Driving assembly and motion assist apparatus comprising the same

Abstract

According to various embodiments, the exercise assist device comprises: a proximal support member for supporting a proximal part of a user; a distal support member for supporting a distal part of the user; a drive assembly connected to the proximal support member and generating power; and a drive frame for transmitting power from the drive assembly to the distal support member, wherein the drive assembly may include: a housing; an actuator comprising a stator fixed to the housing and having a ring shape, and a rotor located inside the stator and rotatable relative to the stator; a reduction gear inserted inside the rotor and having an input end connected to an output end of the actuator; and a support member that supports the reduction gear and allows the reduction gear to be detachably attached to the housing. In addition, various other embodiments are possible.

Description

Technology Field

[0001] Various embodiments of the present disclosure relate to a driving assembly and an exercise assist device. Background Technology

[0002] A motion assistance device refers to a device or apparatus that helps patients who are unable to walk on their own due to various diseases or accidents to perform exercises for rehabilitation. Recently, as the aging society intensifies, interest in motion assistance devices is rising as the number of people who find it difficult to exercise normally due to joint problems or complain of discomfort during exercise increases. Motion assistance devices are attached to the user's body to provide assistance with the muscle strength required for exercise and guide the user's gait so that they can exercise normally.

[0003] Generally, users of exercise assistive devices are individuals with limited physical mobility. For them, the process of putting on the device itself can be burdensome. There is a need for technology that enables users with limited mobility to wear exercise assistive devices independently, without the assistance of others.

[0004] The background technology described above is possessed or acquired by the inventor in the process of deriving the content of the disclosure of the present application, and cannot necessarily be considered as prior art disclosed to the general public prior to the filing of this application.

[0005] According to various embodiments, the exercise assist device comprises: a proximal support member for supporting a proximal part of a user; a distal support member for supporting a distal part of the user; a drive assembly connected to the proximal support member and generating power; and a drive frame for transmitting power from the drive assembly to the distal support member, wherein the drive assembly may include: a housing; an actuator comprising a stator fixed to the housing and having a ring shape, and a rotor located inside the stator and rotatable relative to the stator; a reduction gear inserted inside the rotor and having an input end connected to an output end of the actuator; and a support member that supports the reduction gear and allows the reduction gear to be detachably attached to the housing.

[0006] In various embodiments, the drive frame connects the output end of the reduction gear and the distal support member, and is capable of relative movement with respect to the support member.

[0007] In various embodiments, the support member may include a base frame that overlaps the housing with respect to the rotational axis direction of the rotor and is detachably connected to the housing; and a support frame that extends from the base frame, at least a portion of which is located inside the stator, and supports the reduction gear.

[0008] In various embodiments, the support member may further include an extension frame that extends from the base frame and overlaps the reduction gear with respect to the rotational axis direction of the rotor.

[0009] In various embodiments, the driving assembly may further include a frame fastening member that fastens the support member and the housing.

[0010] In various embodiments, the housing may include a lower cover that rotatably supports the rotor; a side cover extending from the lower cover and covering the side of the stator; and an upper cover extending from the side cover and covering the upper surface of the stator.

[0011] In various embodiments, the rotor may include a main plate arranged parallel to the lower cover; and a vertical extension extending from the main plate and located between the stator and the reduction gear.

[0012] In various embodiments, the rotor may further include a cap covering the main plate; and a cap fastening member that fastens the cap and the reduction gear and is connected to the reduction gear.

[0013] In various embodiments, the support member and the reduction gear may be separated from the housing.

[0014] In various embodiments, the reduction gear may include: a main shaft connected to the rotor and rotating about the rotation axis of the rotor; a first sun gear fixed to the main shaft; a ring gear fixed to the support and surrounding the first sun gear; a plurality of first planetary gears disposed between the first sun gear and the ring gear and meshing with the first sun gear and the ring gear; a first carrier connected to the center axis of each of the plurality of first planetary gears; a second sun gear connected to the first carrier; a plurality of second planetary gears disposed between the second sun gear and the ring gear and meshing with the second sun gear and the ring gear; and a second carrier connected to the center axis of each of the plurality of second planetary gears and connected to the drive frame.

[0015] In various embodiments, the rotor and the first sun gear rotate at the same speed, and the first sun gear, the first carrier, and the second carrier may rotate at different speeds.

[0016] In various embodiments, the drive assembly may further include a lower bearing disposed between the rotor and the housing; and an upper bearing disposed between the ring gear and the second carrier.

[0017] In various embodiments, the drive assembly may further include a first inner bearing disposed between the main shaft and the first carrier; a second inner bearing disposed between the main shaft and the second sun gear; and a third inner bearing disposed between the main shaft and the second carrier.

[0018] The above drive assembly may further include a washer that is inserted into the main shaft and covers the third inner bearing.

[0019] The above driving assembly may further include a stopper disposed on the support and located on the movement path of the driving frame.

[0020] According to various embodiments, the drive assembly may include: a housing; an actuator comprising a stator fixed to the housing and having a ring shape, and a rotor located inside the stator and rotatable relative to the stator; a reduction gear inserted inside the rotor and having an input end connected to an output end of the actuator; and a support member that supports the reduction gear and is detachably connected to the housing.

[0021] In various embodiments, the support member may include a base frame that overlaps the housing with respect to the rotational axis direction of the rotor and is detachably connected to the housing; and a support frame that extends from the base frame, at least a portion of which is located inside the stator, and supports the reduction gear.

[0022] In various embodiments, the driving assembly may further include a frame fastening member that fastens the support member and the housing.

[0023] In various embodiments, the reduction gear may include: a main shaft connected to the rotor and rotating about the rotation axis of the rotor; a first sun gear fixed to the main shaft; a ring gear fixed to the support and surrounding the first sun gear; a plurality of first planetary gears disposed between the first sun gear and the ring gear and meshing with the first sun gear and the ring gear; a first carrier connected to the center axis of each of the plurality of first planetary gears; a second sun gear connected to the first carrier; a plurality of second planetary gears disposed between the second sun gear and the ring gear; and a second carrier connected to the center axis of each of the plurality of second planetary gears.

[0024] According to various embodiments, a drive assembly may include a housing provided in a motion assist device; an actuator comprising a stator fixed to the housing and having a ring shape, and a rotor located inside the stator and rotatable relative to the stator; a reduction gear comprising a ring gear inserted inside the rotor and facing the inner surface of the rotor, a sun gear connected to the output end of the actuator, and a plurality of planetary gears disposed between the ring gear and the sun gear; and a support member that supports the ring gear and is detachably connected to the housing. Brief explanation of the drawing

[0025] FIG. 1 is a drawing showing a user wearing an exercise assistance device according to one embodiment. FIG. 2 is a perspective view of a driving assembly according to one embodiment. FIG. 3 is a front exploded perspective view of a driving assembly according to one embodiment. FIG. 4 is a rear exploded perspective view of a driving assembly according to one embodiment. Figure 5 is a cross-sectional view of an exercise assist device showing a cross-sectional view cut along the cutting line VV of Figure 2. FIG. 6 is a perspective view of a driving assembly according to one embodiment. Figure 7 is an exploded perspective view of a drive assembly showing the stopper separated from Figure 6. FIG. 8 is an exploded perspective view of a drive assembly showing the reduction gear separated from FIG. 7. FIG. 9 is a cross-sectional view of a driving assembly according to one embodiment. FIG. 10 is a cross-sectional view of a driving assembly according to one embodiment. FIG. 11 is an exploded cross-sectional view of a driving assembly according to one embodiment. FIG. 12 is an exploded perspective view schematically illustrating a state in which two different reduction gears are waiting to be connected to a housing according to one embodiment. FIG. 13 is a perspective view schematically illustrating a state in which a first reduction gear is connected to a housing according to one embodiment. FIG. 14 is a perspective view schematically illustrating a state in which a second reduction gear is connected to a housing according to one embodiment. FIG. 15 is a schematic diagram illustrating a wearable module of an exercise assist device according to one embodiment being worn on a user's upper arm. Specific details for implementing the invention

[0026] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Accordingly, actual implementations are not limited to the specific embodiments disclosed, and the scope of this specification includes modifications, equivalents, or substitutions included in the technical concept described by the embodiments.

[0027] Terms such as first or second may be used to describe various components, but these terms should be interpreted solely for the purpose of distinguishing one component from another. For example, the first component may be named the second component, and similarly, the second component may also be named the first component.

[0028] When it is stated that a component is "connected" to another component, it should be understood that it may be directly connected to or joined to that other component, or that there may be other components in between.

[0029] The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, terms such as "comprising" or "having" are intended to specify the existence of the described features, numbers, steps, actions, components, parts, or combinations thereof, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0030] Components included in any one embodiment and components having a common function shall be described using the same names in other embodiments. Unless otherwise stated, the description in any one embodiment may also apply to other embodiments, and specific descriptions shall be omitted to the extent of overlap.

[0031] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this specification.

[0032] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components are given the same reference numeral regardless of the drawing number, and redundant descriptions thereof will be omitted.

[0034] FIG. 1 is a drawing showing a user wearing an exercise assistance device according to one embodiment.

[0035] Referring to FIG. 1, an exercise assist device (100) according to one embodiment may be worn by a user to assist the user's exercise. The user may be a human body, an animal, or a robot, but is not limited thereto. The exercise assist device (100) may include a proximal support (190), a distal support (192), and a driving assembly (10).

[0036] In one embodiment, the proximal support (190) and the distal support (192) are positioned opposite each other with respect to a part of the user, so as to support the proximal part and the distal part, respectively. For example, the proximal support (190) may support the waist and / or pelvis, etc., and the distal support (192) may support the thigh, knee, calf and / or foot, etc. For example, the proximal support (190) may include a detachable belt to support the user's waist entirely, and the distal support (192) may include a detachable belt to support the user's thigh entirely.

[0037] As another example, the proximal support (190) and the distal support (192) may be positioned opposite each other with respect to the user's upper arm, and the proximal support (190) may support, for example, the shoulder and / or back, and the distal support (192) may support, for example, the forearm. For example, the proximal support (190) may include a detachable belt to support the user's shoulder entirely, and the distal support (192) may include a detachable belt to support the user's forearm entirely or a structure that surrounds the forearm entirely.

[0038] In one embodiment, the driving assembly (10) can rotate the distal support (192) relative to the proximal support (190). For example, with respect to the sagittal plane, the driving assembly (10) can rotate the distal support (192) relative to the proximal support (190). In other words, by rotating the distal support (192), the driving assembly (10) can assist the user in performing thigh flexion or extension exercises.

[0039] In one embodiment, the proximal support (190) and the distal support (192) can rotate relative to the frontal plane. For example, the driving assembly (10) can be positioned on one side of the proximal support (190).

[0040] FIG. 2 is a perspective view of a driving assembly according to one embodiment, FIG. 3 is a front exploded perspective view of a driving assembly according to one embodiment, FIG. 4 is a rear exploded perspective view of a driving assembly according to one embodiment, and FIG. 5 is a cross-sectional view of a motion assist device showing a cross-sectional view cut along the cutting line VV of FIG. 2.

[0041] Referring to FIGS. 2 to 5, the drive assembly (10) may include an actuator (11), a reduction gear (12), a drive frame (13), an upper cover (141), a lower cover (142), a plurality of bearings and connecting wires (17).

[0042] In one embodiment, the actuator (11) may be a hollow actuator having an internal space. For example, a reduction gear (12) may be inserted into the internal space. According to such a structure, the width of the drive assembly (10), that is, the vertical distance from the lower cover (142) to the drive frame (13), can be reduced. By reducing the height at which the entire drive assembly (10) protrudes from the user, the volume of the entire exercise aid (100, see FIG. 1) can be reduced, and, for example, the user may wear the exercise aid (100) under clothing. The actuator (11) may include a stator (111) and a rotor (112).

[0043] In one embodiment, the stator (111) may be connected to a proximal support (190). The stator (111) may generate a magnetic field to rotate the rotor (112). The stator (111) may be, for example, a ring shape with a hole formed in the central portion. For example, the stator (111) may be a donut shape. It should be noted that the shape of the stator (111) is not limited thereto.

[0044] In one embodiment, the rotor (112) is rotatable relative to the stator (111). For example, the rotor (112) may be surrounded by the stator (111). For example, the rotor (112) may be cup-shaped. The rotor (112) may include a main plate (1121), a vertical extension (1122), a sun gear (1123), a permanent magnet (1124), and a rotor shaft (1125).

[0045] In one embodiment, the main plate (1121) of the rotor (112) may be a plate parallel to a plane perpendicular to the central axis of the stator (111). The vertical extension (1122) of the rotor (112) may be a portion extending vertically in one direction from the edge portion of the main plate (1121). The main plate (1121) and the vertical extension (1122) of the rotor (112) may together form a cup shape. A reduction gear (12) may be inserted into the space formed by the main plate (1121) and the vertical extension (1122).

[0046] In one embodiment, a plurality of permanent magnets (1124) of the rotor (112) may be arranged along the outer surface of the vertical extension (1122) of the rotor (112). For example, the permanent magnets (1124) may have a curved shape having the same curvature as the vertical extension (1122), and the plurality of permanent magnets (1124) may be spaced apart at regular intervals. The permanent magnets (1124) may interact with the magnetic field generated in the stator (111). For example, when the permanent magnets (1124) of the rotor (112) interact with the magnetic field generated in the stator (111), the rotor (112) may rotate in one direction.

[0047] In one embodiment, the sun gear (1123) of the rotor (112) may be formed protruding from the center of the main plate (1121). The sun gear (1123) may rotate integrally with the main plate (1121). For example, the rotor shaft (1125) may be formed protruding from the center of the main plate (1121), and the sun gear (1123) may be fixed to the rotor shaft (1125). The sun gear (1123) of the rotor (112) may be the output terminal of the actuator (11). The output terminal of the actuator (11) may be connected to the input terminal of the reduction gear (12). For example, the sun gear (1123) may be connected to the input terminal of the reduction gear (12).

[0048] In one embodiment, the upper cover (141) and the lower cover (142) may surround the actuator (11). The upper cover (141) and the lower cover (142) may secure the stator (111) and support the rotor (121) so that the rotor (121) can rotate relative to the stator (111). The lower cover (142) is connected to the proximal support (190) and may secure the lower surface of the stator (111). The upper cover (141) is connected to the lower cover (142) and may secure the upper surface of the stator (111). The movement of the stator (111) in the vertical and horizontal directions may be restricted by the lower cover (142) and the upper cover (141). In other words, the stator (111) may be secured without shaking between the lower cover (142) and the upper cover (141).

[0049] In one embodiment, the upper cover (141) may include a protrusion (1411) extending toward the internal space of the stator (111). For example, the protrusion (1411) may be a cylindrical member formed to protrude toward the lower cover (142) from the center of the upper cover (141). A vertical extension (1122) of the rotor (112) may be located between the protrusion (1411) of the upper cover (141) and the stator (111).

[0050] In one embodiment, the lower cover fixing screw (1425) can connect the lower cover (142) and the proximal support (190, see FIG. 1) to each other. The lower cover (142) can be fixed to the proximal support (190) by the lower cover fixing screw (1425). A plurality of lower cover fixing screws (1425) may be provided along the perimeter of the lower cover (142).

[0051] In one embodiment, the upper cover fixing screw (1415) can connect the upper cover (141) and the lower cover (142) to each other. The upper cover (141) can be fixed to the lower cover (142) by the upper cover fixing screw (1415). A plurality of upper cover fixing screws (1415) may be provided along the perimeter of the upper cover (141).

[0052] In one embodiment, a plurality of bearings can assist the rotor (112) to rotate stably relative to the stator (111). A plurality of bearings can assist the rotor (112) to maintain a constant distance from the stator (111). In other words, a plurality of bearings can prevent the rotor (112) from approaching the protrusion (1411) of the upper cover (141) or the stator (111).

[0053] In one embodiment, a plurality of bearings may include a first inner bearing (151), a second inner bearing (152), and a third inner bearing (153). The first inner bearing (151) may be positioned between the rotor (112) and the upper cover (141). The second inner bearing (152) may be positioned between the rotor (112) and the lower cover (142).

[0054] In one embodiment, the first inner bearing (151) may contact the upper surface and inner surface of the rotor (112), and the second inner bearing (152) may contact the lower surface and outer surface of the rotor (112). With such an arrangement, the first inner bearing (151) and the second inner bearing (152) can prevent shaking of the rotor (112) in the vertical direction and can prevent shaking of the rotor (112) in the horizontal direction. In other words, the center of the rotor (112) can maintain alignment with the center of the stator (111).

[0055] In one embodiment, the reduction gear (12) may be inserted inside the actuator (11). For example, the reduction gear (12) may be inserted into a space enclosed by the vertical extension (1122) of the rotor (112). The sun gear (1123), which is the output end of the actuator (11), may be connected to the input end of the reduction gear (12). Below, the reduction mechanism of the reduction gear (12) will be described in detail.

[0056] In one embodiment, the main plate (1121) of the rotor (112) may include a rotor shaft (1125) formed protruding from the center and a first sun gear (1123) fixed to the rotor shaft (1125). The protrusion (1411) of the upper cover (141) may include a ring gear (1412) formed from the inner surface toward the center. The reduction gear (12) may include a plurality of first planetary gears (1211), a first carrier (1212), a second sun gear (1213), a plurality of second planetary gears (1221), and a second carrier (1222).

[0057] In one embodiment, a plurality of first planetary gears (1221) may be connected to a sun gear (1123), which is the output end of an actuator (11). A second carrier (1222) may be connected to a drive frame (13). In other words, the second carrier (1222) may be the output end of a reduction gear (12).

[0058] In one embodiment, a plurality of first planetary gears (1211) may be arranged between the first sun gear (1123) and the ring gear (1412). The first planetary gears (1211) may be arranged, for example, at regular intervals along the circumference of the first sun gear (1123). The first planetary gears (1211) may have a gear shape that meshes with the first sun gear (1123). One side of the first planetary gear (1211) may contact the first sun gear (1123), and the other side may contact the ring gear (1412). Since the ring gear (1412) is formed on the protrusion (1411) of the upper cover (141), it can maintain a fixed state. When the first sun gear (1123) rotates, a plurality of first planetary gears (1211) can rotate along the circumference of the first sun gear (1123).

[0059] In one embodiment, the first carrier (1212) may be connected to the center axis of a plurality of first planetary gears (1211). When the center axis of the plurality of first planetary gears (1211) revolves around the first sun gear (1123), the first carrier (1212) may rotate around the first sun gear (1123) at a rotational angular velocity equal to the revolvement angular velocity of the center axis of the plurality of first planetary gears (1211). Since the center axis of each of the plurality of first planetary gears (1211) is coupled by the first carrier (1212), the center axis of each of the plurality of first planetary gears (1211) may revolve at the same revolvement angular velocity. The rotational speed of the first carrier (1212) can be reduced compared to the rotational speed of the first sun gear (1123). In other words, the torque output from the first carrier (1212) can be greater than the torque transmitted by the first sun gear (1123) to the first planetary gear (1211).

[0060] In one embodiment, the second sun gear (1213) may be formed at the center of the first carrier (1212). The second sun gear (1213) may be formed on the opposite side of a plurality of first planetary gears (1211). For example, if the center axes of a plurality of first planetary gears (1211) are connected to the lower surface of the first carrier (1212) with reference to FIG. 5, the second sun gear (1213) may be formed on the upper surface of the first carrier (1212). The second sun gear (1213) may rotate at the same angular velocity as the first carrier (1212).

[0061] In one embodiment, a plurality of second planetary gears (1221) may be arranged between the second sun gear (1213) and the ring gear (1412). The second planetary gears (1221) may be arranged, for example, at regular intervals along the circumference of the second sun gear (1213). The second planetary gears (1221) may have a gear shape that meshes with the second sun gear (1213). One side of the second planetary gear (1221) may contact the second sun gear (1213), and the other side may contact the ring gear (1412). Since the ring gear (1412) is formed on the protrusion (1411) of the upper cover (141), it can maintain a fixed state. When the second sun gear (1213) rotates, a plurality of second planetary gears (1221) can revolve around the second sun gear (1213).

[0062] In one embodiment, the second carrier (1222) may be connected to the center axis of a plurality of second planetary gears (1221). When the center axis of the plurality of second planetary gears (1221) revolves around the second sun gear (1213), the second carrier (1222) may rotate around the second sun gear (1213) at a rotational angular velocity equal to the orbital angular velocity of the center axis of the plurality of second planetary gears (1221). Since the center axis of each of the plurality of second planetary gears (1221) is coupled by the second carrier (1222), the center axis of each of the plurality of second planetary gears (1221) may revolve at the same angular velocity. The rotational speed of the second carrier (1222) may be reduced compared to the rotational speed of the first carrier (1212). In other words, the torque output from the second carrier (1222) may be greater than the torque output from the first carrier (1212). The second carrier (1222) may be the output terminal of the reduction gear (12). The driving torque generated in the drive assembly (10) may gradually increase from the input terminal of the reduction gear (12) to the output terminal of the reduction gear (12).

[0063] In one embodiment, one end of the drive frame (13) may be connected to the output end of the reduction gear (12). For example, one end of the drive frame (13) may be connected to a second carrier (1222). The other end of the drive frame (13) may be connected to a distal support member (192, see FIG. 1). The drive frame (13) may transmit power received from the reduction gear (12) to the distal support member (192).

[0064] In FIGS. 3 to 5, the reduction gear (12) is illustrated as comprising two planetary gear sets. It should be noted that the structure of the reduction gear (12) is not limited thereto. For example, the reduction gear (12) may be composed of one planetary gear set (1211, 1212). For example, the first carrier (1212) of the reduction gear (12) may be connected to a direct drive frame (13).

[0065] In one embodiment, a plurality of bearings can prevent shaking of the rotational axes of each of the first sun gear (1123), the first planetary gear (1211), the first carrier (1212), the second sun gear (1213), the second planetary gear (1221), and the second carrier (1222).

[0066] In one embodiment, the first inner bearing (151) may contact the upper surface and inner surface of the rotor (112) with reference to FIG. 5, and the second inner bearing (152) may contact the lower surface and outer surface of the rotor (112). With such an arrangement, the first inner bearing (151) and the second inner bearing (152) can prevent shaking of the rotor (112) in the vertical and horizontal directions. In other words, the first inner bearing (151) and the second inner bearing (152) can align the center of the rotor (112) with the center of the stator (111). With such a structure, shaking of the rotation axis of the first sun gear (1123) can be prevented.

[0067] In one embodiment, the third inner bearing (153) may be positioned between the upper cover (141) and the second carrier (1222). The second carrier (1222) may receive a radial force in accordance with the movement of the drive frame (13). When a radial force is applied to the second carrier (1222), the third inner bearing (153) can prevent the second carrier (1222) from shaking. In other words, the third inner bearing (153) can prevent the rotation axis of the second carrier (1222) from shaking.

[0068] In one embodiment, a fourth bearing (154) may be positioned between the lower side of a first carrier (1212) supporting a plurality of first planetary gears (1211) and the rotor shaft (1125). For example, the fourth bearing (154) may assist the first carrier (1212) to rotate smoothly along the outer surface of the rotor shaft (1125). The fourth bearing (154) may maintain a constant distance between the lower side of the first carrier (1212) and the rotor shaft (1125).

[0069] In one embodiment, the fifth bearing (155) may be positioned between the upper side of the first carrier (1212) supporting a plurality of first planetary gears (1211) and the rotor shaft (1125). For example, the fifth bearing (155) may assist the first carrier (1212) to rotate smoothly along the outer surface of the rotor shaft (1125). The fifth bearing (155) may maintain a constant distance between the upper side of the first carrier (1212) and the rotor shaft (1125).

[0070] In one embodiment, the fourth bearing (154) and the fifth bearing (155) each support the lower and upper sides of the first carrier (1212), respectively, thereby preventing shaking of the first carrier (1212) and a plurality of first planetary gears (1211).

[0071] In one embodiment, the sixth bearing (156) may be positioned between the rotor shaft (1125) and the second carrier (1222). For example, the sixth bearing (156) may assist the second carrier (1222) in rotating along the outer surface of the rotor shaft (1125). The sixth bearing (156) may maintain a constant distance between the rotor shaft (1125) and the second carrier (1222). The sixth bearing (156) may prevent shaking of the second carrier (1222).

[0072] In one embodiment, the sixth bearing (156) may be a flanged bearing. The cylindrical portion of the sixth bearing (156) may be inserted into a hole formed at the center of the second carrier (1222), and the rotor shaft fixing screw (1312) may be positioned to overlap the flanged portion of the sixth bearing (156) so as to prevent the sixth bearing (156) from detaching from the second carrier (1222). The rotor shaft fixing screw (1312) may be screw-coupled with the rotor shaft (1125). For example, the rotor shaft (1125) may have screw threads on its inner surface, and the rotor shaft fixing screw (1312) may have screw threads on its outer surface.

[0073] In one embodiment, the drive frame (13) may be rotatably connected to one side of the proximal support (190). The fixed plate (131) of the drive frame (13) may be connected to the reduction gear (12, see FIG. 3) of the drive assembly (10) by at least one frame fixing screw (1311). A bearing or a friction reduction plate may be provided between the fixed plate (131) and the upper cover (141).

[0074] In one embodiment, the drive frame (13) may include a fixed plate (131) connected to a reduction gear (12, see FIG. 3), a hinge (133) connected to one end of the fixed plate (131), and a pivot bar (132) connected to the hinge (133). The portion of the fixed plate (131) connected to the hinge (133) may be curved toward the proximal portion of the user. With such a shape, the axis of the hinge (133) may be close to the adduction and abduction axes of the user's hip joint. The pivot bar (132) may be connected to the user's distal support (192).

[0075] In one embodiment, the connecting line (17) may be connected to the stator (111) and extended outward. The connecting line (17) may electrically connect the control unit (not shown) and the stator (111). The control unit may control the magnetic field generated in the stator (111).

[0076] FIG. 6 is a perspective view of a drive assembly according to one embodiment, FIG. 7 is an exploded perspective view of a drive assembly showing the stopper separated from FIG. 6, and FIG. 8 is an exploded perspective view of a drive assembly showing the reduction gear separated from FIG. 7.

[0077] Referring to FIGS. 6 to 8, the drive assembly (20) may have a structure assembled in multiple stages. The drive assembly (20) may include a housing (24), a support member (28) detachably connected to the housing (24), a reduction gear supported by the support member (28), a drive frame (23) connected to the support member (28), and a stopper (26) connected to the reduction gear. The reduction gear may be inserted into the housing (24) while connected to the support member (28). FIG. 8 shows the ring gear (R) of the reduction gear supported by the support member (28).

[0078] In one embodiment, the ring gear (R) may be separated from the housing (24). At least one sun gear, at least one planetary gear, and at least one carrier may be provided on the inner side of the ring gear (R). The specific structure of the reduction gear will be described in detail based on FIGS. 9 to 11.

[0079] In one embodiment, the reduction gear may include a main shaft (S) functioning as an input end and a second carrier (2222) functioning as an input end. Power generated by the actuator may be transmitted to the reduction gear through the main shaft (S), which is the input end of the reduction gear. The power transmitted to the reduction gear may be reduced and transmitted to the second carrier (2222), which is the output end.

[0080] In one embodiment, the housing (24) can support an actuator. For example, the housing (24) can support a stator (e.g., the stator (111) of FIG. 5). A rotor (e.g., the rotor (112) of FIG. 5) may be rotatably provided inside the housing (24). The housing (24) can secure the stator of the actuator. The housing (24) may include an upper cover (241), a lower cover (242), and a side cover (243). The lower cover (242) may face the user's body. The lower cover (242) may support the lower side of the actuator. The upper cover (241) may cover the upper side of the actuator. The side cover (243) may cover the side of the actuator. The upper cover (241) may include a plurality of first receiving portions (241a) and a plurality of second receiving portions (241b).

[0081] In one embodiment, a plurality of first receiving portions (241a) may be grooves formed by being recessed from the surface of the upper cover (241) or holes formed through the upper cover (241). A plurality of first receiving portions (241a) may be positioned in a circumferential direction around the rotation axis of the rotor. For example, a plurality of first receiving portions (241a) may be arranged at equal intervals. For example, a plurality of first receiving portions (241a) may be provided in six numbers. For example, screw threads may be formed on the inner surface of a plurality of first receiving portions (241a).

[0082] In one embodiment, a plurality of second receiving portions (241b) may be grooves formed by being recessed from the surface of the upper cover (241) or holes formed through the upper cover (241). The second receiving portions (241b) may be located between two adjacent first receiving portions (241a) among a plurality of first receiving portions (241a). For example, screw threads may be formed on the inner surface of the plurality of second receiving portions (241b). For example, the plurality of second receiving portions (241b) may be provided as two.

[0083] In one embodiment, the support member (28) may be detachably connected to the housing (24). The support member (28) may include a base frame (281) that is detachably connected to the upper cover (241). The support member (28) may include an extension frame (283) that extends inwardly from the base frame (281). The extension frame (283) may cover the upper side of the reduction gear to prevent the reduction gear from moving upward. The support member (28) may include at least one frame fastening member (284) that fastens the base frame (281) and the upper cover (241). For example, the frame fastening member (284) may be a screw. It should be noted that the frame fastening member (284) is not limited to a screw. For example, the frame fastening member (284) may be a structure that fastens the support member (28) and the housing (24). The frame fastening member (284) can pass through the upper cover (241) and be fastened to the housing (24). For example, the frame fastening member (284) may have a screw thread formed on an outer surface and screw-coupled with a plurality of first receiving portions (241a).

[0084] In one embodiment, the stopper (26) may be detachably connected to the support member (28). The stopper (26) may be positioned on the movement path of the drive frame (23). For example, the stopper (26) may limit the rotation angle of the drive frame (23). The stopper (26) may assist, for example, to prevent the stopper (26) from rotating excessively clockwise or excessively counterclockwise. For example, the stopper (26) may limit the rotation angle range of the drive frame (23) to within 180 degrees. According to the stopper (26), the drive frame (23) may be prevented from rotating excessively, thereby preventing unintended strain on the user's joints. The stopper (26) may include a stopper body (261) disposed on one surface of a support member (28) and a stopper fastening member (262) that fastens the stopper body (261) to the support member (28). For example, at least two stopper fastening members (262) may be provided. The stopper fastening members (262) may be connected to at least two points of the stopper body (261) to assist in preventing the stopper body (261) from rotating.

[0085] For example, while the support member (28) is fixed to the housing (24), the stopper (26) can be separated from the support member (28). For example, the stopper (26) may not overlap with the upper cover (241). The user can separate the support member (28) from the housing (24) even while the stopper (26) is attached to the support member (28).

[0086] In one embodiment, the drive frame (23) may be connected to the output end of the reduction gear. The drive frame (13) may include a fixed plate (231) fixed to the output end of the reduction gear, a hinge (233) connected to one end of the fixed plate (231), a pivot bar (232) rotatably connected to the hinge (233), and at least one frame fixing screw (2311) connecting the fixed plate (231) and the reduction gear. The axis of the hinge (233) may be close to the adduction and abduction axes of the user's hip joint. The pivot bar (232) may be connected to the user's distal support (e.g., distal support (192) of FIG. 1). The drive frame (23) may transmit power received from the reduction gear to the distal support (e.g., distal support (192) of FIG. 1). The frame fixing screws (2311) may be provided in at least two or more.

[0087] In one embodiment, the reduction gear and the support member (28) can be separated from the housing (24). The reduction gear and the support member (28) can be easily replaced. When the support member (28) is separated from the housing (24), the reduction gear can be separated from the housing (24). Likewise, when the support member (28) is inserted into the housing (24), the reduction gear can be connected to an actuator. By separating the support member (28) from the housing (24), the user can easily maintain, repair, and / or replace the reduction gear.

[0088] FIG. 9 is a cross-sectional view of a driving assembly according to one embodiment, FIG. 10 is a cross-sectional view of a driving assembly according to one embodiment, and FIG. 11 is an exploded cross-sectional view of a driving assembly according to one embodiment.

[0089] Referring to FIGS. 9 to 11, the driving assembly (20) may include an actuator (211, 212), a reduction gear (22), a housing (24), a plurality of bearings (251, 252, 253, 254, 255), a washer (W), a printed circuit board (27), and a support (28).

[0090] In one embodiment, the actuator (211, 212) may include a stator (211) and a rotor (212). The stator (211) may be fixed to a housing (24). The stator (211) may be electrically connected to a control unit (not shown) through a printed circuit board (27). The printed circuit board (27) may control the magnetic field generated in the stator (211). The control unit (not shown) may be provided, for example, in a proximal support (e.g., the proximal support (190) of FIG. 1). The control unit (not shown) may control the rotational speed of the rotor (212) by adjusting the strength of the magnetic field generated in the stator (211).

[0091] In one embodiment, the rotor (212) is rotatable relative to the stator (211). For example, the rotor (212) may be surrounded by the stator (211). The rotor (212) may have a space for accommodating a reduction gear inside. For example, the rotor (212) may be cup-shaped. The rotor (212) may include a main plate (2121), a vertical extension (2122), a permanent magnet (2124), a cap (2127), and a cap fastening member (2128).

[0092] In one embodiment, the main plate (2121) may be arranged parallel to the lower cover (242). The main plate (2121) may rotate relative to the lower cover (242). The main plate (2121) may rotate around the main shaft (S). The main shaft (S) may be arranged parallel to the Z-axis. It should be noted herein that the upward direction refers to the +Z direction and the downward direction refers to the -Z direction.

[0093] In one embodiment, the vertical extension (2122) may be formed to extend upward from the edge of the main plate (2121). The vertical extension (2122) may be located between the stator (211) and the reduction gear (22). For example, the inner surface of the vertical extension (2122) may face the outer surface of the ring gear (R), and the outer surface of the vertical extension (2122) may face the permanent magnet (2124). The permanent magnet (2124) may interact with the stator (211).

[0094] In one embodiment, a plurality of permanent magnets (2124) may be arranged along the outer surface of the vertical extension (2122). For example, the permanent magnets (2124) may have a curved shape having the same curvature as the vertical extension (2122), and a plurality of permanent magnets (2124) may be spaced apart at regular intervals.

[0095] In one embodiment, the cap (2127) may cover the main plate (2121). For example, the cap (2127) may cover the lower side of the main plate (2121). The cap (2127) may be spaced apart from the lower cover (242). A gap may be provided between the cap (2127) and the lower cover (242). The cap (2127) is rotatable relative to the lower cover (242).

[0096] In one embodiment, the cap fastening member (2128) can fasten the cap (2127) and the reduction gear (22). The cap fastening member (2128) can be detachably connected to the reduction gear (22). For example, the cap fastening member (2128) may have a shape that engages with the main shaft (S) of the reduction gear (22). The cap fastening member (2128) may be connected to the main plate (2121) and the main shaft (S) and rotate simultaneously. The main plate (2121), the main shaft (S), and the cap fastening member (2128) may rotate at the same rotational speed. The cap fastening member (2128) may have a shape that is inserted into the inner side of the lower cover (242). For example, the cap fastening member (2128) may have a shape that does not protrude outward from the lower surface of the lower cover (242). At least a portion of the cap fastening member (2128) can cover the lower bearing (251). The cap fastening member (2128) can prevent the lower bearing (251) from moving downward.

[0097] In one embodiment, the reduction gear (22) can be separated from the housing (24) together with the support member (28). The reduction gear (22) comprises a main shaft (S) functioning as an input end, a first sun gear (2210) fixed to the lower side of the main shaft (S), a ring gear (R) provided in a state supported by a support member (28), a plurality of first planetary gears (2211) disposed between the first sun gear (2210) and the ring gear (R) and meshing with the first sun gear (2210) and the ring gear (R), a first carrier (2212) connected to the center axis of each of the plurality of first planetary gears (2211), a second sun gear (2213) connected to the first carrier (2212), and a plurality of second planetary gears disposed between the second sun gear (2213) and the ring gear (R) and meshing with the second sun gear (2213) and the ring gear (R). It may include a gear (2221) and a second carrier (2222) connected to the center axis of each of the plurality of second planetary gears (2221) and connected to a drive frame (e.g., drive frame (23) of FIG. 6). The first planetary gear (2211) may be connected to the first carrier (2212) via a first bolt (B1), and the second planetary gear (2221) may be connected to the second carrier (2222) via a second bolt (B2).

[0098] In one embodiment, the first sun gear (2210) can rotate at the same speed as the rotor (212). For example, the first sun gear (2210) can be fixed to the main shaft (S) so that its movement relative to the main shaft (S) is limited. The first sun gear (2210), the first carrier (2212), and the second carrier (2222) can rotate at different speeds. For example, the first sun gear (2210) can rotate at the relatively fastest speed. The first carrier (2212) can be decelerated by a plurality of first planetary gears (2211) so that it can rotate at a relatively slower speed compared to the first sun gear (2210). The second carrier (2222) can be decelerated once more by a plurality of second planetary gears (2221) so that it can rotate at a relatively slower speed compared to the first carrier (2212).

[0099] In one embodiment, a plurality of second planetary gears (2221) may be located above a plurality of first planetary gears (2211). It should be noted that each of the plurality of first planetary gears (2211) and the plurality of second planetary gears (2221) may be provided in three numbers, but the number is not limited thereto. The first carrier (2212) and the second sun gear (2213) may be formed integrally.

[0100] In one embodiment, the second carrier (2222) may have a plurality of carrier holes (2222a). The plurality of carrier holes (2222a) may accommodate frame fixing screws (2311). For example, the plurality of carrier holes (2222a) and the frame fixing screws (2311) may have a threaded shape that interlocks with each other. For example, the plurality of carrier holes (2222a) may be provided in the same number as the frame fixing screws (2311).

[0101] In one embodiment, the housing (24) may include a lower cover (242) that rotatably supports the rotor (212), a side cover (243) that extends from the lower cover (242) and covers the side of the stator (211), and an upper cover (241) that extends from the side cover (243) and covers the upper surface of the stator (211).

[0102] In one embodiment, a plurality of bearings (251, 252, 253, 254, 255) can assist in the rotation of the rotor (212) and the reduction gear (22). For example, the plurality of bearings (251, 252, 253, 254, 255) may include a lower bearing (251), an upper bearing (252), a first inner bearing (253), a second inner bearing (254), and a third inner bearing (255).

[0103] In one embodiment, the lower bearing (251) may be positioned between the rotor (212) and the housing (24). For example, the lower bearing (251) may be positioned between the lower cover (242) and the main plate (2121). The lower bearing (251) may assist the main plate (2121) to rotate smoothly relative to the lower cover (242).

[0104] In one embodiment, the upper bearing (252) may be positioned between the ring gear (R) and the second carrier (2222). For example, the upper bearing (252) may be positioned between the inner surface of the ring gear (R) and the outer surface of the second carrier (2222). The upper bearing (252) may assist the second carrier (2222) to rotate smoothly relative to the ring gear (R).

[0105] In one embodiment, a first inner bearing (253), a second inner bearing (254), and a third inner bearing (255) may be disposed inside the reduction gear (22). The first inner bearing (253) may be disposed between the main shaft (S) and the first carrier (2212). The second inner bearing (254) may be disposed between the main shaft (S) and the second sun gear (2213). The third inner bearing (255) may be disposed between the main shaft (S) and the second carrier (2222). For example, the third inner bearing (255) may be disposed between the outer surface of the main shaft (S) and the inner surface of the second carrier (2222). The third inner bearing (255) may assist the second carrier (2222) to rotate smoothly relative to the main shaft (S).

[0106] In one embodiment, a washer (W) is inserted into the main shaft (S) and can cover the third inner bearing (255). The washer (W) can help prevent the third inner bearing (255) from moving upward. The main shaft (S) may include a lower protrusion that supports the first sun gear (2210). With the main shaft (S) and the washer (W), the gear set of the reduction gear (22) can maintain a compact structure.

[0107] In one embodiment, the support member (28) may include a base frame (281), a support frame (282), an extension frame (283), and a frame fastening member (284). The base frame (281) may overlap the housing (24) with respect to the rotational axis direction of the rotor (212). The base frame (281) is detachable from the housing (24). The support frame (282) extends from the base frame (281), at least a portion of which is located inside the stator (211), and may support the reduction gear (22). The extension frame (283) extends inward from the base frame (281) and may overlap the reduction gear (22) with respect to the rotational axis direction of the rotor (212). The frame fastening member (284) may fasten the base frame (281) and the upper cover (241).

[0108] In one embodiment, the drive assembly allows for easy replacement of the reduction gear. According to one embodiment, various different reduction gears can be combined while using the same platform. For example, other mechanisms and hardware, excluding the reduction gear, can be maintained as they are, and only the reduction gear can be replaced to be used appropriately as needed.

[0109] For example, by using the same motor but a high-speed and low-torque reduction gear, the device can assist the user's running exercise. As another example, by using the same motor but a low-speed and high-torque reduction gear, the device can assist the user's hiking exercise. Due to these features, the usability of the wearable device can be enhanced by designing the reduction gear to be replaceable.

[0110] FIG. 12 is an exploded perspective view schematically illustrating a state in which two different reduction gears are waiting to be connected to a housing according to one embodiment, FIG. 13 is a perspective view schematically illustrating a state in which a first reduction gear is connected to a housing according to one embodiment, and FIG. 14 is a perspective view schematically illustrating a state in which a second reduction gear is connected to a housing according to one embodiment.

[0111] Referring to FIGS. 12 through 15, the drive assembly may include a housing (34) and reduction gears (32A, 32B) that are detachably connected to each other. The reduction gears (32A, 32B) may include a first reduction gear (32A) and a second reduction gear (32B). The first reduction gear (32A) may be driven at a relatively low speed and may have an output end that generates a relatively large torque. The second reduction gear (32B) may be driven at a relatively high speed and may have an output end that generates a relatively small torque. The housing (34) may be connected to the first reduction gear (32A) or the second reduction gear (32B).

[0112] The user may replace the reduction gear depending on the purpose of use of the drive assembly. For example, if the purpose is to perform a task requiring relatively large torque, such as hiking, the user may use the drive assembly with the first reduction gear (32A) connected to the housing (34). On the other hand, if the purpose is to perform a task requiring relatively small torque, such as general walking, the user may use the drive assembly with the second reduction gear (32B) connected to the housing (34).

[0113] FIG. 15 is a schematic diagram illustrating a wearable module of an exercise assist device according to one embodiment being worn on a user's upper arm.

[0114] Referring to FIG. 15, the exercise assist device may be mounted on the upper arm of the user (U). For example, the drive assembly (940) may be provided near the shoulder of the user (U). The drive assembly (940) may generate power to assist the movement of the upper arm. The drive frame (950) may be connected to the drive assembly (940) and may be positioned along the upper arm of the user (U).

[0115] In one embodiment, the cover (911) is connected to the end of the drive frame (950) and can support a portion of the user's upper arm. The strap (912) can be connected to the cover (911). The strap (912) can be connected to the cover (911) and support the remainder of the upper arm.

[0116] Although the embodiments have been described above with reference to the limited drawings, those skilled in the art can apply various technical modifications and variations based thereon. For example, suitable results may be achieved even if the described techniques are performed in a different order than described, and / or if the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents.

[0117] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below. Explanation of the symbols delete

Claims

Claim 1 A proximal support member for supporting a proximal part of a user; a distal support member for supporting a distal part of the user; a drive assembly connected to the proximal support member and generating power; and a drive frame for transmitting power from the drive assembly to the distal support member, wherein the drive assembly comprises: a housing; an actuator comprising a stator fixed to the housing and having a ring shape, and a rotor located inside the stator and rotatable relative to the stator; a reduction gear inserted inside the rotor and having an input end connected to an output end of the actuator; a support member supporting the reduction gear and making the reduction gear detachable from the housing; and a stopper detachably provided on the support member and located on the movement path of the drive frame, wherein the support member comprises: a base frame that overlaps the housing with respect to the rotation axis direction of the rotor and is detachably connected to the housing; and a support frame extending from the base frame, at least a portion of which is located inside the stator and supports the reduction gear. A motion assist device comprising an extension frame extending from the base frame and covering the reduction gear by overlapping the reduction gear with respect to the rotation axis direction of the rotor. Claim 2 In claim 1, the drive frame is a motion assist device that connects the output end of the reduction gear and the distal support member, and is capable of relative movement with respect to the support member. Claim 3 The motion assist device according to claim 1, wherein the stopper comprises: a stopper body disposed on one surface of the support member; and a stopper fastening member for fastening the stopper body to the support member. Claim 4 In claim 3, the stopper fastening member is provided in at least two or more places, forming a motion assist device. Claim 5 In claim 1, the driving assembly further comprises a frame fastening member that fastens the support member and the housing, forming a motion assist device. Claim 6 A motion assist device according to claim 1, wherein the housing comprises: a lower cover rotatably supporting the rotor; a side cover extending from the lower cover and covering the side of the stator; and an upper cover extending from the side cover and covering the upper surface of the stator. Claim 7 In claim 6, the rotor comprises a main plate arranged parallel to the lower cover; and a vertical extension extending from the main plate and positioned between the stator and the reduction gear, forming a motion assist device. Claim 8 In claim 7, the rotor further comprises a cap covering the main plate; and a cap fastening member connecting the cap and the reduction gear and the reduction gear. Claim 9 In claim 1, the support member and the reduction gear can be separated from the housing, forming a motion assist device. Claim 10 In claim 1, the reduction gear comprises: a main shaft connected to the rotor and rotating about the rotation axis of the rotor; a first sun gear fixed to the main shaft; a ring gear fixed to the support and surrounding the first sun gear; a plurality of first planetary gears disposed between the first sun gear and the ring gear and meshing with the first sun gear and the ring gear; a first carrier connected to the center axis of each of the plurality of first planetary gears; a second sun gear connected to the first carrier; a plurality of second planetary gears disposed between the second sun gear and the ring gear and meshing with the second sun gear and the ring gear; and a second carrier connected to the center axis of each of the plurality of second planetary gears and connected to the drive frame, a motion assist device. Claim 11 A motion assist device according to claim 10, wherein the rotor and the first sun gear rotate at the same speed, and the first sun gear, the first carrier, and the second carrier rotate at different speeds. Claim 12 In claim 10, the drive assembly further comprises: a lower bearing disposed between the rotor and the housing; and an upper bearing disposed between the ring gear and the second carrier, a motion assist device. Claim 13 In claim 10, the drive assembly further comprises: a first inner bearing disposed between the main shaft and the first carrier; a second inner bearing disposed between the main shaft and the second sun gear; and a third inner bearing disposed between the main shaft and the second carrier, a motion assist device. Claim 14 In claim 13, the drive assembly further comprises a washer inserted into the main shaft and covering the third inner bearing, a motion assist device. Claim 15 delete Claim 16 delete Claim 17 delete Claim 18 delete Claim 19 delete Claim 20 delete

Images