CN210331065U

CN210331065U - Compact main shaft structure

Info

Publication number: CN210331065U
Application number: CN201920154062.6U
Authority: CN
Inventors: 王飞; 张岩岭; 姜祖辉; 于振中; 李文兴
Original assignee: HRG International Institute for Research and Innovation
Current assignee: Hefei Harbin gonglixun Intelligent Technology Co., Ltd
Priority date: 2019-01-29
Filing date: 2019-01-29
Publication date: 2020-04-17
Anticipated expiration: 2029-01-29

Abstract

The utility model relates to a compact main shaft structure, including motor part (1), reduction gear part (2), transmission shaft part (4) and connecting piece (5) that series connection connects in proper order, support component (3) cover locate reduction gear part (2), transmission shaft part (4) outside right reduction gear part (2), transmission shaft part (4) play the effect of support and protection, make the main shaft structure smart, reached the technological effect that improves rehabilitation robot lightweight, wearability; furthermore, the transmission shaft part (4) and the connecting piece (5) can be connected through a self-locking device, so that the compact main shaft structure has a self-locking structure, and the technical effect of safe and stable use under special conditions such as power failure and misoperation is achieved.

Description

Compact main shaft structure

Technical Field

The application relates to the field of rehabilitation equipment, in particular to a main shaft structure for a rehabilitation robot.

Background

Along with the increase of population in the world, aging population is more and more, people's demand to the supplementary therapeutic equipment of rehabilitation is strengthened gradually, and the recovered robot is widely used in the rehabilitation field because of its characteristics convenient, intelligent, maneuverability is strong, for example exoskeleton formula structure robot is the most common recovered robot type, and is higher to its lightweight, wearability requirement. Therefore, the compactness, safety and stability of the whole structure of the rehabilitation robot are particularly important. However, in the present stage, the design levels of various products of the rehabilitation robot are not uniform, and compactness is not considered in the beginning of design, so that the product has single function and large volume, which not only causes waste but also reduces user experience.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects in the prior art, the compact spindle structure is provided, so that the spindle structure is small, and the technical effects of improving the lightweight and wearable performance of the rehabilitation robot are achieved; the compact main shaft structure also has a self-locking structure, and achieves the technical effect of safe and stable use under special conditions of power failure, misoperation and the like.

The technical scheme is as follows: a compact spindle structure, includes motor element, reduction gear part, support component, driving shaft part, connecting piece, motor element), reduction gear part, driving shaft part and connecting piece are connected in series in proper order, its characterized in that: the supporting part cover is located the reduction gear part the transmission shaft part outside is right the reduction gear part the transmission shaft part plays support and guard action, the reduction gear part comprises rigid wheel, flexbile gear and harmonic generator, the supporting part is including fixed sleeve of motor, harmonic supporting sleeve, support wall and the bending moment resistance sleeve of fixed connection in proper order.

Furthermore, the motor fixing sleeve, the harmonic supporting sleeve, the supporting wall and the bending-resistant sleeve are axially and fixedly connected with each other two by two through screws respectively, and are radially compressed by nesting fit of the inner wall and the outer wall and fit of a shaft shoulder.

Further, the main shaft structure also comprises a tooth-shaped self-locking device.

Furthermore, the transmission shaft part is positioned in the supporting part, a first shaft shoulder is arranged in the middle of the transmission shaft, tapered roller bearings which are installed face to face are arranged on two sides of the first shaft shoulder, an outer ring of each tapered roller bearing is fixed with the inner wall of the supporting wall, and an inner ring of each tapered roller bearing props against the first shaft shoulder of the transmission shaft.

Further, still include deep groove ball bearing, deep groove ball bearing is located the transmission shaft with between the telescopic inner wall of bending resistance moment, deep groove ball bearing's inner circle with transmission shaft transition fit, deep groove ball bearing's outer lane with bending resistance moment sleeve inner wall adopts interference fit, deep groove ball bearing's axial uses the hole to use retaining ring spacing, the hole is fixed in with the retaining ring in the telescopic inboard recess of bending resistance moment.

Further, the tooth-shaped self-locking device is connected between the transmission shaft component and the connecting piece.

Further, profile of tooth self-lock device includes first terminal surface tooth, second terminal surface tooth, first terminal surface tooth the second terminal surface tooth structure is the same, relative installation, and the two relative terminal surfaces are equipped with the tooth structure that can mesh, first terminal surface tooth fixed mounting in the bending moment resistance sleeve, second terminal surface tooth slidable install in the inner chamber of connecting piece for the second terminal surface tooth has two operating position, when first operating position with first terminal surface tooth separation, when the second operating position with first terminal surface tooth meshing.

Further, profile of tooth self-lock device still includes coil, compression spring, connecting piece mounting, the connecting piece mounting respectively with the tip of transmission shaft and connecting piece fixed connection, the connecting piece mounting with the second terminal surface tooth is in face contact during first operating position, the connecting piece mounting is installed on this contact surface the coil with compression spring, through the power-on of coil, outage operation, realize the second terminal surface tooth is in first operating position with switching between the second operating position.

Further, the compact spindle structure is applied to a rehabilitation robot.

Further, the rehabilitation robot is an exoskeleton type rehabilitation robot.

The utility model has the advantages that: the compact main shaft is simple in structure, small in integral internal cavity, compact in structure and improved in carrying performance of the rehabilitation robot. The compact main shaft structure has a bending moment resistant structure, can bear larger load and larger bending moment, and improves the application range of the rehabilitation robot. The compact main shaft structure also has an axial self-locking structure, can realize the main shaft locking of the applied rehabilitation equipment under the conditions of misoperation, power failure, overspeed and the like, and improves the safety performance of the rehabilitation prostitute lovely and beautiful people. The spindle is simple in structure, and the motor shell, the supporting part, the transmission part and the like can be designed according to actual conditions, so that the application flexibility of the spindle is improved.

Drawings

Fig. 1 is a schematic external view of the present application;

FIG. 2 is a cross-sectional view of a first embodiment of a spindle structure according to the present application;

FIG. 3 is a cross-sectional view of a first embodiment of a spindle structure according to the present application;

FIG. 4 is a cross-sectional view (one) of a second embodiment of the spindle structure of the present application;

FIG. 5 is a cross-sectional view of a second embodiment of the spindle structure of the present application;

FIG. 6 is a second end face tooth structure of the tooth-shaped self-locking device;

FIG. 7 is a connector mount of the tooth-shaped self-locking device;

fig. 8 shows a control method of the spindle structure according to the present invention.

Detailed Description

The following detailed description of the preferred embodiments of the present invention is provided to enable those skilled in the art to more easily understand the advantages and features of the present invention, and to clearly and clearly define the scope of the present invention.

In the drawing, 1-motor part, 101-motor output shaft, 102-skeleton seal, 103-motor front end cover, 104-o type seal ring, 105-deep groove ball bearing I, 106-motor magnetic steel rotor, 107-winding stator, 108-shell, 109-rear end cover, 110-deep groove ball bearing II, 111-encoder, 112-cover, 2-speed reducer part, 201-harmonic generator, 202-flexspline, 203-rigid spline, 3-support part, 301-motor fixing sleeve, 302-harmonic support sleeve, 303-support arm, 304-bending resistance sleeve 304, 4-drive shaft part, 401-tapered roller bearing, 402-deep groove ball bearing, 403-drive shaft, 404-retainer ring, 5-connecting piece, 6-tooth-shaped self-locking device, 601-positioning ring, 602-slip ring contact, 603-slip ring, 604-first end face tooth, 605, second end face tooth, 606-compression spring, 607-sealing ring, 608-coil and 609-connecting piece fixing piece

Referring to the attached drawings 1-3, a compact spindle structure includes a motor part 1, a speed reducer part 2, a transmission shaft part 4 and a connecting part 5 which are sequentially connected in series, a supporting part 3 is sleeved outside the speed reducer part 2 and the transmission shaft part 4 to support and protect the speed reducer part and the transmission shaft part 4, the motor part 1 is a power input end of the spindle structure, and transmission force is amplified by the speed reducer part 2 and output to the transmission shaft part 4, so that the connecting part 5 is driven to move.

The motor component comprises a motor output shaft 101, a skeleton seal 102, a motor front end cover 103, an O-shaped seal ring 104, a deep groove ball bearing 105, a magnetic steel rotor 106, a winding stator 107, a shell 108, a rear end cover 109, a deep groove ball bearing 110, an encoder 111 and a cover casing 112. The motor output shaft 101 is fixedly connected with the magnetic steel rotor 106 in an interference fit manner, the winding stator 107 is fixedly connected with the shell 108 in an interference fit manner, the motor output shaft 101, the magnetic steel rotor 106 and the winding stator 107 are positioned in a cylindrical inner cavity formed by the rear end cover 109, the shell 108 and the front end cover 103, an outer peripheral groove of the rear end cover 109 is tightly pressed with the end part of the shell 108, the main body of the front end cover 103 is in a disc shape with a through hole in the center, a first vertical wall is arranged at the radial middle position of one side surface of the front end cover 103, a second vertical wall is arranged at the position, which is closer to the center in the radial direction, of the other side surface of the front end cover 103 relative to the first vertical wall, the second vertical wall, a second vertical wall is arranged at a position, which is closer to the center, relative to the first vertical wall, the first surface of a flange part of one side of the second vertical wall, which is closer to the center through hole, of the front, one end of the motor output shaft 101 is connected with the encoder 111 through a through hole formed in the center of the rear end cover 109, the other end of the motor output shaft 101 is connected with the speed reducer part 2 through a through hole formed in the center of the front end cover 103, the deep groove ball bearing 110 is installed on the motor output shaft 101 in the through hole of the rear end cover 109, the deep groove ball bearing 105 is installed between the inner side of the first vertical wall of the front end cover 103 and the motor output shaft 101, and the deep groove ball bearing is axially limited through a shaft shoulder of the motor output shaft 101. The framework seal 102 is installed between the inner side of the second cluster wall of the front end cover 103 and the motor output shaft 101, the O-shaped seal ring 104 is installed in a groove on the side surface where the front end cover 103 is matched with the shell 108, and the framework seal 104 and the O-shaped seal ring 104 form double seals to prevent dust and oil dirt from permeating into gaps. The motor output shaft 101, the framework seal 102, the motor front end cover 103, the O-shaped seal ring 104, the deep groove ball bearing 105, the magnetic steel rotor 106, the winding stator 107, the shell 108, the rear end cover 109, the deep groove ball bearing 110 and the encoder 111 are all located in the cover casing 112, and the end face, located at the connecting position of the motor component and the speed reducer component, of the cover casing 112 is abutted to the end face of the supporting component 3.

The reducer part 2 comprises a harmonic three-part set: the harmonic generator 201, the rigid gear 203 and the flexible gear 202 only use the three harmonic sets, so that the axial size of the speed reducer is further shortened. The motor output shaft 101 is fixedly connected with the harmonic generator 201 through a flat key, the harmonic generator 201 is fixed through a jackscrew to generate axial movement, the rigid wheel 203 is axially pressed on the peripheral surface of the peripheral wall part of the flexible gear 202 through the motor fixing sleeve 301 and the harmonic supporting sleeve 302, the upper part of the rigid wheel 203 is closely attached through transition fit of the stepped inner wall of the motor fixing sleeve 301, the lower part of the rigid wheel 203 is closely attached through transition fit of the inner wall of the harmonic supporting sleeve 302, and the rigid wheel 203 is axially and radially limited to avoid movement through the installation mode. The end face of the flexible gear 202 of the harmonic reducer is fixedly connected with the end face of the transmission shaft 403 through a screw, and the flexible gear 202 serves as the output end of the reducer to drive the transmission shaft 403 to rotate.

The supporting parts 3 comprise a motor fixing sleeve 301, a harmonic supporting sleeve 302, a supporting arm 303 and a bending moment resisting sleeve 304, the supporting parts are fastened through screws, the inner wall and the outer wall are nested and matched in the radial direction, and the axial shaft shoulder is matched and pressed, so that the coaxiality of the axis of the whole main shaft is ensured. The motor fixing sleeve 301 is a cap type with a through hole in the middle, one end face of the motor fixing sleeve 301 is in contact with the side face, provided with the second vertical wall, of the motor front end cover 103, the inner circumferential face of the motor fixing sleeve 301 is in compression fastening with the outer circumferential face of the second vertical wall, the other end face of the motor fixing sleeve 301 is in matched and pressed with the harmonic wave supporting sleeve 302, the harmonic wave supporting sleeve 302 is circumferentially provided with screw fixing through holes, the inner wall of the harmonic wave supporting sleeve 302 is in matched and pressed with the outer wall of the rigid wheel 203, one end face of the supporting wall 303 is provided with screw fastening holes corresponding to the screw fixing through holes of the harmonic wave supporting sleeve, the harmonic wave supporting sleeve 302 is fixedly connected with the supporting wall 303 through screws, and the other end wall of the supporting wall 303 is step-shaped and is locked with the end face corresponding to the bending moment resisting. The stepped end surface of the support wall 303 has a first step, a second step, and a screw fastening hole is provided in the first step surface. The bending moment resisting sleeve 304 is provided with a screw fixing through hole corresponding to the position of the screw fastening hole of the first step surface of the supporting wall 303, and the second step section surface of the bending moment resisting sleeve 304 is in contact with and pressed against the second step section surface of the supporting wall 303.

The transmission shaft 403 is located in the support part 3, and the transmission shaft 403 is limited in both axial and radial directions by structures. The transmission shaft 403 is provided with shaft shoulders at a plurality of axial positions, and the shaft shoulders and the inner side walls of the corresponding support parts 3 are supported through bearings. The middle part of the transmission shaft 403 is provided with a first shaft shoulder which is positioned in an annular cavity arranged in the middle of the support wall 303, two sides of the first shaft shoulder are provided with tapered roller bearings 401 which are arranged face to face, outer rings of the tapered roller bearings 401 are respectively fixed with the inner wall of the support wall 303, and inner rings of the tapered roller bearings abut against the shaft shoulder of the transmission shaft 403, so that the transmission shaft is prevented from axially moving. The inner wall of the deep groove ball bearing 402 is located between the transmission shaft 403 and the inner side wall of the bending resistance sleeve 304, the inner ring of the deep groove ball bearing 402 is in transition fit with the transmission shaft, the outer ring of the deep groove ball bearing 402 is in interference fit with the inner wall of the bending resistance sleeve, the axial direction of the deep groove ball bearing 402 is limited by a retainer ring 404, and the outer side of the retainer ring 404 for the hole is fixed in an inner side groove of the bending resistance sleeve 304 to play a bending resistance role.

The lower end face of the transmission shaft 403 is fixedly connected with the connecting piece 5, the end face of the transmission shaft 403 is positioned in the inner side groove of the connecting piece, the end face of the transmission shaft 403 is provided with a screw fastening hole, and the inner flange of the connecting piece 5 corresponding to the end face is provided with a screw fixing through hole.

Referring to fig. 4-7, another embodiment of the compact spindle structure of the present application is provided, in which, on the basis of the spindle structure shown in fig. 2-3, a tooth-type self-locking device 6 is connected between the transmission shaft part 4 and the connecting part 5, the tooth-type self-locking device 6 includes a first end face tooth 604, a second end face tooth 605, a connecting part fixing member 609, a coil 608, a compression spring 606, and a positioning ring 601, the first end face tooth 604 and the second end face tooth 605 are identical in structure and are oppositely arranged, and the opposite end faces of the two are provided with engageable tooth structures. First terminal surface tooth 604 outer fringe shape is the spline shape, cooperates with the spline groove that bending moment resistant sleeve 304 inboard set up, prevents that first terminal surface tooth 604 from rotating, and first terminal surface tooth 604 axial is spacing by holding ring 601, and this holding ring 601 and bending moment resistant sleeve 304 go up and support arm 303 carry out fixed connection through the screw, and wherein processing has the counter bore on the holding ring 601, and processing has the screw via hole on the bending moment resistant sleeve 304, and processing has the screw hole on the support arm. The second end face teeth 605 are axially slidably mounted in the inner side wall of the connecting member 5, the outer edge of the second end face teeth 605 is in a spline shape, and is matched with a spline groove formed in the inner side wall of the connecting member 5, so that the second end face teeth 605 are prevented from rotating and are used for guiding and positioning, and the second end face teeth 605 are axially limited by a connecting member fixing member 609 fixedly connected with the end part of the connecting member 5. The connector fixing piece 609 is in transition fit with the transmission shaft 403 and is locked by a screw. The connector fixing piece 609 is provided with a cylindrical part, a first flange is arranged at the end part of the outer periphery of the cylindrical part, screw fastening holes are uniformly distributed on the first flange and correspond to screw through holes of the step section surface corresponding to the connector, so that screw fastening is realized, and the outer edge of the connector fixing piece 609 is matched with the matching surface of the connector by adopting a spline structure so as to improve the torsion resistance. The position of the cylindrical inner side wall corresponding to the first flange is provided with a bottom part, and the bottom part is provided with a screw fixing hole connected with the end face of the transmission shaft 4. The other end face of the cylindrical portion opposite to the first flange is in contact with the second end face teeth 605, and the end face is provided with two ring grooves, a coil is provided in one ring groove, and a compression spring is provided in the other ring groove. And a conductive slip ring contact is arranged on the positioning ring 601, a slip ring 603 is arranged on the end surface of the connecting piece 5, which is in contact with the positioning ring, the slip ring structure transmits current to a coil 608 of the tooth-shaped self-locking device 6, and a sealing ring 607 is arranged on the end surface of the positioning ring 601, which is in contact with the connecting piece. When the connecting piece 5 works, the coil 608 generates magnetic force when being electrified, the second end face tooth 605 is attracted to be separated from the first end face tooth 604, and when the coil 608 is powered off, the second end face tooth 605 moves upwards under the action of the compression spring 606 and is meshed with the upper end face tooth, so that the self-locking of the connecting piece 5 is realized.

Referring to fig. 8, the working process of the present invention is as follows: the encoder 111 provides a feedback signal to complete the closed loop of the control loop, and the magnetic steel rotor 106 drives the motor output shaft 101 to rotate by sending an instruction through a matched servo driver. The output shaft 101 is fixedly connected with the harmonic generator 201, the harmonic generator 201 rotates to enable the flexible gear to deform regularly, and the speed reduction effect is achieved through gear meshing between the rigid gear 203 and the flexible gear 202, wherein the rigid gear 203 is fixed, the flexible gear 202 moves, and the flexible gear 202 drives the transmission shaft 403 to rotate and further drives the connecting piece 5 to move.

When the industrial personal computer knows that the rotating speed and the rotating angle of the motor exceed the set range according to the feedback signal of the motor encoder 111, the relay is controlled to cut off the power supply of the coil 608 of the jaw electromagnetic clutch; or when the main power supply of the system is powered off accidentally, the coil 608 is powered off, the magnetic force disappears, and the first end face teeth 604 and the lower end face teeth 605 are meshed under the action of the spring force to realize the self-locking of the main shaft structure.

Compared with the prior art, the beneficial effects of the utility model are that: the compact main shaft is simple in structure, small in integral internal cavity, compact in structure and improved in carrying performance of the rehabilitation robot. The compact main shaft structure has a bending moment resistant structure, can bear larger load and larger bending moment, and improves the application range of the rehabilitation robot. The compact main shaft structure also has an axial self-locking structure, can realize the main shaft locking of the applied rehabilitation equipment under the conditions of misoperation, power failure, overspeed and the like, and improves the safety performance of the rehabilitation prostitute lovely and beautiful people. The spindle is simple in structure, and the motor shell, the supporting part, the transmission part and the like can be designed according to actual conditions, so that the application flexibility of the spindle is improved.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and the protection scope of the present invention can not be limited thereby, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.

Claims

1. A compact spindle structure, including motor part (1), reduction gear part (2), support component (3), driving shaft part (4), connecting piece (5), motor part (1), reduction gear part (2), driving shaft part (4) and connecting piece (5) are connected in series in proper order, characterized in that: supporting component (3) cover is located reduction gear part (2) transmission shaft part (4) outside is right reduction gear part (2) transmission shaft part (4) play support and guard action, reduction gear part (2) comprise rigid wheel (203), flexbile gear (202) and harmonic generator (201), supporting component (3) are including fixed sleeve of motor (301), harmonic supporting sleeve (302), support wall (303) and bending resistance moment sleeve (304) of fixed connection in proper order.

2. The compact spindle structure of claim 1, wherein the motor fixing sleeve (301), the harmonic supporting sleeve (302), the supporting wall (303) and the bending-resistant sleeve (304) are axially and tightly connected with each other by screws in pairs, and radially compressed by inner and outer wall nesting and shaft shoulder matching.

3. Compact spindle construction according to claim 2, characterised in that it further comprises a tooth-shaped self-locking device (6).

4. The compact spindle structure according to claim 2, characterized in that the transmission shaft part (4) is located inside the support part (3), the transmission shaft part (4) comprising a transmission shaft (403), the transmission shaft (403) having a first shoulder in the middle, the first shoulder being flanked by face-to-face mounted tapered roller bearings (401), the outer ring of the tapered roller bearing (401) being fixed to the inner wall of the support wall (303), the inner ring of the tapered roller bearing (401) abutting against the first shoulder of the transmission shaft (403).

5. The compact spindle arrangement according to claim 3, characterized in that the drive shaft part (4) is located inside the support part (3), the drive shaft part (4) comprising a drive shaft (403), the drive shaft (403) having a first shoulder in the middle, the first shoulder being flanked by face-to-face mounted tapered roller bearings (401), the outer ring of the tapered roller bearing (401) being fixed to the inner wall of the support wall (303), the inner ring of the tapered roller bearing (401) abutting against the first shoulder of the drive shaft (403).

6. The compact main shaft structure of claim 4 or 5, characterized by further comprising a deep groove ball bearing (402), wherein the deep groove ball bearing (402) is located between the transmission shaft (403) and the inner wall of the bending moment resistant sleeve (304), the inner ring of the deep groove ball bearing (402) is in transition fit with the transmission shaft (403), the outer ring of the deep groove ball bearing (402) is in interference fit with the inner wall of the bending moment resistant sleeve (304), the axial direction of the deep groove ball bearing (402) is limited by a hole retainer ring (404), and the hole retainer ring (404) is fixed in an inner groove of the bending moment resistant sleeve (304).

7. A compact spindle arrangement according to claim 3, characterised in that the toothed self-locking device (6) is connected between the transmission shaft part (4) and the connecting piece (5).

8. The compact spindle structure of claim 7, wherein the toothed self-locking device (6) comprises a first end face tooth (604) and a second end face tooth (605), the first end face tooth (604) and the second end face tooth (605) are identical in structure and are oppositely arranged, the opposite end faces of the first end face tooth and the second end face tooth are provided with engageable tooth structures, the first end face tooth (604) is fixedly arranged in the bending moment resisting sleeve (304), and the second end face tooth (605) is slidably arranged in an inner cavity of the connecting piece (5), so that the second end face tooth (605) has two working positions, is separated from the first end face tooth in the first working position and is engaged with the first end face tooth (604) in the second working position.

9. The compact spindle structure of claim 8, wherein the tooth-shaped self-locking device (6) further comprises a coil (608), a compression spring (606), and a connector fixing member (609), the connector fixing member (609) is fixedly connected to the end of the transmission shaft (403) and the connector (5), respectively, the connector fixing member (609) is in surface contact with the second face tooth (605) in the first working position, the coil (608) and the compression spring (606) are mounted on the contact surface of the connector fixing member (609), and the second face tooth (605) is switched between the first working position and the second working position by the power-on and power-off operations of the coil (608).

10. The compact spindle structure of any one of claims 1 to 5 and 7 to 9, wherein the compact spindle structure is applied to a rehabilitation robot.