# US 10,632,627 B2 · Servo assembly, robot joint and robot

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- Number: US 10,632,627 B2
- Document ID: US10632627B2
- Status: Granted
- Kind: B2
- Application number: 15/904,427
- Filed: 2018-02-26
- Published: 2019-06-20
- Granted: 2020-04-28
- Earliest claimed: 2017-12-18
- Assignees: Ubtech Robotics Corp Ltd
- Applicants: UBTECH Robotics Corp
- Inventors: Youjun Xiong; Youpeng Li; Jing Shi; Hongyu Ding
- Web page: https://patentgrep.com/patent/US10632627B2

## CPC

- B25J 17/0266: {comprising more than two actuating or connecting rods}
- B25J 9/0021: {All motors in base}
- B25J 9/08: characterised by modular constructions
- B25J 9/1025: {Harmonic drives (in general: F16H49/001)}
- B25J 9/1635: {flexible-arm control}
- B25J 17/0258: {Two-dimensional joints}
- B25J 9/042: {comprising an articulated arm}
- B25J 9/126: {Rotary actuators}
- G05B 2219/42062: Position and speed and current
- Y02P 70/10: Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
- 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})
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS

## Abstract

A servo assembly includes a first speed reducer, a first motor, a first connecting member, a first control circuit board, a second speed reducer, a second motor, a second connecting member and a second control circuit board. The first control circuit board is electrically coupled to the first motor, and the second control circuit board is electrically coupled to the second motor. The output component of the first speed reducer and the first connecting member are coaxial and arranged along a first direction, and the output component of the second speed reducer and the second connecting member are coaxial and arranged along a second direction that is perpendicular to the first direction. The output shaft of the first motor is connected to the input component of the first speed reducer, and the output shaft of the second motor is connected to the input component of the second speed reducer.

## Claims

### Claim 1

A servo assembly, comprising:
a first speed reducer comprising an input component and an output component, a first motor comprising an output shaft, a first connecting member, a first control circuit board, a second speed reducer comprising an input component and an output component, a second motor comprising an output shaft, a second connecting member, a second control circuit board, a housing comprising an upper housing and a lower housing that are connected to each other, a first fan and a second fan;
the first control circuit board being electrically coupled to the first motor, and the second control circuit board being electrically coupled to the second motor,
the output component of the first speed reducer and the first connecting member being coaxial and arranged along a first direction, and the output component of the second speed reducer and the second connecting member being coaxial and arranged along a second direction that is perpendicular to the first direction;
the output shaft of the first motor being connected to the input component of the first speed reducer, and the output shaft of the second motor being connected to the input component of the second speed reducer;
the first speed reducer, the first motor, the first connecting member, the first control circuit board, the second speed reducer, the second motor, the second connecting member and the second control circuit board are accommodated within the housing; and
the first fan is received in the upper housing and electrically connected to the first control circuit board, the second fan is received in the lower housing and electrically connected to the second control circuit hoard.

### Claim 2 (depends on 1)

The servo assembly of claim 1, wherein the first speed reducer and the second speed reducer are harmonic drives.

### Claim 3 (depends on 2)

The servo assembly of claim 2, further comprising a frame, wherein the first speed reducer and the second speed reducer are fixed to the frame, and the first connecting member and the second connecting member are connected to the frame.

### Claim 4 (depends on 3)

The servo assembly of claim 3, wherein the first connecting member and the second connecting member each are connected to the frame through a bearing.

### Claim 5 (depends on 4)

The servo assembly of claim 4, wherein the frame defines two mounting holes corresponding to the bearings, the two bearings are respectively received in the two mounting holes in an interference-fit manner, and the first connecting member and the second connecting member are connected to inner rings of the bearings in an interference-fit manner.

### Claim 6 (depends on 1)

The servo assembly of claim 1, wherein the housing defines two openings respectively corresponding to the first speed reducer and the first connecting member, and two through holes respectively corresponding to the second speed reducer and the second connecting member, axes of the openings are perpendicular to axes of the through holes.

### Claim 7 (depends on 6)

The servo assembly of claim 6, the first control circuit board is arranged at a side of the first motor away from the second motor and the second control circuit board is arranged at a side of the second motor away from the first motor.

### Claim 8 (depends on 7)

The servo assembly of claim 7, wherein the upper housing defines a plurality of first vent holes in an area corresponding to the first fan, and the lower housing defines a plurality of second vent holes in an area corresponding to the second fan.

### Claim 9

A robot joint assembly comprising a servo assembly, a first joint member and a second joint member that are connected to the servo assembly;
the servo assembly comprising:
a first speed reducer comprising an input component and an output component, a first motor comprising an output shaft, a first connecting member, a first control circuit board, a second speed reducer comprising an input component and an output component, a second motor comprising an output shaft, a second connecting member, a second control circuit board, a housing comprising an upper housing and a lower housing that are connected to each other, a first fan and a second fan;
the first control circuit hoard being electrically coupled to the first motor, and the second control circuit hoard being electrically coupled to the second motor,
the output component of the first speed reducer and the first connecting member being coaxial and arranged along a first direction, and the output component of the second speed reducer and the second connecting member being coaxial and arranged along a second direction that is perpendicular to the first direction; and
the output shaft of the first motor being connected to the input component of the first speed reducer, and the output shaft of the second motor being connected to the input component of the second speed reducer;
the first speed reducer, the first motor, the first connecting member, the first control circuit board, the second speed reducer, the second motor, the second connecting member and the second control circuit board are accommodated within the housing;
the first fan is received in the upper housing and electrically connected to the first control circuit board, the second fan is received in the lower housing and electrically connected to the second control circuit board;
the first speed reducer and the first connecting member are connected to the first joint member; and
the second speed reducer and the second connecting member are connected to the second joint member.

### Claim 10

A robot comprising a servo assembly; the servo assembly comprising:
a first speed reducer comprising an input component and an output component, a first motor comprising an output shaft, a first connecting member, a first control circuit board, a second speed reducer comprising an input component and an output component, a second motor comprising an output shaft, a second connecting member, a second control circuit board, a housing comprising an upper housing and a lower housing that are connected to each other, a first fan and a second fan;
the first control circuit board being electrically coupled to the first motor, and the second control circuit hoard being electrically coupled to the second motor,
the output component of the first speed reducer and the first connecting member being coaxial and arranged along a first direction, and the output component of the second speed reducer and the second connecting member being coaxial and arranged along a second direction that is perpendicular to the first direction;
the output shaft of the first motor being connected to the input component of the first speed reducer, and the output shaft of the second motor being connected to the input component of the second speed reducer;
the first speed reducer, the first motor, the first connecting member, the first control circuit board, the second speed reducer, the second motor, the second connecting member and the second control circuit board are accommodated within the housing; and
the first fan is received in the upper housing and electrically connected to the first control circuit board, the second fan is received in the lower housing and electrically connected to the second control circuit board.

### Claim 11 (depends on 1)

The servo assembly of claim 1, wherein the first connecting member is arranged at a side of the first motor away from the output shaft of the first motor, and the second connecting member is arranged at a side of the second motor away from the output shaft of the second motor.

### Claim 12 (depends on 1)

The servo assembly of claim 1, wherein the first connecting member and the first speed reducer are arranged at two opposing sides of the first motor, respectively, and the second connecting member and the second speed reducer are arranged at two opposing sides of the second motor; respectively.

### Claim 13 (depends on 3)

The servo assembly of claim 3, wherein the frame has a cubic shape, first connecting member and the first speed reducer are arranged at a first two opposing sides of the frame, respectively, and the second connecting member and the second speed reducer are arranged at a second two opposing sides of the frame, respectively, the first control circuit board and the second control circuit board are arranged at a third two opposing sides of the frame.

### Claim 14 (depends on 13)

The servo assembly of claim 13, wherein the frame defines two mounting holes corresponding to the bearings, the two bearings are respectively received in the two mounting holes in an interference-fit manner, and the first connecting member and the second connecting member are connected to inner rings of the bearings in an interference-fit manner.