Pulley-integrated cable actuator and operating method thereof

Compact Pulley-Integrated Cable Actuator

This technology relates to a pulley-integrated cable actuator and its operating method, featuring a drive module optimized for cable-driven systems by combining a ring gear-integrated pulley with a planetary gear set.

In conventional wearable robots, the cable drive unit consists of a motor, a reducer, and a pulley arranged separately, resulting in a bulky, protruding structure. This has been a primary factor in reducing comfort and mobility.

This technology integrates a ring gear into the pulley and incorporates a planetary gear set to reduce the protrusion of the drive unit and optimize the design volume. It enhances the usability and comfort of wearable robots through a more compact and efficient cable drive system.

‍

‍

Key Features:

• A base motor configured as an inner-rotor frameless motor serving as an actuator for driving cables
• A sun gear shaft with a lower end coupled to the center of the base motor, rotating on its axis via motor rotation and equipped with a sun gear
• A planetary gear set consisting of multiple planet gears, each meshing with the sun gear to establish a reduction ratio
• A ring gear-integrated pulley with a ring gear formed on the inner surface to mesh with the planet gears and a pulley on the outer surface for cable winding

‍

This invention was developed through the "Development of Deep Learning-Integrated Smart Wearable Suits for Muscle Assistance, Injury Prevention, and Work Efficiency Improvement for Forestry Workers" project by the Korea Forest Service, and the "Machine Learning and Extended Reality Support for High-Speed Mutual Adaptation between Users and Wearable Robots" project by the Ministry of Science and ICT.