CN108479084A - Servo-controller module - Google Patents
Servo-controller module Download PDFInfo
- Publication number
- CN108479084A CN108479084A CN201810432964.1A CN201810432964A CN108479084A CN 108479084 A CN108479084 A CN 108479084A CN 201810432964 A CN201810432964 A CN 201810432964A CN 108479084 A CN108479084 A CN 108479084A
- Authority
- CN
- China
- Prior art keywords
- servo motor
- servo
- circuit board
- middle shell
- pcb circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract 1
- RKTYLMNFRDHKIL-UHFFFAOYSA-N copper;5,10,15,20-tetraphenylporphyrin-22,24-diide Chemical compound [Cu+2].C1=CC(C(=C2C=CC([N-]2)=C(C=2C=CC=CC=2)C=2C=CC(N=2)=C(C=2C=CC=CC=2)C2=CC=C3[N-]2)C=2C=CC=CC=2)=NC1=C3C1=CC=CC=C1 RKTYLMNFRDHKIL-UHFFFAOYSA-N 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 229920000515 polycarbonate Polymers 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 239000004425 Makrolon Substances 0.000 description 1
- 229920000715 Mucilage Polymers 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 238000005755 formation reaction Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 201000008482 osteoarthritis Diseases 0.000 description 1
- 239000004417 polycarbonate Substances 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of Servo-controller modules, it forms parallel surface by the outside of top and lower case, and the articulated robot for using Servo-controller module group assembling to come out more is designed sense.The beneficial effects of the present invention are：The load of minimum can maximize dilatancy.Servo motor is assembled in by way of clamping the inner space of transparent middle shell, the first protruding parts of lower case can withstand the bottom of servo motor, keep the assembling of transparent middle shell and servo motor eased.Second protruding parts of transparent middle shell closely can be fitted in position sensor in PCB circuit board, make that position sensor when assembling drive shaft and servo motor driven is not easy to be detached from from PCB circuit board or breakage is fallen due to vibrations when driving.
Description
Technical field
The servo motor with multi-joint anthropomorphic robot is used or educated the present invention relates to servo motor field, especially toy
Module group assembling method and structure.
Background technology
It is well known that servo motor module (driver), which is together with each other, assembles the object for appreciation that can complete various motion
Tool type or teaching type articulated robot.
Servo motor module by servo motor and gear set and be equipped with induction rotation position position sensor it is saturating
Bright middle shell is assembled in the upper case and lower case composition of transparent middle shell or more.
The assembling of previous servo motor and well-illuminated middle shell is from transparent middle shell upper end perforation servo motor and to be screwed
Assembling, this process are opposite big to the damage and destruction of servo motor, and phenomena such as assembly failure often occur.So proposing have
Not in the fixed assembling mode of screw.
In addition, most servo motor modules is together with each other in order to assemble multi-joint anthropomorphic robot.
It is that other driving is mounted in by screw and nut block to expand in conjunction with the fixing piece of link member on driver module
Its expansion is realized on device fixing piece.
But driver module can apparent volume becomes larger due to fixing piece in said program, to other driver moulds
Multi-joint model volume after group combines opposite can also become larger, this can relative increase to the load of servo motor module itself.Separately
Outside, some fixing pieces on module also cause the appearance assembled also can be irregular.
Invention content
The purpose of the present invention is so that the assembling mode summary of servo motor, assembling is driven the problem of solving to be set forth above
It prevents position sensor to be detached from PCB circuit board or damage when moving axis and when servo motor driven, while in view of design and bearing
Lotus minimizes and its extendibility, and in order to achieve the purpose that be set forth above, this patent provides Servo-controller module, including：
Top and lower case, the transparent middle shell between the top and lower case are assembled in the transparent middle shell
The servo motor in portion space is assembled on the inside of the transparent middle shell, and the gear set being connect with the servo motor transmission, assembling
In the upside of the lower case, the PCB circuit board equipped with LED component and the controllable LED color and servo motor, assembling
It is incorporated in the drive shaft of the gear set in the PCB circuit board upper side edge, the rotation position of the drive shaft can be incuded
Position sensor, the servo motor are assembled in the inner space of the transparent middle shell, the PCB circuit board in a manner of clamping
On have the hole in conjunction with the servo motor substructure, having on the lower case can withstand the servo horse for penetrating through the hole
Up to the first protruding parts of lower part, the servo motor is fixed on the servo motor module of the transparent middle shell inner space.
First protruding parts are formed by the cylindrical protrusion formed on the lower case.
The PCB circuit board is equipped with the engagement groove in conjunction with servo motor lower end combined mouth and combines under servo motor
The lower part in the hole of portion's structure, the servo motor penetrates through the hole, and the lower end of the servo motor is incorporated in the engagement groove and consolidates
It is scheduled in PCB circuit board.
The servo motor is assembled in a manner of clamping inside the transparent middle shell.
The position sensor is fixed on by the second aspis formed on the downside of the transparent middle shell in PCB circuit board.
Second aspis is with four angle-style pillar image formations.
Engagement groove is formed in the PCB circuit board, the engagement groove is combined with the combined mouth of the position sensor lower end,
The position sensor is set to be assembled in the PCB circuit board.
The upper side of the upper case is plane, and toward the 1st or the 3rd direction, respectively there are two nut slot, the lower cases
Downside be plane, can be toward three Directional Extensions toward the 1st or the 3rd direction respectively there are two nut slot.
The present invention is assembled in servo motor inside transparent middle shell by way of clamping, the first aspis of lower case
Withstand servo motor lower part so that the assembling of servo motor and transparent middle shell becomes simple, to reach shorten built-up time and
Save the effect of cost.
In addition, the second aspis makes to set sensor and be fitted in PCB circuit board, prevent assembling drive shaft and servo motor from driving
Position sensor is detached from from PCB circuit board when dynamic falls or breakage is fallen due to vibrations when driving, with laminating type binding site
Sensor and PCB circuit board, to achieve the effect that shorten built-up time and save cost.
In addition, for the assembling between other servo motor modules and when screw nut being used to assemble, nut is hidden
Make binding face smooth in groove, the appearance for assembling the articulated robot come is very beautiful, and effectively alleviates whole mould
The effect of the load of type.
Description of the drawings
Fig. 1 is the schematic diagram of this patent servo motor module.
Fig. 2 is the exploded view of the servo motor module of Fig. 1.
Fig. 3 is the section exploded view of the servo motor module of Fig. 2.
Fig. 4 is the schematic diagram of the decomposing state of the transparent middle shell in Fig. 3.
Fig. 5 is the extendibility schematic diagram of the servo motor module of Fig. 1.
Fig. 6 be using Fig. 4 servo motor module extendibility assemble come articulated robot figure.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the following, by referring to accompanying drawing, being further described in conjunction with specific embodiments.
Referring to figs. 1 to Fig. 5 it can be found that the servo motor module 100 for meeting this patent be by 110 lower part of upper case outside
Shell 120 and transparent middle shell 130 and servo motor 140 and gear set 150 and PCB circuit board 160 form.
110 lower case 120 of upper case, inside are respectively aftermentioned transparent middle shell 130 and servo motor 140 and tooth
Wheel group 150 and PCB circuit board 160.
The upper side of upper case 110 as shown in figures 1 and 3 is plane, the 1st and the 3rd side of 110 upper side of upper case
To respectively there are two the nut grooves 122 that can be linked with other servo motor module, as shown in Fig. 2 a, 2b, 2c.Lower case
120 downside is plane, and respectively there are two can be with other servo motor mould in the 1st and the 3rd direction of 120 downside of lower case
The nut groove 122 of group link.Other servo motor mould can be linked to three Directional Extensions by Attachments as Links (not marking)
Group.
Because nut groove 122 does not expand to outside in the upper side of upper case 110 and the downside of lower case 120
It puts on display and, but inside recessed shell, so can be designed that the model knot seen very well when assembling multi-joint anthropomorphic robot
Structure.
Transparent middle shell 130 is distributed across the transparent material between upper case 110 and lower case 120, such as makrolon
Polycarbonate materials.As shown in Figure 1, transparent middle shell 130 among upper case 110 and lower case 120 with certain
Thickness and belt shape show round to 4 faces.Upper case 110 and transparent middle shell 130 and lower case 120, with screw 101
To be fixed up.
Servo motor 140 is as shown in Figures 2 and 3, is mounted in the space of 130 inside servo motor appearance of transparent middle shell,
It is that strength is pass on by aftermentioned gear set 150.The servo motor 140 of the present embodiment can generate the torsion of 5.5kg/cm,
It is run under 5V and 9V voltages.
Here, as shown in Fig. 2, servo motor 140 in a manner of clamping be mounted on transparent 130 inner space of middle shell, it is aftermentioned
PCB components 160 on have can in conjunction with 140 lower end combined mouth 141 of servo motor engagement groove 161, make 160 He of PCB components
When servo motor 140 combines, servo motor 140 can accurately be installed in place.
140 lower end of root servo motor is formed on PCB components 160, the corresponding slot 162 as round, lower case 120
On have the 1st aspis 121 of cylinder for withstanding 140 lower end of servo motor for penetrating through corresponding slot 162, can be fixedly mounted on transparent
The servo motor 140 of 130 inner space of middle shell.
It is by combined mouth 141 as shown in figure 3, not being the transparent middle shell 130 being screwed and servo motor 140
Servo motor 140 is mounted on inside well-illuminated middle shell 130 in a manner of clamping with engagement groove 161 and corresponding slot 162, is finally used
1st aspis 121 of lower case 120 withstands 140 lower end of servo motor.
So far, the assembling process that well-illuminated middle shell 130 and servo motor 140 can be simplified, so as to shorten built-up time and section
Save assembly cost.
In addition, the 1st aspis 121 is with shown in cylinder in the example shown, but it is not limited to specific including cylindrical
Form.As long as it can withstand if servo motor 140 is fixed on transparent 130 inner space of middle shell by 140 lower end of servo motor, it can
To be transformed into other shapes.
As shown in figure 3, gear set 150 is mounted on inside transparent middle shell 130, strength is taught from servo motor 140.Gear set
150 are made of 4 gears 151, interlock rotation in order and finally strength is passed in drive shaft 152.Here, 4 gears 151
In order to reduce the abrasion of itself, can be formed by metal material.
PCB components 160 are mounted on 120 upside of lower case, the color and servo motor 140 of its controllable LED component 170
Rotation.LED component 170 is as shown in figure 4, be distributed in 4 angles of PCB components 160.
Position sensor 180 is mounted on the upside of PCB components 160, with the rotary shaft being incorporated in 150 drive shaft of gear set
153 are combined together, to incude the rotation position of drive shaft 152 and transmit a signal in PCB circuit board 160.
Engagement groove 163 in the combined mouth 181 and PCB circuit board 160 of 180 lower part of position sensor is combined, position
Sensor 180 has accurately been mounted in PCB circuit board 160.
Position sensor 180 is fixed on by the 2nd aspis 131 formed on well-illuminated middle shell 130 in PCB circuit board 160.
2nd aspis 131 of tetragonal post shapes closely withstands on position sensor 180 in PCB circuit board 160, to prevent driving
Position sensor 180 falls off from PCB components 160 when the assembling of moving axis 152 and rotary shaft 153 or when servo motor 140 drives
Fall or breakage is fallen.It is not by mucilage binding but by the side of combining closely of combined mouth 181 and engagement groove 163 and the 2nd aspis 131
Formula is assembled in position sensor 180 in PCB circuit board 160, so as to shorten built-up time and saves assembly cost.
In addition, the 2nd aspis 131 is with shown in tetragonal post shapes in the example shown, but it is not limited to include tetragonal cylindricality
Specific modality including shape.As long as position sensor 180 can be fixed on PCB components 160, it can be transformed into
His shape.
In Fig. 6 a, each joint of multi-joint anthropomorphic robot is made up of servo motor module 100, it is possible to real
Now simulate the action of the mankind.Such as, a pair of arm joint 100-1 of multi-joint anthropomorphic robot, a pair of the 1st and the 2nd shoulder joint
(100-2,100-3), a pair of the 1st and the 2nd leg joint (100-4,100-5), a pair of knee endoprosthesis 100-6, a pair of the 1st and the 2nd
Ankle arthrosis (100-7,100-8), waist joint 100-9 and neck joint 100-10 are made of servo motor module 100, so can
To include that 18 degree of freedom DOF stand up on foot by controlling servo motor module realization on PCB components, fistfight is played football, upstairs
Ladder such as go downstairs, turn a somersault and dance at the actions.
In figure 6b, there are the 1st connection attachment 310 and the servo horse of shoulder joint 300 in the side of servo motor module 100-1
Drive shaft 152 up to module 100-1 is fixed by screw 311, and can be rotated a certain angle.It is watched by being hidden in the other side
Taking nut 411 and screw 412 in 100 upper cap nut groove 122 of motor module combines the 2nd connection attachment, swivel of hand 400 to pass through spiral shell
Silk 401 and nut 402 are incorporated on the 2nd connection attachment.The easier assembling multi-joint humanoid of combination in this way
Device people.
So far, the multi-joint anthropomorphic robot come out using servo motor module group assembling in appearance can be good-looking, and servo
The load of motor module can also reduce to greatest extent, while might as well toward the autgmentability in the 1st and the 3rd direction.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. Servo-controller module, which is characterized in that including：Top and lower case, setting the top and lower case it
Between transparent middle shell, be assembled in the transparent middle shell inner space servo motor, be assembled on the inside of the transparent middle shell, and with
The gear set of the servo motor transmission connection, the upside for being assembled in the lower case, equipped with LED component and can control described
The PCB circuit board of LED color and servo motor and it is assembled in the PCB circuit board upper side edge and mounted on the gear set
In drive shaft, the position sensor of the rotation position of the drive shaft can be incuded；
The servo motor is assembled in the inner space of the transparent middle shell, and the PCB circuit board, which is equipped with, supplies the servo horse
The hole passed through up to substructure is set on the lower case there are one the first protruding parts for withstanding servo motor substructure,
The servo motor is fixed on the inner space of the transparent middle shell by the first protruding parts.
2. Servo-controller module according to claim 1, which is characterized in that first protruding parts are outside the lower part
The cylindrical projective structure formed on shell.
3. Servo-controller module according to claim 1, which is characterized in that the PCB circuit board is equipped in conjunction with described
The lower part in the engagement groove of servo motor lower end combined mouth and the hole for combining servo motor substructure, the servo motor penetrates through institute
Hole is stated, the lower end of the servo motor is fixed on by being combined with the engagement groove in PCB circuit board.
4. Servo-controller module according to claim 1, which is characterized in that the servo motor is clipped in the transparent middle shell
It is internal.
5. Servo-controller module according to claim 1, which is characterized in that the position sensor by it is described it is transparent in
The second aspis formed on the downside of shell is fixed in PCB circuit board.
6. Servo-controller module according to claim 5, which is characterized in that the shape of second aspis is four angle-style
Pillar.
7. Servo-controller module according to claim 1, which is characterized in that it is provided with engagement groove in the PCB circuit board,
The engagement groove is used for the combined mouth in conjunction with the position sensor lower end, and the position sensor is made to be assembled in the PCB electricity
On the plate of road.
8. Servo-controller module according to claim 1, which is characterized in that the upper side of the upper case is plane,
Toward the 1st or the 3rd direction, respectively there are two nut slots, and the downside of the lower case is plane, respectively has two toward the 1st or the 3rd direction
A nut slot, can be toward three Directional Extensions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810432964.1A CN108479084A (en) | 2018-05-08 | 2018-05-08 | Servo-controller module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810432964.1A CN108479084A (en) | 2018-05-08 | 2018-05-08 | Servo-controller module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108479084A true CN108479084A (en) | 2018-09-04 |
Family
ID=63354127
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810432964.1A Pending CN108479084A (en) | 2018-05-08 | 2018-05-08 | Servo-controller module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108479084A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514540A (en) * | 2018-12-13 | 2019-03-26 | 深圳市优必选科技有限公司 | A kind of steering engine and robot |
| CN110985674A (en) * | 2019-12-26 | 2020-04-10 | 东莞市德晟智能科技有限公司 | Waterproof rubber ring and miniature server |
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| CN205552541U (en) * | 2016-03-08 | 2016-09-07 | 韩端科技（深圳）有限公司 | Humanoid robot |
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| CN108312139A (en) * | 2018-03-29 | 2018-07-24 | 深圳市人动人信息技术有限公司 | The servo motor module of convertible color and the robot with servo motor module |
| CN208943451U (en) * | 2018-05-08 | 2019-06-07 | 韩端科技（深圳）有限公司 | Servo-controller mould group |
-
2018
- 2018-05-08 CN CN201810432964.1A patent/CN108479084A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102324803A (en) * | 2011-09-14 | 2012-01-18 | 北京联合大学 | Motor reducing mechanism and reducing motor and steering engine thereof |
| CN202762095U (en) * | 2012-08-20 | 2013-03-06 | 刘军 | Steering engine |
| CN205469784U (en) * | 2016-01-28 | 2016-08-17 | 中国航天空气动力技术研究院 | Integrative steering wheel of small -size lightweight |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110985674A (en) * | 2019-12-26 | 2020-04-10 | 东莞市德晟智能科技有限公司 | Waterproof rubber ring and miniature server |
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