Perpendicular Servo Assembly for Compact Robot Joints
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Solution Overview
Problem
Conventional robots require large joint structures due to the need for multiple servos to achieve two degrees of freedom, hindering miniaturization efforts.
Innovation Solution
A compact servo assembly with two speed reducers and motors arranged coaxially and perpendicularly, connected by connecting members and control circuit boards, allowing for rotations around two axes while optimizing internal space usage, and incorporating harmonic drives and heat dissipation mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a second servo is connected to the output of a first servo to achieve two degrees of freedom, then the robot can perform complex movements, but the robot joints become large which hinders miniaturization
Solution Approach 1:
The patent combines two independent servo systems into a single integrated servo assembly. The first servo and second servo are merged into one compact structure where they share common components such as the housing, control circuit board, and heat dissipation mechanisms. This merging reduces the overall joint size while maintaining two degrees of freedom through perpendicular output shafts.
Solution Approach 2:
The patent employs a nested arrangement where the second servo is positioned within or adjacent to the first servo's structure. The output shaft of the first servo and the output shaft of the second servo are arranged perpendicularly and coaxially, allowing one servo mechanism to be nested within the spatial envelope of the other, thereby minimizing the overall joint volume.
2Volume of moving object
If multiple servos are integrated into a compact assembly, then robot miniaturization is achieved, but heat generation from multiple motors increases
Solution Approach 1:
The patent combines heat dissipation resources from both servos into a shared thermal management system. The first heat dissipation component and second heat dissipation component are integrated into the common housing structure, allowing both motors to dissipate heat through shared thermal pathways and surface area, effectively managing the combined heat generation of multiple motors in a compact space.
3Volume of moving object
If two speed reducers and two motors are arranged coaxially and perpendicularly, then space is optimized, but the structural complexity increases
Solution Approach 1:
The patent employs a common housing that serves multiple functions: it houses both servo mechanisms, provides structural support for perpendicular shaft arrangements, integrates heat dissipation components for both motors, and facilitates mechanical coupling between the speed reducers and connecting members. This multi-functional design reduces the number of separate components needed.
Solution Approach 2:
The patent divides the internal structure into modular functional segments: the first servo assembly (motor, speed reducer, connecting member), the second servo assembly (motor, speed reducer, connecting member), and shared components (housing, control circuit board, heat dissipation components). This segmentation allows for standardized manufacturing and assembly while maintaining compact perpendicular arrangement.
Data Source
AI summary
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.