A servo motor for rehabilitation robot joints

Abstract

The present invention discloses a servo motor for a joint of a rehabilitation robot, comprising a main body shell and a radiator. A ventilation disk is installed on the left output end side of the main body shell, the radiator is installed on the right bottom end of the main body shell, a mounting sleeve is fixed on the ventilation disk, a rotation direction control device is provided in the mounting sleeve, and a ventilation hole connected to the ventilation disk is provided on the right chassis of the mounting sleeve.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a servo motor for a joint of a rehabilitation robot. Background Art

[0002] Rehabilitation robots are a combination of industrial robots and medical robots. They assist patients during their rehabilitation treatment. With the development of intelligent technology, the application scenarios of rehabilitation robots are becoming increasingly extensive. Rehabilitation robots that assist patients with their joints can provide patients with a certain amount of auxiliary driving force, combining mechanical force with the patient's own force, thereby reducing the heavy load intensity borne by the joints during initial rehabilitation when relying solely on the patient's own training. However, since joint rehabilitation requires continuous reciprocating training, the existing servo motors used in the joints of rehabilitation robots cannot synchronize the changes in the joint movement of the patient and the rehabilitation robot during the process of reciprocating motion direction conversion, especially during the brief moments of joint reciprocating conversion. As a result, the direction of the force applied to the joint by both the patient and the rehabilitation robot deviates, affecting the recovery of the joint and even causing further damage to the joint.

[0003] Therefore, those skilled in the art provide a servo motor for a rehabilitation robot joint to solve the problems raised in the above background technology. Summary of the Invention

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solution: a servo motor for a rehabilitation robot joint, comprising a main body shell and a radiator, wherein a breathable disk is installed on the left output end side of the main body shell, and the radiator is installed on the right bottom end of the main body shell. A mounting sleeve is fixed on the breathable disk, a rotation direction control device is provided in the mounting sleeve, and an air hole connected to the breathable disk is provided on the right chassis of the mounting sleeve.

[0005] Furthermore, preferably, the rotation direction control device includes:

[0006] A rotating shaft, used for fixed assembly with the output shaft in the main body shell;

[0007] The rotation direction exchange system is connected to the inner wall of the mounting sleeve through a bearing ring. A mounting ring is coaxially fixed on the left side of the bearing ring, and a mounting hole is provided on the left side of the mounting ring.

[0008] The exchange control system is installed and connected to the inner wall of the installation sleeve through the second bearing ring.

[0009] Furthermore, as a preference, the rotation direction exchange system includes a rotating ring disk and a strip groove, the inner ring wall of the rotating ring disk is provided with a radial and circumferentially distributed column groove, an elastic top pressure piece is fixed on the column groove, and a locking block is provided at the other end of the elastic top pressure piece, and a convex strip is provided at the end of the locking block facing the rotating shaft, and a conical arc surface is provided on the inner side surface of the right end of the locking block close to the rotating shaft, and each of the convex strips corresponds to an embeddable strip groove, and the strip grooves are opened on the outer wall of the rotating shaft, and column grooves 2 are respectively provided on both sides of each column groove 1, and a guide column slides in the column groove 2, and the other end of the guide column is fixed on the locking block.

[0010] Further, as a preference, the exchange control system includes a second rotating ring disk, a third column groove distributed in a circumferential manner is provided on the left side of the second rotating ring disk, a load column slides in the third column groove, the other end of the load column is fixed to the right side of the load ring disk, the load ring disk and the second rotating ring disk are coaxially arranged, an expansion head is coaxially fixed to the left side of the load ring disk, the left end of the expansion head is provided with a chamfered surface, and an expander is also fixed to the left side of the second rotating ring disk, the output end of the expander is fixed to the right side of the load ring disk, and the chamfered surface has the same inclination angle as the cross-section of the conical arc surface;

[0011] An inner gear ring is fixed on the right side of the second rotating ring disk, and the inner gear ring is meshed with a slave gear arranged on one side of the mounting sleeve, and the slave gear is meshed with a gear ring sleeve fixed on the rotating shaft;

[0012] A locking ring 2 is also fixed on the left side of the load ring disk, and a locking ring 1 is provided on one side of the locking ring 2. The locking ring 1 is fixed in a side ring groove, and the side ring groove is opened on one side of the rotating ring disk.

[0013] Further, as a preference, the locking ring 1 includes an assembly ring piece 1 and a protrusion 1, the protrusion 1 is evenly distributed on the circumference and fixed on the assembly ring piece 1, and a matching cavity 1 is formed between adjacent protrusions 1; the locking ring 2 includes an assembly ring piece 2 and a protrusion 2, the protrusion 2 is evenly distributed on the circumference and fixed on the assembly ring piece 2, and a matching cavity 2 is formed between adjacent protrusions 2, and the matching cavity 1 and the protrusion 2 can be interlocked, and the matching cavity 2 and the protrusion 1 can be interlocked.

[0014] Furthermore, preferably, the side surface of the first protrusion and the side surface corresponding to the second protrusion are both provided with anti-slip strips.

[0015] Furthermore, preferably, air guide holes are provided on the outer ring wall of the mounting ring.

[0016] Furthermore, as a preference, a suction fan blade is provided on the outer end of the rotating shaft.

[0017] Compared with the prior art, the present invention provides a servo motor for a rehabilitation robot joint, which has the following beneficial effects:

[0018] In the present invention, the rotating shaft and the output shaft of the main body shell are fixedly assembled to rotate synchronously, a mounting ring is used as a connector with the external component to be rotated, and the setting structure of the rotation direction exchange system is controlled by the exchange control system so that it can rotate synchronously with or disengage from the rotating shaft, so that the direction of the external rotating component can be changed without braking the output shaft, thereby reducing the heat generated during the operation of the servo motor, and at the same time, the controllable accuracy of the change in the reciprocating motion direction of the driving robot is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic structural diagram of a servo motor for a rehabilitation robot joint according to the present invention;

[0020] Figure 2 This is a schematic diagram of the explosion structure of the rotation direction control device of the present invention;

[0021] Figure 3 It is an enlarged schematic diagram of the cross-sectional structure of the rotation direction control device of the present invention;

[0022] Figure 4 It is an enlarged schematic diagram of the cross-sectional structure of the rotation direction exchange system of the present invention;

[0023] Figure 5 Schematic diagram of the locking ring 1 and locking ring 2 of the present invention Figure 1 ;

[0024] Figure 6 Schematic diagram of the locking ring 1 and locking ring 2 of the present invention Figure 2 ;

[0025] Figure 7 It is an enlarged schematic diagram of the local structure of the locking ring 1 and the locking ring 2 of the present invention;

[0026] In the figure, 1, main body shell; 11, radiator; 12, ventilating plate; 2, mounting sleeve; 21, ventilating hole; 3, rotation direction control device; 31, rotating shaft; 311, strip groove; 312, suction fan blade; 32, rotation direction exchange system; 321, rotating ring plate 1; 322, side ring groove; 323, locking ring 1; 324, column groove 1; 325, elastic top pressure piece; 326, locking block; 327, conical arc surface; 328, column groove 2; 329, guide column; 3231, assembly ring piece 1; 3232, Bump one; 33. Mounting ring; 331. Mounting hole; 332. Air guide hole; 34. Bearing ring one; 35. Exchange control system; 351. Rotating ring disk two; 352. Retractor; 353. Load ring disk; 354. Expanding head; 355. Chamfered surface; 356. Locking ring two; 357. Slave gear; 358. Gear ring sleeve; 359. Column groove three; 3510. Load column; 3511. Inner gear ring; 3561. Assembly ring piece two; 3562. Bump two; 36. Bearing ring two; 37. Anti-slip strip. DETAILED DESCRIPTION

[0027] Reference Figure 1-7 The present invention provides a technical solution, a servo motor for a rehabilitation robot joint, comprising a main body shell 1 and a radiator 11. A breathable disk 12 is installed on the left output end side of the main body shell 1, and the radiator 11 is installed on the right bottom end of the main body shell 1. A mounting sleeve 2 is fixed on the breathable disk 12, and a rotation direction control device 3 is provided in the mounting sleeve 2, and an air hole 21 connected to the breathable disk 12 is provided on the right chassis of the mounting sleeve 2.

[0028] In this embodiment, the rotation direction control device 3 includes:

[0029] The rotating shaft 31 is used to be fixedly assembled with the output shaft in the main body shell 1. That is, after the rotating shaft and the output shaft in the main body shell 1 are fixedly assembled, they rotate synchronously;

[0030] The rotation exchange system 32 is mounted and connected to the inner wall of the mounting sleeve 2 via a bearing ring 34. A mounting ring 33 is coaxially fixed to the left side of the mounting ring 33. The left side of the mounting ring 33 is provided with a mounting hole 331. The mounting ring is used for fixed assembly with an external rotating component. The rotation exchange system is used to rotate synchronously with and disengage from the rotating shaft.

[0031] The exchange control system 35 is mounted on the inner wall of the mounting sleeve 2 through the second bearing ring 36, wherein the exchange control system is used to regulate whether the rotation exchange system and the rotating shaft are in a clamped state or a disengaged state.

[0032] In the above embodiment, the rotation direction exchange system 32 includes a rotating ring disk 321 and a strip groove 311. The inner ring wall of the rotating ring disk 321 is provided with a radial and circumferentially distributed column groove 324. An elastic top pressure piece 325 is fixed on the column groove 324. The other end of the elastic top pressure piece 325 is provided with a locking block 326. The end of the locking block 326 facing the rotating shaft 31 is provided with a convex strip. The inner side surface of the right end of the locking block 326 close to the rotating shaft 31 is provided with a conical arc surface 327, and each of the convex strips corresponds to There is an embeddable groove 311, which is opened on the outer wall of the rotating shaft 31. Each of the two sides of the column groove 1 324 is also provided with a column groove 2 328. A guide column 329 slides in the column groove 2 328, and the other end of the guide column 329 is fixed on the locking block 326. The matching structure of the guide column and the column groove 2 is used to guide the movement direction of the elastic top pressure piece and reduce the force strength of the elastic top pressure piece to ensure the smoothness of the movement of the elastic top pressure piece. Specifically, Figure 3-4 The elastic pressing piece is always in a compressed state, the locking block expands and moves outward, and the continuous compression of the elastic pressing piece causes the convex strip and the strip groove to disengage from each other, thereby causing the locking block to disengage from the rotating shaft. When the elastic pressing piece is reset, it presses the locking block to retract and move, and the convex strip fits with the outer wall of the rotating shaft until the convex strip meets the strip groove and is engaged under the action of the elastic pressing piece, so that the locking block and the rotating shaft are engaged as a whole, so that they can rotate synchronously with the rotating shaft.

[0033] In the above embodiment, the exchange control system 35 includes a second rotating ring disk 351, and a third column groove 359 is provided on the left side of the second rotating ring disk 351 in a circumferential distribution. A load column 3510 slides in the third column groove 359, and the other end of the load column 3510 is fixed to the right side of the load ring disk 353. The load ring disk 353 is coaxially arranged with the second rotating ring disk 351. An expansion head 354 is coaxially fixed to the left side of the load ring disk 353, and the left end of the expansion head 354 is provided with a chamfered surface 355. In addition, a retractor 352 is fixed to the left side of the second rotating ring disk 351. The retractor 352 is fixed to the right side of the load ring disk 353. The output end 2 is fixed to the right side of the load ring disc 353. The chamfered surface 355 has the same inclination angle as the cross-section of the conical arc surface 327. The matching structure of the load column and the column groove 3 is used to guide the axial movement of the load ring disc and reduce the force applied to the expander. Specifically, under the control and drive of the expander, the load ring disc and the expansion head are controlled to move axially. When the top of the expansion head moves continuously into the conical arc surface, the locking block can be expanded outward. When the expansion head moves continuously outward from the conical arc surface, the locking block will be retracted under the action of the elastic pressing member.

[0034] An inner gear ring 3511 is fixed to the right side of the second rotating ring disk 351. The inner gear ring 3511 meshes with a slave gear 357 provided on one side of the mounting sleeve 2. The slave gear 357 also meshes with a gear ring sleeve 358 fixed to the rotating shaft 31. In other words, the rotating shaft and the gear ring sleeve rotate synchronously. The gear ring sleeve drives the slave gear to rotate, and the slave gear again drives the inner gear ring to rotate. Therefore, the inner gear ring rotates in the opposite direction to the rotating shaft.

[0035] A locking ring 2 356 is also fixed to the left side of the load ring disk 353, and a locking ring 1 323 is provided on one side of the locking ring 2 356. The locking ring 1 323 is fixed in the side ring groove 322, and the side ring groove 322 is provided on one side of the rotating ring disk 1 321; that is, when the load ring disk and the expansion head move synchronously, for example, when the top of the expansion head continues to move into the conical arc surface, and when the convex strip is separated from the strip groove, at this time, the locking block 2 begins to gradually move toward the locking ring 1 to cooperate with each other, lock the locking ring 1, and form a whole, so that the locking ring 1 and the locking block 2 rotate synchronously, thereby changing the rotation direction of the mounting ring.

[0036] In the above embodiment, the locking ring 1 323 includes an assembly ring piece 1 3231 and a protrusion 1 3232. The protrusion 1 3232 is evenly distributed around the circumference and fixed on the assembly ring piece 1 3231. A first mating cavity 1 is formed between adjacent protrusions 1 3232. The locking ring 2 356 includes an assembly ring piece 2 3561 and a second protrusion 3562. The second protrusion 3562 is evenly distributed around the circumference and fixed on the assembly ring piece 2 3561. A second mating cavity 2 is formed between adjacent protrusions 2 3562. The mating cavity 1 and the protrusion 2 can be interlocked with each other, and the mating cavity 2 and the protrusion 1 can be interlocked with each other.

[0037] Specifically, combined Figure 7 As shown, the preparation method of bump 1 and bump 2 is to prepare a circular ring and two discs, and make a ray with an equal angle of 15° with its center on the plane where the upper surface is located, mark the oblique line 1 and oblique line 2 on the circular ring where the ray is located, make an oblique surface 1 with an angle of 60° to the upper surface through oblique line 1, and make an oblique surface 2 with an angle of 60° to the upper surface through oblique line 2, and use a cutting knife to cut along oblique surface 1 and oblique surface 2 in sequence to cut the circular ring to obtain bump 1 and bump 2, and then fix bump 1 evenly on one disc again, and fix bump 2 evenly on the other disc; and the protrusion of bump 1 has only one ridge line, and is installed and fixed on the rotating ring disk 1, and the protrusion of bump 2 has a certain flat end, which is installed on the load ring disk, which is beneficial for bump 2 to lock the rotating bump 1.

[0038] In this embodiment, the side of the first convex block 3232 and the side of the second convex block 3562 corresponding thereto are both provided with anti-slip strips 37, and the side where the anti-slip strips are located is the rotation direction of the rotation axis. Figure 5-6 As shown, the direction of rotation of the locking ring is clockwise, that is, Figure 3 When viewed from the right, the rotation direction of the rotating shaft is clockwise, thereby improving the smoothness of the engagement of the locking ring 1 and the locking ring 2, as well as the stability after engagement.

[0039] In this embodiment, an air guide hole 332 is provided on the outer ring wall of the mounting ring 33 .

[0040] In this embodiment, a suction fan blade 312 is provided on the outer end of the rotating shaft 31 to guide external air into the installation sleeve and the interior of the main body shell.

[0041] During the specific implementation, the assembled mounting sleeve and the rotation direction control device are assembled on the breathable disk, the output shaft in the main shell is fixedly matched with the rotating shaft, the mounting ring is fixedly assembled with the external rotating component, and the output shaft rotates unidirectionally in real time. When the rotation direction needs to be changed, it can be fed back to the telescope in the rotation direction control device, thereby controlling the rotation direction exchange system to change the rotation direction of the mounting ring, so that the output shaft does not need to stop the operation, and the rotation direction of the mounting ring can be changed, thereby reducing the heat generated during the operation of the servo motor and improving the controllable accuracy used to assist the reciprocating motion of the joint.

[0042] The above description is only a preferred specific embodiment of the invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A servo motor for a rehabilitation robot joint, comprising a main body shell (1) and a radiator (11), characterized in that: A ventilation plate (12) is installed on the left output end side of the main body shell (1), the radiator (11) is installed on the right bottom end of the main body shell (1), a mounting sleeve (2) is fixed on the ventilation plate (12), a rotation direction control device (3) is provided in the mounting sleeve (2), and a ventilation hole (21) connected to the ventilation plate (12) is provided on the right bottom plate of the mounting sleeve (2); The rotation direction control device (3) comprises: A rotating shaft (31) is used for fixedly assembling with the output shaft in the main body housing (1); The rotation direction exchange system (32) is connected to the inner wall of the mounting sleeve (2) through a bearing ring (34), and a mounting ring (33) is coaxially fixed on the left side thereof, and a mounting hole (331) is provided on the left side of the mounting ring (33); The exchange control system (35) is mounted and connected to the inner wall of the mounting sleeve (2) through the second bearing ring (36); The rotation direction exchange system (32) includes a rotating ring disk (321) and a strip groove (311). The inner ring wall of the rotating ring disk (321) is provided with a column groove (324) that is radially and circumferentially distributed. An elastic top pressure piece (325) is fixed on the column groove (324). The other end of the elastic top pressure piece (325) is provided with a locking block (326). The end of the locking block (326) facing the rotating shaft (31) is provided with a convex strip. The right end of the locking block (326) is provided with a protruding strip. The inner side surface close to the rotating shaft (31) is provided with a conical arc surface (327), and each of the convex strips corresponds to an embeddable strip groove (311), and the strip groove (311) is opened on the outer wall of the rotating shaft (31). The two sides of each of the column grooves (324) are also provided with column grooves (328), and a guide column (329) is slidable in the column grooves (328), and the other end of the guide column (329) is fixed on the locking block (326).

2. A servo motor for a rehabilitation robot joint according to claim 1, characterized in that: The exchange control system (35) includes a second rotating ring disk (351), the left side of the second rotating ring disk (351) is provided with a column groove (359) distributed in a circumferential manner, a load column (3510) slides in the column groove (359), the other end of the load column (3510) is fixed on the right side of the load ring disk (353), the load ring disk (353) and the second rotating ring disk (351) are coaxially arranged, an expansion head (354) is coaxially fixed on the left side of the load ring disk (353), the left end of the expansion head (354) is provided with a chamfered surface (355), and a retractor (352) is also fixed on the left side of the second rotating ring disk (351), the output end of the retractor (352) is fixed on the right side of the load ring disk (353), and the cross-sectional inclination angle of the chamfered surface (355) is the same as that of the conical arc surface (327); An inner gear ring (3511) is fixed on the right side of the second rotating ring disk (351), and the inner gear ring (3511) is meshed with a slave gear (357) arranged on one side of the mounting sleeve (2), and the slave gear (357) is meshed with a gear ring sleeve (358) fixed on the rotating shaft (31); A locking ring 2 (356) is also fixed on the left side of the load ring disk (353), and a locking ring 1 (323) is provided on one side of the locking ring 2 (356). The locking ring 1 (323) is fixed in a side ring groove (322), and the side ring groove (322) is opened on one side of the rotating ring disk 1 (321).

3. The servo motor for a rehabilitation robot joint according to claim 2, characterized in that: The locking ring 1 (323) includes an assembly ring piece 1 (3231) and a protrusion 1 (3232). The protrusion 1 (3232) is evenly distributed on the circumference and fixed on the assembly ring piece 1 (3231). A matching cavity 1 is formed between adjacent protrusions 1 (3232). The locking ring 2 (356) includes an assembly ring piece 2 (3561) and a protrusion 2 (3562). The protrusion 2 (3562) is evenly distributed on the circumference and fixed on the assembly ring piece 2 (3561). A matching cavity 2 is formed between adjacent protrusions 2 (3562). The matching cavity 1 and the protrusion 2 can be interlocked with each other, and the matching cavity 2 and the protrusion 1 can be interlocked with each other.

4. The servo motor for a rehabilitation robot joint according to claim 3, characterized in that: A side surface of the first protrusion (3232) and a side surface corresponding to the second protrusion (3562) are both provided with an anti-slip strip (37).

5. The servo motor for a rehabilitation robot joint according to claim 1, characterized in that: An air guide hole (332) is provided on the outer ring wall of the mounting ring (33).

6. The servo motor for a rehabilitation robot joint according to claim 1, characterized in that: The outer end of the rotating shaft (31) is provided with a suction fan blade (312).

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