Nested Planetary Gear Joint Module for Low-Profile Walking Assistance
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Solution Overview
Problem
Existing walking assistance robots and devices face challenges in efficiently transmitting force and torque to joints, particularly for military and general walking assistance purposes, where a compact and effective mechanism is needed to enhance muscular strength and reduce burden during various terrains and activities.
Innovation Solution
A driving module comprising a gear train with a decelerating gear set, a rotary joint, and a joint bearing, which includes a planetary gear system integrated with a ring gear, allowing for efficient power transmission and torque distribution, and a supporting module to assist user motion, enabling compact and effective walking assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If a conventional actuator structure with motor and decelerator is used to transmit force and torque to joints, then the driving function is achieved, but the device becomes thick and heavy, requiring external skeleton structure worn over clothing
Solution Approach 1:
The planetary gear set is nested within the motor housing, with the ring gear integrated into the motor case and planetary gears positioned inside. This nesting arrangement allows the decelerator components to occupy the same spatial envelope as the motor, eliminating the need for additional external decelerator housing and reducing overall device thickness and weight.
Solution Approach 2:
The motor housing is merged with the ring gear structure, where the ring gear is directly formed as part of the motor case. This integration combines two separate components (motor housing and decelerator housing) into a single unified structure, reducing the number of parts, minimizing overall dimensions, and decreasing device weight while maintaining full driving functionality.
2Power
If a conventional actuator structure with motor and decelerator is used to transmit force and torque to joints, then the driving function is achieved, but the device becomes thick and requires external skeleton structure
Solution Approach 1:
The planetary gear set is nested within the motor housing, with the ring gear integrated into the motor case and planetary gears positioned inside. This nesting arrangement allows the decelerator components to occupy the same spatial envelope as the motor, eliminating the need for additional external decelerator housing and reducing overall device thickness.
Solution Approach 2:
The motor housing is merged with the ring gear structure, where the ring gear is directly formed as part of the motor case. This integration combines two separate components (motor housing and decelerator housing) into a single unified structure, reducing the number of parts and minimizing overall device thickness.
3Volume of moving object
If a compact gear train structure is used to reduce device size, then the device becomes more compact, but the complexity of integrating multiple gear components increases
Solution Approach 1:
The motor housing serves multiple functions simultaneously: it provides structural housing for the motor, acts as the ring gear for the planetary decelerator, and serves as the mounting structure for the entire gear train assembly. This multi-functionality reduces the number of separate components needed, simplifying integration while achieving compact dimensions.
Solution Approach 2:
The planetary gear components (sun gear, planetary gears, ring gear) are nested within the motor housing in a hierarchical arrangement. The sun gear is at the center, planetary gears orbit around it, and the ring gear forms the outer boundary integrated into the housing. This nested configuration maximizes space utilization and minimizes the overall volume of the gear train while maintaining clear assembly relationships.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution provides a compact and efficient mechanism for transmitting power and torque, enhancing walking assistance by reducing the size and weight of the device while maintaining effective joint support, thus improving walking abilities and reducing user burden across different terrains.
Implementation Method 1
a gear train including a decelerating gear set configured to rotate using power received from the driving source
Implementation Method 2
The gear train may further include a ring gear attached to an inner side of the edge portion. The rotary joint may include at least one planetary gear engaged with the ring gear
Implementation Method 3
a joint bearing disposed between the joint aligning ring and the rotary joint, and attached to the gear train
Implementation Method 4
a decelerating gear set configured to rotate using power received from the driving source
Data Source
AI summary
A driving module including a driving source configured to generate power, a gear train including a decelerating gear set configured to receive driving power from the driving source and a ring gear attached to one side thereof, and a rotary joint including at least one planetary gear configured to rotate using power received from an output end of the decelerating gear set and to revolve along the ring gear is disclosed.