Rotary power joint for rehabilitation training robot
By introducing a variety of monitoring components and limiting components into the joints of rehabilitation and training robots, the problems of inaccurate parameter acquisition and easy cable damage in the prior art are solved, and precise control and safety training are achieved.
Patent Information
- Application Number
- CN202421935583.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-09
- Publication Date
- 2025-08-12
- Estimated Expiration
- 2034-08-09
AI Technical Summary
The joints of existing rehabilitation training robots are difficult to accurately collect relevant parameters of patients' initial rehabilitation training, and the torque sensor cable is easily twisted, affecting parameter collection.
The rotational power joint design includes a base body, a driving member, a reduction unit, a mounting member and a monitoring component is adopted. The rotation position and torque are monitored through an absolute value encoder, an incremental encoder and a torque sensor, and combined with a limiting assembly to prevent excessive twisting of the cable.
Accurate control of patient rehabilitation training, avoid secondary injuries, and protect torque sensor cables, improving the reliability and safety of robot joints.
Smart Images
Figure CN223208666U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of rehabilitation equipment, in particular to a rotary power joint for a rehabilitation training robot. Background Art
[0002] Currently, most robotic joints used for rehabilitation training use harmonic reducers to drive torque sensors, allowing the sensors to collect torque parameters. However, patients' physical fitness is not very good in the early stages of rehabilitation training, so robotic joints that can accurately collect relevant operating parameters are needed to assist patients in training. This allows them to undergo rehabilitation training within a tolerable range and avoid secondary injuries. Existing robotic joints that only collect torque parameters are difficult to use for rehabilitation training for patients in the early stages of rehabilitation.
[0003] In addition, when the torque sensors in existing robot joints rotate coaxially with the harmonic reducer, the cables of most torque sensors have weak torsional deformation capabilities, which makes the cables easily broken during the rotation of the torque sensors, thereby affecting the torque parameters collected by the torque sensors. Utility Model Content
[0004] In order to solve the above technical problems and achieve at least one advantage of the present invention, the present invention provides a rotary power joint for a rehabilitation training robot, wherein the rotary power joint for the rehabilitation training robot comprises:
[0005] Base body;
[0006] a driving member, the driving member being disposed on the base body;
[0007] a reduction unit, the reduction unit being fixedly mounted on the base body and being provided with an input end and an output end, wherein the input end is driven and rotatably provided on the driving member;
[0008] a mounting member, the mounting member being driven and rotatably disposed at the output end of the reduction unit, and an end of the mounting member close to the output end being configured for mounting a training accessory;
[0009] The monitoring component includes a first monitoring member, wherein the first monitoring member is arranged on the mounting component, and the first monitoring member is provided with a first monitoring portion, and when the mounting component rotates, the first monitoring portion monitors the rotation position of the mounting component and generates a corresponding signal.
[0010] According to one embodiment of the present invention, the monitoring component also includes a second monitoring component, wherein the second monitoring component is arranged to be connected to the first monitoring component, and the second monitoring component is arranged on the driving component, and the second monitoring component is provided with a second monitoring part to monitor the driving component when the driving component is running and form a corresponding position signal.
[0011] According to one embodiment of the present invention, the monitoring assembly also includes a third monitoring component, which is fixedly mounted on the output end of the deceleration unit so as to rotate coaxially with the output end of the deceleration unit, and the third monitoring component is also provided with a third monitoring portion to monitor the torque size of the output end rotation and form a corresponding signal, and the third monitoring component is also provided at the output end of the deceleration unit and connected to the end of the mounting component, and a mounting portion is provided to install the training accessory.
[0012] According to one embodiment of the present invention, the third monitoring component is arranged on the peripheral side of the mounting portion to form at least one horizontal section, and the third monitoring component is arranged along the axial direction of the mounting portion to form a limiting groove at the end of the mounting portion to limit the rotation mode of the training accessory.
[0013] According to an embodiment of the present invention, the third monitoring component is arranged radially from the mounting portion to form at least one groove on each horizontal section, and each groove is connected to the outside to be engaged with the training accessory.
[0014] According to one embodiment of the present invention, the driving component includes a driving shaft, a rotor unit and a stator unit, wherein the driving shaft is rotatably connected to the base body, the rotor unit is arranged on the outer periphery of the driving shaft in a sleeve-type manner, and the driving shaft is arranged to rotate synchronously with the rotor unit, the stator unit is fixedly installed on the base body, and the stator unit also forms an installation space for installing the rotor unit, and the stator unit is arranged to generate a magnetic field when power is supplied to drive the rotor unit to rotate, the second monitoring component of the monitoring assembly is installed on the outer periphery of the driving shaft in a sleeve-type manner, and the input end of the deceleration unit is installed on the driving shaft.
[0015] According to one embodiment of the present utility model, the base body forms a channel, the driving shaft of the driving member is arranged to form an aisle, and the aisle is arranged to be connected to the channel of the base body when the driving shaft is connected to the base body, the deceleration unit is arranged to form a through-passage along the direction from the input end to the output end, and the through-passage is arranged to be connected to the aisle when the input end of the deceleration unit is connected to the driving shaft of the driving member, so that the channel, the aisle and the through-passage are connected to each other to form an accommodating channel.
[0016] According to one embodiment of the present invention, the mounting member is arranged to pass through the accommodating channel, and one end of the mounting member is connected to the third monitoring member, the other end of the mounting member is arranged to extend along the formation direction of the accommodating channel to be connected to the first monitoring member, and the mounting member is arranged to extend from one end to the other end to form a wire passing channel, and the wire passing channel is arranged to gather and guide the cable of the third monitoring member to pass through the mounting member.
[0017] According to one embodiment of the present invention, the rotary power joint for the rehabilitation training robot also includes a limiting assembly, the limiting assembly includes a blocked part and a blocking seat, wherein the blocked part is driven and rotatably installed on the third monitoring part to approach and move away from the blocking seat, the blocking seat is installed on the third monitoring part, and the blocking seat also extends to form a blocking part, the blocking part is arranged on the moving path of the blocked part, and abuts the blocked part when the blocked part approaches the blocking seat.
[0018] According to an embodiment of the present invention, the first monitoring component is implemented as an absolute encoder, the second monitoring component is implemented as an incremental encoder, and the third monitoring component is implemented as a torque sensor. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 A stereoscopic view of the rotary power joint for a rehabilitation training robot according to the present invention is shown.
[0020] Figure 2 for Figure 1 An enlarged view of the local structure of the rotary power joint of the rehabilitation training robot is shown.
[0021] Figure 3 The figure shows a structural diagram of the rotary power joint for the rehabilitation training robot according to the present invention at another angle.
[0022] Figure 4 A cross-sectional view of the rotary power joint for a rehabilitation training robot according to the present invention is shown.
[0023] Figure 5 The diagram shows the structure of the rotary power joint of the rehabilitation training robot in another state according to the present invention. DETAILED DESCRIPTION
[0024] The following description is intended to disclose the present invention and enable those skilled in the art to implement the present invention. The preferred embodiments described below are provided for illustrative purposes only, and those skilled in the art will readily appreciate other obvious variations. The basic principles of the present invention as defined in the following description may be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.
[0025] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, which 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 operated in a specific orientation. Therefore, the above terms cannot be understood as limiting the present invention.
[0026] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the elements may be multiple, and the term "one" should not be understood as a limitation on the quantity.
[0027] refer to Figures 1 to 5 According to a preferred embodiment of the present invention, a rotary power joint for a rehabilitation training robot will be described in detail below. The rotary power joint for a rehabilitation training robot includes a base body 10, a driving component 20, a monitoring component 30, a reduction unit 40 and a mounting component 50, wherein the driving component 20 is arranged on the base body 10 to drive the reduction unit 40.
[0028] Specifically, the deceleration unit 40 is fixedly mounted on the base body 10 and is provided with an input end and an output end, wherein the input end is driven and rotatably disposed on the driving member 20. The output end is configured to drive the mounting member 50 to rotate synchronously.
[0029] Preferably, the reduction unit 40 is implemented as a harmonic reducer.
[0030] The monitoring assembly 30 includes a first monitoring component 31, wherein the first monitoring component 31 is arranged on the mounting member 50, and the first monitoring component 31 is provided with a first monitoring portion, and when the mounting member 50 rotates, the first monitoring portion monitors the rotation position of the mounting member 50 and generates a corresponding signal.
[0031] An end of the mounting member 50 close to the output end of the reduction unit 40 is configured to be mounted with a training accessory.
[0032] It will be understood by those skilled in the art that when the mounting member 50 is driven to rotate, the training accessories mounted on the mounting member 50 are driven to rotate along the rotation direction of the mounting member 50. At this time, the first monitoring component 31 monitors the rotation position of the mounting member 50 and generates a corresponding signal to transmit to the control end to know the rotation position of the training accessories, thereby facilitating the patient to accurately control the rotation position of the training accessories and facilitate patient training.
[0033] Furthermore, the monitoring assembly 30 also includes a second monitoring component 32 and a third monitoring component 33, wherein the second monitoring component 32 is configured to be connected to the first monitoring component 31, and the second monitoring component 32 is provided on the drive member 20, and the second monitoring component 32 is provided with a second monitoring portion to monitor the drive member 20 when the drive member 20 is in operation and generate a corresponding position signal. The third monitoring component 33 is fixedly mounted on the output end of the reduction unit 40 to rotate coaxially with the output end of the reduction unit 40, and the third monitoring component 33 is also provided with a third monitoring portion to monitor the torque of the output end rotation and generate a corresponding signal. In addition, the third monitoring component 33 is also provided at the output end of the reduction unit 40 and connected to one end of the mounting component 50, and the third monitoring component 33 is also provided with a mounting portion 331 for mounting training accessories.
[0034] Those skilled in the art will appreciate that when the driving member 20 is operated to drive the reduction unit 40 to rotate, the third monitoring member 33 monitors the torque of the reduction unit 40 and generates a corresponding torque signal to transmit to the control end. At this time, the second monitoring member 32 monitors the rotation process of the driving end of the driving member 20 and generates corresponding position signals such as the rotation angle and position to transmit to the control end. At the same time, the first monitoring member 31 monitors the position of the mounting member 50 after being rotated by the driving member 20 and generates corresponding position signals such as the rotation angle and position to transmit to the control end, so that the control end can accurately obtain information about the rotation of the third monitoring member 33. In other words, after receiving the signals transmitted by the first monitoring member 31, the second monitoring member 32, and the third monitoring member 33, the control end can accurately control the operating position parameters of the third monitoring member 33, the operating position parameters of the driving end of the driving member 20, and the torque parameters of the reduction unit 40.
[0035] In this way, the rotary power joint used for the rehabilitation training robot can accurately control the training accessories installed on the third monitoring component 33 through the first monitoring component 31, the second monitoring component 32 and the third monitoring component 33, such as the rotation angle, position, etc. of the training accessories, so that the training accessories can be used for patient safety training without causing secondary damage to the patient, thereby better realizing human-computer interaction.
[0036] Preferably, the third monitoring member 33 is arranged on the circumferential side of the mounting portion 331 to form at least one horizontal section, and the third monitoring member 33 is arranged along the axial direction of the mounting portion 331 to form a limiting groove 3301 at the end of the mounting portion 331 to limit the rotation of the training accessory. It is understood that when the training accessory is installed on the mounting portion 331, the horizontal section fits and abuts against the inner wall of the training accessory, and the inner wall forming the limiting groove 3301 also fits and abuts against the inner wall of the training accessory, thereby preventing the training accessory from rotating relative to the mounting portion 331 along the axial direction of the mounting portion 331.
[0037] As a variation, the third monitoring component 33 is arranged along the axial direction of the mounting portion 331 to form a convex portion at the end of the mounting portion 331 to limit the rotation of the training accessory.
[0038] Furthermore, the third monitoring component 33 is arranged radially from the mounting portion 331 to form at least one groove 3302 in each horizontal section, and each groove 3302 is connected to the outside world to be engaged with the engaging portion of the training accessory, thereby preventing the training accessory from detaching from the mounting portion 331 along the axial direction of the mounting portion 331.
[0039] As a variation, the third monitoring component 33 is arranged to extend outward from the radial direction of the mounting portion 331 in each horizontal section to form at least one protrusion, and each of the protrusions is arranged to be able to be snapped into the snap-in groove of the training accessory, so as to prevent the training accessory from detaching from the mounting portion 331 along the axial direction of the mounting portion 331.
[0040] Preferably, the first monitoring component 31 is implemented as an absolute encoder, the second monitoring component 32 is implemented as an incremental encoder, and the third monitoring component 33 is implemented as a torque sensor.
[0041] Specifically, the drive member 20 includes a drive shaft 21, a rotor unit 22, and a stator unit 23, wherein the drive shaft 21 is rotatably connected to the base body 10. The rotor unit 22 is arranged on the outer periphery of the drive shaft 21 in a sleeve-type manner, and the drive shaft 21 is configured to rotate synchronously with the rotor unit 22. The stator unit 23 is fixedly mounted on the base body 10, and the stator unit 23 also forms an installation space for installing the rotor unit 22. The stator unit 23 is configured to generate a magnetic field when powered to drive the rotor unit 22 to rotate.
[0042] It should be noted that when the stator unit 23 is energized to drive the rotor unit 22 to rotate, the drive shaft 21 is driven to rotate along the axial direction of the rotor unit 22 , thereby forming the drive component 20 into a frameless motor.
[0043] It should be noted that the second monitoring member 32 of the monitoring assembly 30 is mounted on the outer periphery of the drive shaft 21 of the drive member 20 in a sleeve-type manner. The input end of the reduction unit 40 is mounted on the drive shaft 21 of the drive member 20 .
[0044] In one embodiment, the base body 10 forms a channel 101. Accordingly, the drive shaft 21 of the drive member 20 is configured to form a passage 2101, and the passage 2101 is configured to be connected to the channel 101 of the base body 10 when the drive shaft 21 is connected to the base body 10. Accordingly, the reduction unit 40 is configured to form a through passage 401 along the direction from the input end to the output end, and the through passage 401 is configured to be connected to the passage 2101 when the input end of the reduction unit 40 is connected to the drive shaft 21 of the drive member 20, so that the channel 101, the passage 2101, and the through passage 401 are interconnected to form an accommodating channel.
[0045] It can be understood that, in the above embodiment, while the third monitoring component 33 is installed at the output end of the deceleration unit 40, the third monitoring component 33 is also located at one port of the accommodating channel. Thus, the cable of the third monitoring component 33 can be guided along the formation direction of the accommodating channel and pass from one port to another port of the accommodating channel, thereby avoiding that the cable of the third monitoring component 33 is exposed after the third monitoring component 33 is installed with the deceleration unit 40, which is inconvenient to organize.
[0046] Preferably, the mounting member 50 is arranged to pass through the accommodating channel, and one end of the mounting member 50 is connected to the third monitoring member 33, and the other end of the mounting member 50 is arranged to extend along the formation direction of the accommodating channel to be connected to the first monitoring member 31. In addition, the mounting member 50 is arranged to extend from one end to the other end to form a wire passage 501, and the wire passage 501 is arranged to gather and guide the cable of the third monitoring member 33 to pass through the mounting member 50, thereby preventing the inner wall forming the passage 2101 and the inner wall forming the through-passage 401 from wearing each other with the cable of the third monitoring member 33.
[0047] It is worth mentioning that, compared with the manner in which the mounting member 50 is arranged at other positions, when the mounting member 50 is arranged at the accommodating channel, the overall structure of the rotary power joint for the rehabilitation training robot is compact and the occupied space is reduced.
[0048] Preferably, the mounting member 50 is arranged away from the inner wall forming the channel 101, the inner wall forming the aisle 2101 and the inner wall forming the through-passage 401, so as to prevent the mounting member 50 from obstructing the operation of the drive shaft 21 and the reduction unit 40.
[0049] In addition, the rotary power joint for the rehabilitation training robot also includes a limit component 60, which is used to limit the rotation stroke of the output end of the deceleration unit 40 to prevent the output end rotation stroke from being too long, causing the cable of the third monitoring component 33 to be excessively twisted and deformed, or even broken.
[0050] In one embodiment, the limiting assembly 60 includes a blocked member 61 and a blocking seat 62, wherein the blocked member 61 is driven and rotatably mounted on the third monitoring member 33 to move closer to and away from the blocking seat 62. The blocking seat 62 is mounted on the third monitoring member 33, and the blocking seat 62 further extends to form a blocking portion 621. The blocking portion 621 is disposed on the moving path of the blocked member 61 and abuts against the blocked member 61 when the blocked member 61 approaches the blocking seat 62.
[0051] It can be understood that when the third monitoring component 33 rotates coaxially with the deceleration unit 40, the blocked component 61 is driven to rotate in a direction consistent with the rotation direction of the third monitoring component 33 until the blocked component 61 approaches and abuts against the blocking portion 621 of the blocking seat 62. As a result, the blocked component 61 is blocked and does not move, thereby limiting the rotation stroke of the third monitoring component 33, thereby preventing the cable of the third monitoring component 33 from being excessively twisted and deformed.
[0052] In another embodiment, the limiting assembly 60 includes the blocked member 61 and the blocking seat 62, wherein the blocked member 61 is mounted on the third monitoring member 33. Correspondingly, the blocking seat 62 is driven and rotatably mounted on the third monitoring member 33, and the blocking seat 62 extends to form the blocking portion 621, and when the third monitoring member 33 drives the blocking seat 62, the blocking portion 621 is driven to approach and move away from the blocked member 61. In addition, the blocked member 61 is also arranged on the moving path of the blocking portion 621 to abut against the blocking portion 621, thereby, the blocking seat 62, which is driven and rotated, stops moving due to the blocking effect of the blocked member 61, thereby preventing the cable of the third monitoring member 33 from being excessively twisted and deformed.
[0053] Those skilled in the art will appreciate that the embodiments of the present invention described above and shown in the accompanying drawings are provided for illustrative purposes only and do not limit the present invention. The advantages of the present invention have been fully and effectively realized. The functional and structural principles of the present invention have been demonstrated and illustrated in the embodiments. Any variations or modifications may be made to the embodiments of the present invention without departing from the principles described.
Claims
1. A rotary power joint for a rehabilitation training robot, characterized in that: The rotary power joint for the rehabilitation training robot includes: Base body; a driving member, the driving member being disposed on the base body; a reduction unit, the reduction unit being fixedly mounted on the base body and being provided with an input end and an output end, wherein the input end is driven and rotatably provided on the driving member; a mounting member, the mounting member being driven and rotatably disposed at the output end of the reduction unit, and an end of the mounting member close to the output end being configured for mounting a training accessory; The monitoring component includes a first monitoring member, wherein the first monitoring member is arranged on the mounting component, and the first monitoring member is provided with a first monitoring portion, and when the mounting component rotates, the first monitoring portion monitors the rotation position of the mounting component and generates a corresponding signal.
2. The rotary power joint for a rehabilitation training robot according to claim 1, characterized in that: The monitoring component also includes a second monitoring component, wherein the second monitoring component is arranged to be connected to the first monitoring component, and the second monitoring component is arranged on the driving component, and the second monitoring component is provided with a second monitoring part to monitor the driving component when the driving component is running and form a corresponding position signal.
3. The rotary power joint for a rehabilitation training robot according to claim 2, characterized in that: The monitoring assembly also includes a third monitoring component, which is fixedly mounted on the output end of the reduction unit so as to rotate coaxially with the output end of the reduction unit. The third monitoring component is also provided with a third monitoring portion to monitor the torque of the output end rotation and form a corresponding signal. The third monitoring component is also provided at the output end of the reduction unit and connected to the end of the mounting component, and a mounting portion is provided to install the training accessory.
4. The rotary power joint for a rehabilitation training robot according to claim 3, characterized in that: The third monitoring component is arranged on the peripheral side of the mounting portion to form at least one horizontal section, and the third monitoring component is arranged along the axial direction of the mounting portion to form a limiting groove at the end of the mounting portion to limit the rotation mode of the training accessory.
5. The rotary power joint for a rehabilitation training robot according to claim 4, characterized in that: The third monitoring component is arranged radially from the mounting portion to form at least one groove on each horizontal section, and each groove is connected to the outside to be engaged with the training accessory.
6. The rotary power joint for a rehabilitation training robot according to claim 5, characterized in that: The driving component includes a driving shaft, a rotor unit and a stator unit, wherein the driving shaft is rotatably connected to the base body, the rotor unit is arranged on the outer periphery of the driving shaft in a sleeve-type manner, and the driving shaft is arranged to rotate synchronously with the rotor unit, the stator unit is fixedly installed on the base body, and the stator unit also forms an installation space for installing the rotor unit, and the stator unit is configured to generate a magnetic field when powered to drive the rotor unit to rotate, the second monitoring component of the monitoring assembly is installed on the outer periphery of the driving shaft in a sleeve-type manner, and the input end of the reduction unit is installed on the driving shaft.
7. The rotary power joint for a rehabilitation training robot according to claim 6, characterized in that: The base body forms a channel, the driving shaft of the driving member is arranged to form an aisle, and the aisle is arranged to be connected to the channel of the base body when the driving shaft is connected to the base body, the deceleration unit is arranged to form a through-channel along the direction from the input end to the output end, and the through-channel is arranged to be connected to the aisle when the input end of the deceleration unit is connected to the driving shaft of the driving member, so that the channel, the aisle and the through-channel are connected to each other to form an accommodating channel.
8. The rotary power joint for a rehabilitation training robot according to claim 7, characterized in that: The mounting member is arranged to pass through the accommodating channel, and one end of the mounting member is connected to the third monitoring member, the other end of the mounting member is arranged to extend along the formation direction of the accommodating channel to be connected to the first monitoring member, and the mounting member is arranged to extend from one end to the other end to form a wire passing channel, and the wire passing channel is arranged to gather and guide the cable of the third monitoring member to pass through the mounting member.
9. The rotary power joint for a rehabilitation training robot according to claim 8, characterized in that: The rotary power joint for the rehabilitation training robot also includes a limiting component, which includes a blocked part and a blocking seat, wherein the blocked part is driven and rotatably installed on the third monitoring part to approach and move away from the blocking seat, the blocking seat is installed on the third monitoring part, and the blocking seat also extends to form a blocking part, which is arranged on the moving path of the blocked part and abuts against the blocked part when the blocked part approaches the blocking seat.
10. The rotary power joint for a rehabilitation training robot according to claim 9, characterized in that: The first monitoring component is implemented as an absolute encoder, the second monitoring component is implemented as an incremental encoder, and the third monitoring component is implemented as a torque sensor.