Driving module and motion assistance apparatus including the same

A driving module comprising:

• a motor configured to generate power;
• a gear train having first and second sides, the gear train being connected to the motor at the first side of the gear train, the gear train including,
• a frame set that includes at least one frame, and
• a decelerating gear set configured to rotate in response to the power generated by the motor;
• a rotary joint rotatably coupled to the second side of the gear train such that the rotary joint is configured to rotate based on rotation of the decelerating gear;
• and
• a ring between the frame set and the rotary joint, the ring being configured to at least partially mitigate noise produced based on interaction between the frame set and the rotary joint if the rotary joint rotates,
• wherein the frame set, the decelerating gear set, and the rotary joint are serially arranged,
• the gear train includes a ring gear,
• the decelerating gear set includes a plurality of gears, each gear of the plurality of gears including a separate shaft,
• the at least one frame includes,
• a first frame that is integral with the separate shaft included in each gear of the plurality of gears, and
• a second frame coupled to the ring gear,
• the gear train further includes a plurality of pools on at least one of an inner side of the first frame and an inner side of the second frame, and
• the plurality of pools are configured to at least partially mitigate noise produced by the decelerating gear set.

A driving module, comprising:

• a motor configured to generate power;
• a decelerating gear set configured to rotate in response to the power received from the motor, the decelerating gear set including at least one spur gear;
• a first frame including,
• an outer side and an inner side, the outer side being coupled to the motor, and
• a shaft of the decelerating gear set integral with the inner side, the shaft of the decelerating gear set configured to be inserted into the decelerating gear set,
• a second frame coupled to the inner side of the first frame;
• a ring gear coupled to the second frame;
• a planetary gear set configured to engage with the ring gear, the planetary gear set including at least one planetary gear;
• a carrier rotatably attached to the second frame, the carrier including a shaft of the planetary gear set, the shaft of the planetary gear set configured to be inserted into the planetary gear set;
• a decelerating gear bearing between the decelerating gear set and the shaft of the decelerating gear set;
• and
• a planetary gear bearing between the planetary gear set and the shaft of the planetary gear set.

A motion assistance apparatus, comprising:

• a fixing module configured to be coupled to a user;
• a supporter configured to support a portion of a body of the user;
• and
• a driving module configured to drive the supporter, the driving module including,
• a motor,
• a gear train configured to receive driving power from the motor, the gear train including an output end, the gear train including a decelerating gear set configured to rotate in response to power received from the motor, the gear train including at least one frame,
• a rotary joint that includes at least one planetary gear coupled to the output end of the gear train, and
• the gear train further including a noise reduction member configured to at least partially mitigate noise produced based on interaction between the gear train and the rotary joint if the rotary joint rotates,
• wherein the motor, the at least one frame included in the gear train, and the rotary joint are serially arranged, and
• wherein the decelerating gear set includes,
• an input gear connected to a drive shaft of the motor, the input gear having a first diameter;
• an idle gear configured to engage with the input gear, the idle gear having a second diameter;
• and
• a base gear configured to engage with the idle gear, the base gear having a third diameter, and
• wherein the second diameter is greater than the first diameter according to an order of power transmission, and
• the third diameter is greater than the second diameter according to the order of power transmission.