# US 10,478,968 B2 · Driving assembly, ankle assembly and robot having the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,478,968 B2 - Document ID: US10478968B2 - Status: Granted - Kind: B2 - Application number: 15/719,532 - Filed: 2017-09-28 - Published: 2019-01-03 - Granted: 2019-11-19 - Earliest claimed: 2017-07-03 - Assignees: Ubtech Robotics Corp Ltd - Applicants: UBTECH Robotics Corp - Inventors: Youjun Xiong; Meichun Liu; Feng Hu; Xinpu Chen; Xuchao Du; Wenquan Shu - Web page: https://patentgrep.com/patent/US10478968B2 ## CPC - B25J 9/126: {Rotary actuators} - B25J 9/0006: {Exoskeletons, i.e. resembling a human figure} - B25J 9/102: {Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H)} - B25J 17/00: Joints - Y10S 901/23: Electric motor - Y10S 901/25: Gearing - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract A driving assembly for a joint of a robot includes a first driving source having a first output shaft; a second driving source; and a gear set including a first gear and second gear that are engaged with each other. The first gear is arranged around the first output shaft. An ankle assembly and a robot having the driving assembly are also provided. ## Claims ### Claim 1 An ankle assembly of a robot, the ankle assembly being arranged between a foot of the robot and at least a portion of a leg of the robot, the ankle comprising a first driving assembly, the first driving assembly comprising: a first driving source comprising a first output shaft; a second driving source; and a gear set comprising a first gear and second gear that are engaged with each other, the first gear being arranged around the first output shaft: wherein the ankle assembly further comprising a second driving assembly and a connection support; the first driving assembly is connected to the foot, the second driving assembly is connected to the at least a portion of the leg, and the connection support is connected to the first driving assembly and the second driving assembly. ### Claim 2 (depends on 1) The ankle assembly of claim 1, wherein a number of teeth of the first gear is smaller than a number of teeth of the second gear, the second gear is connected to the connection support; when the first gear rotates together with the output shaft of the first driving source, the second gear rotates as driven by the first gear, which enables the first driving source and the foot rotate, as a whole, about a central axis of the second gear; the second driving assembly is configured to drive the connection support to rotate with respect to the leg. ### Claim 3 (depends on 2) The ankle assembly of claim 2, wherein the second driving assembly comprises the second driving source, a third gear and a fourth gear, the second driving source is fixed to the at least a portion of the leg, an output shaft of the second driving source is configured to drive the third gear to rotate, the third gear is engaged with the fourth gear, a number of teeth of the third gear is smaller than a number of teeth of the fourth gear, the fourth gear is connected to the connection support, which allows the connection support to rotate with respect to a central axis of the fourth gear. ### Claim 4 (depends on 3) The ankle assembly of claim 3, wherein the connection support comprises a first connection plate, a second connection plate, a third connection plate and a fourth connection plate, the first connection plate and the second connection plate are coaxial with each other, the third connection plate and the fourth connection plate are coaxial with each other, a central axis of the first connection plate and a central axis of the third connection plate are perpendicular to each other and do not intersect each other, the second gear is fixed to and coaxial with the first connection plate, and the fourth gear is fixed to and coaxial with the third connection plate. ### Claim 5 (depends on 4) The ankle assembly of claim 4, wherein the connection support further comprises a first support and a second support, the first connection plate, the second connection plate and the third connection plate are connected to the first support, and the fourth connection plate is connected to the second support. ### Claim 6 (depends on 3) The ankle assembly of claim 3, wherein the first driving source comprises a first servo and a first driving circuit board for driving the first servo, the first servo comprises a first cylindrical portion and a first spherical portion, the first cylindrical portion is horizontal with respect to the foot, the first spherical portion is connected to one end of the first cylindrical portion, the output shaft of the first servo protrudes from a side of the first spherical portion and is connected to the first gear, the first driving circuit board is located at an end of the first cylindrical portion that is away from the first spherical portion. ### Claim 7 (depends on 3) The ankle assembly of claim 3, wherein the second driving source comprises a second servo and a second driving circuit board for driving the second servo, the second servo comprises a second cylindrical portion and a second spherical portion, the second cylindrical portion is vertical, the second spherical portion is connected to one end of the second cylindrical portion, the output shaft of the second servo protrudes from a side of the second spherical portion and is connected to the third gear, the second driving circuit board is located at an end of the second cylindrical portion tat is away from the second spherical portion. ### Claim 8 (depends on 4) The ankle assembly of claim 4, further comprising a protection casing arranged therein, wherein the first driving source is fixed within the protection casing. ### Claim 9 (depends on 8) The ankle assembly of claim 8, further comprising a first support and a second support, wherein the first support and the second support are arranged at opposite sides of the protection casing, and connected to the foot, and the first gear and the second gear are rotatably connected to the first support. ### Claim 10 (depends on 4) The ankle assembly of claim 4, further comprising a connection member and a first housing, wherein the connection member is fixed to the second driving source, the first housing surrounds a portion of a lateral surface of the second driving source, the fourth connection plate is rotatably connected to the connection member, the third gear and the fourth gear are rotatably connected to the first housing. ### Claim 11 (depends on 8) The ankle assembly of claim 8, further comprising a first angular sensing assembly, wherein the first angular sensing assembly comprises a first magnet and a first plastic circuit board (PCB), the first PCB comprises a first encoder, the first magnet is arranged at the second connection plate, the first PCB is connected to the protection casing, and the first encoder opposes the first magnet. ### Claim 12 (depends on 10) The ankle assembly of claim 10, further comprising a second angular sensing assembly, wherein the second angular sensing assembly comprises a second magnet and a second plastic circuit board (PCB), the second PCB comprises a second encoder, the second magnet is arranged at the fourth connection plate, the second PCB is connected to the connection member, and the second encoder opposes the second magnet.