Planetary Rotary Joint Module for Compact Hip Torque Transmission
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Solution Overview
Problem
Existing walking assistance robots and devices face challenges in efficiently transmitting force and torque to joints, leading to bulkiness and inconvenience when worn on the body, particularly for assisting movements on varied terrains like slopes and stairs.
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 on the rotary joint, allowing for efficient power transmission and minimizing the module's size by forming gear axes as an integral body on frames, and using a thin section bearing to reduce torsion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional driving source structure with separate components is used, then the driving module can transmit force and torque effectively, but the module becomes bulky and uncomfortable when worn on the body
Solution Approach 1:
The patent combines multiple separate driving components (driving source, decelerating gear set, rotary joint, and joint bearing) into an integrated driving module where gear axes are formed as an integral body on frames. This merging of components reduces the overall volume and eliminates the need for separate mounting structures, making the module compact enough for wearable applications while maintaining effective force and torque transmission to the hip joint
Solution Approach 2:
The patent employs a nested arrangement where the decelerating gear set is positioned within the driving source housing, and the rotary joint with planetary gears is integrated within the gear train structure. The joint bearing is disposed between the joint aligning ring and rotary joint, creating a compact nested configuration that maximizes space utilization and minimizes the driving module's external dimensions
2Stability of the object's composition
If a thick external skeleton structure is used to attach the driving source, then the structure provides stable support, but it becomes bulky and must be worn over clothing exposing the device to the outside
Solution Approach 1:
The wearable portion is integrated directly with the driving module, eliminating the need for a separate thick external skeleton structure. The frame of the driving module serves dual purposes as both the structural support for the driving source and the wearable component that attaches to the user's body, thereby reducing overall thickness and allowing the device to be worn comfortably under or over clothing without excessive bulk
Solution Approach 2:
The frame structure serves multiple functions: it houses the driving source, supports the decelerating gear set, provides the wearable interface for body attachment, and transmits forces to the hip joint. This multi-functionality eliminates the need for separate structural components, reducing the thickness and bulkiness of the wearable portion while maintaining stable support
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 enables effective torque transmission while minimizing the module's size and weight, enhancing mobility and comfort by reducing bulkiness and improving the assistance of hip joint motions, thus aiding users on different terrains.
Implementation Method 1
a decelerating gear set configured to rotate using power received from the driving source
Implementation Method 2
a planetary gear system integrated on the rotary joint, allowing for efficient power transmission and minimizing the module's size
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
using a thin section bearing to reduce torsion
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.