Modularized direct torque control rehabilitation robot joint

Abstract

The invention provides a modularized direct torque control rehabilitation robot joint. The modularized direct torque control rehabilitation robot joint comprises a left end cover, a harmonic speed reducer, a direct-current three-phase brushless motor, a joint mechanical limiting stopper, an absolute encoder, a circuit board, a shell, a right end cover and an electromagnetic band-type brake; the left end cover is installed on a fixed bearing of the shell; the joint mechanical limiting stopper is installed on the left end cover; the harmonic speed reducer is installed on the fixed bearing of theshell; a left output shaft of the direct-current three-phase brushless motor is installed at an input end of the harmonic speed reducer; a stator of the direct-current three-phase brushless motor isfixedly connected with the shell of the harmonic speed reducer; the electromagnetic band-type brake and the absolute encoder are correspondingly installed on a right output shaft of the direct-currentthree-phase brushless motor; the fixed bearing of the electromagnetic band-type brake is fixedly connected with the shell; the circuit board is installed on the fixed bearing of the shell; and the right end cover is installed on the shell. The modularized direct torque control rehabilitation robot joint provided by the invention is small in size, light in weight, good in man-machine interactivity, convenient to install and use by various rehabilitation training robots, and high in universality and practicability.

Description

technical field [0001] The invention relates to the technical field of rehabilitation medical equipment, and more specifically, to a modularized direct torque control rehabilitation robot joint. Background technique [0002] The rehabilitation robot joint is the core part of the rehabilitation robot equipment, and the performance of the rehabilitation robot joint directly affects the rehabilitation training effect of the patient. During the rehabilitation training process of the patient, the rehabilitation training robot control system provides the patient with the required joint movement torque by controlling the joints of the rehabilitation robot, and then helps the patient complete the rehabilitation training program. [0003] In the existing technology, there are few researches on rehabilitation robot rehabilitation joint modules. Robot joint products are mainly industrial robot joints. Researchers mainly conduct research on rehabilitation robot joints based on industria...

AI Technical Summary

Problems solved by technology

The developed rehabilitation robot joints have problems such as low transmission accuracy, exposed electrical wiring, prone to entanglement, lack of mechanical positioning design, and inconvenient installation; there is even no mechanical limit mechanism, and there are great safety hazards in the use process; there is no consideration Importance of joint feedback information, lack of joint perception function

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