Driver, joint driving module and exoskeleton equipment

Abstract

The utility model provides a driver, a joint driving module and exoskeleton equipment, and belongs to the technical field of exoskeletons. The driver comprises a stator assembly, a rotor assembly, a first-stage planetary speed reduction assembly, a second-stage planetary speed reduction assembly and a bearing assembly. The stator assembly comprises a stator shell, and the rotor assembly is coaxially located at the first axial end of the stator shell. The planetary speed reduction assembly is coaxially arranged in the stator shell, the input end of the first-stage planetary speed reduction assembly is connected with the rotor assembly, the output end of the first-stage planetary speed reduction assembly is connected with the input end of the second-stage planetary speed reduction assembly, and the output end of the second-stage planetary speed reduction assembly is located at the second axial end; the bearing assembly comprises a first supporting bearing and a second supporting bearing, the first supporting bearing is close to the first axial end and connected with the peripheral wall of the first-stage planet carrier in a supporting mode, and the second supporting bearing is close to the second axial end and connected with the peripheral wall of the second-stage sun wheel shaft in a supporting mode. The anti-overturning moment performance of the driver can be improved.

Description

Technical Field

[0001] This application relates to the field of exoskeleton technology, and in particular to a actuator, a joint drive module, and an exoskeleton device. Background Technology

[0002] In exoskeleton devices, the joint drive module serves as the drive unit, providing power to the exoskeleton and thus driving human movement, providing assistance to the human body. It is the core component of the exoskeleton device.

[0003] Joint drive modules typically use a driver as the power source.

[0004] In certain special usage scenarios, such as lateral leg swing movements or walking with different foot spacing, exoskeleton devices will apply a certain overturning torque to the output end of the actuator.

[0005] However, the actuators in these technologies typically lack the ability to resist overturning torque. Prolonged exposure to overturning torque will accelerate the damage to the actuators, affecting the performance and lifespan of the exoskeleton device. Utility Model Content

[0006] This application provides a actuator, a joint drive module, and an exoskeleton device, which can solve the problem that the actuator lacks the ability to resist overturning torque, and that long-term exposure to overturning torque will accelerate the damage of the actuator, affecting the working performance and service life of the exoskeleton device.

[0007] The technical solution is as follows:

[0008] On one hand, a driver is provided, the driver comprising: a stator assembly, a rotor assembly, a first-stage planetary reduction gear assembly, a second-stage planetary reduction gear assembly, and a bearing assembly;

[0009] The stator assembly includes a stator housing, and the rotor assembly is coaxially located at the first axial end of the stator housing; the first-stage planetary reduction assembly and the second-stage planetary reduction assembly are coaxially arranged inside the stator housing, and the input end of the first-stage planetary reduction assembly is connected to the rotor assembly, the output end of the first-stage planetary reduction assembly is connected to the input end of the second-stage planetary reduction assembly, and the output end of the second-stage planetary reduction assembly is located at the second axial end;

[0010] The first-stage planetary reduction assembly includes a first-stage planetary carrier, and the second-stage planetary reduction assembly includes a second-stage sun gear shaft. The first-stage planetary carrier and the second-stage sun gear shaft are coaxially connected.

[0011] The bearing assembly includes a first support bearing and a second support bearing. The first support bearing is located near the first axial end and is supported and connected to the outer peripheral wall of the first-stage planetary carrier. The second support bearing is located near the second axial end and is supported and connected to the outer peripheral wall of the second-stage sun gear shaft.

[0012] In some embodiments, the first-stage planetary reduction assembly further includes a first-stage internal gear ring, which is sleeved on the inner peripheral wall of the stator housing, and the second-stage planetary reduction assembly further includes a second-stage planet carrier.

[0013] The first support bearing is located at the end of the first-stage internal gear ring facing the first axial end, and is supported and connected to the inner peripheral wall of the first-stage internal gear ring and the outer peripheral wall of the first-stage planetary carrier, respectively; the second support bearing is located at the end of the second-stage planetary carrier facing the second axial end, and is supported and connected to the inner peripheral wall of the second-stage planetary carrier and the outer peripheral wall of the second-stage sun gear shaft, respectively.

[0014] In some embodiments, the rotor assembly includes a rotor end cap and a rotor shaft, the rotor shaft being arranged axially along the stator housing, and at least a portion of the rotor shaft being located within the primary planetary carrier;

[0015] The first-stage planetary reduction assembly also includes a first-stage sun gear shaft, which is coaxially connected to the rotor shaft.

[0016] The bearing assembly also includes a third support bearing and a fourth support bearing;

[0017] The third support bearing is located at the end of the first-stage planetary carrier facing the first axial end, and is supported and connected to the inner peripheral wall of the first-stage planetary carrier and the outer peripheral wall of the rotor shaft, respectively. The fourth support bearing is located at the end of the first-stage planetary carrier facing the second axial end, and is supported and connected to the inner peripheral wall of the first-stage planetary carrier and the outer peripheral wall of the first-stage sun gear shaft, respectively.

[0018] In some embodiments, the primary planetary carrier includes a first cage-shaped body, a first shaft hole is provided on the axis of the first cage-shaped body, and three first planetary slots are provided on the outer peripheral surface of the first cage-shaped body.

[0019] The first-stage planetary reduction assembly also includes a first-stage sun gear shaft and three first-stage planetary gears;

[0020] The first-stage sun gear shaft is coaxially rotatably arranged in the first shaft hole, and at least a portion of the rotor shaft is inserted into the first shaft hole and fixedly connected to the first-stage sun gear shaft;

[0021] The three first-stage planetary gears are arranged in the three first-stage planetary slots in a one-to-one correspondence, and each first-stage planetary gear meshes with the first-stage sun gear shaft and the first-stage internal gear ring, respectively.

[0022] In some embodiments, the primary planetary carrier further includes three primary pins, which are respectively located in the three first planetary slots, and the three primary planetary gears are respectively connected to the three primary pins.

[0023] The bearing assembly also includes three first needle roller bearings, with one first needle roller bearing located between each of the first-stage planetary gears and the corresponding first-stage pin.

[0024] In some embodiments, the secondary planetary reduction assembly includes a secondary planetary carrier and a secondary internal gear ring. The secondary planetary carrier is coaxially arranged with the secondary sun gear shaft, and the secondary internal gear ring is sleeved on the inner peripheral wall of the stator housing and located outside the secondary planetary carrier.

[0025] The bearing assembly also includes a fifth support bearing and a sixth support bearing;

[0026] The fifth support bearing is located at the end of the secondary internal gear ring facing the first axial end, and is supported and connected to the inner peripheral wall of the secondary internal gear ring and the outer peripheral wall of the secondary planetary carrier, respectively; the sixth support bearing is located at the end of the secondary internal gear ring facing the second axial end, and is supported and connected to the inner peripheral wall of the secondary internal gear ring and the outer peripheral wall of the secondary planetary carrier, respectively.

[0027] In some embodiments, the secondary planetary carrier includes a second cage-shaped body, a second shaft hole is provided on the axis of the second cage-shaped body, and three second planetary slots are provided on the outer peripheral surface of the second cage-shaped body;

[0028] The secondary sun gear shaft is coaxially rotatably arranged in the second shaft hole, and at least a portion of the primary planetary carrier is inserted into the second shaft hole and fixedly connected to the secondary sun gear shaft;

[0029] The secondary planetary reduction assembly also includes three secondary planetary gears, which are rotatably arranged in three secondary planetary slots, and each secondary planetary gear meshes with the secondary sun gear shaft and the secondary internal gear ring, respectively.

[0030] In some embodiments, the second cage-type body includes a first semi-cage flange, a second semi-cage flange, and a locking fastener, wherein the first semi-cage flange and the second semi-cage flange are axially connected, and the locking fastener is connected to the first semi-cage flange and the second semi-cage flange respectively.

[0031] In some embodiments, the secondary planetary carrier further includes three secondary pins, which are respectively located in the three second planetary slots, and the three secondary planetary gears are respectively connected to the three secondary pins;

[0032] The bearing assembly also includes three second needle roller bearings, with one second needle roller bearing between each of the secondary planetary gears and the corresponding secondary pin.

[0033] In some embodiments, the stator assembly further includes a core winding; the core winding is located at an axial first end of the stator housing and is connected to the outer peripheral wall of the stator housing;

[0034] The rotor assembly includes a rotor end cover, a rotor shaft, and a magnetic yoke module;

[0035] The rotor end cover is coaxially located at the first axial end, the rotor shaft is located on the side of the rotor end cover facing the stator housing and is connected to the first-stage planetary reduction assembly, and the magnetic yoke module is located on the outer peripheral wall of the rotor end cover and is radially spaced opposite to the iron core winding.

[0036] On the other hand, a joint drive module is provided. In some embodiments, the joint drive module includes the driver described in this application and a torque sensor.

[0037] The torque sensor is sleeved on the outer peripheral wall of the stator housing.

[0038] In some embodiments, the torque sensor includes an inner connecting ring, an outer connecting ring, an elastic beam, and a strain gauge. The inner connecting ring and the outer connecting ring are coaxially sleeved together. The elastic beam is connected between the inner connecting ring and the outer connecting ring, and the strain gauge is attached to the surface of the elastic beam. The inner connecting ring is sleeved on the outer peripheral wall of the stator housing, and the outer connecting ring is provided with a first connecting structure for connecting to an external fixing seat.

[0039] On the other hand, an exoskeleton device is provided, which includes the actuator described in this application, or the joint drive module described in this application.

[0040] The beneficial effects of the technical solution provided in this application include at least the following:

[0041] The actuator of this application, the first-stage planetary reduction assembly and the second-stage planetary reduction assembly are arranged simultaneously inside the stator housing. The first-stage planet carrier in the first-stage planetary reduction assembly and the second-stage sun gear shaft in the second-stage planetary reduction assembly form a complete rotating shaft system. The two ends of this rotating shaft system are supported by the first support bearing and the second support bearing, respectively. This helps to improve the support stiffness and fixing reliability of the rotating shaft system, thereby improving the anti-overturning moment performance of the first-stage and second-stage planetary reduction assemblies, reducing the damage to the actuator caused by overturning moment, and ensuring the working performance and service life of the exoskeleton device. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a cross-sectional view of the driver provided in the embodiment of this application;

[0044] Figure 2 This is a schematic diagram of the structure of the driver provided in the embodiment of this application;

[0045] Figure 3 This is a schematic diagram of the rotor assembly and the first-stage planetary reduction assembly provided in the embodiments of this application;

[0046] Figure 4 This is an exploded view of the structure of the first-stage planetary deceleration assembly provided in the embodiments of this application;

[0047] Figure 5 This is a structural cross-sectional view of the two-stage planetary deceleration assembly provided in the embodiments of this application;

[0048] Figure 6 This is an exploded view of the structure of the two-stage planetary deceleration assembly provided in the embodiments of this application;

[0049] Figure 7 This is an exploded view of the secondary planetary carrier provided in the embodiments of this application;

[0050] Figure 8 This is a schematic diagram of the joint drive module provided in the embodiments of this application;

[0051] Figure 9 This is an exploded view of the joint drive module provided in the embodiments of this application.

[0052] The reference numerals in the figure are respectively:

[0053] 100. Driver; 200. Torque sensor;

[0054] 1. Stator assembly;

[0055] 11. Stator housing; 11a. First axial end; 11b. Second axial end; 12. Core winding; 13. Second connection structure;

[0056] 2. Rotor assembly;

[0057] 21. Rotor end cover; 22. Rotor shaft; 23. Magnetic yoke module;

[0058] 3. First-stage planetary deceleration assembly;

[0059] 31. First-stage planetary carrier; 32. First-stage internal gear ring; 33. First squirrel cage-type main body; 331. First shaft hole; 332. First planetary slot; 34. First-stage sun gear shaft; 35. First-stage planetary gears; 36. First-stage pin;

[0060] 4. Second-stage planetary deceleration assembly;

[0061] 41. Second-stage sun gear shaft; 42. Second-stage planetary carrier; 43. Second-stage internal gear ring; 44. Second squirrel cage body; 441. Second shaft hole; 442. Second planetary slot; 44a. First semi-cage flange; 44b. Second semi-cage flange; 44c. Locking fastener; 45. Second-stage planetary gear; 46. Second-stage pin;

[0062] 5. Bearing assembly;

[0063] 51. First support bearing; 52. Second support bearing; 53. Third support bearing; 54. Fourth support bearing; 55. First needle roller bearing; 56. Fifth support bearing; 57. Sixth support bearing; 58. Second needle roller bearing;

[0064] 6. Inner connecting ring;

[0065] 61. Third connection structure;

[0066] 7. External connecting ring;

[0067] 71. First connection structure;

[0068] 8. Elastic beam;

[0069] 9. Strain gauges;

[0070] 10. Connect the fasteners. Detailed Implementation

[0071] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0072] In the description of this application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the purpose of facilitating and simplifying the description of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0073] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art.

[0074] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0075] On the one hand, combined with Figure 1 and Figure 2 As shown, this embodiment provides a driver 100, which includes: a stator assembly 1, a rotor assembly 2, a first-stage planetary reduction assembly 3, a second-stage planetary reduction assembly 4, and a bearing assembly 5.

[0076] The stator assembly 1 includes a stator housing 11, and the rotor assembly 2 is coaxially located at the first axial end 11a of the stator housing 11. The first-stage planetary reduction assembly 3 and the second-stage planetary reduction assembly 4 are coaxially arranged inside the stator housing 11, and the input end of the first-stage planetary reduction assembly 3 is connected to the rotor assembly 2, the output end of the first-stage planetary reduction assembly 3 is connected to the input end of the second-stage planetary reduction assembly 4, and the output end of the second-stage planetary reduction assembly 4 is located at the second axial end 11b.

[0077] The first-stage planetary reduction assembly 3 includes a first-stage planetary carrier 31, and the second-stage planetary reduction assembly 4 includes a second-stage sun gear shaft 41. The first-stage planetary carrier 31 and the second-stage sun gear shaft 41 are coaxially connected.

[0078] The bearing assembly 5 includes a first support bearing 51 and a second support bearing 52. The first support bearing 51 is located near the first axial end 11a and is supported and connected to the outer peripheral wall of the first-stage planetary carrier 31. The second support bearing 52 is located near the second axial end 11b and is supported and connected to the outer peripheral wall of the second-stage sun gear shaft 41.

[0079] In this embodiment, the driver 100, the first-stage planetary reduction assembly 3, and the second-stage planetary reduction assembly 4 are simultaneously arranged inside the stator housing 11. The first-stage planet carrier 31 in the first-stage planetary reduction assembly 3 and the second-stage sun gear shaft 41 in the second-stage planetary reduction assembly 4 form a complete rotating shaft system. The two ends of this rotating shaft system are supported by the first support bearing 51 and the second support bearing 52, respectively. This helps to improve the support stiffness and fixing reliability of the rotating shaft system, thereby improving the anti-overturning moment performance of the first-stage planetary reduction assembly 3 and the second-stage planetary reduction assembly 4, reducing the damage to the driver 100 caused by overturning moment, and ensuring the working performance and service life of the exoskeleton device.

[0080] Combination Figure 1 As shown, in some embodiments, the first-stage planetary reduction assembly 3 further includes a first-stage internal gear ring 32, which is sleeved on the inner peripheral wall of the stator housing 11, and the second-stage planetary reduction assembly 4 further includes a second-stage planet carrier 42.

[0081] The first support bearing 51 is located at the end of the first-stage internal gear ring 32 facing the first axial end 11a, and is supported and connected to the inner peripheral wall of the first-stage internal gear ring 32 and the outer peripheral wall of the first-stage planetary carrier 31, respectively; the second support bearing 52 is located at the end of the second-stage planetary carrier 42 facing the second axial end 11b, and is supported and connected to the inner peripheral wall of the second-stage planetary carrier 42 and the outer peripheral wall of the second-stage sun gear shaft 41, respectively.

[0082] With the above arrangement, the first support bearing 51 is arranged between the first-stage internal gear ring 32 and the first-stage planetary carrier 31, and the second support bearing 52 is arranged between the second-stage planetary carrier 42 and the second-stage sun gear shaft 41. The axial span between the first support bearing 51 and the second support bearing 52 is relatively large, which is beneficial to further improve the support stiffness of the first support bearing 51 and the second support bearing 52.

[0083] Combination Figure 3 As shown, in some embodiments, the rotor assembly 2 includes a rotor end cover 21 and a rotor shaft 22, the rotor shaft 22 being arranged axially along the stator housing 11, and at least a portion of the rotor shaft 22 being located within the first-stage planetary carrier 31. The first-stage planetary reduction assembly 3 also includes a first-stage sun gear shaft 34, which is coaxially connected to the rotor shaft 22.

[0084] The bearing assembly 5 also includes a third support bearing 53 and a fourth support bearing 54.

[0085] The third support bearing 53 is located at the end of the first-stage planetary carrier 31 facing the first axial end 11a, and is supported and connected to the inner peripheral wall of the first-stage planetary carrier 31 and the outer peripheral wall of the rotor shaft 22, respectively. The fourth support bearing 54 is located at the end of the first-stage planetary carrier 31 facing the second axial end 11b, and is supported and connected to the inner peripheral wall of the first-stage planetary carrier 31 and the outer peripheral wall of the first-stage sun gear shaft 34, respectively.

[0086] With the above arrangement, a third support bearing 53 and a fourth support bearing 54 are arranged between the first-stage planetary carrier 31 and the rotor shaft 22. The third support bearing 53 is arranged between the first-stage planetary carrier 31 and the rotor shaft 22, and the fourth support bearing 54 is arranged between the first-stage planetary carrier and the first-stage sun gear shaft 34. This arrangement can achieve reliable support between the first-stage planetary carrier 31, the rotor shaft 22 and the first-stage sun gear shaft 34, make full use of the axial space of the first-stage planetary reduction assembly 3, ensure that the rotor assembly 2 has good support rigidity, and thus help improve the anti-overturning torque effect of the drive 100.

[0087] For example, the connection between the primary sun gear shaft 34 and the rotor shaft 22 can be achieved by adhesive bonding, pin fixing, key connection, interference fit, etc.

[0088] Combination Figure 4 As shown, in some embodiments, the first-stage planetary carrier 31 includes a first cage-shaped body 33, a first shaft hole 331 is provided on the axis of the first cage-shaped body 33, and three first planetary slots 332 are provided on the outer peripheral surface of the first cage-shaped body 33.

[0089] The first-stage planetary reduction assembly 3 also includes a first-stage sun gear shaft 34 and three first-stage planetary gears 35; the first-stage sun gear shaft 34 is coaxially rotatably arranged in the first shaft hole 331, and at least a portion of the rotor shaft 22 is inserted into the first shaft hole 331 and fixedly connected to the first-stage sun gear shaft 34; the three first-stage planetary gears 35 are rotatably arranged in the three first planetary slots 332 respectively, and each first-stage planetary gear 35 meshes with the first-stage sun gear shaft 34 and the first-stage internal gear ring 32 respectively.

[0090] With the above arrangement, the first-stage planetary reduction assembly 3 adopts a squirrel-cage type first-stage planetary carrier 31. The first-stage planetary carrier 31 has higher structural strength and support stiffness, which is beneficial to improving the structural strength and operational reliability of the first-stage planetary reduction assembly 3.

[0091] Combination Figure 4As shown, in some embodiments, the primary planetary carrier 31 further includes three primary pins 36, which are respectively located in three first planetary slots 332, and the three primary planetary gears 35 are respectively connected to the three primary pins 36; the bearing assembly 5 further includes three first needle roller bearings 55, and each primary planetary gear 35 and the corresponding primary pin 36 are respectively provided with a first needle roller bearing 55.

[0092] With the above arrangement, the mating surfaces of the first-stage pin 36 and the first-stage planetary gear 35 are both increased with first needle roller bearings 55, which is beneficial to improving the transmission efficiency of the first-stage planetary reduction assembly 3.

[0093] For example, the first needle roller bearing 55 can also be replaced by a sliding bearing, a copper bushing, a full needle bearing, etc.

[0094] Combination Figure 5 As shown, in some embodiments, the secondary planetary reduction assembly 4 includes a secondary planetary carrier 42 and a secondary internal gear ring 43. The secondary planetary carrier 42 is coaxially arranged with the secondary sun gear shaft 41, and the secondary internal gear ring 43 is sleeved on the inner peripheral wall of the stator housing 11 and located outside the secondary planetary carrier 42.

[0095] The bearing assembly 5 also includes a fifth support bearing 56 and a sixth support bearing 57; the fifth support bearing 56 is located at the end of the secondary internal gear ring 43 facing the first axial end 11a, and is supported and connected to the inner peripheral wall of the secondary internal gear ring 43 and the outer peripheral wall of the secondary planetary carrier 42 respectively; the sixth support bearing 57 is located at the end of the secondary internal gear ring 43 facing the second axial end 11b, and is supported and connected to the inner peripheral wall of the secondary internal gear ring 43 and the outer peripheral wall of the secondary planetary carrier 42 respectively.

[0096] With the above arrangement, a fifth support bearing 56 and a sixth support bearing 57 are arranged in the second-stage planetary reduction assembly 4. The fifth support bearing 56 and the sixth support bearing 57 are arranged between the second-stage internal gear ring 43 and the second-stage planetary carrier 42, which can provide reliable support for the second-stage planetary reduction assembly 4.

[0097] For example, the stepped holes at the upper and lower ends of the secondary internal gear ring 43 are used to accommodate the fifth support bearing 56 and the sixth support bearing 57, respectively, to ensure that the secondary planetary carrier 42, the fifth support bearing 56 and the sixth support bearing 57 will not come out along the axial direction inward or outward.

[0098] Combination Figure 6As shown, in some embodiments, the secondary planetary carrier 42 includes a second cage-shaped body 44, a second shaft hole 441 is provided on the axis of the second cage-shaped body 44, and three second planetary slots 442 are provided on the outer peripheral surface of the second cage-shaped body 44; the secondary sun gear shaft 41 is coaxially rotatably arranged in the second shaft hole 441, and at least a portion of the primary planetary carrier 31 is inserted into the second shaft hole 441 and fixedly connected to the secondary sun gear shaft 41.

[0099] The secondary planetary reduction assembly 4 also includes three secondary planetary gears 45, which are arranged in three corresponding secondary planetary slots 442. Each secondary planetary gear 45 meshes with the secondary sun gear shaft 41 and the secondary internal gear ring 43.

[0100] With the above arrangement, the second-stage planetary reduction assembly 4 adopts a squirrel-cage type second-stage planetary carrier 42. The second-stage planetary carrier 42 has higher structural strength and support stiffness, which is beneficial to improving the structural strength and operational reliability of the second-stage planetary reduction assembly 4.

[0101] Combination Figure 6 As shown, in some embodiments, the secondary planetary carrier 42 further includes three secondary pins 46, which are located in three corresponding secondary planetary slots 442, and the three secondary planetary gears 45 are respectively connected to the three secondary pins 46; the bearing assembly 5 further includes three second needle roller bearings 58, with a second needle roller bearing 58 provided between each secondary planetary gear 45 and the corresponding secondary pin 46.

[0102] With the above arrangement, the mating surfaces of the secondary pin 46 and the secondary planetary gear 45 are both increased with second needle roller bearings 58, which is beneficial to improving the transmission efficiency of the secondary planetary reduction assembly 4.

[0103] Combination Figure 7 As shown, in some embodiments, the second cage-type body 44 includes a first semi-cage flange 44a, a second semi-cage flange 44b, and a locking fastener 44c. The first semi-cage flange 44a and the second semi-cage flange 44b are axially connected, and the locking fastener 44c is connected to the first semi-cage flange 44a and the second semi-cage flange 44b respectively.

[0104] In this embodiment, the second squirrel cage-shaped main body 44 in the secondary planetary deceleration assembly 4 adopts a split design, which is simple in structure and has high operational reliability.

[0105] Combination Figure 1As shown, in some embodiments, the stator assembly 1 further includes a core winding 12; the core winding 12 is located at the first axial end 11a of the stator housing 11 and is connected to the outer peripheral wall of the stator housing 11; the rotor assembly 2 includes a rotor end cover 21, a rotor shaft 22 and a magnetic yoke module 23; the rotor end cover 21 is coaxially located at the first axial end 11a, the rotor shaft 22 is located on the side of the rotor end cover 21 facing the stator housing 11 and is connected to the first-stage planetary reduction assembly 3, and the magnetic yoke module 23 is located on the outer peripheral wall of the rotor end cover 21 and is radially spaced opposite to the core winding 12.

[0106] In this embodiment, the core winding 12 of the stator assembly 1 and the magnetic yoke module 23 of the rotor assembly 2 are respectively arranged on the outer peripheral wall of one axial end of the stator housing 11. The internal space of the stator housing 11 is reserved for arranging the first-stage planetary reduction assembly 3 and the second-stage planetary reduction assembly 4. The axial space of the stator housing 11 is fully utilized, which is beneficial to improving the structural compactness of the driver 100.

[0107] On the other hand, combining Figure 8 As shown, this embodiment provides a joint drive module. In some embodiments, the joint drive module includes the driver 100 of this application and a torque sensor 200; the torque sensor 200 is sleeved on the outer peripheral wall of the stator housing 11.

[0108] The joint drive module of this embodiment uses the driver 100 of this application and has the beneficial technical effects of all embodiments of this application.

[0109] Compared to the torque sensor 200 in related technologies, in this embodiment, the torque sensor 200 is sleeved on the outer surface of the actuator 100 in the joint drive module. The torque sensor 200 and the actuator 100 are axially aligned, rather than axially connected to the end of the actuator 100. This avoids increasing the axial length of the torque sensor 200 and the actuator 100, resulting in a greater volume advantage and better meeting the application requirements of exoskeleton devices for lightweight and miniaturized actuators 100. Furthermore, the sleeved connection between the torque sensor 200 and the actuator 100 also offers advantages such as simple positioning operation and convenient installation.

[0110] The actuator 100 and the torque sensor 200 are aligned axially. The joint drive module has a smaller axial length, which gives it a greater volume advantage and better meets the application requirements of exoskeleton devices for the actuator 100 in terms of lightweighting and miniaturization.

[0111] Combination Figure 9As shown, in some embodiments, the torque sensor 200 includes an inner connecting ring 6, an outer connecting ring 7, an elastic beam 8, and a strain gauge 9. The inner connecting ring 6 and the outer connecting ring 7 are coaxially sleeved, the elastic beam 8 is connected between the inner connecting ring 6 and the outer connecting ring 7, and the strain gauge 9 is attached to the surface of the elastic beam 8. The inner connecting ring 6 is sleeved on the outer peripheral wall of the stator housing 11, and the outer connecting ring 7 is provided with a first connecting structure 71 for connecting to an external fixing seat (not shown in the figure).

[0112] With the above arrangement, the inner connecting ring 6 and the outer connecting ring 7 in the torque sensor 200 are connected by an elastic beam 8. The inner connecting ring 6 can be sleeved to the driver 100 through the first mounting hole on the axis, and the outer connecting ring 7 can be connected to the fixed seat through multiple second connecting structures 13. When the driver 100 moves relative to the fixed seat, the inner connecting ring 6 moves with the driver 100, and the outer connecting ring 7 moves with the fixed seat. The inner connecting ring 6 and the outer connecting ring 7 also move relative to each other, and the elastic beam 8 will deform accordingly. The strain gauge 9 of the strain component is attached to the elastic beam 8. The strain gauge 9 can deform with the elastic beam 8. The measuring circuit measures the resistance change of the strain gauge 9 and converts the deformation of the elastic beam 8 into an electrical signal, thereby realizing the torque detection between the driver 100 and the fixed seat. It has the advantages of simple structure, low cost and convenient installation.

[0113] Among some possible implementations, refer to Figure 8 and Figure 9 As shown, the outer peripheral wall of the stator housing 11 is provided with a plurality of second connecting structures 13, and the inner connecting ring 6 is provided with a plurality of third connecting structures 61. The third connecting structures 61 and the second connecting structures 13 are arranged coaxially in a one-to-one correspondence. The third connecting structures 61 and the second connecting structures 13 are axially connected by a plurality of connecting fasteners 10 to realize the axial fixed connection between the torque sensor 200 and the driver 100.

[0114] On the other hand, this embodiment provides an exoskeleton device, which includes the driver of this application or the joint drive module of this application.

[0115] The exoskeleton device in this embodiment uses the driver or joint drive module of this application, and has the beneficial technical effects of all embodiments of this application.

[0116] It should be noted that, in this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0117] In the description of this specification, the references to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the embodiments or examples that are included in at least one embodiment or example of this application.

[0118] The above description is merely an embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A driver (100), characterized in that, The drive (100) includes: a stator assembly (1), a rotor assembly (2), a first-stage planetary reduction assembly (3), a second-stage planetary reduction assembly (4), and a bearing assembly (5); The stator assembly (1) includes a stator housing (11), and the rotor assembly (2) is coaxially located at the first axial end (11a) of the stator housing (11); the first-stage planetary reduction assembly (3) and the second-stage planetary reduction assembly (4) are coaxially arranged inside the stator housing (11), and the input end of the first-stage planetary reduction assembly (3) is connected to the rotor assembly (2), the output end of the first-stage planetary reduction assembly (3) is connected to the input end of the second-stage planetary reduction assembly (4), and the output end of the second-stage planetary reduction assembly (4) is located at the second axial end (11b) of the stator housing (11); The first-stage planetary reduction assembly (3) includes a first-stage planetary carrier (31), and the second-stage planetary reduction assembly (4) includes a second-stage sun gear shaft (41). The first-stage planetary carrier (31) and the second-stage sun gear shaft (41) are coaxially connected. The bearing assembly (5) includes a first support bearing (51) and a second support bearing (52). The first support bearing (51) is located near the first axial end (11a) and is supported and connected to the outer peripheral wall of the first-stage planetary carrier (31). The second support bearing (52) is located near the second axial end (11b) and is supported and connected to the outer peripheral wall of the second-stage sun gear shaft (41).

2. The driver (100) according to claim 1, characterized in that, The first-stage planetary reduction assembly (3) also includes a first-stage internal gear ring (32), which is sleeved on the inner peripheral wall of the stator housing (11). The second-stage planetary reduction assembly (4) also includes a second-stage planet carrier (42). The first support bearing (51) is located at the end of the first-stage internal gear ring (32) facing the first axial end (11a), and is supported and connected to the inner peripheral wall of the first-stage internal gear ring (32) and the outer peripheral wall of the first-stage planetary carrier (31), respectively; the second support bearing (52) is located at the end of the second-stage planetary carrier (42) facing the second axial end (11b), and is supported and connected to the inner peripheral wall of the second-stage planetary carrier (42) and the outer peripheral wall of the second-stage sun gear shaft (41), respectively.

3. The driver (100) according to claim 2, characterized in that, The rotor assembly (2) includes a rotor end cover (21) and a rotor shaft (22), the rotor shaft (22) being arranged axially along the stator housing (11), and at least a portion of the rotor shaft (22) being located within the first-stage planetary carrier (31); The first-stage planetary reduction assembly (3) also includes a first-stage sun gear shaft (34), which is coaxially connected to the rotor shaft (22); The bearing assembly (5) further includes a third support bearing (53) and a fourth support bearing (54); The third support bearing (53) is located at the end of the first-stage planetary carrier (31) facing the first axial end (11a), and is supported and connected to the inner peripheral wall of the first-stage planetary carrier (31) and the outer peripheral wall of the rotor shaft (22), respectively. The fourth support bearing (54) is located at the end of the first-stage planetary carrier (31) facing the second axial end (11b), and is supported and connected to the inner peripheral wall of the first-stage planetary carrier (31) and the outer peripheral wall of the first-stage sun gear shaft (34), respectively.

4. The driver (100) according to claim 3, characterized in that, The first-stage planetary carrier (31) includes a first cage-shaped body (33), a first shaft hole (331) is provided on the axis of the first cage-shaped body (33), and three first planetary slots (332) are provided on the outer peripheral surface of the first cage-shaped body (33). The first-stage planetary reduction assembly (3) also includes three first-stage planetary gears (35); The first-stage sun gear shaft (34) is coaxially rotatably arranged in the first shaft hole (331), and at least a portion of the rotor shaft (22) is inserted into the first shaft hole (331) and fixedly connected to the first-stage sun gear shaft (34); The three first-stage planetary gears (35) are arranged in the three first-stage planetary slots (332) respectively, and each of the first-stage planetary gears (35) meshes with the first-stage sun gear shaft (34) and the first-stage internal gear ring (32).

5. The driver (100) according to claim 4, characterized in that, The first-stage planetary carrier (31) also includes three first-stage pins (36), which are located in the three first-stage planetary slots (332) respectively, and the three first-stage planetary gears (35) are respectively connected to the three first-stage pins (36). The bearing assembly (5) further includes three first needle roller bearings (55), with one first needle roller bearing (55) between each of the first-stage planetary gears (35) and the corresponding first-stage pin (36).

6. The driver (100) according to claim 1, characterized in that, The secondary planetary reduction assembly (4) includes a secondary planetary carrier (42) and a secondary internal gear ring (43). The secondary planetary carrier (42) is coaxially arranged with the secondary sun gear shaft (41). The secondary internal gear ring (43) is sleeved on the inner peripheral wall of the stator housing (11) and located outside the secondary planetary carrier (42). The bearing assembly (5) further includes a fifth support bearing (56) and a sixth support bearing (57); The fifth support bearing (56) is located at the end of the secondary internal gear ring (43) facing the first axial end (11a), and is supported and connected to the inner peripheral wall of the secondary internal gear ring (43) and the outer peripheral wall of the secondary planetary carrier (42), respectively; the sixth support bearing (57) is located at the end of the secondary internal gear ring (43) facing the second axial end (11b), and is supported and connected to the inner peripheral wall of the secondary internal gear ring (43) and the outer peripheral wall of the secondary planetary carrier (42), respectively.

7. The driver (100) according to claim 6, characterized in that, The secondary planetary carrier (42) includes a second cage-shaped body (44), a second shaft hole (441) is provided on the axis of the second cage-shaped body (44), and three second planetary slots (442) are provided on the outer peripheral surface of the second cage-shaped body (44). The secondary sun gear shaft (41) is coaxially rotatably arranged in the second shaft hole (441), and at least a portion of the primary planetary carrier (31) is inserted into the second shaft hole (441) and fixedly connected to the secondary sun gear shaft (41); The secondary planetary reduction assembly (4) further includes three secondary planetary gears (45), which are rotatably arranged in three second planetary slots (442) respectively. Each secondary planetary gear (45) meshes with the secondary sun gear shaft (41) and the secondary internal gear ring (43).

8. The driver (100) according to claim 7, characterized in that, The secondary planetary carrier (42) also includes three secondary pins (46), which are located in the three second planetary slots (442) respectively, and the three secondary planetary gears (45) are respectively connected to the three secondary pins (46); The bearing assembly (5) further includes three second needle roller bearings (58), with one second needle roller bearing (58) between each of the secondary planetary gears (45) and the corresponding secondary pin (46).

9. The driver (100) according to claim 7, characterized in that, The second cage-type body (44) includes a first semi-cage flange (44a), a second semi-cage flange (44b), and a locking fastener (44c). The first semi-cage flange (44a) and the second semi-cage flange (44b) are axially connected, and the locking fastener (44c) is connected to the first semi-cage flange (44a) and the second semi-cage flange (44b) respectively.

10. The driver (100) according to any one of claims 1 to 9, characterized in that, The stator assembly (1) further includes a core winding (12); the core winding (12) is located at the first axial end (11a) of the stator housing (11) and is connected to the outer peripheral wall of the stator housing (11); The rotor assembly (2) includes a rotor end cover (21), a rotor shaft (22), and a magnetic yoke module (23); The rotor end cover (21) is coaxially located at the first axial end (11a), the rotor shaft (22) is located on the side of the rotor end cover (21) facing the stator housing (11) and is connected to the first-stage planetary reduction assembly (3), and the magnetic yoke module (23) is located on the outer peripheral wall of the rotor end cover (21) and is radially spaced opposite to the iron core winding (12).

11. A joint drive module, characterized in that, The joint drive module includes the driver (100) according to any one of claims 1 to 10, and the torque sensor (200); The torque sensor (200) is sleeved on the outer peripheral wall of the stator housing (11).

12. The joint drive module according to claim 11, characterized in that, The torque sensor (200) includes an inner connecting ring (6), an outer connecting ring (7), an elastic beam (8), and a strain gauge (9). The inner connecting ring (6) and the outer connecting ring (7) are coaxially sleeved together. The elastic beam (8) is connected between the inner connecting ring (6) and the outer connecting ring (7). The strain gauge (9) is attached to the surface of the elastic beam (8). The inner connecting ring (6) is sleeved on the outer peripheral wall of the stator housing (11). The outer connecting ring (7) is provided with a first connecting structure (71) for connecting to an external fixing seat.

13. An exoskeleton device, characterized in that, The exoskeleton device includes a driver (100) according to any one of claims 1 to 10, or a joint drive module according to any one of claims 11 to 12.

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