CN208943451U - Servo-controller mould group - Google Patents
Servo-controller mould group Download PDFInfo
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- CN208943451U CN208943451U CN201820678933.XU CN201820678933U CN208943451U CN 208943451 U CN208943451 U CN 208943451U CN 201820678933 U CN201820678933 U CN 201820678933U CN 208943451 U CN208943451 U CN 208943451U
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- servo motor
- servo
- mould group
- circuit board
- pcb circuit
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Abstract
The utility model provides a kind of Servo-controller mould group, 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 utility model has the beneficial effects that: the load minimized 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 to assemble drive shaft and position sensor should not be detached to fall or breakage is fallen due to vibration when driving from PCB circuit board when servo motor driven.
Description
Technical field
The servo for using multi-joint anthropomorphic robot is used or educated the utility model relates to servo motor field, especially toy
Motor module group assembling method and structure.
Background technique
It is well known that servo motor mould group (driver), which is together with each other, assembles the object for appreciation of achievable various motion
Tool type or teaching type articulated robot.
Servo motor mould group 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
Assembling mode unfixed in screw.
In addition, being together with each other to assemble multi-joint anthropomorphic robot most servo motor mould groups.
The fixing piece of link member is combined in driver mould group in order to expand, and is by screw and nut block mounted in other driving
Its expansion is realized on device fixing piece.
But driver mould group can apparent volume becomes larger due to fixing piece in above scheme, thus with 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 mould group itself.Separately
Outside, some fixing pieces in mould group also cause the appearance assembled also can be irregular.
Utility model content
The purpose of this utility model is to solve the problem of being set forth above, and makes the assembling mode summary of servo motor, group
Position sensor is prevented when filling drive shaft and when servo motor driven to be detached from PCB circuit board or damage, while in view of design
With minimum loads and its extendibility, in order to achieve the purpose that be set forth above, this patent provides Servo-controller mould group, comprising:
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 connecting with the servo motor transmission, assembling
In the upside of the lower case, equipped with LED component and the PCB circuit board of the LED color and servo motor can control, 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 mould group of the transparent middle shell inner space.
First protruding parts are formed by the cylindrical protrusion formed on the lower case.
There is the engagement groove in conjunction with servo motor lower end combined mouth in the PCB circuit board and combines servo motor lower part
The lower part in the hole of structure, the servo motor penetrates through the hole, and the lower end of the servo motor is incorporated in the engagement groove and fixes
In PCB circuit board.
The servo motor is assembled in inside the transparent middle shell in a manner of pressing from both sides.
The position sensor is fixed in PCB circuit board by the second aspis formed on the downside of the transparent middle shell.
Second aspis is with four angle-style pillar image formations.
Form engagement groove in the PCB circuit board, in conjunction with the combined mouth of the position sensor lower end on the engagement groove,
It is assembled in the position sensor 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 utility model has the beneficial effects that servo motor is assembled in inside transparent middle shell by way of clamping, under
First aspis of portion's shell withstands servo motor lower part, so that the assembling of servo motor and transparent middle shell is become simple, to reach
To the effect for shortening built-up time and saving 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 vibration 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, assembling between other servo motor mould groups and when screw nut being used to assemble, nut is hidden in recessed
Make binding face smooth in slot, the appearance for assembling the articulated robot come is very beautiful, and effectively alleviates overall model
The effect of load.
Detailed description of the invention
Fig. 1 is the exemplary diagram of this patent servo motor mould group.
Fig. 2 a-2c is the different perspectives structure chart of the servo motor mould group of the utility model, wherein Fig. 2 a is servo motor
A wherein viewing angle constructions schematic diagram for mould group；Fig. 2 b is another viewing angle constructions schematic diagram of servo motor mould group；Fig. 2 c is servo
Another viewing angle constructions schematic diagram of motor mould group.
Fig. 3 is the section exploded view of the servo motor mould group of Fig. 2 a-2c.
The figure decomposed centered on the transparent middle shell that Fig. 4 is Fig. 3.
Fig. 5 is the extendibility exemplary diagram of the servo motor mould group of Fig. 1.
Fig. 6 a-6b be the utility model in using servo motor mould group extendibility assemble come articulated robot knot
Structure schematic diagram, wherein Fig. 6 a is articulated robot structural schematic diagram；Fig. 6 b is an articulated robotic arm structural schematic diagram.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
In the following, by referring to accompanying drawing, being further described in conjunction with specific embodiments.
Referring to figs. 1 to Fig. 5, the servo motor mould group 100 for meeting this patent is by 110 lower case of upper case, 120 He
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 mould group, such as Fig. 2 a, Fig. 2 b, the figure in Fig. 2 a-2c
Shown in 2c.The downside of lower case 120 is plane, and respectively there are two can be with for the 1st and the 3rd direction of 120 downside of lower case
The nut groove 122 of other servo motor mould group link.It can be linked by Attachments as Links (not marking) to three Directional Extensions
Other servo motor mould 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 polycarbonate
Polycarbonate material.As shown in Figure 1, transparent middle shell 130 is 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, use screw
101 are fixed up.
Servo motor 140 is mounted on the space of transparent 130 inside servo motor appearance of middle shell as shown in Fig. 2 a-2c and Fig. 3
In, it is that strength is pass on by aftermentioned gear set 150.The servo motor 140 of the present embodiment can produce the torsion of 5.5kg/cm
Power is run under 5V and 9V voltage.
Here, as shown in figs. 2 a-2 c, servo motor 140 is mounted on transparent 130 inner space of middle shell in a manner of folder, after
PCB component 160 can be made in conjunction with the engagement groove 161 of 140 lower end combined mouth 141 of servo motor by having on the PCB component 160 stated
When combining with servo motor 140, servo motor 140 can accurately be installed in place.
140 lower end of root servo motor is formed on PCB component 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 middle 130 inner space of shell.
It is by combined mouth 141 as shown in figure 3, not being the transparent middle shell 130 and servo motor 140 being screwed
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, it can simplify the assembling process of well-illuminated middle shell 130 and servo motor 140, so as to shorten built-up time and section
Save assembling cost.
In addition, the 1st aspis 121 but is not limited to specific including cylindrical with shown in cylinder in the example shown
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 itself abrasion, can be formed by metal material.
PCB component 160 is 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 component 160.
Position sensor 180 is mounted on the upside of PCB component 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 combines, position
Sensor 180 has accurately been mounted in PCB circuit board 160.
Position sensor 180 is fixed on PCB circuit board 160 by the 2nd aspis 131 formed on well-illuminated middle shell 130
On.2nd aspis 131 of tetragonal post shapes closely withstands on position sensor 180 in PCB circuit board 160, thus anti-
Only when the assembling of drive shaft 152 and rotary shaft 153 or servo motor 140 drive when position sensor 180 from PCB component 160
It falls off or breakage is fallen.It is not the close knot for by mucilage binding but passing through combined mouth 181 and engagement groove 163 and the 2nd aspis 131
Conjunction mode is assembled in position sensor 180 in PCB circuit board 160, so as to shorten built-up time and saves assembling cost.
In addition, the 2nd aspis 131 is but to be not limited to include tetragonal cylindricality with shown in tetragonal post shapes in the example shown
Specific modality including shape.As long as position sensor 180 can be fixed on PCB component 160, can be transformed into
Other shapes.
As shown in Fig. 6 a-6b, in Fig. 6 a, each joint of multi-joint anthropomorphic robot passes through servo motor mould group 100
Composition, it is possible to realize the movement of the simulation mankind.Such as, a pair of arm joint 100-1 of multi-joint anthropomorphic robot, a pair of
1 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 by servo motor mould
100 composition of group, it is possible to realize to include that 18 freedom degree DOF stand up on foot by servo motor module on control PCB component,
Fistfight, plays football, goes upstairs, go downstairs, and turning a somersault and dances etc. acts.
In figure 6b, there are the 1st connection attachment 310 and servo of shoulder joint 300 in the side of servo motor mould group 100-1
The drive shaft 152 of motor mould group 100-1 is fixed by screw 311, and can rotate a certain angle.The other side is by being hidden in
Nut 411 and screw 412 in 100 upper cap nut groove 122 of servo motor mould group combine the 2nd connection attachment, and swivel of hand 400 passes through
Screw 401 and nut 402 are incorporated on the 2nd connection attachment.The easier assembling multi-joint of combination in this way is humanoid
Robot.
So far, in appearance can be good-looking using the multi-joint anthropomorphic robot that servo motor module group assembling comes out, and servo
The load of motor mould group can also reduce to greatest extent, while might as well toward the scalability in the 1st and the 3rd direction.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (8)
1. Servo-controller mould group characterized by comprising 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
It the PCB circuit board of LED color and servo motor and is assembled in the PCB circuit board upper side edge and is 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, the lower case are equipped with 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 mould group 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 mould group 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 in conjunction with the engagement groove by being fixed in PCB circuit board.
4. Servo-controller mould group according to claim 1, which is characterized in that the servo motor clamping it is described it is transparent in
Inside shell.
5. Servo-controller mould group 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 mould group according to claim 5, which is characterized in that the shape of second aspis is four angle-style
Pillar.
7. Servo-controller mould group 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 mould group 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 slot, 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 |
|---|---|---|---|
| CN201820678933.XU CN208943451U (en) | 2018-05-08 | 2018-05-08 | Servo-controller mould group |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820678933.XU CN208943451U (en) | 2018-05-08 | 2018-05-08 | Servo-controller mould group |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208943451U true CN208943451U (en) | 2019-06-07 |
Family
ID=66730100
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820678933.XU Active CN208943451U (en) | 2018-05-08 | 2018-05-08 | Servo-controller mould group |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208943451U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108479084A (en) * | 2018-05-08 | 2018-09-04 | 韩端科技（深圳）有限公司 | Servo-controller module |
| CN112107246A (en) * | 2020-09-16 | 2020-12-22 | 湘潭大学 | Be used for clear heel of turning over of glass robot of fighting |
-
2018
- 2018-05-08 CN CN201820678933.XU patent/CN208943451U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108479084A (en) * | 2018-05-08 | 2018-09-04 | 韩端科技（深圳）有限公司 | Servo-controller module |
| CN112107246A (en) * | 2020-09-16 | 2020-12-22 | 湘潭大学 | Be used for clear heel of turning over of glass robot of fighting |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Servo actuator module Effective date of registration: 20201125 Granted publication date: 20190607 Pledgee: Shenzhen Branch of Guoren Property Insurance Co.,Ltd. Pledgor: HI-TECHPIA Technology (Shenzhen) Co.,Ltd. Registration number: Y2020980008429 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20211203 Granted publication date: 20190607 Pledgee: Shenzhen Branch of Guoren Property Insurance Co.,Ltd. Pledgor: HANDUAN TECHNOLOGY (SHENZHEN) Co.,Ltd. Registration number: Y2020980008429 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |