# US 9,752,665 B2 · Compliance motor structure and manufacturing method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,752,665 B2 - Document ID: US9752665B2 - Status: Granted - Kind: B2 - Application number: 14/583,424 - Filed: 2014-12-26 - Published: 2016-06-02 - Granted: 2017-09-05 - Earliest claimed: 2014-12-02 - Assignees: Industrial Technology Research Institute - Applicants: Industrial Technology Research Institute - Inventors: Han-Ping Yang; Yi-Jeng Tsai; Chau-Shin Jang; Jih-Yang Chang; Hsin-Tien Yeh; Cheng-Hsuan Lin - Web page: https://patentgrep.com/patent/US9752665B2 ## CPC - F16H 37/0826: {with only one output shaft} - H02K 7/116: with gears - H02K 16/00: Machines with more than one rotor or stator {(machines for transmitting mechanical power from a driving shaft to a driven shaft and comprising structurally interrelated motor and generator parts H02K51/00; permanent magnet machines with multiple rotors or stators relatively rotated for vectorially combining the excitation fields or the armature voltages H02K21/029)} - F16H 1/32: in which the central axis of the gearing lies inside the periphery of an orbital gear - F16H 49/001: {Wave gearings, e.g. harmonic drive transmissions} - H02K 2213/09: Machines characterised by the presence of elements which are subject to variation, e.g. adjustable bearings, reconfigurable windings, variable pitch ventilators - F16H: GEARING - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) ## Abstract The present invention discloses a compliance motor structure and the manufacturing method thereof. The motor structure may include a first motor, a second motor and a first gear set. The first motor may include a first rotor. The second motor may include a second rotor. The first gear set may include a first inner input shaft, a second outer shaft and a first output shaft, which are coupled to each other; the first inner input shaft may be connected to the first rotor, and the first outer input shaft may be connected to the second rotor; the power generated by the first motor and the second motor, coupled to the first gear set, can be outputted via the first output shaft. ## Claims ### Claim 1 A compliance motor structure, comprising: a first motor, comprising a first rotor; a second motor, comprising a second rotor; a first gear set, comprising a first inner input shaft, a first outer input shaft and a first output shaft coupled to each other; the first inner input shaft being connected to the first rotor; the first outer input shaft being connected to the second rotor, whereby a power generated by the first motor and the second motor coupled to the first gear set being outputted via the first output shaft; and a second gear set, wherein the second gear set comprises a second inner input shaft, a second outer input shaft and a second output shaft coupled to each other; the first output shaft is connected to the second inner input shaft, whereby a power generated by the first motor and the second motor, coupled to the first gear set and the second gear set, is transmitted through the first output shaft and the second inner input shaft and then outputted via the second output shaft; the second outer output shaft is fixed. ### Claim 2 (depends on 1) The compliance motor structure of claim 1, wherein the first gear set is a differential gear set. ### Claim 3 (depends on 2) The compliance motor structure of claim 2, wherein the second gear set is a reduction gear set. ### Claim 4 (depends on 1) The compliance motor structure of claim 1, further comprising a casing, wherein the second outer input shaft is fixed on the casing. ### Claim 5 (depends on 1) The compliance motor structure of claim 1, wherein the first rotor is hollow, and the first gear set is disposed in an accommodating space inside the first rotor. ### Claim 6 (depends on 5) The compliance motor structure of claim 5, wherein the second rotor is hollow, and the second gear set is disposed in an accommodating space inside the second rotor. ### Claim 7 (depends on 6) The compliance motor structure of claim 6, wherein the first gear set is a planetary gear set; a sun gear of the first gear set is connected to the first rotor; a ring gear of the first gear set is connected to the second rotor; a planet carrier of the first gear set is connected to the second inner input shaft. ### Claim 8 (depends on 7) The compliance motor structure of claim 7, wherein the second gear set is a planetary gear set; the planet carrier of the first gear set is connected to a sun gear of the second gear set, whereby a power generated by the first motor and the second motor, coupled to the first gear set and the second gear set, is transmitted through the sun gear and the ring gear of the first gear set and a sun gear of the second gear set and then outputted via a planet carrier of the second gear set; a ring gear of the second gear set is fixed. ### Claim 9 (depends on 1) The compliance motor structure of claim 1, wherein the first gear set and the second gear set are planetary gear sets, cycloidal gear sets or harmonic gear sets. ### Claim 10 (depends on 1) The compliance motor structure of claim 1, wherein the first motor and the second motor are servo motors. ### Claim 11 (depends on 1) The compliance motor structure of claim 1, further comprising at least one encoder. ### Claim 12 (depends on 11) The compliance motor structure of claim 11, further comprising at least one Hall sensor. ### Claim 13 A method for manufacturing a compliance motor, comprising the following steps: providing a first motor having a first rotor; providing a second motor having a second rotor; providing a first gear set having a first inner input shaft, a first outer input shaft and a first output shaft coupled to each other; connecting the first inner input shaft to the first rotor, and connecting the first outer input shaft to the second rotor, whereby a power generated by the first motor and the second motor, coupled to the first gear set, is outputted via the first output shaft; providing a second gear set having a second inner input shaft, a second outer input shaft and a second output shaft coupled to each other; and connecting the first output shaft to the second inner input shaft, and fixing the second outer input shaft, whereby a power generated by the first motor and the second motor coupled to the first gear set and the second gear set being transmitted through the first output shaft and the second inner input shaft and then being outputted via the second output shaft. ### Claim 14 (depends on 13) The method of claim 13, wherein the first gear set is a differential gear set. ### Claim 15 (depends on 14) The method of claim 14, wherein the second gear set is a reduction gear set. ### Claim 16 (depends on 13) The method of claim 13, further comprising the following step: fixing the second outer input shaft on a casing of the compliance motor structure. ### Claim 17 (depends on 13) The method of claim 13, further comprising the following step: disposing the first gear set in an accommodating space inside the first rotor. ### Claim 18 (depends on 17) The method of claim 17, further comprising the following step: disposing the second gear set in an accommodating space inside the second rotor. ### Claim 19 (depends on 18) The method of claim 18, wherein the first gear set is a planetary gear set; a sun gear of the first gear set is connected to the first rotor; a ring gear of the first gear set is connected to the second rotor; a planet carrier of the first gear set is connected to the second inner input shaft. ### Claim 20 (depends on 19) The method of claim 19, wherein the second gear set is a planetary gear set; the planet carrier of the first gear set is connected to a sun gear of the second gear set, whereby a power generated by the first motor and the second motor, coupled to the first gear set and the second gear set, is transmitted through the sun gear and ring gear of the first gear set and a sun gear of the second gear set and then outputted via a planet carrier of the second gear set; a ring gear of the second gear set is fixed. ### Claim 21 (depends on 13) The method of claim 13, wherein the first gear set and the second gear set are planetary gear sets, cycloidal gear sets or harmonic gear sets. ### Claim 22 (depends on 13) The method of claim 13, wherein the first motor and the second motor are servo motors.