxially arranged with the output end of the power motor 2.

[0037] The end of the output shaft 302 is provided with a second mounting base 313 perpendicular to the central axis of the output shaft 302. The second mounting base 313 is used to mount the limb fixing plate 4, and the lower half of the joint motor component of the exoskeleton can be placed on the human limbs in conjunction with the limb fixing strap 5.

[0038] The center line of the first mounting base 103 , the center of the projection of the input shaft 301 on the first mounting base 103 , and the center of the projection of the output shaft 302 on the second mounting base 313 are on the same straight line.

[0039] The three driving gears and the three passive gears are arranged alternately, at least one of the three driving gears is arranged on one of the input shaft 301 and the output shaft 302, at least one of the three passive gears is arranged on the other of the input shaft 301 and the output shaft 302, and each driving gear is meshed with a matching passive gear. Specifically, the three driving gears are respectively a primary driving gear 303, a secondary driving gear 304 and a tertiary driving gear 305, and the three passive gears are respectively a primary passive gear 306, a secondary passive gear 307 and a tertiary passive gear 308. The tertiary driving gear 305, the secondary passive gear 307 and the primary driving gear 303 are arranged on the input shaft 301 in sequence along the direction of the output end of the power motor 2, and the tertiary passive gear 308, the secondary driving gear 304 and the primary passive gear 306 are arranged on the output shaft 302 in sequence along the direction of the output end of the power motor 2.

[0040] The input shaft 301 is provided with a first sleeve 309 sleeved on the surface of the input shaft 301, the first sleeve 309 is loosely matched with the input shaft 301, the third-stage driving gear 305 and the second-stage passive gear 307 are both fixedly connected to the surface of the first sleeve 309, the output shaft 302 is provided with a second sleeve 310 sleeved on the surface of the output shaft 302, the second sleeve 310 is loosely matched with the output shaft 302, the second-stage driving gear 304 and the first-stage passive gear 306 are both fixedly connected to the surface of the second sleeve 310.

[0041] Bearings 311 are provided between the input shaft 301 and the housing 1 , between the output shaft 302 and the housing 1 , and between the second sleeve 310 and the housing 1 .

[0042] At least one of the passive gears disposed on the input shaft 301 is provided with a photoelectric sensor 6, specifically, the photoelectric sensor 6 is disposed at the outer edge end of the secondary passive gear 307 away from the secondary driving gear 304. At least one of the passive gears disposed on the output shaft 302 is provided with a first electromagnetic sensor 7, and the end of the output shaft 302 adjacent to the second mounting base 313 is provided with a test gear 312, the number of teeth of the test gear 312 is the same as the number of teeth of the passive gear disposed with the first electromagnetic sensor 7, and the test gear 312 is provided with a second electromagnetic sensor 8, and the first electromagnetic sensor 7 and the second electromagnetic sensor 8 are configured to respectively measure the induced electromotive force signal at the output shaft 302 where they are located to obtain the torque of the output shaft 302. Specifically, the first electromagnetic sensor 7 is disposed at the outer edge end of the tertiary passive gear 308 away from the tertiary driving gear 305, and the second electromagnetic sensor 8 is disposed at the outer edge end of the test gear 312 adjacent to the tertiary passive gear 308. The benefit of the arrangement positions of the above-mentioned photoelectric sensor 6, the first electromagnetic sensor 7 and the second electromagnetic sensor 8 is that, in order to optimize the size of the joint motor component of the exoskeleton, the installation cavity volume of the casing 1 is small, and the reducer 3 is compactly arranged in structure. Under this condition, the photoelectric sensor 6 is used to measure the running speed and running angular velocity of the joint motor component of the exoskeleton, and the first electromagnetic sensor 7 and the second electromagnetic sensor 8 are used to measure the output torque of the joint motor component of the exoskeleton. The two are photoelectric induction sensors and magnetoelectric induction sensors respectively. The photoelectric sensor 6 and the two electromagnetic sensors are respectively arranged at positions far apart on the casing 1, which can minimize the influence of electromagnetic interference on the measurement accuracy of each sensor.

[0043] The photoelectric sensor 6 includes a light emitting element 601 and a photosensitive element 602. The light emitting element 601 and the photosensitive element 602 are fixedly connected to the housing 1 respectively. The light emitting element 601 and the photosensitive element 602 are arranged opposite to each other so as to form a light path between the two. Figure 4 As shown, the secondary passive gear 307 is provided with a plurality of strip-shaped through holes 603 which are equidistantly distributed along the circumference of the secondary passive gear 307, and the movement path of the strip-shaped through holes 603 intersects with the optical path. Specifically, based on the consideration of processing technology and measurement accuracy, in this example, the secondary passive gear 307 is set to have 80 teeth and a pitch circle diameter of 60 mm, and the strip-shaped through holes 603 are processed on the surface of the secondary passive gear 307 by laser engraving technology, and the number is 180. Theoretically, the precision of 0.5° division can be achieved, which can meet the precision requirements of the joint motor components for the exoskeleton. Of course, in other embodiments, the strip-shaped through holes 603 can also be processed on a separate disc-shaped grating plate, and then the disc-shaped grating plate is coaxially installed on the secondary passive gear 307.

[0044] The first electromagnetic sensor 7 and the second electromagnetic sensor 8 calculate the torque of the output shaft 302 by the following formula:

[0045]

[0046] Wherein, T is the torque, θ is the torsion angle of the output shaft 302, which is obtained by the phase difference between the induced electromotive force signals at different parts of the two output shafts 302, G is the shear modulus of the material of the output shaft 302, and I p is the polar moment of inertia of the cross section of the output shaft 302 .

[0047] The power motor 2, the photoelectric sensor 6, the first electromagnetic sensor 7 and the second electromagnetic sensor 8 are electrically connected to the external control device, so that the signal reading and action control of the joint motor component of the exoskeleton can be performed through the external control device.

[0048] It should be pointed out that although the above embodiments use a three-stage reduction method as an example to provide a detailed description of the exoskeleton joint motor component of the present invention, those skilled in the art can, without departing from the principles of the present invention and based on the needs of actual application scenarios, implement the exoskeleton joint motor component of the present invention in a two-stage reduction method and make corresponding adjustments to its internal structure.

[0049] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A joint motor component for an exoskeleton, characterized in that: The joint motor component for the exoskeleton includes: A casing (1), wherein the casing (1) is provided with a first mounting base (103) extending along a surface of the casing (1) and protruding from the surface of the casing (1); A power motor (2) is arranged in the casing (1), wherein the central axis of the output end of the power motor (2) is perpendicular to the extension direction of the first mounting base (103) on the surface of the casing (1); A reducer (3) is arranged in the housing (1), the reducer (3) comprising an input shaft (301), an output shaft (302), a plurality of driving gears and a plurality of passive gears matched with the driving gears, the input shaft (301) being connected to the power motor (2) and being coaxially arranged with the output end of the power motor (2), the end of the output shaft (302) being provided with a second mounting base (313) perpendicular to the central axis of the output shaft (302), the plurality of driving gears and the passive gears being arranged alternately at intervals, at least one of the plurality of driving gears being arranged on one of the input shaft (301) and the output shaft (302), at least one of the passive gears being arranged on the other of the input shaft (301) and the output shaft (302), and each driving gear being meshed with a matching passive gear; At least one of the passive gears arranged on the input shaft (301) is provided with a photoelectric sensor (6), at least one of the passive gears arranged on the output shaft (302) is provided with a first electromagnetic sensor (7), a test gear (312) is provided at an end of the output shaft (302) adjacent to the second mounting base (313), the number of teeth of the test gear (312) is the same as the number of teeth of the passive gear provided with the first electromagnetic sensor (7), the test gear (312) is provided with a second electromagnetic sensor (8), and the first electromagnetic sensor (7) and the second electromagnetic sensor (8) are configured to respectively measure induced electromotive force signals at the locations of the output shaft (302) to obtain the torque of the output shaft (302).

2. The joint motor component for an exoskeleton according to claim 1, characterized in that: The power motor (2) comprises one of a brushless DC motor, a stepping motor, and a servo motor.

3. The joint motor component for an exoskeleton according to claim 1, characterized in that: The plurality of driving gears include a primary driving gear (303), a secondary driving gear (304) and a tertiary driving gear (305); the passive gears include a primary passive gear (306), a secondary passive gear (307) and a tertiary passive gear (308); the tertiary driving gear (305), the secondary passive gear (307) and the primary driving gear (303) are sequentially arranged on the input shaft (301) along the direction in which the output end of the power motor (2) is facing; the tertiary passive gear (308), the secondary driving gear (304) and the primary passive gear (306) are sequentially arranged on the output shaft (302) along the direction in which the output end of the power motor (2) is facing.

4. The joint motor component for an exoskeleton according to claim 3, characterized in that: The input shaft (301) is provided with a first shaft sleeve (309) sleeved on the surface of the input shaft (301), the first shaft sleeve (309) and the input shaft (301) are clearance-matched, the third-stage driving gear (305) and the second-stage passive gear (307) are both fixedly connected to the surface of the first shaft sleeve (309), and the output shaft (302) is provided with a second shaft sleeve (310) sleeved on the surface of the output shaft (302), the second shaft sleeve (310) and the output shaft (302) are clearance-matched, and the second-stage driving gear (304) and the first-stage passive gear (306) are both fixedly connected to the surface of the second shaft sleeve (310).

5. The joint motor component for an exoskeleton according to claim 3, characterized in that: The photoelectric sensor (6) comprises a light-emitting element (601) and a photosensitive element (602), the light-emitting element (601) and the photosensitive element (602) being fixedly connected to the housing (1) respectively, the light-emitting element (601) and the photosensitive element (602) being arranged relative to each other so as to form a light path therebetween, the secondary passive gear (307) being provided with a plurality of strip-shaped through holes (603) equidistantly distributed along the circumference of the secondary passive gear (307), the movement path of the strip-shaped through holes (603) intersecting with the light path.

6. The joint motor component for an exoskeleton according to claim 1, characterized in that: The first electromagnetic sensor (7) and the second electromagnetic sensor (8) calculate the torque of the output shaft (302) using the following formula: ； Where T is the torque, is the torsion angle of the output shaft (302), obtained by the phase difference between the induced electromotive force signals at different parts of the two output shafts (302), G is the shear modulus of the material of the output shaft (302), is the polar moment of inertia of the cross section of the output shaft (302).

7. The joint motor component for an exoskeleton according to claim 3, characterized in that: The photoelectric sensor (6) is arranged at the outer edge end of the secondary passive gear (307) which is away from the secondary driving gear (304), the first electromagnetic sensor (7) is arranged at the outer edge end of the tertiary passive gear (308) which is away from the tertiary driving gear (305), and the second electromagnetic sensor (8) is arranged at the outer edge end of the test gear (312) which is adjacent to the tertiary passive gear (308).

8. The joint motor component for an exoskeleton according to claim 4, characterized in that: Bearings (311) are provided between the input shaft (301) and the housing (1), between the output shaft (302) and the housing (1), and between the second shaft sleeve (310) and the housing (1).

9. The joint motor component for an exoskeleton according to claim 1, characterized in that: The center line of the first mounting base (103), the center of the projection of the input shaft (301) on the first mounting base (103), and the center of the projection of the output shaft (302) on the second mounting base (313) are located on the same straight line.

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