CN207930695U - Modularization direct moment of torsion control healing robot joint - Google Patents
Modularization direct moment of torsion control healing robot joint Download PDFInfo
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- CN207930695U CN207930695U CN201820015437.6U CN201820015437U CN207930695U CN 207930695 U CN207930695 U CN 207930695U CN 201820015437 U CN201820015437 U CN 201820015437U CN 207930695 U CN207930695 U CN 207930695U
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Abstract
The utility model provides a kind of modularization direct moment of torsion control healing robot joint, including left end cap, harmonic speed reducer, DC three-phase brushless motor, joint mechanical stop, absolute encoder, circuit board, shell, right end cap and electromagnetic brake brake, left end cap is mounted on the hold-down support of shell, joint mechanical stop is mounted on left end cap, harmonic speed reducer is mounted on the hold-down support of shell, the left output shaft of DC three-phase brushless motor is mounted on the input terminal of harmonic speed reducer, the stator of DC three-phase brushless motor is fixedly connected with the shell of harmonic speed reducer, electromagnetic brake brake is separately mounted to absolute encoder on the right output shaft of DC three-phase brushless motor, the hold-down support of electromagnetic brake brake is fixedly connected with the casing, circuit board is mounted on the hold-down support of shell, right end cap is mounted on shell.The utility model is small, light-weight, and man-machine interaction is good, is installed and used convenient for all kinds of recovery exercising robots, versatility and highly practical.
Description
Technical field
The utility model is related to rehabilitation medical instrument technical fields, more specifically, are related to a kind of direct torque of modularization
Control healing robot joint.
Background technology
Healing robot joint is the core of healing robot equipment, and the quality of healing robot joint performance is directly
Influence the rehabilitation training effect of patient.During patient carries out rehabilitation training, recovery exercising robot control system is logical
It crosses control healing robot joint and provides its required joint motions torque for patient, and then patient is helped to complete rehabilitation training
Project.
In the prior art, the research for healing robot class rehabilitation joint module is related to seldom, joint of robot product
Predominantly industrial robot joint, researcher are mainly to carry out healing robot joint according to industrial robot joint technology
Research.The healing robot joint developed has that transmitting accuracy is low, electrical traces exposure, and wrapping phenomena easily occurs, lacks
The problems such as machinery positioning designs, and installation is inconvenient；Even without mechanical position limitation mechanism, there is very big security risk using process；
The importance for not accounting for joint feedback information lacks joint perceptional function.
Therefore, it is quite necessary to propose a kind of modularization rehabilitation of highly integrated, compact-sized, low weight, high universalizable
Training machine person joint.
Utility model content
In view of the above problems, the purpose of this utility model is to provide a kind of direct moment of torsion control healing robot pass of modularization
Section, it is pointed in above-mentioned background technology to solve the problems, such as, it is designed using electromechanical integration and centre bore cabling, by mechanical structure
Device and electrical system are highly integrateable in reasonable compact structure, realize zero cabling outside joint；In terms of joint drive, lead to
It crosses motor driving algorithm and resolves joint torque, torque information order is passed to robot using distributed network bus closes
Controller is saved, joint of robot controller sends out moment of torsion control order, to realize accurately moment of torsion control to motor, while
By the joint informations such as joint position, speed and torque Real-time Feedback to joint of robot controller, make module machine person joint
Mutually coordinate with limb motion, obtains optimum training effect.
The utility model above-mentioned purpose is achieved through the following technical solutions：
The direct moment of torsion control healing robot of modularization provided by the utility model joint, including left end cap, harmonic reduction
Device, DC three-phase brushless motor, joint mechanical stop, absolute encoder, circuit board, shell, right end cap and electromagnetic brake system
Dynamic device, left end cap are mounted on the hold-down support of shell, and joint mechanical stop is mounted on left end cap, harmonic speed reducer installation
On the hold-down support of shell, the left output shaft of DC three-phase brushless motor is mounted on the input terminal of harmonic speed reducer, direct current three
The stator of phase brushless motor is fixedly connected with the shell of harmonic speed reducer, and electromagnetic brake brake is installed respectively with absolute encoder
On the right output shaft of DC three-phase brushless motor, the hold-down support of electromagnetic brake brake and the hold-down support of shell are fixed and are connected
It connects, circuit board is mounted on shell hold-down support, and right end cap is fixedly connected with the casing.
Furthermore it is preferred that structure be, joint mechanical stop include the sub- block of extreme position, extreme position mother block, close
It saves mechanical stop mounting seat, joint angles sensor bearing and female block and gasket is installed；Wherein, the sub- block of extreme position is solid
On extreme position mother's block, extreme position mother block installs gasket by female block and is fixedly mounted on joint machinery limit for Dingan County
In the device mounting seat of position, joint mechanical stop mounting seat is fixedly connected with left end cap, and joint angles sensor bearing is fixed
In the mechanical stop mounting seat of joint.
Additionally, it is preferred that structure be opened up in the mechanical stop mounting seat of joint there are four module joint bolt connect
Connect mounting hole and two CAN connector mounting holes.
Furthermore preferred structure is, circuit board includes motor driver circuit plate, joint control circuit board, power supply electricity
Road plate and joint sensors circuit board；Wherein, motor driver circuit plate, joint control circuit board, power supply circuit board and pass
Section sensor circuit board is each attached on the hold-down support of shell；And the control chip unit of joint control circuit board
First signal input part is connected by CAN communication module and the power conversion module of power supply circuit board；Control the of chip unit
Binary signal input terminal is connected by analog signal module with the output end of the driving field module of motor driving circuit board；Control core
The third signal input part of blade unit passes through the interface module of absolute encoder and the interface module phase of DC three-phase brushless motor
Connection；The fourth signal input terminal for controlling chip unit passes through the interface module and joint control electricity of joint sensors circuit board
The interface module of road plate is connected；Control the interface of the signal output end of chip unit and the control module of electromagnetic brake brake
It is connected；The input terminal of power conversion module and the input terminal of control module are connected with the output end of dc power interface module
It connects, the output end of dc power interface module is connected by resistive module with driving field module；Driving field module respectively with mould
The input terminal of quasi- signaling module is connected with the input terminal of the interface module of DC three-phase brushless motor.
Furthermore it is preferred that structure be absolute encoder, electromagnetic brake brake, DC three-phase brushless motor, harmonic reduction
Device, motor driver circuit plate, joint control circuit board, power supply circuit board and joint sensors circuit board are respectively being tied respectively
Centre bore is equipped at the center of structure.
Additionally, it is preferred that structure be, shell be internally provided with positioning stop hole.
Compared with existing healing robot joint, the utility model can obtain following technique effect：
1, modularization direct moment of torsion control healing robot joint highly integrated motor, harmonic speed reducer, absolute coding
Device, electromagnetic brake brake and joint mechanical stop five functional module, have that light weight, output torque is big, precision is high etc.
Feature, and harmonic speed reducer uses grease lubrication.
2, all circuits avoid circuit from being exposed to outside joint structure from centre bore cabling, effectively prevent using process center line
The generation of road wrapping phenomena.
3, it is equipped with positioning inside housings and stops hole, joint each section device is facilitated accurately to assemble, while being limited in joint machinery
Position device mounting seat is bolted mounting hole equipped with module joint, is bolted cellular type universal design and facilitates all kinds of rehabilitation machines
People installs and uses, and effectively improves the accuracy and versatility of joint installation.
4, using the mechanical stop limiter of primary and secondary block type, range of motion is effectively limited, improves modularized joint
Safety.
5, in system power failure situation electromagnetic brake device can play the role of immediately braking protection, prevent patient secondary by
Wound, to improve the safety during modularized joint use.
6, motor rotation information is detected in real time using absolute encoder, and accurate recording motor position is believed when power down occurs
Breath, can work on after being once again powered up.
7, using real-time serial communication bus structure, the transmittability of communication information is improved.
Description of the drawings
By reference to the explanation of the following drawings, and with the utility model is more fully understood, the utility model
Other purposes and result will be more clearly understood and understood.In the accompanying drawings：
Fig. 1 is the detonation configuration according to the modularization direct moment of torsion control healing robot joint of the utility model embodiment
Schematic diagram；
Fig. 2 is the configuration schematic diagram according to the joint mechanical stop of the utility model embodiment；
Fig. 3 is the structural schematic diagram according to the sub- block of extreme position of the utility model embodiment；
Fig. 4 is the structural schematic diagram according to extreme position mother's block of the utility model embodiment；
Fig. 5 is the structural schematic diagram according to the joint mechanical stop mounting seat of the utility model embodiment.
Reference numeral therein includes：1 ~ left end cap；2 ~ harmonic speed reducer；3 ~ DC three-phase brushless motor；4 ~ joint machine
Tool limiter；5 ~ absolute encoder；6 ~ circuit board；7 ~ shell；8 ~ right end cap；9 ~ electromagnetic brake brake；401 ~ extreme position
Sub- block；4011 ~ gap；4012 ~ it is bolted mounting hole；402 ~ extreme position mother's block；4021 ~ flange；4022 ~ bolt connects
Connect mounting hole；403 ~ joint mechanical stop mounting seat；4031 ~ arc groove；4032 ~ module joint is bolted mounting hole；
4033 ~ CAN connector mounting holes；404 ~ joint angles sensor bearing；405 ~ mother block installs gasket.
Specific implementation mode
In the following description, for purposes of illustration, it in order to provide the comprehensive understanding to one or more embodiments, explains
Many details are stated.It may be evident, however, that these embodiments can also be realized without these specific details.
In other examples, one or more embodiments for ease of description, well known structure and equipment are shown in block form an.
Fig. 1 shows the explosion in the modularization direct moment of torsion control healing robot joint according to the utility model embodiment
Structure.
As shown in Figure 1, the modularization direct moment of torsion control healing robot joint that the utility model embodiment provides, including
Left end cap 1, harmonic speed reducer 2, DC three-phase brushless motor 3, joint mechanical stop 4, absolute encoder 5, circuit board 6, shell
Body 7, right end cap 8 and electromagnetic brake brake 9, left end cap 1 are mounted on the hold-down support of shell 7, and joint mechanical stop 4 is pacified
On left end cap 1, harmonic speed reducer 2 is mounted on the hold-down support of shell 7, the left output shaft of DC three-phase brushless motor 3
Mounted on the input terminal of harmonic speed reducer 2, the stator of DC three-phase brushless motor 3 is fixedly connected with the shell of harmonic speed reducer 2,
Electromagnetic brake brake 9 is separately mounted to absolute encoder 5 on the right output shaft of DC three-phase brushless motor 3, electromagnetic brake
The hold-down support of brake 9 is fixedly connected with the hold-down support of shell 7, and circuit board 6 is mounted on the hold-down support of shell 7, right
End cap 8 is fixedly connected with shell 7.The utility model agent structure assembles through the above structure, is controlled and is driven by various fortune
Component is integrated into the extremely limited small space of this size of healing robot joint, the controlling party of the direct torque of articular system
Formula effectively ensures quick, the flexible and reliable movenent performance of modularized joint.
Fig. 2 shows the detonation configurations according to the joint mechanical stop of the utility model embodiment.
As shown in Fig. 2, joint mechanical stop includes the sub- block 401 of extreme position, extreme position mother block 402, joint
Mechanical stop mounting seat 403, joint angles sensor bearing 404 and female block install gasket 405；Wherein, extreme position
Sub- block 401 is fixedly mounted on extreme position mother block 402, and extreme position mother block 402 installs gasket 405 by female block
It is fixedly mounted in joint mechanical stop mounting seat 403, joint mechanical stop mounting seat 403 and left end cap 1（In conjunction with
Fig. 1）It is fixedly connected, joint angles sensor bearing 404 is fixedly mounted in joint mechanical stop mounting seat 403.Pass through
The Design of Mechanical Structure of extreme position block 401 and extreme position mother block 402 a, it is possible to prevente effectively from feelings are crossed in joint motions
The generation of condition prevents in Rehabilitation training process by secondary injury.
Fig. 3-Fig. 5 respectively illustrates the sub- block of extreme position according to the utility model embodiment, extreme position mother's block
With the structure of joint mechanical stop mounting seat.
As Fig. 3-Fig. 5 jointly shown in, extreme position block 401 tool is bolted installation there are one gap 4011, two
Flange 4021 is arranged in hole 4012 on extreme position mother block 402, and extreme position mother is installed in the sub- block of extreme position 401
When on block 402, flange 4021 is matched with gap 4011, and being additionally provided with two on extreme position mother block 402 is bolted
Mounting hole 4022 offers the arc groove of installation extreme position mother block 402 in joint mechanical stop mounting seat 403
4031, it is further opened with four module joints in joint mechanical stop mounting seat 403 and is bolted mounting hole 4032, purpose
It is to realize that modularization direct moment of torsion control healing robot joint is connect with all kinds of recovery exercising robot mechanical systems, simultaneously
To realize the convenience of electrical system connection, it is further opened in joint mechanical stop mounting seat 403 and connects for installing CAN
Connect two CAN connector mounting holes 4033 of device.
Fig. 1 is returned, circuit board 6 includes motor driver circuit plate, joint control circuit board, power supply circuit board and pass
Save sensor circuit board；Wherein, motor driver circuit plate, joint control circuit board, power supply circuit board and joint sensors
Circuit board is each attached on the hold-down support of shell 7.
It is precisely controlled to realize, the utility model uses real-time serial communication bus structure, joint control circuit board
The first signal input part of control chip unit pass through CAN communication module and the power conversion module of power supply circuit board and connect；
The second signal input terminal for controlling chip unit passes through the defeated of analog signal module and the driving field module of motor driving circuit board
Outlet is connected；The third signal input part for controlling chip unit passes through the interface module and direct current three-phase brushless of absolute encoder
The interface module of motor is connected；The interface mould that the fourth signal input terminal of control chip unit passes through joint sensors circuit board
Block is connected with the interface module of joint control circuit board；Control the signal output end and electromagnetic brake brake of chip unit
The interface of control module be connected；The input terminal of power conversion module and the input terminal of control module and dc power interface mould
The output end of block is connected, and the output end of dc power interface module is connected by resistive module with driving field module；Driving
Field module is connected with the input terminal of the interface module of the input terminal of analog signal module and DC three-phase brushless motor respectively.
The problem of assembling location difficulty in order to avoid joint each section device offers positioning in the inside of shell 7 and stops hole.
In order to avoid showing for circuit winding occurs in use for modularization direct moment of torsion control healing robot joint
As in absolute encoder 5, electromagnetic brake brake 9, DC three-phase brushless motor 3, harmonic speed reducer 2, motor driver circuit
Plate, joint control circuit board, power supply circuit board and each self-structure of joint sensors circuit board center at be equipped with centre bore, protect
The conducting wire in card joint is passed through from the centre bore in joint.
The principles of the present invention are：Joint control circuit board is the control in direct moment of torsion control healing robot joint
Center is mainly used for driving the storage of algorithm routine, data information real-time resolving, input signal to handle in real time, motor servo control
System and transmission communication；Motor driver circuit plate receives the moment of torsion control order that joint control circuit board is sent, to direct current three
Phase brushless motor carries out the drive control of the corresponding command；DC three-phase brushless motor transmits motion to harmonic wave through motor output shaft
Retarder sends forms of motion to rehabilitation after deceleration, and patient is driven to carry out rehabilitation training；Mounted on joint mechanical position limitation
Primary and secondary limited block in device mounting seat plays the role of position limitation protection for limiting range of motion；Direct current three-phase is installed
Electromagnetic brake brake on the right output shaft of brushless motor plays braking at any time and the timely braking action of unexpected power down；Same installation
Absolute encoder on the right output shaft of DC three-phase brushless motor detects motor rotation information in real time, and in real time feeds back information
To joint control circuit board；And power supply circuit board is used to power to the intra-articular each section of the direct torque of modularization.
Above description is only a specific implementation of the present invention, but the scope of protection of the utility model is not limited to
In this, any one skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replace, it should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model is answered described with power
Subject to the protection domain that profit requires.
Claims (6)
1. a kind of modularization direct moment of torsion control healing robot joint, which is characterized in that including left end cap（1）, harmonic reduction
Device（2）, DC three-phase brushless motor（3）, joint mechanical stop（4）, absolute encoder（5）, circuit board（6）, shell（7）、
Right end cap（8）With electromagnetic brake brake（9）, the left end cap（1）Mounted on the shell（7）Hold-down support on, it is described
Joint mechanical stop（4）Mounted on the left end cap（1）On, the harmonic speed reducer（2）Mounted on the shell（7）Consolidate
Determine on bearing, the DC three-phase brushless motor（3）Left output shaft be mounted on the harmonic speed reducer（2）Input terminal, institute
State DC three-phase brushless motor（3）Stator and the harmonic speed reducer（2）Shell be fixedly connected, electromagnetic brake braking
Device（9）With the absolute encoder（5）It is separately mounted to the DC three-phase brushless motor（3）Right output shaft on, the electricity
Magnetic contracting brake（9）Hold-down support and the shell（7）It is fixedly connected, the circuit board（6）Mounted on the shell（7）
On hold-down support, the right end cap（8）With the shell（7）It is fixedly connected.
2. the direct moment of torsion control healing robot of modularization as claimed in claim 1 joint, it is characterised in that：The joint
Mechanical stop（4）Including the sub- block of extreme position（401）, extreme position mother's block（402）, joint mechanical stop install bottom
Seat（403）, joint angles sensor bearing（404）Gasket is installed with female block（405）；Wherein, the sub- block of the extreme position
（401）It is fixedly mounted on the extreme position mother block（402）On, the extreme position mother block（402）Pass through female gear
Block installs gasket（405）It is fixedly mounted on the joint mechanical stop mounting seat（403）On, the joint mechanical stop
Mounting seat（403）With the left end cap（1）It is fixedly connected, the joint angles sensor bearing（404）It is fixedly mounted on institute
State joint mechanical stop mounting seat（403）On.
3. the direct moment of torsion control healing robot of modularization as claimed in claim 2 joint, it is characterised in that：In the pass
Save mechanical stop mounting seat（403）On open up and be bolted mounting hole there are four module joint（4032）Connect with two CAN
Connect device mounting hole（4033）.
4. the direct moment of torsion control healing robot of modularization as claimed in claim 1 joint, it is characterised in that：The circuit
Plate（6）Including motor driver circuit plate, joint control circuit board, power supply circuit board and joint sensors circuit board；Wherein,
The motor driver circuit plate, the joint control circuit board, the power supply circuit board and the joint sensors circuit
Plate is each attached to the shell（7）Hold-down support on；And the of the control chip unit of the joint control circuit board
One signal input part is connect by CAN communication module with the power conversion module of the power supply circuit board；The control chip list
The second signal input terminal of member is connected by analog signal module with the output end of the motor driving circuit board driving field module
It connects；The third signal input part of the control chip unit passes through the absolute encoder（5）Interface module and the direct current
Three-phase brushless motor（3）Interface module be connected；The fourth signal input terminal of the control chip unit passes through the joint
The interface module of sensor circuit board is connected with the interface module of the joint control circuit board；The control chip unit
Signal output end and the electromagnetic brake brake（9）The interface of control module be connected；The power conversion module
Input terminal and the input terminal of the control module are connected with the output end of dc power interface module, the dc power interface
The output end of module is connected by resistive module with the driving field module；The driving field module respectively with analog signal mould
The input terminal of block and the DC three-phase brushless motor（3）The input terminal of interface module be connected.
5. the direct moment of torsion control healing robot of modularization as claimed in claim 4 joint, it is characterised in that：It is described absolute
Encoder（5）, the electromagnetic brake brake（9）, the DC three-phase brushless motor（3）, the harmonic speed reducer（2）, institute
State motor driver circuit plate, the joint control circuit board, the power supply circuit board and the joint sensors circuit board
Centre bore is equipped at the center of each self-structure respectively.
6. the direct moment of torsion control healing robot of modularization as claimed in claim 1 joint, it is characterised in that：In the shell
Body（7）Be internally provided with positioning stop hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820015437.6U CN207930695U (en) | 2018-01-05 | 2018-01-05 | Modularization direct moment of torsion control healing robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820015437.6U CN207930695U (en) | 2018-01-05 | 2018-01-05 | Modularization direct moment of torsion control healing robot joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207930695U true CN207930695U (en) | 2018-10-02 |
Family
ID=63648224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820015437.6U Active CN207930695U (en) | 2018-01-05 | 2018-01-05 | Modularization direct moment of torsion control healing robot joint |
Country Status (1)
| Country | Link |
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| CN (1) | CN207930695U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098832A (en) * | 2018-01-05 | 2018-06-01 | 长春国科医工科技发展有限公司 | The direct moment of torsion control healing robot joint of modularization |
| CN109730891A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | A kind of upper limb ectoskeleton can be hand-off and the shoulder horizontal movement joint structure that limits |
| CN112660265A (en) * | 2020-12-31 | 2021-04-16 | 北京理工大学 | Biped robot leg structure based on five connecting rods |
-
2018
- 2018-01-05 CN CN201820015437.6U patent/CN207930695U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098832A (en) * | 2018-01-05 | 2018-06-01 | 长春国科医工科技发展有限公司 | The direct moment of torsion control healing robot joint of modularization |
| CN109730891A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | A kind of upper limb ectoskeleton can be hand-off and the shoulder horizontal movement joint structure that limits |
| CN112660265A (en) * | 2020-12-31 | 2021-04-16 | 北京理工大学 | Biped robot leg structure based on five connecting rods |
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Address after: Room 511-B, Area B, High-tech Center (intersection of Longhu Road and Zhongke Street), Beihu Science and Technology Development Zone, Changchun City, Jilin Province, 130000 Patentee after: Changchun Guoke Xilai Technology Co.,Ltd. Address before: Room 511-B, Area B, High-tech Center (intersection of Longhu Road and Zhongke Street), Beihu Science and Technology Development Zone, Changchun City, Jilin Province, 130000 Patentee before: CHANGCHUN GUOKE MEDICAL TECHNOLOGY DEVELOPMENT CO.,LTD. |