KR102490441B1 - Elastic Reduction Actuator And Wearable Assistance Device Having The Same - Google Patents

Abstract

In the present invention, a cycloid speed reduction unit having various reduction ratios and high torque transmission capability is provided inside the motor unit, and an elastic unit in the form of a ring disk is integrally laminated to precisely measure the magnitude of auxiliary torque provided to the wearer's joints, etc. It relates to an elastic deceleration actuator capable of minimizing thickness and volume and a wearable assistive device having the same.

Description

Elastic reduction actuator and wearable assist device having the same {Elastic Reduction Actuator And Wearable Assistance Device Having The Same}

The present invention relates to an elastic deceleration actuator and a wearable auxiliary device having the same. More specifically, the present invention provides a cycloid speed reduction unit having various reduction ratios and high torque transmission capability inside the motor unit, and an elastic unit in the form of a ring-shaped disk is integrally stacked to determine the magnitude of auxiliary torque provided to the wearer's joints and the like. It relates to an elastic deceleration actuator capable of minimizing a thickness and volume that can accurately measure and a wearable auxiliary device having the same.

Recently, development of wearable assistive devices for the disabled, patients, or the elderly who have physical abilities that make daily life impossible, or industrial or military wearable assistive devices for strengthening physical strength or physical ability is in progress.

In the case of wearable assistive devices for the disabled, patients, or the elderly, depending on the purpose of the wearable assistive device, the wearer's physical ability, and the size or role of the assistive force required by the wearable assistive device, the wearable assistive device for riding and the elderly, It can be classified as an assistive wearable device for partially paralyzed patients, disabled people, soldiers or workers.

In the former case, since the wearer can provide the wearer with the necessary auxiliary force for a complete joint, motion intention for the wearer's movement is not of great significance as a control variable of the robot. Instead, it is sufficient to perform a walking motion accurately. Therefore, in the case of the former wearable auxiliary device, the required driving force is large, and accordingly, the driving device, the battery, and the skeleton structure are often large.

However, in the case of the latter wearable assistive device, since the user's physical ability is insufficient or it is a robot for reinforcing physical ability in the work space, the size and weight of the wearable assistive device are minimized and accurate assistance is provided according to the user's motion intention. It is important to provide power.

In the case of the latter wearable assistive device, the wearable assistive device is configured to increase the driving time of the wearable assistive device, minimize the wearer's weight burden, and minimize interference with surrounding objects in daily life or work environment. It is also desirable that the size and weight of the elastic deceleration actuator to be minimized.

In addition, the wearable auxiliary device may include a joint drive unit on a joint, and drive the drive unit to rotate a support unit mounted on the thigh and lower leg of the wearer to assist torque load on the wearer's hip joint and knee joint.

In addition, when assisting the movement of the wearer through the wearable assistive device, it is necessary to assist with an appropriate assisting force at an appropriate time.

That is, installing an actuator with a large output in order to unconditionally provide a large force is not preferable because it increases the size and weight of the wearable assistive device and may cause injury to the wearer.

Therefore, it is necessary to minimize the size and weight of the elastic deceleration actuator, provide sufficient torque through a sufficient reduction ratio, and provide accurate torque or auxiliary force required for the wearer's joints. Therefore, the torque or auxiliary force provided through each actuator must be precisely controlled, which presupposes that the torque or auxiliary force transmitted through the elastic reduction actuator is accurately measured in real time.

In general, in the case of a torque sensor for measuring torque, its cost is high and is often not suitable for miniaturized actuators.

Therefore, as an elastic deceleration actuator for providing joint assisting force of a wearable assistive device, an elastic deceleration actuator capable of minimizing size and weight and precisely providing sufficient driving torque according to a wearer's gait cycle is required.

Typically, four or so joint elastic deceleration actuators may be provided, and six joint elastic deceleration actuators may be provided in the case of adding joint elastic deceleration actuators for assisting an ankle joint. In addition, in the case of a wearable assistive device for lower extremity assistance, the elastic deceleration actuator for hip joint assistance includes a thigh support unit for supporting the thigh, a lower leg support unit for supporting the lower leg, and a foot support unit for supporting the foot. All of the load of the joint elastic deceleration actuator for driving the same may be applied as a torque load.

To this end, in order to minimize the weight and volume of the joint elastic deceleration actuator for providing auxiliary power to each joint, the structure of the driving device, which is the main component of the wearable assistive device, must be simplified and reduced in weight and size.

In addition, it is advantageous to provide sufficient torque by sufficiently decelerating the motor unit constituting the joint elastic deceleration actuator, and a deceleration structure capable of designing various torque ratios according to the use of the wearable assistive device is required.

In the present invention, a cycloid speed reduction unit having various reduction ratios and high torque transmission capability is provided inside the motor unit, and an elastic unit in the form of a ring disk is integrally laminated to precisely measure the magnitude of auxiliary torque provided to the wearer's joints, etc. It is an object to be solved to provide an elastic deceleration actuator capable of minimizing the thickness and volume and a wearable auxiliary device having the same.

In order to solve the above problems, the present invention is a first cover housing; a stator mounted within the first cover housing; a rotor disposed inside the stator; and a motor unit including a driving member mounted on the rotor and rotated together when the rotor rotates. a speed reduction unit disposed inside the rotor of the motor unit and having an input terminal connected to the rotor; a second cover housing that rotatably supports the output end of the speed reduction unit while exposing it through an opening in a central area; An inner frame fastened to the speed reduction unit, an outer frame mounted on the side of the first cover housing or the second cover housing, and a connection between the inner frame and the outer frame, and twisting of the outer frame relative to the inner frame It is possible to provide an elastic deceleration actuator including; an elastic unit having at least one elastic part that allows.

In addition, the inner frame and the outer frame of the elastic unit may be connected by a plurality of elastic parts, and each elastic part may have a shape in which a plurality of circular arcs are alternately connected in opposite directions on the same plane.

An encoder disk may be mounted on the inner frame of the elastic unit, and an encoder may be provided on the side of the second cover housing to detect a twist angle of the inner frame of the elastic unit with respect to the outer frame.

Here, a ring-shaped middle housing may be provided between the first cover housing, the outer frame of the elastic unit, and the second cover housing, and the encoder may be mounted on the middle housing.

In this case, the speed reduction unit may include a camshaft member having at least one cam portion on a shaft portion; a plurality of output pins disposed around the camshaft member; an output member to which the plurality of output pins are mounted and which rotates around the axis of the camshaft member as the output pins are propelled; Mounted on the cam portion of the camshaft member and rotated eccentrically when the camshaft member rotates using the cam portion as a rotating shaft, a plurality of curved protrusions provided continuously on the outer circumferential surface and the output pin pass through the output pin to guide and propel the output pin. At least one inner ring member configured in the form of a disk having a plurality of guide holes formed around the shaft hole in which the cam unit is mounted; And, the curved groove portion in which the curved protrusion of the inner ring member is seated is continuously provided on the inner circumferential surface, and the inner ring member is arranged so that the curved protrusion is seated on the curved groove portion and rotates along the inner circumferential surface, and is fastened to the inner frame of the elastic unit. It may be a cycloid speed reduction unit including; an outer ring member in the form of a pipe.

The number of grooves on the curved surface of the outer ring member may be n+1, the number of protrusions on the curved surface of the inner ring member may be n, and the reduction ratio may be n:1.

Also, n may be a natural number between 10 and 20.

In addition, a plurality of cams of the camshaft member may be provided, and a plurality of inner race members may be stacked with each cam as a rotating shaft.

Here, two may be provided so as to have a phase difference of 180 degrees of the camshaft member.

In this case, one of the two cam parts of the camshaft member is mounted in a shaft hole of a driving member constituting the motor unit to rotate the camshaft member when the rotor coupled to the driving member rotates.

In addition, in order to solve the above problems, the present invention is mounted to surround the wearer's waist region, the body unit extending to the side region of the wearer's hip joint; The above-described elastic deceleration actuator for driving the hip joint of the wearer at the bottom of both outer ends of the body unit; It is possible to provide a wearable assistive device comprising a; thigh support unit driven by the hip joint actuator and providing a rotational assisting force to the wearer's thigh. And, a lower leg support unit rotatably connected to the thigh support unit by the knee joint structure and providing a rotational assisting force to the wearer's lower leg; And, the above-mentioned elasticity that is mounted on the thigh support unit, and the output member of the deceleration unit is connected to the knee joint structure and the link unit to pull or propel the link unit to rotate the lower leg support unit with respect to the thigh support unit. A reduction drive may be included.

Here, a foot unit mounted on the lower end of the lower leg support unit to support the wearer's feet may be further included.

According to the elastic deceleration actuator according to the present invention, a cycloid deceleration unit is provided inside each elastic deceleration actuator provided in the wearable auxiliary device to minimize the increase in thickness of the elastic deceleration actuator, and the number of curved surfaces corresponding to the required reduction ratio Various reduction ratios may be provided by applying the inner ring member and the outer ring member of the speed reduction unit having the protrusion and the curved protrusion.

In addition, according to the elastic deceleration actuator according to the present invention, an elastic unit in the form of a slim ring-shaped plate is stacked to minimize an increase in the thickness of the elastic deceleration actuator and provide assistance to the wearer's joints based on the amount of torsional deformation of the elastic unit. The magnitude of the torque can be accurately measured, and an accurate auxiliary torque can be provided accordingly.

In addition, according to the elastic deceleration actuator according to the present invention, the elastic unit is provided to minimize vibration or noise when the elastic deceleration actuator is operated, and the motion intention of the wearer of the wearable assistive device is analyzed according to the torsional deformation of the motor unit. Auxiliary force or auxiliary torque to assist the intended movement may also be provided.

1 shows a front perspective view of a wearable auxiliary device according to the present invention,
FIG. 2 shows a rear perspective view of the wearable auxiliary device shown in FIG. 1 .
Figure 3 shows a bi-directional perspective view and a side view of an elastic deceleration actuator according to the present invention.
4 shows an exploded perspective view of an elastic deceleration actuator according to the present invention.
5 shows an exploded perspective view and a coupling relationship of a motor unit constituting an elastic deceleration actuator according to the present invention.
6 shows an exploded perspective view and a coupling relationship between a deceleration unit and an elastic unit constituting an elastic deceleration actuator according to the present invention.
Figure 7 shows a cross-sectional view of the coupled relationship and coupled state of the deceleration unit and the motor unit of the elastic deceleration actuator according to the present invention.
Figure 8 shows a perspective view of the coupled relationship and assembled state of the motor unit, the reduction unit and the elastic unit constituting the elastic reduction actuator according to the present invention.
9 shows an operating state of the deceleration unit of the elastic deceleration actuator according to the present invention.
10 shows a deformation state of an elastic unit constituting an elastic deceleration actuator according to the present invention.
Figure 11 shows the coupling relationship of the elastic unit encoder for detecting the torsional displacement of the elastic unit of the elastic deceleration actuator according to the present invention.
12 shows a cross-sectional view of an elastic deceleration actuator according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content will be thorough and complete, and the spirit of the invention will be sufficiently conveyed to those skilled in the art. Like reference numbers indicate like elements throughout the specification.

1 shows a front perspective view of a wearable auxiliary device 1000 according to the present invention, and FIG. 2 shows a rear perspective view of the wearable auxiliary device 1000 shown in FIG.

1 and 2, in the present specification, the wearable assistive device 1000 is worn on the lower body of a disabled person, the elderly, a patient, a soldier or a worker (hereinafter referred to as a 'wearer') to assist walking motion. could be a robot Here, the meaning of assisting walking motion is to provide a driving force to preserve muscle strength lacking in the hip joint and knee joint so that the wearer with some lower body motor function can walk independently, or to provide a driving force for a worker or soldier to exceed his or her physical ability. This means that you can move with greater strength and speed.

A wearable auxiliary device 1000 according to the present invention includes a main body portion 500 including a battery for providing power and a controller for providing a control signal; a body unit (400) mounted on the rear side of the main body, wrapped around a wearer's waist area, and extending to a side area of the wearer's hip joint; a pair of elastic deceleration actuators 100a and 100b for assisting the hip joint mounted below both ends of the body unit 400 extending to the side area of the wearer's hip joint; It is driven by the elastic deceleration actuator for assisting the hip joint and may include thigh support units 210a and 210b that provide rotational assisting force to the wearer's thigh.

In addition, the present invention is rotatably connected by the thigh support units 210a and 210b and the knee joint structures 700a and 700b in order to assist the wearer's hip joint as well as the knee joint, and apply rotational assisting force to the wearer's lower leg. Lower leg support units (230a, 230b) provided; And, it is mounted on the femoral support units (210a, 210b), and the output member of the deceleration unit is connected to the knee joint structures (700a, 700b) and a link unit (reference numeral not shown) to tow or propel the link unit. Elastic deceleration actuators 100c and 100d for driving the knee joint for rotating the lower leg support units 230a and 230b with respect to the thigh support unit; may be configured to include.

In addition, the present invention further includes a pair of foot units 300a and 300b mounted on the lower end or end of the lower leg support units 230a and 230b to support the wearer's feet and supporting the wearer's feet. can be configured.

The body unit 400 may be connected to a body frame 510 having a frame shape extending in the direction of the wearer's spine, and the body may be mounted on the body frame 510.

Here, the wearable auxiliary device according to the present invention may be provided with an elastic deceleration actuator for assisting the hip joint and the knee joint.

The elastic deceleration actuator for hip joint assistance is mounted on the wearer's hip joint area, and the elastic deceleration actuator for knee joint assistance is mounted on the femoral support units 210a and 210b, not the knee joint area, so that the rotation assisting force is transmitted through the link member to the wearer's It can be provided on the lower leg.

The torque load of the elastic deceleration actuator for hip joint assistance can be lowered by mounting the elastic deceleration actuator for knee joint assistance to the femoral support units 210a and 210b instead of the knee joint area. There is also an advantage in that the volume of the hip joint structure can be reduced compared to a structure formed by stacking joint elastic deceleration actuators.

In the wearable auxiliary device 1000 shown in FIGS. 1 and 2, an example in which the joint elastic deceleration actuator 100 is provided for driving or assisting the wearer's hip and knee joints is shown, but a separate driving device is provided for the ankle joint as necessary. can be provided.

In addition, each of the thigh support units 210a and 210b and the lower leg support units 230a and 230b includes at least one device for fixing the wearer's thigh and lower leg to the thigh support unit 210a and 210b and the lower leg support unit 230a and 230b. It may be provided with a wearing unit (not shown) in the form of a band or belt or other wearing member, and the driving force provided by each joint elastic deceleration actuator 100 is eventually transmitted to the thigh or lower leg of the wearer through the wearing unit, thereby independently Can assist with walking.

Such a pair of leg units are disposed along the side of the wearer, but the knee joint structure may have a structure that surrounds the entire knee joint.

Since the body part 500 described above is disposed behind the back of the wearer's upper body, the body part is mounted to the rear through the body unit 400, and the body unit 400 surrounds the wearer's waist area and is mounted, Both ends of the body unit 400 may extend to the side of the wearer's waist.

An actuator provided in such a wearable auxiliary device to provide auxiliary force or auxiliary torque should be provided with a deceleration unit or the like to provide sufficient auxiliary torque according to the physical condition of the wearer. Therefore, it is preferable that the actuator is configured in a form capable of applying various reduction ratios.

In addition, the auxiliary force or auxiliary torque provided through the wearable auxiliary device must be provided in an appropriate size to suit the movement situation of each joint, and for this purpose, the size of the auxiliary force or auxiliary torque provided to the wearer must be accurately measured. do.

Hereinafter, the elastic deceleration actuator constituting the wearable auxiliary device according to the present invention will be described in detail.

3 shows a bidirectional perspective view and a side view of an elastic reduction drive 100 according to the present invention.

As described above, the elastic deceleration actuator 100 according to the present invention may be mounted on the hip joint area and the thigh support unit of the wearable assistive device to provide assistive force to the hip joint and the knee joint.

In addition, the elastic deceleration actuator 100 according to the present invention includes an elastic unit 40 and an elastic unit encoder 53b to accurately control the magnitude of torque provided to the hip and knee joints, and uses a torque sensor and the like as will be described later. Even if omitted, the amount of auxiliary torque provided through the wearable auxiliary device can be accurately sensed or controlled.

Therefore, the information detected by the elastic unit encoder or motor encoder described later or the control signal of the motor unit according thereto can be transmitted and received to the controller or control unit of the main body through a communication cable attachable to the actuator connector 1, and a separate power cable (2) may be connected to the drive motor side.

As described with reference to FIGS. 1 and 2, the elastic deceleration actuator 100 according to the present invention may be configured in a flat box shape, and the output member 32 providing auxiliary torque may have a shape exposed on one side can

As shown in FIGS. 1 and 2 , the output member 32 may be connected via a femoral support unit or a link member to provide a joint driving force.

4 and below, the elastic deceleration actuator 100 of the wearable auxiliary device, which minimizes the volume and weight and can accurately determine the magnitude of the torque transmitted from the elastic deceleration actuator 100 without a torque sensor, is described in detail. Explain.

Figure 4 shows an exploded perspective view of the elastic reduction actuator 100 according to the present invention, Figure 5 shows an exploded perspective view and coupling relationship of the motor unit 20 constituting the elastic reduction actuator 100 according to the present invention, 6 shows an exploded perspective view and coupling relationship between the deceleration unit 30 and the elastic unit 40 constituting the elastic deceleration actuator 100 according to the present invention, and FIG. 7 shows the elastic deceleration actuator 100 according to the present invention. ) shows a cross-sectional view of the coupling relationship and coupling state of the deceleration unit 30 and the motor unit 20. Figure 8 shows a perspective view of the coupled relationship and assembled state of the motor unit 20, the reduction unit 30 and the elastic unit 40 constituting the elastic deceleration actuator 100 according to the present invention.

The elastic speed reduction actuator 100 according to the present invention is mounted in a motor unit 20 that generates a large electric torque, and a speed reduction unit 30 that decelerates the output of the motor unit 20 and amplifies the torque. It may be configured to include an elastic unit 40 and the like for sensing the size of the torque that is torsionally displaced by the output torque and output.

As shown in FIG. 4, the elastic deceleration actuator 100 according to the present invention is provided with cover housings 10 on the front and rear surfaces, respectively, and is composed of a method in which components are stacked and assembled in each cover housing 10. .

The cover housing 10 may include a first cover housing 10a and a second cover housing 10b, and a motor unit 20 may be provided on the side of the first cover housing 10a.

The motor unit 20 may be configured in the form of a bldc motor and includes a stator 21 mounted in the first cover housing 10a; a rotor 23 disposed inside the stator 21; and a driving member 25 mounted on the rotor 23 and rotated together when the rotor 23 rotates. The driving member 25 is driven by the rotor 23, and the cam parts 35b and 35c of the camshaft member 35, which is an input end of the speed reduction unit 30 to be described later, are mounted so that the camshaft member is used when the rotor 23 is driven. It is a configuration that rotates (35).

The driving member 25 is mounted on the inner surface of the rotor 23, and an outer ring member 37 constituting a speed reduction unit 30 described later may be rotatably disposed in the inner space of the rotor 23.

A motor encoder 50a for detecting the rotational speed and direction of the driving member 25 connected to the rotor 23 may be provided on an outer circumferential surface of the first cover housing 10a.

The motor encoder 50a may be mounted on the housing 50ah of the elastic unit encoder 53b and mounted on the outer circumferential surface of the first cover housing 10a.

The speed reduction unit 30 may be disposed inside the rotor 23 of the motor unit 20, and a camshaft member serving as an input end may be mounted on the rotor 23.

The reduction unit 30 may be a cycloid type reduction gear. That is, the inner ring members 34 and 36 rotate along the inner circumferential surface of the outer ring and decelerate and amplify the torque so that the output member 32 described later can be rotated.

As shown in FIGS. 4 and 6, the speed reduction unit 30 includes a camshaft member 35 in which at least one cam portion 35b, 35c is provided on a shaft portion 35a; A plurality of output pins (31) disposed around the camshaft member (35); an output member 32 that rotates around the shaft portion 35a of the camshaft member 35 as the plurality of output pins 31 are mounted and the output pins 31 are propelled; A plurality of curved protrusions mounted on the cam parts 35b and 35c of the camshaft member 35, rotated eccentrically when the camshaft member 35 rotates using the cam parts 35b and 35c as rotational axes, and continuously provided on the outer circumferential surface (34p, 36p) and a plurality of guides formed around the shaft holes (34c, 36c) to which the cam parts (35b, 35c) are mounted to guide and propel the output pin (31) through which the output pin (31) passes. At least one inner ring member (34, 36) configured in the form of a disk having holes (34h, 36h); And, a curved groove portion 37g in which the curved protrusions 34p and 36p of the inner ring members 34 and 36 are seated is continuously provided on the inner circumferential surface, so that the inner ring members 34 and 36 have the curved protrusions 34p and 36p Cycloid deceleration unit (including a pipe-shaped outer ring member 37) seated in the curved groove portion 37g and arranged to rotate along the inner circumferential surface and fastened to the inner frame 43 of the elastic unit 40 30) can be.

The camshaft member 35 constituting the speed reduction unit 30 according to the present invention includes a shaft portion 35a serving as an internal shaft of the elastic reduction actuator 100 and at least one cam portion 35b on the shaft portion 35a, 35c) may be provided.

The cam parts 35b and 35c are regions added in the form of an eccentric shaft on the shaft part 35a and rotate the camshaft member 35 when the driving member 25 is driven, and the inner ring members 34 and 36 described later It may be provided to rotate eccentrically with respect to the shaft portion (35a).

The camshaft member 35 shown in FIG. 6 is provided with two cam parts 35b and 35c, and one cam part 35c is mounted in the shaft hole of the driving member 25 to follow the rotation of the driving member 25. At the same time as the camshaft member 35 is rotated, it is mounted in the shaft hole 36c of the first inner ring member 36 to rotate the first inner ring member 36 eccentrically with respect to the shaft portion 35a of the camshaft member 35, The other cam portion 35b is stacked with the first inner ring member 36 and is mounted in the shaft hole 34c of the second inner ring member 34 having the same shape as the first inner ring member 36, and is mounted on the second inner ring. The member 34 can be eccentrically rotated with respect to the shaft portion 35a of the camshaft member 35.

The pair of cam parts 35b and 35c provided on the camshaft member 35 may be provided in opposite directions to the shaft part 35a with a phase difference of 180 degrees.

The inner ring members 34 and 36 may be configured in the form of a disc in which deceleration is performed while rotating along the inner circumferential surface of the outer ring member 37 described later, and deceleration and torque amplification may be performed even if only one inner ring member is provided. However, in order to minimize vibration and noise, the shaft portion 35a of the camshaft member 35 is provided with two cam portions 35b and 35c so as to have phases in opposite directions to each other, and two first inner ring members 36 and 2 The inner ring member 34 is mounted on each cam portion 35b or 35c, and deceleration can be performed while minimizing noise and vibration.

Each of the inner ring members 34 and 36 is mounted on the cam parts 35b and 35c of the camshaft member 35, and rotates eccentrically when the camshaft member 35 rotates using the cam parts 35b and 35c as a rotational shaft. It may be provided with a plurality of curved protrusions (34p, 36p) continuously provided along the.

In addition, as shown in FIGS. 6 and 7 , the speed reduction unit 30 may include a plurality of output pins 31, and each inner ring member 34, 36 has a plurality of output pins 31. ) may be provided with a plurality of guide holes 34h and 36h formed in a circumferential direction in order to guide and rotate the output pin 31 through.

And, as shown in FIG. 7 , when the inner ring members 34 and 36 rotate, the inner diameters of the guide holes 34h and 36h may be larger than the outer diameters of the output pins 31 . Since the output pin 31 is fastened to the output member 32 and rotates based on the shaft portion 35a of the camshaft member 35, the guide holes 34h of the inner ring members 34 and 36 rotating eccentrically, 36h) is configured to have a larger inner diameter than the outer diameter of the output pin 31, and the output pin 31 arranged to pass through the guide holes 34h and 36h when the inner ring members 34 and 36 rotate is the guide hole 34h , 36h) to rotate the propulsion member around the shaft portion 35a of the camshaft member 35.

As shown in FIG. 6, curved protrusions 34p and 36p are provided on the outer circumferential surfaces of the inner ring members 34 and 36, and the curved protrusions 34p and 36p of the inner ring members 34 and 36 are outer ring members ( 37) can be molded along the curved groove portion 37g formed on the inner circumferential surface and rolled and rotated.

The number of curved grooves 37g of the outer ring member 37 is n+1, the number of curved protrusions 34p and 36p of the inner ring members 34 and 36 is n, and the reduction ratio is determined as n:1. can

For example, as shown in FIG. 6, the number of curved grooves 37g of the outer ring member 37 is 16, and the number of curved protrusions 34p and 36p of the inner ring members 34 and 36 is 15. In the case of an individual, the reduction ratio may be determined as 15:1, the number of curved grooves 37g of the outer ring member 37 is 11, and the number of curved protrusions 34p and 36p of the inner ring members 34 and 36 is 10. In the case of an individual, the reduction ratio may be determined as 10:1.

Therefore, the elastic reduction actuator 100 according to the present invention considers the size of the output torque and the auxiliary torque of the motor unit 20, etc. It can be distinguished from a conventional satellite gear type reduction unit in that it is possible to prevent an increase in the thickness of the reduction unit while determining the number and applying various reduction ratios.

In general, it is assumed that the size of the auxiliary torque provided to the wearer's joint through the wearable auxiliary device is about 10 N m to 20 N m, and the size and weight of the elastic deceleration actuator 100 constituting the wearable auxiliary device is considered. Thus, if the output torque of the motor unit 20 is about 1 N·m, n, which is the number of inner ring members 34 and 36 determining the reduction ratio or torque ratio, may be determined as a natural number between 10 and 20.

The outer ring member 37 is configured to be fastened to the inner frame 43 of the elastic unit 40 to be described later, and when the inner ring members 34 and 36 rotate, the outer ring member 37 rotates the inner ring members 34 and 36 ), and the driving force or driving torque of the inner ring members 34 and 36 can be transmitted to the output member 32.

In addition, the outer ring member 37 may be mounted to the inner frame 43 through a fastening part 44 (see FIG. 10) provided on the outer circumferential surface of the inner frame 43 of the elastic unit 40, and the fastening part 44 ) is a configuration in which one end of the elastic part is fixed.

The output member 32 may pass through the inner frame 43 provided in the center of the elastic unit 40 shown in FIG. 6 (b) and be connected to the inner ring members 34 and 36.

Although six output pins 31 are shown to be provided, the number can be increased or decreased, and the plurality of output pins 31 are mounted on the output member 32 and pass through the elastic unit 40 to the inner ring member 34. , 36) is disposed within the guide holes 34h and 36h, and the inner ring members 34 and 36 are driven together with the driving member 25 when the driving member 25 rotates, and the cam portion 35b of the camshaft member 35 , 35c) rotates eccentrically, and the inner ring members 34 and 36 are displaced along the inner circumferential surface of the outer ring member 37 and propel the output pin 31 to move the output member 32 to the shaft portion of the camshaft member 35 ( 35a) can be driven for rotation.

As shown in FIGS. 6 and 7, the outer ring member 37 is configured to be fixed to the elastic unit 40, and the inner frame of the elastic unit 40 by torque transmitted from the inner ring members 34 and 36. (43) can be torsionally rotated with respect to the outer frame 41 via the elastic part 42, and the amount of torsional rotation is data for determining the magnitude of the auxiliary torque provided from the motor unit 20 to the output member. can be used

As shown in FIG. 8, in a state in which the deceleration unit 30 and the elastic unit 40 are assembled, the outer ring member 37 of the deceleration unit 30 is attached to the rotor 23 of the motor unit 20. As shown in FIG. 8 (b), the motor unit 20, the reduction unit ( 30) and the elastic unit 40 can form an assembly housed in the first cover housing 10a when the thickness or volume is minimized.

In this case, at least one of the cam parts 35b and 35c of the camshaft member 35 is connected to the driving member 25 so that when the driving member 25 rotates, the camshaft member 35 rotates with respect to the shaft part 35a. It is as described above that rotation can be driven by.

In addition, a bearing (b) for rotationally supporting a shaft portion or a cam portion constituting the camshaft member is mounted in each shaft hole to support rotation of the camshaft member.

9 shows an operating state of the deceleration unit 30 of the elastic deceleration actuator 100 according to the present invention.

Since the drive member 25 is fastened to the rotor 23, it rotates together when the rotor 23 rotates, and the shaft portion 35a and the cam portions 35b and 35c of the camshaft member 35 are formed in the shaft hole of the drive member 25. ) The camshaft member 35 mounted together is rotated around the shaft portion 35a through the propulsion of the cam portions 35b and 35c, and the cam portion 35b of the camshaft member 35 driven to rotate, 35c), the curved protrusions 34p and 36p provided on the outer circumferential surface of the two inner ring members 34 and 36 mounted on the outer ring member 37 rotate along the curved groove 37g formed on the inner circumferential surface of the outer ring member 37, and the inner ring member ( The output pin 31 disposed in the guide holes 34h and 36h of the 34 and 36 may be propelled to cause the output member 32 to rotate at a reduced speed.

As described above, the camshaft member 35 is provided with two cam parts 35b and 35c having a phase difference of 180 degrees, so that the two inner ring members 34 and 36 are mounted on the respective cam parts 35b and 35c to form a camshaft. When the member 35 rotates, it rotates eccentrically with a phase difference of 180 degrees.

Therefore, it is possible to provide an effect of buffering noise and vibration generated in the course of displacement of the curved protrusions 34p and 36p of the inner ring members 34 and 36 along the curved grooves 37g of the outer ring member 37. In the embodiment shown in FIG. 9, the inner ring members 34 and 36 are shown to be mounted on two cam parts 35 having a phase difference of 180 degrees to the camshaft member 35, but the shaft portion of the camshaft member 35 On (35a), three or four cams with a phase difference of 120 degrees or four with a phase difference of 90 degrees are provided, and three or four disc-shaped inner ring members are stacked to form a structure capable of reducing vibration or noise. may be

10 shows a deformation state of the elastic unit 40 constituting the elastic deceleration actuator 100 according to the present invention. Specifically, FIG. 10 (a) shows a state in which the elastic unit 40 is not deformed, and FIG. 10 (b) shows the torsional displacement of the inner frame of the elastic unit 40 clockwise by a first angle θ1. 10(c) shows a state in which the inner frame of the elastic unit 40 is torsionally displaced by a second angle θ2 in a counterclockwise direction.

The inner frame 43 and the outer frame 41 of the elastic unit 40 are connected by a plurality of elastic parts 42, and each elastic part 42 has a plurality of circular arcs on the same plane alternately in opposite directions. It can be configured in a connected shape. Each of the circular arcs constituting the elastic part may act as a unit spring, and may provide elastic restoring force against twisting of the inner frame.

In addition, the inner frame 43, the outer frame 41, and the plurality of elastic parts 42 of the elastic unit 40 may be integrally configured for the purpose of reducing weight.

If the elastic part 42 is configured in a shape connecting continuous circular arcs with opposite directions, the elastic part 42 may be configured in a shape in which circular crests and circular troughs are alternately repeated, and the inner frame 43 etc. Even when a torsional torque is applied, stress concentration in the elastic portion 42 may be minimized to minimize damage to the elastic portion 42 .

As described above, the inner frame 43 of the elastic unit 40 is an area where the outer ring member 37 constituting the speed reduction unit 30 is mounted, and the outer frame 41 of the elastic unit 40 is a cover. It is a configuration mounted on the housing 10 or the like.

Therefore, when the motor unit 20 is driven, the inner ring members 34 and 36 are driven, and the curved protrusions 34p and 36p of the inner ring members 34 and 36 are curved grooves 37g of the outer ring member 37. ), so that the outer ring member 37 may also be applied with torsional torque in the rotational direction of the inner ring members 34 and 36.

The torsional torque applied to the outer ring member 37 is eventually transmitted to the inner frame 43 of the elastic unit 40, and the elastic unit 40 of the elastic unit 40 may be deformed.

The amount of deformation of the elastic part 42 can measure the magnitude of the auxiliary torque output to the output member 32 through the inner ring members 34 and 36 through the deformation angle, and eventually transmitted to the wearer's joints, etc. It may be a measurement variable for measuring the magnitude of auxiliary torque.

For example, the amount of torsional deformation of the inner frame 43 of the elastic unit 40 by the torque transmitted to the outer ring member 37 when the inner ring members 34 and 36 are driven may be in the range of about 1-2 degrees. And, according to the amount of displacement, the controller or control unit provided in the main body can determine the size of the auxiliary torque transmitted to the output member 32.

To this end, the elastic deceleration driver 100 according to the present invention arranges the elastic unit 40 between the outer ring member 37 of the reduction unit 30 and the cover housing 10, and the elastic part of the elastic unit 40 A torque sensor function may be provided by measuring the amount of torsional deformation of (42) with the elastic unit encoder (53b) of the elastic unit (40).

11 shows the coupling relationship of the elastic unit encoder 53b for detecting the torsional displacement of the elastic unit 40 of the elastic deceleration actuator 100 according to the present invention.

An encoder disk 51b in the form of a ring or disk is provided on the inner frame 43 of the elastic unit 40, and an elastic unit encoder 53b is provided on the side of the second cover housing 10b, so that the elastic unit ( The twist angle of the elastic part 42 of 40) can be sensed. The encoder disk 51b and the elastic unit encoder 53b may constitute the elastic unit encoding unit 50 together.

As shown in FIG. 11(b), the encoder disk 51b is mounted on the inner frame 43, and the elastic part 42 is provided so that the amount of displacement can be easily sensed when the inner frame 43 is torsionally rotated. It can be of any size and shape.

Specifically, the elastic unit encoder 53b is the elastic unit ( 40) can detect the twist, and in the former case, it is possible to measure the amount of auxiliary torque provided to the joint of the wearer in the wearable assistive device, and in the latter case, when the motor unit 20 is not operated, the wearer's movement It can be used as analysis data to analyze the intention of the wearer's motion by detecting it.

The elastic unit encoder 53b may be mounted on the second cover housing 10b, but as shown in FIG. 11, it will be mounted on the middle housing 10c stacked on the outer frame 41 of the elastic unit 40. may be

Therefore, the encoder disk 51b is mounted on the inner frame 43 or the elastic part 42 of the elastic unit 40 and rotates together when the inner frame 43 of the elastic unit 40 rotates torsion, and the encoder The elastic unit encoder 53b mounted on the middle housing may detect the rotation of the disk 51b. An absolute value encoder may be applied to the elastic unit encoder 53b.

When an absolute value encoder is applied to the elastic unit encoder 53b for measuring the twist angle of the elastic unit 40, the circumferential position value is encoded in the encoder disk 51b, and the elastic unit encoder 53b may be provided with an optical sensor, a capacitance sensor, or a magnetic sensor to measure each position value.

Therefore, when the motor unit 20 is driven, the twist of the elastic unit 40 due to the torque transmitted to the outer ring member 37 by the inner ring members 34 and 36 of the speed reduction unit 30 can be measured, , When the motor unit 20 rotates the output member 32 in a stopped state, the wearer's motion or motion intention can also be determined.

When the wearer's movement is detected and the wearer's movement intention is determined, a low-resistance driving mode of the wearable assistive device may be provided as a method of providing additional auxiliary torque in the movement direction according to the determined intention. That is, it may be possible to realize a low-resistance driving mode that allows the wearer to move while minimizing discomfort or a sense of weight due to mechanical resistance caused by wearing the wearable assistive device.

In addition, as a method of adding the elastic unit 40 to the elastic deceleration actuator 100, it is possible to provide a side effect of providing a soft operating feeling to the wearer by mitigating noise or vibration.

12 shows a cross-sectional view of an elastic deceleration actuator 100 according to the present invention.

In the elastic deceleration actuator 100 according to the present invention configured as described above, the deceleration unit 30 is disposed in the motor unit 20, and the elastic unit configured in the form of a ring-shaped disk between the deceleration unit 30 and the cover housing 10 (40), a joint elastic deceleration actuator 100 that has various reduction ratios, minimizes thickness, accurately measures the magnitude of torque transmitted to the wearer's joints, etc., and provides accurate assisting force. .

As shown in FIG. 12, in the case of the elastic speed reduction actuator 100 according to the present invention, the speed reduction unit 30 is mounted inside the rotor 23 constituting the motor unit 20 to faithfully fill the internal space of the rotor 23. As shown in FIGS. 3 and 12, even through the elastic unit 40 that provides the torque sensor function, the thickness t is smaller than the width or height of the elastic deceleration actuator 100 and is worn. Even when mounted on a mold assist device, it is possible to minimize the protruding thickness of the wearer in the left and right directions, so there is an effect of minimizing interference with the surrounding environment.

Although this specification has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention within the scope not departing from the spirit and scope of the present invention described in the claims described below. will be able to carry out Therefore, if the modified implementation basically includes the elements of the claims of the present invention, all of them should be considered to be included in the technical scope of the present invention.

1000: wearable auxiliary device
20: motor unit
30: deceleration unit
40: elastic unit
100: elastic deceleration actuator
210, 230: thigh support unit, lower leg support unit
300: family unit
400: body unit
500: body part

Claims (13)

a first cover housing;
a stator mounted within the first cover housing; a rotor disposed inside the stator; and a motor unit including a driving member mounted on the rotor and rotated together when the rotor rotates.
a speed reduction unit disposed inside the rotor of the motor unit and having an input terminal connected to the rotor;
a second cover housing that rotatably supports the output end of the speed reduction unit while exposing it through an opening in a central area;
An inner frame fastened to the speed reduction unit, an outer frame mounted on the side of the first cover housing or the second cover housing, and a connection between the inner frame and the outer frame, and twisting of the outer frame relative to the inner frame At least one elastic part that allows,
The deceleration unit may include a camshaft member having at least one cam portion on a shaft portion; a plurality of output pins disposed around the camshaft member; an output member to which the plurality of output pins are mounted and which rotates around the axis of the camshaft member as the output pins are propelled; Mounted on the cam portion of the camshaft member and rotated eccentrically when the camshaft member rotates using the cam portion as a rotating shaft, a plurality of curved protrusions provided continuously on the outer circumferential surface and the output pin pass through the output pin to guide and propel the output pin. At least one inner ring member configured in the form of a disk having a plurality of guide holes formed around the shaft hole in which the cam unit is mounted; And, the curved groove portion in which the curved protrusion of the inner ring member is seated is continuously provided on the inner circumferential surface, and the inner ring member is disposed so that the curved protrusion is seated on the curved groove portion and rotates along the inner circumferential surface and is fastened to the inner frame of the elastic unit An elastic deceleration actuator, characterized in that the cycloid deceleration unit comprising a; outer ring member in the form of a pipe. According to claim 1,
An elastic deceleration actuator, characterized in that the inner frame and the outer frame of the elastic unit are connected by a plurality of elastic parts, and each elastic part has a shape in which a plurality of arcs are alternately connected in opposite directions on the same plane. According to claim 2,
An encoder disk is mounted on the inner frame of the elastic unit, and an encoder is provided on the side of the second cover housing to detect a twist angle of the inner frame of the elastic unit with respect to the outer frame. According to claim 3,
A ring-shaped middle housing is provided between the first cover housing, an outer frame of the elastic unit, and the second cover housing, and the encoder is mounted on the middle housing. delete According to claim 1,
The elastic reduction actuator, characterized in that the number of curved grooves of the outer ring member is n + 1, the number of curved protrusions of the inner ring member is n, and the reduction ratio is n: 1. According to claim 6,
The elastic deceleration actuator, characterized in that n is a natural number between 10 and 20. According to claim 1,
A plurality of cam parts of the camshaft member are provided, and a plurality of inner ring members are provided by stacking each cam part as a rotating shaft. According to claim 8,
An elastic deceleration actuator, characterized in that two are provided to have a phase difference of 180 degrees of the camshaft member. According to claim 9,
An elastic reduction actuator, characterized in that one of the two cam parts of the camshaft member is mounted in the shaft hole of the driving member constituting the motor unit to rotate the camshaft member when the rotor coupled with the driving member rotates. a body unit wrapped around a wearer's waist region and extending to a side region of the wearer's hip joint;
an elastic deceleration actuator according to any one of claims 1 to 4 and 6 to 10 for driving the hip joint of a wearer on both outer ends of the body unit; and
A wearable assistive device comprising a; thigh support unit that is driven by the hip joint actuator and provides a rotational assisting force to the wearer's thigh. According to claim 11,
A lower leg support unit rotatably connected to the thigh support unit by the knee joint structure and providing a rotational assisting force to the wearer's lower leg; further comprising,
The elastic deceleration driver is mounted on the thigh support unit, and the output member of the deceleration unit is connected to the knee joint structure and the link unit to pull or propel the link unit to rotate the lower leg support unit with respect to the thigh support unit. wearable assistive device. According to claim 12,
The wearable assistive device further comprising a foot unit mounted on a lower end of the lower leg support unit to support a wearer's foot.

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