Joint power bilateral output structure

Abstract

The application provides a joint power double-side output structure, characterized in that the joint power double-side output structure comprises a power element, a right-angle converter, the right-angle converter comprises a connecting shaft, the right-angle converter is installed on the power element to drive the connecting shaft to rotate, and two output heads are respectively installed on two sides of the connecting shaft to simultaneously realize double-side output. Through the joint power double-side output structure, the problem of rotation gap is solved, and the training experience is improved.

Description

Technical Field

[0001] This utility model relates to the field of medical devices, and more specifically, to a joint power output structure with both sides. Background Technology

[0002] In existing joint power output structures, a single-sided output method is typically used, with transmission achieved through keyway engagement. However, this structure has the following problems:

[0003] Limitations of keyway fits: While interference fits can reduce clearance, they significantly increase the difficulty of disassembly and assembly. Conversely, clearance fits, while facilitating disassembly and assembly, can cause gaps during joint rotation, affecting training or operational accuracy and user experience.

[0004] Limitations of application scenarios: In some application scenarios that require dual-sided power output, the single-sided output structure may not meet the requirements, limiting its application in more complex or demanding situations.

[0005] For example, Chinese patent CN202111006687.6 discloses a joint device and a robot with the joint device. The joint device can perform bilateral transmission on the end of the robot's robotic arm, especially by means of bilateral transmission of a double-ring four-bar linkage, to achieve accurate, reliable and efficient driving of the end of the robotic arm. It is also robust, reliable and easy to modularize its components, which facilitates subsequent disassembly, replacement and maintenance.

[0006] This type of joint dynamic structure also has other problems, such as structural redundancy, high transmission damping, and high rotational inertia. These problems, to some extent, limit the performance and application range of the joint dynamic output structure.

[0007] Existing joint power output structures are mostly single-sided, and the transmission structure often uses keyway connections. In practical use, if an interference fit is used, the structure is difficult to disassemble and assemble. If a clearance fit is used, the clearance will cause joint rotational play, affecting the training experience. To address these problems, this invention provides a new joint power output structure with dual-sided power output, solving the rotational play problem and improving the training experience. Furthermore, dual-sided output allows for a wider range of application scenarios. Utility Model Content

[0008] This utility model provides a joint power output structure on both sides to at least solve the problems in related technologies.

[0009] According to one embodiment of the present invention, a joint power dual-sided output structure is provided, comprising: a power component; a right-angle converter, the right-angle converter including a connecting shaft, the right-angle converter being mounted on the power component to drive the connecting shaft to rotate; and two output heads, the two output heads being respectively mounted on both sides of the connecting shaft to achieve simultaneous dual-sided output.

[0010] With the above solution, the power component is the power source of the entire structure. The symmetrical output on both sides can effectively balance the power distribution on both sides, which is particularly suitable for application scenarios that require high precision and high stability, such as robot joints and rehabilitation training equipment.

[0011] According to one embodiment of the present invention, the power component includes a motor, a reducer, and a mounting base, wherein the motor is mounted on the reducer, the end of the reducer away from the motor is mounted on the mounting base, and the end of the mounting base away from the reducer is mounted on the right-angle converter.

[0012] With the above scheme, when the motor rotates, its power is transmitted to the connecting plate after the speed and torque are adjusted by the reducer. The connecting plate transmits the power to the right-angle converter, and the right-angle gear in the right-angle gearbox converts the input power into vertical rotational motion, which is then transmitted to two symmetrically mounted output heads through the connecting shaft.

[0013] According to one embodiment of the present invention, the power component further includes a connecting plate and a torque sensor. The connecting plate is mounted on the reducer, and the torque sensor is mounted on the connecting plate. The connecting plate and the torque sensor are disposed within the mounting base.

[0014] By employing the above-mentioned method, and through real-time monitoring of output torque using a torque sensor, precise control and feedback adjustment of power output can be achieved, further improving the performance and reliability of the equipment.

[0015] According to one embodiment of the present invention, the connecting shaft is a D-shaped shaft, and the output head is a D-shaped interface.

[0016] The above solution avoids the gap problem caused by traditional keyway mating by using the D-axis and D-interface design, significantly improving the rotation accuracy of the joint and enhancing the training or operation experience.

[0017] According to one embodiment of the present invention, a locking screw is further included, which is installed on the output head and the connecting shaft, and the locking screw passes through the output head and is inserted into the connecting shaft.

[0018] Using the above method, the locking screw can fix the connecting shaft and the output shaft.

[0019] According to one embodiment of the present invention, an end screw is further included, which is installed at the end of the output head away from the right-angle converter, and the end screw is inserted into the connecting shaft.

[0020] The above method allows the end screws to further secure the connecting shaft and the output shaft.

[0021] According to one embodiment of the present invention, the right-angle converter includes a right-angle gearbox, and the connecting shaft is mounted on the right-angle gearbox.

[0022] The above solution connects the gearbox to the connecting shaft, which can change the direction of transmission.

[0023] This invention solves the problem of rotational backlash by using a dual-sided output structure, thereby improving the training experience. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of a joint power output structure according to an embodiment of the present utility model;

[0025] Figure 2 This is an exploded view of a joint power output structure with both sides according to an embodiment of the present utility model;

[0026] Figure 3 This is a front view of the overall structure of a joint power output structure according to an embodiment of the present utility model;

[0027] Figure 4 yes Figure 3 Sectional view of Part A;

[0028] Figure 5 This is a schematic diagram illustrating the structure of a D-shaped shaft, representing a dual-sided power output structure for a joint according to an embodiment of the present invention.

[0029] Figure label:

[0030] 10. Power component; 11. Motor; 12. Reducer; 13. Mounting base; 14. Connecting plate; 15. Torque sensor; 20. Right angle converter; 21. Connecting shaft; 30. Output head; 40. Locking screw; 50. End screw. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0032] In the following description, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0033] Furthermore, in this application, directional terms such as "upper," "lower," "left," and "right" may be defined relative to the orientation of the components shown in the accompanying drawings. It should be understood that these directional terms can be relative concepts, used for relative description and clarification, and may change accordingly depending on the orientation of the components in the accompanying drawings.

[0034] In this application, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium. Furthermore, the term "coupled" can refer to an electrical connection that enables signal transmission.

[0035] As used herein, “about,” “approximately,” or “approximately” includes the stated value and the average value within an acceptable range of deviation from the given value, wherein the acceptable range of deviation is determined by a person skilled in the art taking into account the measurement under discussion and the error associated with the measurement of the given quantity (i.e., the limitations of the measurement system).

[0036] This embodiment provides a joint power output structure with both sides, which will be described in detail below.

[0037] Reference Figures 1 to 5 The joint power output structure includes a power component 10, a right-angle converter 20, and two output heads 30. The power component 10 is mounted on the right-angle converter 20, and the two output heads 30 are symmetrically mounted on the right-angle converter 20. Thus, when the power component 10 rotates, the power is transmitted to the right-angle converter 20, which then transmits the power to the two output heads 30.

[0038] The two symmetrically mounted output heads 30 enable dual-sided power output, providing a more balanced power distribution. This is suitable for applications requiring dual-sided power support, such as robot joints and rehabilitation training equipment. The dual-sided output structure excels in applications with heavy loads or requiring higher stability, improving the overall performance of the device.

[0039] Specifically, the right-angle converter 20 is the core component of this invention, and its main body is a right-angle gearbox. The right-angle gearbox includes a pair of meshing right-angle gears, used to convert the rotational motion of the power component 10 into vertical rotational motion. Furthermore, the outer shell of the right-angle gearbox is made of high-strength aluminum alloy, which has good mechanical strength and lightweight characteristics.

[0040] Furthermore, the right-angle converter 20 also includes a connecting shaft 21, with the two output heads 30 respectively mounted on both sides of the connecting shaft 21. In this embodiment, the connecting shaft 21 is a D-shaped shaft, meaning the output heads 30 are D-shaped interfaces. When the meshing right-angle gears rotate, they drive the connecting shaft 21 to rotate, thereby realizing the rotation of the two output heads 30.

[0041] It is worth mentioning that a locking screw 40 is provided between the output head 30 and the D-shaped shaft. The locking screw 40 passes through the output head 30 and is inserted into the connecting shaft 21. Furthermore, an end screw 50 is provided at the end of the output head 30 away from the right-angle converter 20. The end screw 50 is installed at the end of the output head 30 and inserted into the connecting shaft 21. This arrangement allows for better fixation of the output head 30 and the connecting shaft 21.

[0042] Furthermore, as long as the D-shaped interface of the output head 30 is fitted into the D-shaped connecting shaft 21, the end is axially limited by the end screw 50, and the shaft is fixed by the locking screw 40 to fit the flat surface of the D-shaped interface of the output head 30 and the connecting shaft 21. Compared with the keyway fit, this fit is easier to install and can also eliminate transmission backlash. The D-shaped interface design connecting the connecting shaft 21 and the output head 30 avoids the backlash problem caused by the traditional keyway fit, significantly improving the rotational accuracy of the joint and improving the training or operation experience.

[0043] Specifically, the power component 10 includes a motor 11, a reducer 12, and a mounting base 13. The mounting base 13 is mounted on the right-angle converter 20, the reducer 12 is mounted on the end of the mounting base 13 away from the right-angle converter 20, and the motor 11 is mounted on the end of the reducer 12 away from the mounting base 13. When the output shaft of the motor 11 rotates, it drives the reducer 12 to rotate, which in turn drives the right-angle converter 20 to rotate, thus achieving simultaneous dual-sided output.

[0044] In other words, the motor 11 is the power source of the entire structure, the reducer 12 is used to adjust the output speed and torque of the motor 11, and the mounting base 13 is used to fix the reducer 12 and the motor 11 to ensure the stability of the entire power component 10.

[0045] In addition, this design is not only easy to install, but also eliminates transmission gaps, ensuring the synchronization of the output of the motor 11 and the power output on both sides, achieving precise matching of joint training angles, and avoiding gap problems from affecting the training experience.

[0046] Specifically, the power component 10 also includes a connecting plate 14 and a torque sensor 15. The connecting plate 14 and the torque sensor 15 are installed in the mounting base 13, located between the connecting plate 14 and the output shaft of the reducer 12. The torque sensor 15 is used to monitor the output torque in real time to ensure the accuracy and stability of the power output. Through the torque sensor 15, precise control and feedback adjustment of the power output can be achieved. The connecting plate 14 is connected to the output shaft of the reducer 12, and the function of the connecting plate 14 is to smoothly transmit the output power of the reducer 12 to the right-angle converter 20.

[0047] When the motor 11 rotates, its power is transmitted to the connecting plate 14 after the speed and torque are adjusted by the reducer 12. The connecting plate 14 transmits the power to the right-angle converter 20, where the right-angle gears convert the input power into vertical rotational motion, and transmit the power to the two symmetrically mounted output heads 30 via the connecting shaft 21. Because the two output heads 30 are symmetrically mounted, synchronous power output from both sides can be achieved, providing a more balanced power distribution. Real-time monitoring of the output torque by the torque sensor 15 enables precise control and feedback adjustment of the power output, further improving the performance and reliability of the equipment.

[0048] In summary, when the motor 11 rotates, its power is transmitted to the connecting plate 14 after the speed and torque are adjusted by the reducer 12. The connecting plate 14 transmits the power to the right-angle converter 20, where the right-angle gears convert the input power into vertical rotational motion, and transmit the power to the two symmetrically mounted output heads 30 via the connecting shaft 21. Because the two output heads 30 are symmetrically mounted, synchronous output of power from both sides can be achieved, providing a more balanced power distribution.

[0049] By monitoring the output torque in real time through the torque sensor 15, precise control and feedback adjustment of power output can be achieved, further improving the performance and reliability of the equipment.

[0050] This invention's dual-sided power output structure effectively solves many problems of existing single-sided output structures, while improving equipment performance and application range. Its symmetrical dual-sided output design, high-precision transmission mechanism, and optimized structural layout make it promising for applications in robotic joints, rehabilitation training equipment, and other fields.

[0051] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A joint powered bilateral output structure, characterized by, include: One power component; A right-angle converter, the right-angle converter including a connecting shaft, the right-angle converter being mounted on the power component to drive the connecting shaft to rotate; and Two output heads are respectively installed on both sides of the connecting shaft to achieve simultaneous dual-sided output.

2. The articulation powered dual output structure of claim 1, wherein, The power component includes a motor, a reducer, and a mounting base, wherein the motor is mounted on the reducer, the end of the reducer away from the motor is mounted on the mounting base, and the end of the mounting base away from the reducer is mounted on the right-angle converter.

3. The articulation powered dual output structure of claim 2, wherein, The power component also includes a connecting plate and a torque sensor. The connecting plate is mounted on the reducer, and the torque sensor is mounted on the connecting plate. The connecting plate and the torque sensor are disposed within the mounting base.

4. The articulation powered dual output structure of claim 1, wherein, The connecting shaft is a D-type shaft, and the output head is a D-type interface.

5. The articulation powered dual output structure of claim 4, wherein, It also includes a locking screw, which is installed on the output head and the connecting shaft, and the locking screw passes through the output head and is inserted into the connecting shaft.

6. The articulation powered dual output structure of claim 4 or 5, wherein, It also includes an end screw, which is installed at the end of the output head away from the right-angle converter, and the end screw is inserted into the connecting shaft.

7. The articulation powered dual output structure of claim 1, wherein, The right-angle converter includes a right-angle gearbox, and the connecting shaft is mounted on the right-angle gearbox.

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