A double-motor sub-assembly module for mobile exoskeleton hip, knee and ankle joints

Abstract

The application discloses a double-motor sub-assembly module for mobile exoskeleton hip, knee and ankle joints, comprising an input pinion z1, coaxial double gears z2 and z3, a torque bus gear z4, a sun gear z5, a planetary gear z6, an inner ring gear z7, a planet carrier, a fixed motor, a rotatable motor, a fixed end cover, a rotating end cover and locking screws. The module has better performance and adaptability: the modular sub-assembly body realizes high torque density output under the conditions of light weight and compact structure, and adjusts the human joint biomechanical movement through rotation self-locking, thus solving the problems of the traditional driving device, such as heavy weight, poor universality and high cost.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, specifically a dual-motor electronic assembly module for the hip, knee, and ankle joints of a mobile exoskeleton. Background Technology

[0002] Existing mobile exoskeleton joint drive modules cannot meet the high requirements of lightweight, high torque, and fast-response drive, thus making it difficult to fully support normal human movement at appropriate speeds. The main challenges currently facing the design of mobile exoskeleton drive joints are as follows:

[0003] 1. The joint mechanism adopts a series reduction structure with a single motor arranged coaxially. The axial stacking of gears will result in a large size of the mechanism, which is not suitable for most wearable application scenarios.

[0004] 2. Most joint mechanisms are custom-designed for the hip, knee, or ankle joints and lack the flexibility to be reused in other parts of the body. This means that specialized design is required, which increases the design workload. Furthermore, the customized design and manufacturing methods result in higher R&D requirements and higher production and assembly costs.

[0005] 3. Due to weight limitations, the torque / speed that a single motor drive can provide is limited. When a sufficiently lightweight solution is adopted, it is usually impossible to meet the high torque / high speed requirements of human dynamic movement.

[0006] To address the aforementioned technical challenges, there is an urgent need to develop a dual-motor electronic assembly module for the hip, knee, and ankle joints of a mobile exoskeleton. This module should meet the requirements for high torque and high speed while minimizing overall weight, thus adapting to the usage requirements of mobile exoskeletons that can support daily life activities. Summary of the Invention

[0007] The purpose of this invention is to provide a dual-motor electronic assembly module for the hip, knee, and ankle joints of a mobile exoskeleton, in order to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] A dual-motor sub-assembly module for the hip, knee, and ankle joints of a mobile exoskeleton includes: an input pinion z1, coaxial double gears z2 and z3, a torque confluence gear z4, a sun gear z5, planet gears z6, an internal gear ring z7, a planet carrier, a fixed motor, a rotatable motor, a fixed end cap, a rotating end cap, and locking screws.

[0010] Input pinion z1: consists of two identical pinions, rigidly connected to the output shafts of the fixed motor and the rotatable motor respectively, used to synchronously transmit motor power and realize torque convergence of the two motors;

[0011] Coaxial double gears z2 and z3: These are integrated double gears. Coaxial double gear z2 is the large gear, and coaxial double gear z3 is the small gear. Coaxial double gear z2 meshes with the input small gear z1 to complete the torque convergence of the two motors and the first stage of reduction. Coaxial double gear z3 outputs power to the next stage of the transmission mechanism.

[0012] Torque converging gear z4: It is a disc-type center transmission gear that meshes with the coaxial double gear z3 to achieve two-stage reduction and transmit power to the planetary reduction mechanism behind it;

[0013] Sun gear Z5: Coaxial with and rotates synchronously with torque converging gear Z4, serving as the input drive component of the second-stage planetary reduction mechanism;

[0014] Planetary gear z6: meshes with sun gear z5 and internal gear ring z7, and revolves around sun gear z5 while rotating on its own axis, undertaking the power transmission and torque amplification functions of three-stage reduction;

[0015] Internal gear ring z7: As a fixed internal gear ring of the planetary reduction mechanism, it remains stationary and meshes with the planet gear z6 to form a stable planetary transmission motion;

[0016] Planetary carrier: Driven to rotate by planetary gear Z6, it serves as the final output component of the entire reduction mechanism, driving the exoskeleton joints to move in a preset manner;

[0017] Fixed motor: The drive motor is rigidly fixed to the fixed end cover, providing a stable and reliable power input to the transmission system;

[0018] Rotatable motor: This drive motor is fixed on the rotating end cover and rotates together with the rotating component, providing synchronous power input without affecting the stability of torque confluence.

[0019] As a further aspect of the present invention: the fixed end cap is a thin disc-type end cap, which serves as the main housing structure, integrates and protects the internal transmission components, provides standardized mechanical and electrical interfaces, and minimizes the overall thickness to achieve modular compactness.

[0020] As a further aspect of the present invention: the rotating end cap serves as a rotatable housing structure, supporting a rotatable motor and its corresponding input pinion z1, and driving the rotating components to adjust the installation angle to adapt to different joints.

[0021] As a further aspect of the present invention: the locking screw constitutes a locking mechanism, which is used to lock the relative position of the rotating end cover and the fixed end cover after the angle adjustment is completed, so as to ensure stable and reliable transmission.

[0022] As a further aspect of the present invention, it also includes a spacer strip made of flexible material, which is embedded in the groove of the fixed housing and moves synchronously with the rotating component to provide sealing and protection.

[0023] As a further aspect of the present invention, it also includes an oil injection nozzle, which is a standardized lubrication interface used for periodic oiling and maintenance of the internal transmission gears to ensure long-term stable operation of the transmission system.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] 1. More compact structure: It adopts a thin non-coaxial radial layout, which significantly reduces the axial volume compared with the traditional coaxial drive method, and can better adapt to the narrow installation space of exoskeleton joints;

[0026] 2. Lightweight Design: Utilizing two frameless motors, both sharing the same reduction gear system; the integrated modular design eliminates redundant structural components and simplifies the shell and transmission parts. The module weight is reduced by more than 20% compared to traditional joint motor units, significantly reducing the load on the exoskeleton, improving wearing comfort, and extending battery life;

[0027] 3. High modularity and versatility: Standardized mechanical and electrical interfaces enable a single module to be universally applied to hip, knee, and ankle joints, achieving modular interchangeability;

[0028] 4. Lower overall cost: Modular design reduces the types of parts, simplifies production and maintenance processes, and significantly reduces manufacturing, assembly and total life cycle costs;

[0029] 5. Superior performance and adaptability: This modular sub-assembly achieves high torque density output in a lightweight and compact structure, and adapts to the biomechanical movement of human joints through rotational self-locking adjustment, solving the problems of large weight, poor versatility and high cost of traditional drive devices. Attached Figure Description

[0030] Figure 1 This is an axonometric view of a dual-motor sub-assembly module for the hip, knee, and ankle joints of a mobile exoskeleton.

[0031] Figure 2 The front view (output side) of the dual-motor sub-assembly module for the hip, knee, and ankle joints of a mobile exoskeleton.

[0032] Figure 3 Rear view (input side) of the dual-motor electronic assembly module for the hip, knee, and ankle joints of a mobile exoskeleton.

[0033] Figure 4 This is a schematic diagram of the overall gear mechanism of a dual-motor electronic assembly module for the hip, knee, and ankle joints of a mobile exoskeleton.

[0034] Figure 5 This is a structural diagram of a dual-motor component module assembled at the hip, knee, and ankle joints of a mobile exoskeleton.

[0035] Figure 6 A lower limb full range of motion exoskeleton consisting of dual-motor electronic assembly modules for the hip, knee, and ankle joints of a mobile exoskeleton.

[0036] A diagram of the skeletal robot.

[0037] In the diagram: 1-Input pinion z1, 2-Coaxial double gears z2, z3, 3-Torque confluence gear z4, 4-Sun gear z5, 5-Planet gears z6, 6-Internal gear ring z7, 7-Planet carrier, 8-Fixed motor, 9-Rotable motor, 10-Fixed end cover, 11-Rotating end cover, 12-Locking screw, 13-Spacer belt, 14-Oil nozzle. Detailed Implementation

[0038] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0039] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0040] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented even without certain specific details. In some instances, methods, means, and elements well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0041] Example 1

[0042] Please see Figure 1-6 A dual-motor sub-assembly module for the hip, knee, and ankle joints of a mobile exoskeleton includes: an input pinion z11, coaxial double gears z2 and z32, a torque confluence gear z43, a sun gear z54, planet gears z65, an internal gear ring z76, a planet carrier 7, a fixed motor 8, a rotatable motor 9, a fixed end cover 10, a rotating end cover 11, and a locking screw 12.

[0043] Input pinion z11: consists of two identical pinions, which are rigidly connected to the output shafts of the fixed motor 8 and the rotatable motor 9, respectively, to synchronously transmit motor power and realize the torque convergence of the two motors;

[0044] Coaxial double gears z2 and z32: These are integrated double gears. Coaxial double gear z2 is the large gear, and coaxial double gear z3 is the small gear. Coaxial double gear z2 meshes with the input small gear z1 to complete the torque convergence of the two motors and the first stage of reduction. Coaxial double gear z3 outputs power to the next stage of the transmission mechanism.

[0045] Torque converging gear Z43: This is a disc-type center transmission gear that meshes with the coaxial double gear Z3 to achieve two-stage reduction and transmit power to the planetary reduction mechanism behind it.

[0046] Sun gear Z54: Coaxial with and rotates synchronously with torque confluence gear Z43, serving as the input drive component of the second-stage planetary reduction mechanism;

[0047] Planetary gear Z65: meshes with sun gear Z54 and internal gear ring Z76, and revolves around sun gear Z54 while rotating on its own axis, undertaking the power transmission and torque amplification functions of three-stage reduction;

[0048] Internal gear ring z76: As a fixed internal gear ring in the planetary reduction mechanism, it remains stationary and meshes with the planet gear z65 to form a stable planetary transmission motion;

[0049] Planetary carrier 7: Driven to rotate by planetary gear Z65, it serves as the final output component of the entire reduction mechanism, driving the exoskeleton joints to move in a preset manner;

[0050] Fixed motor 8: This drive motor is rigidly fixed to the fixed end cover 10, providing a stable and reliable power input for the transmission system;

[0051] Rotatable motor 9: This drive motor is fixed on the rotating end cover 11 and rotates together with the rotating component, providing synchronous power input without affecting the stability of torque confluence.

[0052] It should be specifically noted that: by equipping the rotatable motor 9 with a rotation adjustment mechanism, the rotating rod of the rotating end cover 11 (coaxial with the internal gear ring z76) is hinged to the fixed end cover 10, and the rotating component can revolve around the center of the output shaft, so that the assembly can be adjusted to different configurations, thereby making the sub-assembly suitable for: hip joint, knee joint and ankle joint.

[0053] Throughout the rotational adjustment process, the gear transmission relationship and transmission ratio remain constant, thus ensuring consistent output performance at all installation positions (hip, knee, and ankle). Each configuration can be locked using locking screw 12: the locking screw 12 engages with the teeth machined on the outer circumference of the internal gear ring z76 to secure the rotating components (this internal gear ring is only used for locking and does not participate in power transmission), thereby flexibly adjusting the module configuration and installation orientation to precisely adapt the sub-assembly to the biomechanical characteristics of the hip, knee, and ankle joints.

[0054] Preferably, the fixed end cap 10 is a thin disc-type end cap, which serves as the main shell structure, integrates and protects the internal transmission components, provides standardized mechanical and electrical interfaces, and minimizes the overall thickness to achieve module compactness.

[0055] Preferably, the rotating end cap 11 serves as a rotatable housing structure, supporting the rotatable motor 9 and its corresponding input pinion z11, and driving the rotating components to adjust the installation angle to adapt to different joints.

[0056] Preferably, the locking screw 12 constitutes a locking mechanism, which is used to lock the relative position of the rotating end cover 11 and the fixed end cover 10 after the angle adjustment is completed, so as to ensure stable and reliable transmission.

[0057] Preferably, it also includes a spacer 13, which is made of a flexible material and is embedded in the groove of the fixed housing. It moves synchronously with the rotating component and plays a role in sealing and protection.

[0058] Preferably, it also includes an oil filler nozzle 14, which is a standardized lubrication interface used for periodic oiling and maintenance of the internal transmission gears to ensure long-term stable operation of the transmission system.

[0059] It should be noted that the working process of the overall transmission mechanism is as follows:

[0060] 1. The fixed motor 8 and the rotatable motor 9 synchronously drive the input pinion z11 to rotate;

[0061] 2. Both sets of input pinions z11 mesh with the large gears of coaxial double gears z2 and z32, completing the torque convergence of the two motors and the first-stage gear reduction;

[0062] 3. The small gears of the coaxial double gears z2 and z32 and the driving torque of the coaxial double gear z3 are combined with the gear z43 to achieve two-stage gear reduction;

[0063] 4. The torque converging gear z43 transmits power to the non-coaxial two-stage planetary reduction mechanism, which consists of the sun gear z54, planet gears z65 and internal gear ring z76; after reduction and torque amplification, the final power is output by the planet carrier 7 to drive the movement of the exoskeleton joints.

[0064] 5. To accommodate different joints, the rotating end cover 11 drives the rotatable motor 9 and its corresponding gear to adjust the installation angle, and locks the position through the locking screw 12 (self-locking mechanism) to ensure stable transmission.

[0065] It is worth noting that this invention abandons the traditional coaxial series gear structure and adopts a non-coaxial radial parallel arrangement of fixed-axis transmission and a two-stage planetary reduction mechanism. All transmission gears are located in the same axial plane, minimizing axial thickness. Furthermore, it employs a dual-motor scheme: a fixed motor 8 and a rotatable motor 9 that can be adjusted to fit the human hip, knee, and ankle joints. In all configurations, both motors can achieve high torque and high speed output through the meshing and merging of double pinions and coaxial gears. The shared gear mechanism achieves lightweighting, optimizing the weight of the sub-assembly.

[0066] This invention employs a standardized electromechanical interface, which allows for easy configuration and reconfiguration to adapt to any one of the three joints of the lower limb. This greatly simplifies the assembly and disassembly process, while enabling component reuse and reducing costs. Furthermore, relying on a thin non-coaxial structure, this dual-motor structure and standardized interface configuration enable comprehensive optimization of the transmission system in terms of structural layout, power output, lightweight design, adaptability, and assembly efficiency.

[0067] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

[0068] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A dual motor sub-assembly module for mobile exoskeleton hip, knee, ankle joints, comprising: Input pinion z1 (1), coaxial double gears z2 and z3 (2), torque confluence gear z4 (3), sun gear z5 (4), planet gear z6 (5), internal gear ring z7 (6), planet carrier (7), fixed motor (8), rotatable motor (9), fixed end cover (10), rotating end cover (11), locking screw (12), characterized in that: Input pinion z1 (1): Two identical pinions are rigidly connected to the output shafts of the fixed motor (8) and the rotatable motor (9) respectively, and are used to synchronously transmit motor power to realize the torque convergence of the two motors; Coaxial double gears z2 and z3 (2): are integrated double gears. Coaxial double gear z2 is the large gear and coaxial double gear z3 is the small gear. Coaxial double gear z2 meshes with input small gear z1 to complete the torque convergence of the two motors and the first-level reduction. Coaxial double gear z3 outputs power to the next level transmission mechanism. Torque converging gear z4 (3): It is a disc-type center transmission gear that meshes with the coaxial double gear z3 to achieve two-stage reduction and transmit power to the planetary reduction mechanism behind it. Sun gear z5 (4): coaxial with and synchronously rotates with torque converging gear z4 (3), serving as the input drive component of the second-stage planetary reduction mechanism; Planetary gear z6 (5): meshes with sun gear z5 (4) and internal gear ring z7 (6), and revolves around sun gear z5 (4) while rotating on its own axis, undertaking the power transmission and torque amplification functions of three-stage reduction; Internal gear ring z7 (6): As a fixed internal gear ring of the planetary reduction mechanism, it remains stationary and meshes with the planet gear z6 (5) to form a stable planetary transmission motion; Planetary carrier (7): Driven to rotate by planetary gear z6 (5), serving as the final output component of the entire reduction mechanism, driving the exoskeleton joints to move in a preset manner; Fixed motor (8): The drive motor is rigidly fixed on the fixed end cover (10) to provide a stable and reliable power input for the transmission system; Rotatable motor (9): This drive motor is fixed on the rotating end cover (11) and rotates together with the rotating component, providing synchronous power input without affecting the stability of torque confluence.

2. Double motor subassembly module for mobile exoskeleton hip, knee, ankle joint according to claim 1, characterized in that, The fixed end cap (10) is a thin disc end cap. As the main shell structure, it integrates and protects the internal transmission components, provides standardized mechanical and electrical interfaces, and minimizes the overall thickness to achieve module compactness.

3. Double motor subassembly module for mobile exoskeleton hip, knee, ankle joint according to claim 1, characterized in that, The rotating end cap (11) serves as a rotatable housing structure, carrying the rotatable motor (9) and its corresponding input pinion z1 (1), and driving the rotating components to adjust the installation angle to adapt to different joints.

4. The dual-motor electronic assembly module for the hip, knee, and ankle joints of a mobile exoskeleton according to claim 1, characterized in that, The locking screw (12) constitutes a locking mechanism, which is used to lock the relative position of the rotating end cover (11) and the fixed end cover (10) after the angle adjustment is completed, so as to ensure stable and reliable transmission.

5. The dual-motor electronic assembly module for the hip, knee, and ankle joints of a mobile exoskeleton according to claim 1, characterized in that, It also includes a spacer (13), which is made of flexible material and is embedded in the groove of the fixed housing. It moves synchronously with the rotating parts and plays a role in sealing and protection.

6. The dual-motor electronic assembly module for the hip, knee, and ankle joints of a mobile exoskeleton according to claim 1, characterized in that, It also includes an oil filler (14), which is a standardized lubrication interface used for regular oiling and maintenance of the internal transmission gears to ensure the long-term stable operation of the transmission system.

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