Motor transmission mechanism and upper limb rehabilitation robot

Abstract

The invention provides a motor transmission mechanism and an upper limb rehabilitation robot, the motor transmission mechanism comprises a motor, a torque sensor, an output piece, a support bearing and a mounting structure, the torque sensor, the output piece and the inner ring of the support bearing are fixedly connected in sequence along the axial direction of the motor; the installation structure is provided with a containing cavity and an opening structure communicated with the containing cavity, the torque sensor, at least part of the output piece and the supporting bearing are arranged in the containing cavity, the output piece penetrates through the opening structure to the outside of the installation structure, and the motor and the outer ring of the supporting bearing are fixed to the installation structure. According to the motor transmission mechanism and the upper limb rehabilitation robot, the mounting structure is provided with the containing cavity, the torque sensor, at least part of the output piece and the supporting bearing are arranged in the containing cavity, the structure of the motor transmission mechanism is more compact, and the size is reduced. The output part is supported through the supporting bearing, so that the output part can bear larger torque, and the bearing capacity is higher.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical appliances, and more specifically, relates to a motor transmission mechanism and an upper limb rehabilitation robot. Background Art

[0002] After a stroke or other illness, patients may have limited limb movement ability. In order to help patients recover gradually, rehabilitation robots can be used to assist patients in limb movement. For example, rehabilitation robots can provide traction to pull patients' limb movement, or they can provide resistance, which patients need to overcome to strengthen their muscle training.

[0003] The upper limb rehabilitation assistive robot mainly assists the patient's upper limbs in rehabilitation training. The arm is placed on the arm bracket, and the position of the arm bracket is adjusted by the motor transmission mechanism. The motor transmission mechanism transmits power through the motor, and can output rotational motion, swinging motion, linear motion, etc. in combination with transmission structures such as gears and synchronous belts. When the motor transmission mechanism outputs rotational motion or swinging motion, the motor needs to withstand a certain torque. The torque that the current motor transmission mechanism can withstand is small, the torque cannot be detected, and the size of the motor transmission mechanism is large. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a motor transmission mechanism and an upper limb rehabilitation robot to solve the technical problems existing in the prior art that the motor transmission mechanism can withstand small torque, cannot detect torque, and has a large size.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a motor transmission mechanism, including a motor, a torque sensor, an output member, a support bearing and a mounting structure, wherein the motor, the torque sensor and the output member are sequentially transmission-connected, the torque sensor, the output member and the inner ring of the support bearing are sequentially fixedly connected along the axial direction of the motor, the mounting structure has a accommodating cavity and an opening structure connected to the accommodating cavity, the torque sensor, at least part of the output member and the support bearing are arranged in the accommodating cavity, the output member passes through the opening structure to the outside of the mounting structure, and the outer rings of the motor and the support bearing are fixed to the mounting structure.

[0006] In the above scheme, the motor transmission mechanism includes a motor, a torque sensor, an output member, a support bearing and a mounting structure. The output torque of the motor can be detected by the torque sensor, which is convenient for more accurate control of the motor. The outer rings of the motor and the support bearing are fixed to the mounting structure. The mounting structure has a receiving cavity. The torque sensor, at least part of the output member and the support bearing are arranged in the receiving cavity, so that the structure of the motor transmission mechanism is more compact and the volume is reduced. By supporting the output member with a support bearing, the output member can withstand a larger torque and have a stronger load-bearing capacity.

[0007] Optionally, the motor and the torque sensor are fixedly connected via a sensor adapter.

[0008] In the above scheme, due to structural differences, size differences, specification differences, installation spacing restrictions and other reasons, the motor and torque sensor may not be directly installed, and a sensor adapter is required for transitional connection. Therefore, by setting a sensor adapter, an indirect connection between the motor and the torque sensor can be achieved.

[0009] Optionally, the motor has an output shaft, and the sensor adapter includes a first annular mounting portion, a second annular mounting portion, and a transition portion connecting the first annular mounting portion and the second annular mounting portion, the first annular mounting portion is sleeved on the outer circumference of the output shaft, and the second annular mounting portion is fixedly connected to the torque sensor.

[0010] In the above scheme, the sensor adapter has a first annular mounting portion sleeved on the outer circumference of the output shaft, which is suitable for connection with the output shaft. The sensor adapter also has a second annular mounting portion, which is suitable for connection with the torque sensor, so that an indirect connection between the motor and the torque sensor is achieved through the sensor adapter.

[0011] Optionally, the motor transmission mechanism further includes a stopper and a first fixing member, wherein the stopper is disposed at one end of the output shaft and is capable of stopping the first annular mounting portion, and the first fixing member passes through the stopper and is connected to one end of the output shaft.

[0012] In the above scheme, the axial limit between the output shaft and the first annular mounting portion can be achieved by the stopper and the first fixing member. The first annular mounting portion is sleeved on the output shaft, and one end of the first annular mounting portion is flush with one end of the output shaft. The stopper is fixed to one end of the output shaft by the first fixing member, and the outer edge size of the stopper is larger than the diameter of the output shaft, so that the stopper can stop the end of the first annular mounting portion.

[0013] Optionally, a positioning groove is formed at one end of the second annular mounting portion away from the transition portion, and the torque sensor is arranged in the positioning groove.

[0014] In the above scheme, at least part of the torque sensor is located in the positioning groove, the inner circumferential wall of the positioning groove matches the outer circumferential wall of the torque sensor, and the bottom wall of the positioning groove abuts against one end of the torque sensor, thereby realizing radial positioning of the torque sensor and the first annular mounting portion.

[0015] Optionally, the motor has an output flat shaft, the sensor adapter includes a third annular mounting portion and a positioning portion axially extending from the third annular mounting portion, the second fixing member passes through the torque sensor and the third annular mounting portion and is connected to the output flat shaft, and the positioning portion is radially positioned and matched with the output flat shaft.

[0016] In the above scheme, when the connecting hole on the torque sensor and the connecting hole on the output flat shaft match each other, the relative position between the torque sensor and the output flat shaft can be adjusted by setting a sensor adapter. A positioning part can also be set on the sensor adapter to achieve radial positioning and matching of the sensor adapter and the output flat shaft, thereby facilitating the assembly of the sensor adapter and the output flat shaft.

[0017] Optionally, the third annular mounting portion is connected to both the torque sensor and the output flat shaft.

[0018] Optionally, the output member includes a first output part located in the accommodating cavity and a second output part located outside the accommodating cavity, the first output part has a positioning boss for radially positioning with the torque sensor, and the torque sensor and the inner ring of the support bearing are fixedly connected to the first output part.

[0019] In the above scheme, the first output part of the output member is fixedly connected to the torque sensor and the inner ring of the support bearing. The first output part has a positioning boss that can be radially positioned with the torque sensor, making it easier to assemble the first output part and the torque sensor.

[0020] Optionally, the mounting structure includes a first mounting member and a second mounting member, one end of the first mounting member is open, and the second mounting member covers the open end, the opening structure is arranged on the first mounting member, the motor is fixed to a side of the first mounting member away from the second mounting member, and the outer ring of the support bearing is fixed to the second mounting member.

[0021] In the above scheme, the mounting structure includes a first mounting member and a second mounting member which are separately arranged, so that it is easier to install a torque sensor, an output member, etc. inside the accommodating cavity, and it is easier to form an opening structure. An edge notch is set on the side of the first mounting member facing the second mounting member, thereby forming the above-mentioned opening structure.

[0022] Optionally, a receiving groove is formed on a side of the second mounting member facing the receiving cavity, the support bearing is arranged in the receiving groove, and the thickness of the support bearing is less than or equal to the depth of the receiving groove.

[0023] In the above scheme, by opening a receiving groove on the second mounting member, the support bearing is accommodated inside the second mounting member, and the support bearing does not protrude from the second mounting member, thereby avoiding interference between the support bearing and the first mounting member when the second mounting member is connected to the first mounting member.

[0024] The present invention also provides an upper limb rehabilitation robot, comprising the above-mentioned motor transmission mechanism.

[0025] The above-mentioned motor transmission mechanism includes a motor, a torque sensor, an output member, a support bearing and a mounting structure. The output torque of the motor can be detected by the torque sensor, which is convenient for more accurate control of the motor. The outer ring of the motor and the support bearing are fixed to the mounting structure. The mounting structure has a receiving cavity. The torque sensor, at least part of the output member and the support bearing are arranged in the receiving cavity, so that the structure of the motor transmission mechanism is more compact and the volume is reduced. By supporting the output member with a support bearing, the output member can withstand a larger torque and have a stronger load-bearing capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A three-dimensional structural diagram of a motor transmission mechanism provided in an embodiment of the present invention;

[0028] Figure 2 A cross-sectional view of a motor transmission mechanism provided by an embodiment of the present invention;

[0029] Figure 3 for Figure 2 A partial enlarged view of the middle A;

[0030] Figure 4 A three-dimensional structural diagram of a first sensor adapter provided by an embodiment of the present invention;

[0031] Figure 5 A cross-sectional view of a second sensor adapter provided by an embodiment of the present invention;

[0032] Figure 6 A three-dimensional structural diagram of a motor provided by an embodiment of the present invention;

[0033] Figure 7 A three-dimensional structural diagram of an output member provided by an embodiment of the present invention;

[0034] Figure 8 An exploded structural diagram of the installation structure provided by an embodiment of the present invention;

[0035] Fig. 9 This is a three-dimensional structural diagram of an upper limb rehabilitation robot provided in an embodiment of the present invention.

[0036] Among them, the reference numerals in the figure are:

[0037] 1000-Upper limb rehabilitation robot;

[0038] 100-motor transmission mechanism; 10-motor; 11-output flat shaft; 12-third connecting hole; 13-ninth connecting hole; 14-output shaft; 20-sensor adapter; 21-third annular mounting portion; 211-second connecting hole; 22-positioning portion; 23-first annular mounting portion; 24-second annular mounting portion; 25-transition portion; 26-stop plate; 27-first fixing member; 28-positioning groove; 30-torque sensor; 40-output member; 41-first output portion; 41 1-fourth connecting hole; 412-positioning boss; 413-sixth connecting hole; 42-second output part; 50-support bearing; 60-mounting structure; 601-accommodating chamber; 61-first mounting member; 611-eighth connecting hole; 62-second mounting member; 621-accommodating groove; 63-opening structure; 72-second fixing member; 73-third fixing member; 74-fourth fixing member; 75-fifth fixing member; 76-sixth fixing member; 77-seventh fixing member; 200-arm bracket. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0041] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0043] The motor transmission mechanism transmits power through the motor, and can output rotational motion, swinging motion, linear motion, etc. through the motor combined with gears, synchronous belts and other transmission structures. When the motor transmission mechanism outputs rotational motion or swinging motion, the motor needs to withstand a certain torque. The torque that the current motor transmission mechanism can withstand is small, the torque cannot be detected, and the size of the motor transmission mechanism is large.

[0044] In order to alleviate the above technical problems, the present invention proposes a motor transmission mechanism 100, including a motor 10, a torque sensor 30, an output member 40, a support bearing 50 and a mounting structure 60. The motor 10 drives the output member 40 to rotate, and the torque sensor 30 can detect the output torque of the motor 10, thereby more accurately controlling the motor 10. One end of the output member 40 is connected to the torque sensor 30, and the other end is supported by the support bearing 50. The support bearing 50 is mounted on the mounting structure 60. By supporting the output member 40 by the support bearing 50, the torque that the output member 40 can withstand can be increased, and the rotation of the output member 40 can be made smoother. At the same time, the torque sensor 30, at least part of the output member 40 and the support bearing 50 are arranged in the accommodating cavity 601 of the mounting structure 60, which can make the structure of the motor transmission mechanism 100 more compact and smaller in size.

[0045] See also Figures 1 to 8 , the motor transmission mechanism 100 and the upper limb rehabilitation robot 1000 provided in an embodiment of the present invention are described.

[0046] Please also read Figure 1 and Figure 2The motor transmission mechanism 100 includes a motor 10, a torque sensor 30, an output member 40, a support bearing 50 and a mounting structure 60. The motor 10, the torque sensor 30 and the output member 40 are sequentially connected in transmission, and the torque sensor 30, the output member 40 and the inner ring of the support bearing 50 are sequentially fixedly connected along the axial direction of the motor 10. For the convenience of description, the axial direction of the motor 10 and the direction parallel to the axial direction are referred to as "axial direction", and the radial direction of the motor 10 and the direction parallel to the radial direction are referred to as "radial direction".

[0047] The motor 10 is a power component of the motor transmission mechanism 100 . The motor 10 has a power output end capable of outputting rotational motion. The power output end of the motor 10 is fixedly connected to the torque sensor 30 , so that the power of the motor 10 can be transmitted to the torque sensor 30 .

[0048] The torque sensor 30 is used to detect the output torque of the motor 10. The user can directly read the output torque to facilitate accurate control of the motor 10. The torque sensor 30 is used to connect the power output end of the motor 10 and the output member 40 so that the power of the motor 10 is transmitted to the output member 40.

[0049] The output member 40 is the end member of the motor transmission mechanism 100, and the output member 40 can be connected to the end actuator to achieve swinging motion, rotational motion, etc. Since the power output end of the motor 10, the torque sensor 30 and the output member 40 are connected in sequence, the output member 40 rotates synchronously with the power output end of the motor 10, the transmission chain is short, there is no transmission gap, and the rotation of the output member 40 is smoother.

[0050] The support bearing 50 is used to support the output member 40. Specifically, one axial end of the output member 40 is connected to the torque sensor 30 and supported by the torque sensor 30, and the other axial end of the output member 40 is connected to the inner ring of the support bearing 50 and supported by the support bearing 50. In this way, both axial ends of the output member 40 are supported, which can increase the load that the output member 40 can withstand. The support bearing 50 includes an inner ring and an outer ring, and the inner ring can rotate relative to the outer ring. The inner ring of the support bearing 50 is fixedly connected to the output member 40, and the outer ring of the support bearing 50 is fixedly connected to the mounting structure 60, so that the support bearing 50 is installed on the mounting structure 60, which can better support the output member 40.

[0051] The mounting structure 60 is the main supporting structure of the motor transmission mechanism 100, and the motor 10 and the support bearing 50 are both mounted on the mounting structure 60. Specifically, the fixed end (such as the housing structure) of the motor 10 is fixed to the mounting structure 60, and the outer ring of the support bearing 50 is fixed to the mounting structure 60. The mounting structure 60 has a receiving cavity 601 and an opening structure 63 connected to the receiving cavity 601, and the torque sensor 30, at least part of the output member 40 and the support bearing 50 are arranged in the receiving cavity 601. Part of the output member 40 is located in the receiving cavity 601 and is connected to the torque sensor 30, and the other part of the output member 40 passes through the opening structure 63 to the outside of the receiving cavity 601. The structure of the output member 40 located outside the receiving cavity 601 can be connected to other actuators to achieve different functions in different products.

[0052] When the motor transmission mechanism 100 is working, the motor 10 outputs a rotational motion, and the torque sensor 30 , the output member 40 , and the inner ring of the support bearing 50 all rotate synchronously. The torque sensor 30 can detect the output torque of the motor 10 in real time.

[0053] The motor transmission mechanism 100 in the above embodiment includes a motor 10, a torque sensor 30, an output member 40, a support bearing 50 and a mounting structure 60. The output torque of the motor 10 can be detected by the torque sensor 30, so as to facilitate more accurate control of the motor 10. The outer rings of the motor 10 and the support bearing 50 are fixed to the mounting structure 60. The mounting structure 60 has a receiving cavity 601. The torque sensor 30, at least part of the output member 40 and the support bearing 50 are arranged in the receiving cavity 601, so that the structure of the motor transmission mechanism 100 is more compact and the volume is reduced. By supporting the output member 40 with the support bearing 50, the output member 40 can withstand a larger torque and have a stronger carrying capacity.

[0054] In some embodiments of the present invention, see Figures 2 to 5 The motor 10 and the torque sensor 30 are fixedly connected through the sensor adapter 20. One axial end of the sensor adapter 20 is fixedly connected to the power output end of the motor 10, and the other axial end of the sensor adapter 20 is fixedly connected to the torque sensor 30.

[0055] Due to structural differences, size differences, specification differences, installation spacing restrictions and other reasons between the motor 10 and the torque sensor 30, the motor 10 and the torque sensor 30 may not be directly installed, and a sensor adapter 20 is required for transitional connection. Therefore, by providing the sensor adapter 20, an indirect connection between the motor 10 and the torque sensor 30 can be achieved.

[0056] In some embodiments of the present invention, see Figure 5The motor 10 has an output shaft 14, that is, the motor 10 has a rear output shaft with a protruding arrangement. In this embodiment, the power output end of the motor 10 is the output shaft 14.

[0057] In some embodiments, see Figure 5 The sensor adapter 20 includes a first annular mounting portion 23, a second annular mounting portion 24, and a transition portion 25 connecting the first annular mounting portion 23 and the second annular mounting portion 24. The first annular mounting portion 23 is sleeved on the outer periphery of the output shaft 14, and the second annular mounting portion 24 is fixedly connected to the torque sensor 30. The first annular mounting portion 23 is used to be fixedly connected to the output shaft 14, and the second annular mounting portion 24 is used to be fixedly connected to the torque sensor 30. The torque sensor 30 and the output shaft 14 are fixedly connected by the sensor adapter 20.

[0058] The sensor adapter 20 has a first annular mounting portion 23 sleeved on the outer circumference of the output shaft 14, which is suitable for connection with the output shaft 14. The sensor adapter 20 also has a second annular mounting portion 24, which is suitable for connection with the torque sensor 30. In this way, an indirect connection between the motor 10 and the torque sensor 30 is achieved through the sensor adapter 20.

[0059] Optionally, the first annular mounting portion 23 is tightly connected to the output shaft 14, that is, the first annular mounting portion 23 and the output shaft 14 are interference-fitted to achieve mutual fixation of the two. The inner diameter of the first annular mounting portion 23 and the outer diameter of the output shaft 14 are in an interference-fit state. Under the action of external force, the first annular mounting portion 23 is sleeved on the output shaft 14 and is not easy to fall off from the output shaft 14. After installation, no other tight-fitting connectors are required.

[0060] Optionally, the motor transmission mechanism 100 further includes a stopper 26 and a first fixing member 27. The stopper 26 is disposed at one end of the output shaft 14 and can stop the first annular mounting portion 23. The first fixing member 27 passes through the stopper 26 and is connected to one end of the output shaft 14 (the end provided with the stopper 26). The axial limit between the output shaft 14 and the first annular mounting portion 23 can be achieved by the stopper 26 and the first fixing member 27. The first annular mounting portion 23 is sleeved on the output shaft 14, and one end of the first annular mounting portion 23 is flush with one end of the output shaft 14. The stopper 26 is fixed to one end of the output shaft 14 through the first fixing member 27, and the outer edge size of the stopper 26 is larger than the diameter of the output shaft 14, so that the stopper 26 can stop the end of the first annular mounting portion 23. A through hole is formed on the stop plate 26, and a threaded hole is formed on the end of the output shaft 14. The first fixing member 27 passes through the through hole of the stop plate 26 and is connected to the threaded hole of the output shaft 14, thereby pressing the stop plate 26 against the output shaft 14 and the first annular mounting portion 23, thereby achieving axial limitation of the output shaft 14 and the first annular mounting portion 23.

[0061] Optionally, the first annular mounting portion 23 is tightly connected to the output shaft 14, and the motor transmission mechanism 100 further includes a stopper 26 and a first fixing member 27. The stopper 26 is disposed at one end of the output shaft 14 and can stop the first annular mounting portion 23, and the first fixing member 27 passes through the stopper 26 and is connected to one end of the output shaft 14. In this way, the mutual connection between the first annular mounting portion 23 and the output shaft 14 can be made more stable, and the first annular mounting portion 23 can move relative to the output shaft 14 in the axial direction.

[0062] Optionally, the second annular mounting portion 24 is fixedly connected to the torque sensor 30 by a fixing member such as a screw. Specifically, both the second annular mounting portion 24 and the torque sensor 30 have a connecting hole, and the fixing member passes through the connecting hole on the torque sensor 30 and is connected to the connecting hole on the second annular mounting portion 24, so that the second annular mounting portion 24 and the torque sensor 30 can be fixedly connected.

[0063] Optionally, a positioning groove 28 is formed at one end of the second annular mounting portion 24 away from the transition portion 25, and the torque sensor 30 is disposed in the positioning groove 28. The end of the second annular mounting portion 24 away from the transition portion 25 is the side of the second annular mounting portion 24 close to the torque sensor 30. At least part of the torque sensor 30 is located in the positioning groove 28, the inner circumferential wall of the positioning groove 28 matches the outer circumferential wall of the torque sensor 30, and the bottom wall of the positioning groove 28 abuts against one end of the torque sensor 30, thereby realizing radial positioning of the torque sensor 30 and the second annular mounting portion 24.

[0064] Optionally, the first annular mounting portion 23 and the second annular mounting portion 24 are both cylindrical with open ends, the inner diameter of the first annular mounting portion 23 is smaller than the inner diameter of the second annular mounting portion 24, the transition portion 25 is annular, and the transition portion 25 can be understood as radially extending from the outer periphery of the first annular mounting portion 23 toward the second annular mounting portion 24 to connect the first annular mounting portion 23 and the second annular mounting portion 24. Since the inner diameter of the first annular mounting portion 23 and the inner diameter of the second annular mounting portion 24 are different, a step shape is formed at the transition portion 25 to match the output shaft 14 and the torque sensor 30 at the same time.

[0065] In some embodiments of the present invention, see Figure 6 The motor 10 has an output flat shaft 11, and the output flat shaft 11 has a smaller protrusion height and a larger diameter than the output shaft 14. In this embodiment, the power output end of the motor 10 is the output flat shaft 11.

[0066] In some embodiments, see Figures 2 to 4The sensor adapter 20 includes a third annular mounting portion 21 and a positioning portion 22 axially extended from the third annular mounting portion 21. The second fixing member 72 passes through the torque sensor 30 and the third annular mounting portion 21 and is connected to the output flat shaft 11. The positioning portion 22 is radially positioned and matched with the output flat shaft 11.

[0067] The third annular mounting portion 21 is connected to the torque sensor 30 and the output flat shaft 11 at the same time. Specifically, the third annular mounting portion 21 is provided with a connection hole extending along its axial direction, and the connection hole passes through the axial ends of the third annular mounting portion 21. The torque sensor 30 and the output flat shaft 11 are both provided with connection holes. The second fixing member 72 passes through the connection holes on the torque sensor 30 and the connection holes on the third annular mounting portion 21, and is connected to the connection holes on the output flat shaft 11, so that the torque sensor 30, the sensor adapter 20 and the output flat shaft 11 are fixedly connected to each other. Among them, the connection holes on the torque sensor 30, the connection holes on the sensor adapter 20 and the connection holes on the output flat shaft 11 are opposite to each other.

[0068] The positioning portion 22 is formed by extending the outer edge of the third annular mounting portion 21 in the axial direction, and the inner circumferential wall of the positioning portion 22 matches the outer circumferential wall of the output flat shaft 11. When the sensor adapter 20 is installed on the output flat shaft 11, the end of the output flat shaft 11 extends into the area surrounded by the positioning portion 22, the inner circumferential wall of the positioning portion 22 and the outer circumferential wall of the output flat shaft 11 form a radial positioning, and the end face of the third annular mounting portion 21 abuts against the end face of the output flat shaft 11.

[0069] When the connecting hole on the torque sensor 30 and the connecting hole on the output parallel shaft 11 match each other, the relative position between the torque sensor 30 and the output parallel shaft 11 can be adjusted by setting the sensor adapter 20. The positioning portion 22 can also be set on the sensor adapter 20 to achieve radial positioning and matching between the sensor adapter 20 and the output parallel shaft 11, thereby facilitating the assembly of the sensor adapter 20 and the output parallel shaft 11.

[0070] In some embodiments, see Figure 3 and Figure 4 The connection hole opened on the torque sensor 30 is the first connection hole, the connection hole opened on the third annular mounting portion 21 is the second connection hole 211, and the connection hole opened on the output flat shaft 11 is the third connection hole 12. The number of the first connection hole, the second connection hole 211 and the third connection hole 12 is multiple, and the multiple first connection holes, the multiple second connection holes 211 and the multiple third connection holes 12 are all arranged in an annular shape, so that the connection between the torque sensor 30, the sensor adapter 20 and the output flat shaft 11 is more stable.

[0071] In some embodiments, see Figure 6The output flat shaft 11 is arranged in a raised manner, so that the output flat shaft 11 extends into the area surrounded by the positioning portion 22 .

[0072] In some embodiments of the present invention, see Figure 1 , Figure 2 and Figure 7 The output member 40 includes a first output portion 41 located in the accommodating cavity 601 and a second output portion 42 located outside the accommodating cavity 601. The first output portion 41 has a positioning boss 412 for radial positioning with the torque sensor 30. The torque sensor 30 and the inner ring of the support bearing 50 are fixedly connected to the first output portion 41. The first output portion 41 located in the accommodating cavity 601 is connected to the torque sensor 30 and is driven to rotate by the torque sensor 30. The second output portion 42 is located outside the accommodating cavity 601 and can be connected to an external actuator, etc., to realize the rotation or swinging action of the external actuator. The first output portion 41 has a positioning boss 412, and the positioning boss 412 is radially positioned with the torque sensor 30. The radial positioning means that the positioning boss 412 and the torque sensor 30 are fixed to each other in the radial direction.

[0073] The first output part 41 of the output member 40 is fixedly connected to the torque sensor 30 and the inner ring of the support bearing 50. The first output part 41 has a positioning boss 412, which can be radially positioned with the torque sensor 30, making the assembly of the first output part 41 and the torque sensor 30 easier.

[0074] In some embodiments, see Figure 2 and Figure 7 A fourth connecting hole 411 is provided on the first output part 41, and a fifth connecting hole is provided on the torque sensor 30. When the first output part 41 is opposite to the torque sensor 30, the fourth connecting hole 411 and the fifth connecting hole are opposite to each other, and the third fixing member 73 passes through the fourth connecting hole 411 and is connected to the fifth connecting hole, thereby fixing the first output part 41 and the torque sensor 30 to each other.

[0075] Optionally, the fourth connection holes 411 and the fifth connection holes are both multiple in number, which can make the connection between the first output part 41 and the torque sensor 30 more stable. The multiple fourth connection holes 411 and the multiple fifth connection holes can be arranged in a ring shape.

[0076] In some embodiments, see Figure 2 and Figure 7A sixth connecting hole 413 is provided on the first output part 41, and a seventh connecting hole is provided on the inner ring of the support bearing 50. When the first output part 41 and the inner ring of the support bearing 50 are facing each other, the sixth connecting hole 413 and the seventh connecting hole are facing each other, and the fourth fixing member 74 passes through the sixth connecting hole 413 and is connected to the seventh connecting hole, thereby fixing the first output part 41 and the inner ring of the support bearing 50 to each other.

[0077] Optionally, the sixth connection hole 413 and the seventh connection hole are both multiple in number, which can make the connection between the first output part 41 and the inner ring of the support bearing 50 more stable. The multiple sixth connection holes 413 and the multiple seventh connection holes can be arranged in a ring shape.

[0078] In some embodiments, the fourth connection hole 411 is disposed near the center of the first output portion 41, and the sixth connection hole 413 is disposed near the edge of the first output portion 41. In this way, the fourth connection hole 411 and the sixth connection hole 413 can avoid each other, which is convenient for installation.

[0079] In some embodiments, the fourth connection hole 411 is opened on the positioning boss 412 , and the positioning boss 412 is located at the center of the first output part 41 , so as to facilitate the assembly connection between the first output part 41 and the torque sensor 30 .

[0080] In some embodiments of the present invention, see Figure 1 and Figure 8 The mounting structure 60 includes a first mounting member 61 and a second mounting member 62. One end of the first mounting member 61 is open, and the second mounting member 62 is covered at the open position. The opening structure 63 is provided on the first mounting member 61. The motor 10 is fixed to the side of the first mounting member 61 away from the second mounting member 62, and the outer ring of the support bearing 50 is fixed to the second mounting member 62. The first mounting member 61 and the second mounting member 62 are separately provided. The first mounting member 61 is provided with the above-mentioned accommodating cavity 601 formed inside. One end of the first mounting member 61 is open, so that the accommodating cavity 601 is also open. The second mounting member 62 is shielded at the open position, thereby reducing the open area of ​​the mounting structure 60. The motor 10 and the support bearing 50 are respectively fixed to the opposite sides of the mounting structure 60. Specifically, the motor 10 is fixed to the side of the first mounting member 61 away from the second mounting member 62, and the outer ring of the support bearing 50 is fixed to the side of the second mounting member 62 facing the accommodating cavity 601.

[0081] The mounting structure 60 includes a first mounting member 61 and a second mounting member 62 which are separately arranged, so that the torque sensor 30, the output member 40, etc. can be more easily installed inside the accommodating cavity 601, and the opening structure 63 can be more easily formed. An edge notch is arranged on the side of the first mounting member 61 facing the second mounting member 62, so as to form the above-mentioned opening structure 63.

[0082] When installing the motor transmission mechanism 100, first install the motor 10 to the first mounting member 61, then place the sensor adapter 20 and the torque sensor 30 in the pre-installed position, and fix the power output end of the motor 10, the sensor adapter 20, and the torque sensor 30 to each other through the fixing member; then fix the support bearing 50 to the second mounting member 62, and fix the output member 40 to the inner ring of the support bearing 50; finally, fix the second mounting member 62 to the first mounting member 61, and fix the output member 40 to the torque sensor 30.

[0083] In some embodiments, see Figure 2 and Figure 6 An eighth connecting hole 611 is provided on one side of the first mounting member 61, a ninth connecting hole 13 is provided on the fixed end (such as the housing) of the motor 10, and the fifth fixing member 75 passes through the eighth connecting hole 611 and is interconnected with the ninth connecting hole 13, thereby fixing the motor 10 on the first mounting member 61.

[0084] Optionally, there are multiple eighth connection holes 611 and ninth connection holes 13, and they are all distributed in a ring shape.

[0085] In some embodiments, see Figure 2 and Figure 8 The first mounting member 61 and the second mounting member 62 are connected to each other through the sixth fixing member 76. The first mounting member 61 and the second mounting member 62 are both provided with connecting holes, and the sixth fixing member 76 passes through the connecting hole on the second mounting member 62 and is connected to the connecting hole on the first mounting member 61, thereby achieving the mutual fixing of the first mounting member 61 and the second mounting member 62.

[0086] Optionally, there are multiple sixth fixing members 76 , and they are distributed in a ring shape.

[0087] In some embodiments, see Figure 2 and Figure 8 , the outer ring of the support bearing 50 and the second mounting member 62 are connected to each other through the seventh fixing member 77. The outer ring of the support bearing 50 and the second mounting member 62 are both provided with connecting holes, and the seventh fixing member 77 passes through the connecting hole on the support bearing 50 and is connected to the connecting hole on the second mounting member 62, thereby realizing the mutual fixation of the second mounting member 62 and the outer ring of the support bearing 50.

[0088] Optionally, there are multiple seventh fixing members 77 , and they are distributed in a ring shape.

[0089] In some embodiments, see Figure 8 At least a portion of the first mounting member 61 is cylindrical, and the opening structure 63 is disposed on the peripheral side of the first mounting member 61 , so that the output member 40 can extend from the peripheral side of the mounting structure 60 .

[0090] In some embodiments, see Figure 8 The second mounting member 62 is in a circular shape, and a disassembly tool such as a screwdriver can pass through the second mounting member 62 and extend into the accommodating cavity 601 to install and fix the support bearing 50 and the torque sensor 30.

[0091] In some embodiments, see Figure 2 and Figure 8 The second mounting member 62 has a receiving groove 621 on one side facing the receiving cavity 601, and the support bearing 50 is disposed in the receiving groove 621. The thickness of the support bearing 50 is less than or equal to the depth of the receiving groove 621. The receiving groove 621 is used to accommodate the support bearing 50. The inner peripheral wall of the receiving groove 621 matches the outer peripheral wall of the support bearing 50 to achieve radial positioning between the support bearing 50 and the second mounting member 62. The thickness of the support bearing 50 is less than or equal to the depth of the receiving groove 621, so that the support bearing 50 does not protrude from the second mounting member 62.

[0092] By opening a receiving groove 621 on the second mounting member 62, the support bearing 50 is accommodated inside the second mounting member 62, and the support bearing 50 does not protrude from the second mounting member 62, thereby avoiding interference between the support bearing 50 and the first mounting member 61 when the second mounting member 62 is connected to the first mounting member 61.

[0093] The present invention also provides an upper limb rehabilitation robot 1000, see Fig. 9 The upper limb rehabilitation robot 1000 includes the motor transmission mechanism 100 in any of the above embodiments. The upper limb rehabilitation robot 1000 is used to pull the patient's upper limb movement, or provide resistance for the movement of the upper limb, and train the patient's muscles. The upper limb rehabilitation robot 1000 also includes an arm bracket 200, and the arm can be placed on the arm bracket 200, and the motor transmission mechanism 100 drives the arm bracket 200 to move.

[0094] The upper limb rehabilitation robot 1000 provided by the present invention adopts the above-mentioned motor transmission mechanism 100, which includes a motor 10, a torque sensor 30, an output member 40, a support bearing 50 and a mounting structure 60. The output torque of the motor 10 can be detected by the torque sensor 30, so as to facilitate more accurate control of the motor 10. The outer rings of the motor 10 and the support bearing 50 are fixed to the mounting structure 60. The mounting structure 60 has a receiving cavity 601. The torque sensor 30, at least part of the output member 40 and the support bearing 50 are arranged in the receiving cavity 601, so that the structure of the motor transmission mechanism 100 is more compact and the volume is reduced. By supporting the output member 40 with the support bearing 50, the output member 40 can withstand a larger torque and have a stronger load-bearing capacity.

[0095] 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 and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A motor transmission mechanism, characterized in that: The invention comprises a motor, a torque sensor, an output member, a support bearing and a mounting structure, wherein the motor, the torque sensor and the output member are sequentially transmission-connected, the torque sensor, the output member and the inner ring of the support bearing are sequentially fixedly connected along the axial direction of the motor, the mounting structure comprises a accommodating cavity and an opening structure connected to the accommodating cavity, the torque sensor, at least part of the output member and the support bearing are arranged in the accommodating cavity, the output member passes through the opening structure to the outside of the mounting structure, and the outer rings of the motor and the support bearing are fixed to the mounting structure.

2. The motor transmission mechanism according to claim 1, characterized in that: The motor and the torque sensor are fixedly connected via a sensor adapter.

3. The motor transmission mechanism according to claim 2, characterized in that: The motor has an output shaft, and the sensor adapter includes a first annular mounting portion, a second annular mounting portion, and a transition portion connecting the first annular mounting portion and the second annular mounting portion, the first annular mounting portion is sleeved on the outer circumference of the output shaft, and the second annular mounting portion is fixedly connected to the torque sensor.

4. The motor transmission mechanism according to claim 3, characterized in that: The motor transmission mechanism also includes a stopper and a first fixing member. The stopper is arranged at one end of the output shaft and can stop the first annular mounting portion. The first fixing member passes through the stopper and is connected to one end of the output shaft.

5. The motor transmission mechanism according to claim 3, characterized in that: A positioning groove is formed at one end of the second annular mounting portion away from the transition portion, and the torque sensor is arranged in the positioning groove.

6. The motor transmission mechanism according to claim 2, characterized in that: The motor has an output flat shaft, the sensor adapter includes a third annular mounting portion and a positioning portion axially extended from the third annular mounting portion, the second fixing member passes through the torque sensor and the third annular mounting portion and is connected to the output flat shaft, and the positioning portion is radially positioned and matched with the output flat shaft.

7. The motor transmission mechanism according to claim 6, characterized in that: The third annular mounting portion is connected to both the torque sensor and the output flat shaft.

8. The motor transmission mechanism according to claim 1, characterized in that: The output member includes a first output portion located in the accommodating cavity and a second output portion located outside the accommodating cavity, the first output portion has a positioning boss for radially positioning with the torque sensor, and the torque sensor and the inner ring of the support bearing are both fixedly connected to the first output portion.

9. The motor transmission mechanism according to claim 1, characterized in that: The mounting structure includes a first mounting member and a second mounting member, one end of the first mounting member is open, and the second mounting member covers the open end, the opening structure is arranged on the first mounting member, the motor is fixed to a side of the first mounting member away from the second mounting member, and the outer ring of the support bearing is fixed to the second mounting member.

10. The motor transmission mechanism according to claim 9, characterized in that: A receiving groove is formed on a side of the second mounting member facing the receiving cavity, the support bearing is arranged in the receiving groove, and the thickness of the support bearing is less than or equal to the depth of the receiving groove.

11. An upper limb rehabilitation robot, characterized in that: It comprises the motor transmission mechanism as described in any one of claims 1-10.

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