A rehabilitation robot joint transmission device

Abstract

The utility model belongs to the technical field of speed reducer especially relates to a rehabilitation robot joint transmission device, including input shaft, the input shaft outer end evenly distributed setting has three planetary roller, every planetary roller side end is provided with planetary gear, three planetary gear outer end has the mesh of output inner toothed ring, the inside of output inner toothed ring is provided with planet carrier, and the planetary gear is located between planetary roller and planet carrier, the output inner toothed ring outer end is provided with fixed outer ring. Through the interference fit of input shaft, planetary roller and fixed outer ring, the traditional gear mesh is replaced by the friction contact of traction drive, the tooth side gap is eliminated, the positioning accuracy and motion stability of rehabilitation robot joint are improved, and the mode has the overload protection effect, when the output end load is overloaded, the planetary roller and input shaft, fixed outer ring will slip between, limit transmission torque, avoid gear, bearing and other components damage due to rigid impact, guarantee man-machine cooperation safety.

Description

Technical Field

[0001] This utility model belongs to the field of speed reducer technology, and in particular relates to a joint transmission device for a rehabilitation robot. Background Technology

[0002] With the rapid development of rehabilitation medicine, rehabilitation robots, as key equipment to assist patients in limb function training and improve motor ability, are increasingly widely used in clinical and home rehabilitation scenarios. The core execution unit of rehabilitation robots is the joint transmission device, whose performance directly determines the accuracy, stability and safety of human-machine collaboration of robot movement.

[0003] However, currently, rehabilitation robot joint transmission devices generally adopt traditional gear meshing transmission structures. This structure transmits power and motion through the meshing of the tooth surfaces of the driving gear and the driven gear. However, this type of transmission method has the following key technical defects:

[0004] Insufficient positioning accuracy: During gear meshing, a certain tooth flank clearance needs to be reserved to avoid jamming and excessive wear between the tooth surfaces. When the rehabilitation robot joints switch between forward and reverse rotation or move at low speed, this tooth flank clearance will cause transmission idle stroke, resulting in a deviation between the actual joint movement position and the control command position. Especially in fine motor training with high precision requirements (such as finger joint training and wrist joint fine adjustment training), the deviation will directly affect the accuracy of the training and make it difficult to meet the precise rehabilitation needs of patients.

[0005] Lack of overload protection: Traditional gear transmission structures have a fixed transmission ratio and strong transmission rigidity. When the joint output end of the rehabilitation robot encounters a sudden overload (such as a patient suddenly exerting force to resist or a limb accidentally colliding with an obstacle), the overload torque will be directly transmitted to core components such as gears and bearings, which can easily lead to damage and failure of components such as gear tooth surface cracking and bearing jamming. This not only increases the equipment maintenance cost and downtime, but more seriously, the rigid overload force may be transmitted to the patient's limb through the transmission structure, posing a safety hazard to human-machine collaboration.

[0006] In view of this, we propose a joint transmission device for a rehabilitation robot. Utility Model Content

[0007] The purpose of this invention is to provide a joint transmission device for a rehabilitation robot to solve the problems mentioned in the background art.

[0008] In view of this, the present invention provides a joint transmission device for a rehabilitation robot, including an input shaft, three planetary rollers evenly distributed on the outer end of the input shaft, a planetary gear on the side end of each planetary roller, an output internal gear ring meshing with the outer ends of the three planetary gears, a planet carrier inside the output internal gear ring, the planetary gears located between the planetary rollers and the planet carrier, a fixed outer ring on the outer end of the output internal gear ring, and an output end cap connected to the side end of the output internal gear ring.

[0009] In this technical solution, the input shaft serves as the power input component. The planetary rollers rotate under the drive of the input shaft. Through the connection between the planetary rollers and the planetary gears, the power is transmitted to the planetary gears. The planetary gears mesh with the output internal gear ring, thereby driving the output internal gear ring to rotate and realize power output. The planetary carrier supports and positions the planetary gears, the fixed outer ring provides external support for the entire transmission structure, and the output end cover is used to close and protect the internal structure.

[0010] In the above technical solution, the input shaft, planetary rollers and fixed outer ring are further assembled by interference fit, and the preload generated by the interference fit is used to make the three parts frictionally connected.

[0011] In this technical solution, the interference fit allows the input shaft to reliably drive the planetary rollers to rotate. Power is transmitted through the friction generated by the preload, ensuring the stability and reliability of the transmission. At the same time, the interference fit reduces the clearance between components and improves the transmission accuracy.

[0012] In the above technical solution, the planetary gear is further provided with a connecting shaft at its center end. One end of the connecting shaft is rigidly connected to the center end of its corresponding planetary roller, and the other end is located inside the planet carrier.

[0013] In this technical solution, the planetary rollers and planetary gears are closely integrated, so that the rotation of the planetary rollers can be directly transmitted to the planetary gears. At the same time, the planetary carrier supports and constrains the planetary gears through the connecting shaft, ensuring the stability and accuracy of the planetary gears during transmission.

[0014] In the above technical solution, further, the inner wall of the fixed outer ring is connected to a bearing No. 1, and the output internal gear ring is connected inside the bearing No. 1.

[0015] In this technical solution, the setting of the No. 1 bearing allows the output internal gear ring to rotate flexibly relative to the fixed outer ring, reducing the friction between the two and improving the transmission efficiency. At the same time, it provides radial support for the output internal gear ring, ensuring its stability during rotation.

[0016] In the above technical solution, a second bearing is connected between the planetary carrier and the connecting shaft of the planetary gear, and a third bearing is connected between the planetary carrier and the output internal gear ring.

[0017] In this technical solution, the No. 2 bearing allows the planetary gear to rotate freely relative to the planetary carrier, ensuring the flexibility of the planetary gear during transmission; the No. 3 bearing provides good support and rotation conditions between the planetary carrier and the output internal gear ring, enabling the planetary carrier to smoothly drive the output internal gear ring to rotate, thus improving the stability and reliability of the entire transmission device.

[0018] In the above technical solution, one end of the fixed outer ring is connected to a first outer ring end cap, and the other end is connected to a second outer ring end cap. The outer end of the output end cap is slidably connected to the inner wall of the second outer ring end cap. The two ends of the connecting shaft of the planetary gear are slidably connected to the inner wall of the first outer ring end cap and the inner wall of the output end cap, respectively.

[0019] In this technical solution, the No. 1 outer ring end cap and the No. 2 outer ring end cap are used to close and fix the outer ring, protecting the internal structure from external interference; the sliding connection between the output end cap and the No. 2 outer ring end cap, as well as the sliding connection between the planetary gear connecting shaft and the inner wall of the No. 1 outer ring end cap and the output end cap, not only ensure the compactness of the structure, but also provide the necessary space and constraints for the rotation of each component, while facilitating installation and maintenance.

[0020] In the above technical solution, a fourth bearing is connected between the input shaft and the first outer ring end cover, and a fifth bearing is connected between the input shaft and the output end cover.

[0021] In this technical solution, bearings No. 4 and No. 5 provide good support for the input shaft, ensuring the stability and accuracy of the input shaft during rotation, reducing friction between the input shaft and the No. 1 outer ring end cover and the output end cover, and improving the efficiency and service life of the entire transmission device.

[0022] The beneficial effects of this utility model are:

[0023] 1. The joint transmission device of this rehabilitation robot uses the interference fit between the input shaft, planetary rollers and the fixed outer ring to replace the traditional gear meshing with the frictional contact of traction transmission, eliminating backlash and improving the positioning accuracy and motion stability of the rehabilitation robot joints. In addition, this method has an overload protection effect. When the output end is overloaded, the planetary rollers will slip between the input shaft and the fixed outer ring, limiting the transmitted torque and preventing damage to components such as gears and bearings due to rigid impact, thus ensuring the safety of human-machine collaboration.

[0024] 2. The joint transmission device of this rehabilitation robot, through reasonable layout and structural design, combines components such as planetary rollers, planetary gears, output internal gear rings, and planetary carriers, making the entire device compact, occupying little space, and adapting to the miniaturization requirements of rehabilitation robot joints.

[0025] 2. The joint transmission device of this rehabilitation robot effectively reduces friction between components during relative movement by using multiple bearings, making the transmission process smoother. At the same time, the compact and reasonable structural design reduces collisions and vibrations between components. This stable operation not only improves the working performance of the rehabilitation robot, but also creates a more comfortable rehabilitation environment for patients, avoiding discomfort caused by excessive noise. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0027] Figure 2 This is a schematic diagram of the internal structure of this utility model;

[0028] Figure 3 This is a schematic diagram of the planetary gear structure in this utility model;

[0029] Figure 4 This is a schematic diagram of the planetary carrier structure in this utility model;

[0030] Figure 5 This is an exploded view diagram of the present invention;

[0031] Figure 6 This is a cross-sectional structural diagram of the present invention.

[0032] The markings in the diagram are as follows:

[0033] 1. Input shaft; 2. Planetary roller; 3. Planetary gear; 4. Output internal gear ring; 5. Bearing No. 1; 6. Planetary carrier; 7. Bearing No. 2; 8. Bearing No. 3; 9. Bearing No. 4; 10. Bearing No. 5; 11. Outer ring end cap No. 1; 12. Outer ring end cap No. 2; 13. Fixed outer ring; 14. Output end cap. Detailed Implementation

[0034] The following is in conjunction with the appendix Figures 1-6 This application will be described in further detail.

[0035] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0036] Example 1: This example provides a joint transmission device for a rehabilitation robot, including an input shaft 1. Three planetary rollers 2 are evenly distributed on the outer end of the input shaft 1. Each planetary roller 2 is provided with a planetary gear 3 on its side end. The outer ends of the three planetary gears 3 are meshed with an output internal gear ring 4. A planet carrier 6 is provided inside the output internal gear ring 4. The planetary gears 3 are located between the planetary rollers 2 and the planet carrier 6. A fixed outer ring 13 is provided on the outer end of the output internal gear ring 4. An output end cap 14 is connected to the side end of the output internal gear ring 4.

[0037] The power is input from the input shaft 1, which drives the planetary roller 2 to rotate. The rotation of the planetary roller 2 is transmitted to the planetary gear 3 through the connecting shaft. The planetary gear 3, supported by the planetary carrier 6, meshes with the output internal gear ring 4, thereby driving the output internal gear ring 4 to rotate and realize power output. This structural design makes the power transmission path clear and the components work together to ensure the stability and reliability of the transmission.

[0038] Example 2: This example provides a joint transmission device for a rehabilitation robot. In addition to the technical solutions of the above examples, it also has the following technical features: the input shaft 1, the planetary roller 2 and the fixed outer ring 13 are assembled by an interference fit, and the preload generated by the interference fit is used to make the three parts frictionally connected.

[0039] During assembly, precise control of the interference fit ensures a tight connection between the input shaft 1, planetary rollers 2, and the fixed outer ring 13. When the input shaft 1 rotates, the friction generated by the interference fit drives the planetary rollers 2 to rotate. This connection method eliminates the need for additional connecting elements such as keys or pins, simplifying the structure and improving the stability and accuracy of the transmission. In practical use, the preload of the interference fit can effectively resist external forces during the transmission process, ensuring reliable power transmission.

[0040] Example 3: This example provides a joint transmission device for a rehabilitation robot. In addition to the technical solutions of the above examples, it also has the following technical features: the center end of the planetary gear 3 is connected to a connecting shaft, one end of the connecting shaft is rigidly connected to the center end of its corresponding planetary roller 2, and the other end is located inside the planetary carrier 6.

[0041] The rotation of planetary roller 2 drives the planetary gear 3 to move. At the same time, the planetary carrier 6 supports and positions the planetary gear 3 through the connecting shaft. During the transmission process, under the constraint of the planetary carrier 6, the planetary gear 3 can accurately mesh with the output internal gear ring 4, ensuring the accuracy and stability of the transmission. For example, when the input shaft 1 drives the planetary roller 2 to rotate, the planetary gear 3 rotates accordingly. Its meshing process with the output internal gear ring 4 is smooth and there will be no misalignment or wobbling, making the joint movement of the rehabilitation robot more precise.

[0042] Example 4: This example provides a joint transmission device for a rehabilitation robot. In addition to the technical solutions of the above examples, it also has the following technical features: a first bearing 5 is connected to the inner wall of the fixed outer ring 13, and the output internal gear ring 4 is connected inside the first bearing 5.

[0043] The installation of bearing 5 allows the output internal gear ring 4 to rotate flexibly relative to the fixed outer ring 13. During transmission, the output internal gear ring 4, supported by bearing 5, reduces friction with the fixed outer ring 13, lowers energy loss, and improves transmission efficiency. At the same time, bearing 5 provides radial (length direction of input shaft 1) support for the output internal gear ring 4, ensuring the stability of the output internal gear ring 4 during rotation and avoiding deformation or shaking caused by radial force, thereby ensuring transmission accuracy.

[0044] Example 5: This example provides a joint transmission device for a rehabilitation robot. In addition to the technical solutions of the above examples, it also has the following technical features: a second bearing 7 is connected between the connecting shaft of the planetary carrier 6 and the planetary gear 3, and a third bearing 8 is connected between the planetary carrier 6 and the output internal gear ring 4.

[0045] Among them, the No. 2 bearing 7 allows the planetary gear 3 to rotate freely relative to the planetary carrier 6, ensuring the flexibility of the planetary gear 3 during transmission; when the planetary roller 2 drives the planetary gear 3 to rotate, the planetary gear 3 can smoothly mesh with the output internal gear ring 4 under the support of the No. 2 bearing 7; the No. 3 bearing 8 provides good support and rotation conditions between the planetary carrier 6 and the output internal gear ring 4; under the support of the No. 3 bearing 8, the planetary carrier 6 can smoothly drive the output internal gear ring 4 to rotate, improving the stability and reliability of the entire transmission device.

[0046] Example 6: This example provides a joint transmission device for a rehabilitation robot. In addition to the technical solutions of the above examples, it also has the following technical features: one end of the fixed outer ring 13 is connected to a first outer ring end cap 11, and the other end is connected to a second outer ring end cap 12. The outer end of the output end cap 14 is slidably connected to the inner wall of the second outer ring end cap 12. The two ends of the connecting shaft of the planetary gear 3 are slidably connected to the inner wall of the first outer ring end cap 11 and the inner wall of the output end cap 14, respectively.

[0047] Among them, the first outer ring end cap 11 and the second outer ring end cap 12 seal and fix the outer ring 13, protecting the internal transmission components from the influence of the external environment; the sliding connection between the output end cap 14 and the second outer ring end cap 12, as well as the sliding connection between the planetary gear 3 connecting shaft and the inner wall of the first outer ring end cap 11 and the output end cap 14, not only ensure the compactness of the structure, but also provide the necessary space for the rotation of each component.

[0048] Example 7: This example provides a joint transmission device for a rehabilitation robot. In addition to the technical solutions of the above examples, it also has the following technical features: a fourth bearing 9 is connected between the input shaft 1 and the first outer ring end cap 11, and a fifth bearing 10 is connected between the input shaft 1 and the output end cap 14.

[0049] Among them, bearing 9 (No. 4) and bearing 10 (No. 5) provide good support for input shaft 1, ensuring the stability and accuracy of input shaft 1 during rotation. During power input, input shaft 1 can rotate smoothly under the support of bearing 9 (No. 4) and bearing 10 (No. 5), reducing friction with outer ring end cap 11 (No. 1) and output end cap 14. This not only improves the efficiency of the entire transmission device, but also extends the service life of input shaft 1, ensuring the long-term stable operation of the device.

[0050] Working principle: Power is first transmitted from an external drive source to the input shaft 1. The three planetary rollers 2 achieve a tight frictional connection with the input shaft 1 through the preload generated by the interference fit between them. When the input shaft 1 rotates, the frictional force drives the planetary rollers 2 to revolve around the center line of the input shaft 1, and the planetary rollers 2 also rotate on their own axis. The rotation of the planetary rollers 2 can be directly and accurately transmitted to the planetary gears 3, driving the planetary gears 3 to rotate synchronously. The planetary carrier 6 is connected to the planetary gears 3 through a connecting shaft, and a No. 2 bearing 7 is installed between the connecting shaft and the planetary carrier 6, so that the planetary gears 3 can rotate flexibly relative to the planetary carrier 6. The planetary carrier 6 plays a supporting and positioning role for the planetary gears 3, ensuring the stability and accuracy of the planetary gears 3 during the meshing process with the output internal gear ring 4.

[0051] The outer ends of the three planetary gears 3 mesh with the output internal gear ring 4. When the planetary gears 3 rotate, according to the gear transmission principle, they drive the output internal gear ring 4 to rotate at a specific transmission ratio, thereby realizing the output of power and providing the joints of the rehabilitation robot with the operating power. In this process, the No. 1 bearing 5 connected to the inner wall of the fixed outer ring 13 provides radial support for the output internal gear ring 4, ensuring that the output internal gear ring 4 can rotate flexibly and stably relative to the fixed outer ring 13, reducing the friction between the two and improving the transmission efficiency. At the same time, the No. 3 bearing 8 connected between the planetary carrier 6 and the output internal gear ring 4 further enhances the stability of the connection between the planetary carrier 6 and the output internal gear ring 4, making the entire transmission process more stable and reliable.

[0052] When the output is overloaded, the excessive torque generated by the overload will cause the friction between the planetary roller 2 and the input shaft 1 and the fixed outer ring 13 to be insufficient to maintain the transmission, thus causing slippage. This slippage limits the transmission of torque and prevents gears such as the planetary gear 3 and the output internal gear ring 4, as well as various bearing components, from being damaged by rigid impact, effectively ensuring the safety of human-machine collaboration.

[0053] The embodiments of this application have been described above with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. This application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A rehabilitation robot joint transmission device comprising an input shaft (1), characterized in that: Three planetary rollers (2) are evenly distributed on the outer end of the input shaft (1). Each planetary roller (2) is provided with a planetary gear (3) on its side. The outer ends of the three planetary gears (3) are meshed with an output internal gear ring (4). A planet carrier (6) is provided inside the output internal gear ring (4). The planetary gear (3) is located between the planetary roller (2) and the planet carrier (6). A fixed outer ring (13) is provided on the outer end of the output internal gear ring (4). An output end cover (14) is connected to the side end of the output internal gear ring (4).

2. The rehabilitation robot joint transmission device according to claim 1, characterized in that, The input shaft (1), planetary roller (2) and fixed outer ring (13) are assembled by interference fit, and the preload generated by the interference fit is used to make the three parts frictionally connected.

3. The rehabilitation robot joint transmission device according to claim 1, characterized in that, The planetary gear (3) is connected to a connecting shaft at its center end. One end of the connecting shaft is rigidly connected to the center end of its corresponding planetary roller (2), and the other end is located inside the planet carrier (6).

4. The rehabilitation robot joint transmission device according to claim 1, characterized in that, The inner wall of the fixed outer ring (13) is connected to a bearing (5), and the output inner gear ring (4) is connected inside the bearing (5).

5. The rehabilitation robot joint transmission device according to claim 1, characterized in that, A No. 2 bearing (7) is connected between the planetary carrier (6) and the planetary gear (3) connecting shaft, and a No. 3 bearing (8) is connected between the planetary carrier (6) and the output internal gear ring (4).

6. The rehabilitation robot joint transmission device according to claim 1, characterized in that, One end of the fixed outer ring (13) is connected to the first outer ring end cap (11), and the other end is connected to the second outer ring end cap (12). The outer end of the output end cap (14) is slidably connected to the inner wall of the second outer ring end cap (12). The two ends of the connecting shaft of the planetary gear (3) are slidably connected to the inner wall of the first outer ring end cap (11) and the inner wall of the output end cap (14), respectively.

7. A rehabilitation robot joint transmission device according to claim 6, characterized in that, The input shaft (1) is connected to the outer ring end cap (11) by a bearing (9) of the fourth type, and the input shaft (1) is connected to the output end cap (14) by a bearing (10) of the fifth type.

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