Motor transmission mechanism and upper limb rehabilitation robot

Abstract

The utility model 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, and the torque sensor, at least part of the output piece and the supporting bearing are arranged in the containing cavity, so that 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 utility model 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 experience limited limb movement. To help them recover, rehabilitation robots can be used to assist with limb movement. For example, they can provide traction to help the patient move their limbs, or they can provide resistance, which the patient must overcome to strengthen their muscles.

[0003] Upper limb rehabilitation assistive robots primarily assist patients with upper limb rehabilitation training. The arm rests on an armrest, which is adjusted by a motor transmission mechanism. The motor transmission mechanism transmits power through a motor and, combined with transmission structures such as gears and timing belts, can produce rotational, swinging, and linear motion. When the motor transmission mechanism produces rotational or swinging motion, the motor needs to withstand a certain amount of torque. Current motor transmission mechanisms can withstand relatively low torque, are difficult to detect, and are bulky. Utility Model Content

[0004] The purpose of the embodiments of the present utility model 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 is large in 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 connected in transmission, 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 both 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 torque sensor detects the motor's output torque, facilitating more precise motor control. The motor and the outer ring of the support bearing are both fixed to the mounting structure. The mounting structure has a receiving cavity within which the torque sensor, at least a portion of the output member, and the support bearing are disposed. This makes the motor transmission mechanism more compact and reduces its size. Supporting the output member with the support bearing allows the output member to withstand greater torque and achieve a stronger load-bearing capacity.

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

[0008] In the above solution, direct installation of the motor and torque sensor may not be possible due to structural differences, size differences, specification differences, and installation spacing restrictions. A sensor adapter is required for transitional connection. Therefore, an indirect connection between the motor and torque sensor can be achieved by installing a sensor adapter.

[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 solution, the sensor adapter has a first annular mounting portion that is sleeved on the outer circumference of the output shaft and is suitable for connection to the output shaft. The sensor adapter also has a second annular mounting portion that is suitable for connection to the torque sensor. In this way, 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 stop plate and a first fixing member, wherein the stop plate is arranged at one end of the output shaft and can stop the first annular mounting portion, and the first fixing member passes through the stop plate and is connected to one end of the output shaft.

[0012] In the above solution, the stopper and the first fixing member enable axial positioning between the output shaft and the first annular mounting portion. The first annular mounting portion is sleeved onto the output shaft, with one end of the first annular mounting portion flush with one end of the output shaft. The stopper is fixed to the one end of the output shaft via the first fixing member, and the outer edge 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 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.

[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 solution, 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 and matched with the torque sensor, making the assembly of the first output part and the torque sensor easier.

[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 cover is provided at the open end, the opening structure is provided 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 that are separately arranged, which makes it easier to install the torque sensor, output member, etc. inside the accommodating cavity, and makes it easier to form an opening structure. An edge notch is set on the side of the first mounting member facing the second mounting member to form the above-mentioned opening structure.

[0022] Optionally, a receiving groove is provided 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 solution, a receiving groove is provided on the second mounting member so that the support bearing is accommodated inside the second mounting member. 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 utility model also provides an upper limb rehabilitation robot, comprising the above-mentioned motor transmission mechanism.

[0025] The aforementioned motor transmission mechanism includes a motor, a torque sensor, an output member, a support bearing, and a mounting structure. The torque sensor detects the motor's output torque, facilitating more precise motor control. The motor and the outer ring of the support bearing are both secured to the mounting structure, which includes a receiving cavity. The torque sensor, at least a portion of the output member, and the support bearing are positioned within the cavity, making the motor transmission mechanism more compact and reducing its size. Supporting the output member with the support bearing allows the output member to withstand greater torque and achieve 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 following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. 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 any creative work.

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

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

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

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

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

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

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

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

[0035] Figure 9 This is a three-dimensional structural diagram of the upper limb rehabilitation robot provided in an embodiment of the utility model.

[0036] Among them, the reference numerals in the figures 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 with reference to 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 on” or “disposed on” another element, it may 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 may be directly connected to the other element or indirectly connected to the other element.

[0041] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying 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 operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0043] A motor transmission mechanism transmits power through a motor. By combining the motor with gears, synchronous belts, and other transmission structures, it can produce rotational, oscillating, or linear motion. When the motor transmission mechanism produces rotational or oscillating motion, the motor must withstand a certain amount of torque. Current motor transmission mechanisms can only withstand relatively small torques, are difficult to detect, and are bulky.

[0044] In order to alleviate the above-mentioned technical problems, the present invention proposes a motor transmission mechanism 100, comprising 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 enabling more precise control of 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 also 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 refer to 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 a transmission manner. 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 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 , thereby transmitting the power of the motor 10 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 for precise 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 terminal component of the motor transmission mechanism 100. It can be connected to an end effector to achieve swinging motion, rotational motion, and other movements. Because the power output terminal of the motor 10, the torque sensor 30, and the output member 40 are sequentially connected, the output member 40 rotates synchronously with the power output terminal of the motor 10. This shortens the transmission chain, eliminates transmission backlash, and ensures smoother rotation of the output member 40.

[0050] The support bearing 50 supports the output member 40. Specifically, one axial end of the output member 40 is connected to and supported by the torque sensor 30, while 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. This provides support at both axial ends of the output member 40, increasing the load capacity of the output member 40. The support bearing 50 includes an inner ring and an outer ring. The inner ring is rotatable relative to the outer ring. The inner ring of the support bearing 50 is fixedly connected to the output member 40, while the outer ring of the support bearing 50 is fixedly connected to the mounting structure 60. Mounting the support bearing 50 on the mounting structure 60 provides better support for the output member 40.

[0051] The mounting structure 60 is the primary support structure for the motor transmission mechanism 100. The motor 10 and the support bearing 50 are both mounted on the mounting structure 60. Specifically, the fixed end (e.g., 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 includes a housing 601 and an opening structure 63 communicating with the housing 601. The torque sensor 30, at least a portion of the output member 40, and the support bearing 50 are disposed within the housing 601. A portion of the output member 40 is located within the housing 601 and is connected to the torque sensor 30. Another portion of the output member 40 extends through the opening 63 to the exterior of the housing 601. The structure of the output member 40 located outside the housing 601 can be connected to other actuators to implement different functions in different products.

[0052] When the motor transmission mechanism 100 is working, the motor 10 outputs 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 torque sensor 30 can detect the output torque of the motor 10, facilitating more precise control of the motor 10. The outer rings of the motor 10 and the support bearing 50 are both fixed to the mounting structure 60. The mounting structure 60 has a receiving cavity 601. The torque sensor 30, at least a portion of the output member 40, and the support bearing 50 are disposed within the receiving cavity 601, making the structure of the motor transmission mechanism 100 more compact and reducing its size. By supporting the output member 40 with the support bearing 50, the output member 40 can withstand greater torque and have a stronger load-bearing capacity.

[0054] In some embodiments of the present invention, please refer to Figures 2 to 5 The motor 10 and the torque sensor 30 are fixedly connected via 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 various factors, such as structural differences, size differences, specification differences, and installation spacing restrictions, the motor 10 and the torque sensor 30 may not be directly installed, requiring a sensor adapter 20 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, please refer to Figure 5The motor 10 has an output shaft 14, that is, the motor 10 has a rear output shaft with a raised 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 and second annular mounting portions 23 and 24. The first annular mounting portion 23 is sleeved around the outer circumference 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 for fixed connection to the output shaft 14, and the second annular mounting portion 24 is used for fixed connection to the torque sensor 30. The sensor adapter 20 achieves a fixed connection between the torque sensor 30 and the output shaft 14.

[0058] The sensor adapter 20 has a first annular mounting portion 23 that is 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 that 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 have an interference fit, thereby securing the two. The inner diameter of the first annular mounting portion 23 forms an interference fit with the outer diameter of the output shaft 14. Under the action of external forces, the first annular mounting portion 23 is sleeved on the output shaft 14 and is not easily removed 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 is capable of stopping 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 at which the stopper 26 is disposed). The stopper 26 and the first fixing member 27 enable axial positioning between the output shaft 14 and the first annular mounting portion 23 to be achieved. The first annular mounting portion 23 is sleeved on the output shaft 14, with one end of the first annular mounting portion 23 flush with one end of the output shaft 14. The stopper 26 is fixed to one end of the output shaft 14 via the first fixing member 27. The outer edge of the stopper 26 is larger than the diameter of the output shaft 14, enabling the stopper 26 to stop the end of the first annular mounting portion 23. A through hole is provided on the stop plate 26, and a threaded hole is provided at 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 realizing 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. At the same time, the motor transmission mechanism 100 further includes a stopper 26 and a first fixing member 27. The stopper 26 is provided at one end of the output shaft 14 and is capable of stopping 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. In this way, the 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 axially relative to the output shaft 14.

[0062] Optionally, the second annular mounting portion 24 is fixedly connected to the torque sensor 30 via a fixing member such as a screw. Specifically, both the second annular mounting portion 24 and the torque sensor 30 have connecting holes. The fixing member passes through the connecting hole in the torque sensor 30 and connects to the connecting hole in the second annular mounting portion 24, thereby fixing the second annular mounting portion 24 and the torque sensor 30.

[0063] Optionally, a positioning groove 28 is defined at one end of the second annular mounting portion 24 distal 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 distal from the transition portion 25 corresponds to the side of the second annular mounting portion 24 proximal to the torque sensor 30. The torque sensor 30 is at least partially positioned within the positioning groove 28. The inner circumferential wall of the positioning groove 28 mates with 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 achieving 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 can be understood as extending radially from the outer circumference 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. Because the inner diameters of the first annular mounting portion 23 and the second annular mounting portion 24 are different, a stepped shape is formed at the transition portion 25 to accommodate both the output shaft 14 and the torque sensor 30.

[0065] In some embodiments of the present invention, please refer to Figure 6 The motor 10 has an output flat shaft 11. The output flat shaft 11 has a smaller protruding 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 both the torque sensor 30 and the output parallel shaft 11. Specifically, a connection hole extending axially is defined on the third annular mounting portion 21, passing through both axial ends of the third annular mounting portion 21. Both the torque sensor 30 and the output parallel shaft 11 are provided with connection holes. The second fixing member 72 passes through the connection holes in the torque sensor 30 and the third annular mounting portion 21, and connects with the connection holes in the output parallel shaft 11, thereby securing the torque sensor 30, the sensor adapter 20, and the output parallel shaft 11. The connection holes in the torque sensor 30, the sensor adapter 20, and the output parallel shaft 11 are aligned with each other.

[0068] The positioning portion 22 extends axially from the outer edge of the third annular mounting portion 21. The inner circumferential wall of the positioning portion 22 mates with the outer circumferential wall of the output flat shaft 11. When the sensor adapter 20 is mounted on the output flat shaft 11, the end of the output flat shaft 11 extends into the area enclosed 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 radially aligned position, and the end surface of the third annular mounting portion 21 abuts against the end surface of the output flat shaft 11.

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

[0070] In some embodiments, see Figure 3 and Figure 4 The connection hole defined in the torque sensor 30 is a first connection hole, the connection hole defined in the third annular mounting portion 21 is a second connection hole 211, and the connection hole defined in the output flat shaft 11 is a third connection hole 12. There are multiple first connection holes, second connection holes 211, and third connection holes 12, each arranged in a circular pattern, providing a more stable connection between the torque sensor 30, the sensor adapter 20, and the output flat shaft 11.

[0071] In some embodiments, see Figure 6The output flat shaft 11 is provided with a raised shape, 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, please refer to Figure 1 、 Figure 2 and Figure 7 The output member 40 includes a first output portion 41 located within 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 radially positioning with the torque sensor 30. The torque sensor 30 and the inner ring of the support bearing 50 are both fixedly connected to the first output portion 41. The first output portion 41 located within 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 movement of the external actuator. The first output portion 41 has a positioning boss 412, which 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 and matched 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 facing the torque sensor 30, the fourth connecting hole 411 and the fifth connecting hole are facing each other. 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, facilitating installation.

[0079] In some embodiments, the fourth connection hole 411 is formed on the positioning boss 412 . The positioning boss 412 is located at the center of the first output portion 41 , facilitating the assembly and connection between the first output portion 41 and the torque sensor 30 .

[0080] In some embodiments of the present invention, please refer to 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 covers the open end. An 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 separate components. The first mounting member 61 defines the aforementioned accommodating cavity 601. One end of the first mounting member 61 is open, so that the accommodating cavity 601 is also open. The second mounting member 62 blocks this open end, reducing the exposed area of ​​the mounting structure 60. The motor 10 and the support bearing 50 are respectively fixed to 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 that are separately arranged, making it easier to install the torque sensor 30, the output member 40, etc. inside the accommodating cavity 601, and making it easier to form the opening structure 63. An edge notch is provided on the side of the first mounting member 61 facing the second mounting member 62 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 members; 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, and a ninth connecting hole 13 is provided on the fixed end (such as the shell) of the motor 10. 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. The sixth fixing member 76 passes through the connecting hole of the second mounting member 62 and connects with the connecting hole of the first mounting member 61, thereby fixing the first mounting member 61 and the second mounting member 62 to each other.

[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 via 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. The seventh fixing member 77 passes through the connecting holes on the support bearing 50 and connects to the connecting holes on the second mounting member 62, thereby fixing the second mounting member 62 and the outer ring of the support bearing 50 to each other.

[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 provided at 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 can allow disassembly tools such as a screwdriver to 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 the side facing the receiving cavity 601. The support bearing 50 is disposed within 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 circumferential wall of the receiving groove 621 matches the outer circumferential wall of the support bearing 50, achieving 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, ensuring that the support bearing 50 does not protrude from the second mounting member 62.

[0092] By providing 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 utility model also provides an upper limb rehabilitation robot 1000, please refer to Figure 9 The upper limb rehabilitation robot 1000 includes the motor transmission mechanism 100 of any of the aforementioned embodiments. The upper limb rehabilitation robot 1000 is used to guide or provide resistance to upper limb movement, thereby training the patient's muscles. The upper limb rehabilitation robot 1000 also includes an arm support 200, on which the arm can be placed and which is driven by the motor transmission mechanism 100.

[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 torque sensor 30 can detect the output torque of the motor 10, which facilitates more precise 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, making the structure of the motor transmission mechanism 100 more compact and reducing the volume. By supporting the output member 40 with the support bearing 50, the output member 40 can withstand greater 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 replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection 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 connected in a transmission manner, 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 receiving cavity and an opening structure connected to the receiving cavity, the torque sensor, at least part of the output member and the support bearing are arranged in the receiving 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 both fixed to the mounting structure.

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

3. The motor transmission mechanism according to claim 2, wherein: 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, wherein: The motor transmission mechanism further includes a stopper and a first fixing member. The stopper is provided 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, wherein: A positioning groove is formed on 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, wherein: 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, wherein: 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, wherein: 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 and cooperating with the torque sensor. The torque sensor and the inner ring of the support bearing are both fixedly connected to the first output part.

9. The motor transmission mechanism according to claim 1, wherein: 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 provided 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, wherein: A receiving groove is formed on a side of the second mounting member facing the receiving cavity. The support bearing is disposed in the receiving groove. 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: The invention comprises the motor transmission mechanism according to any one of claims 1 to 10.

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