CN218891872U - Servo module and robot - Google Patents

Abstract

The application belongs to the technical field of robot structural design, and particularly relates to a servo module and a robot. The servo module comprises a shell, a driving mechanism and a servo controller. The housing is used for installing and fixing the driving mechanism and the servo controller. The drive mechanism provides a power output. The servo controller is used for controlling the driving mechanism. By using the servo module, on one hand, the driving mechanism and the servo controller are respectively assembled in different spaces, so that a modularized servo module is formed, and on the other hand, the servo controller of the servo module is internally placed in a laminated mode, so that the whole size of the servo module is obviously reduced, the problem that the size of the servo module of the existing robot is overlarge, or the size of each joint part of the robot is large and bulky, or the control module and the motor cannot form a modularized design is solved.

Description

Servo module and robot

Technical Field

The application belongs to the technical field of robot structural design, and particularly relates to a servo module and a robot.

Background

In the prior art, there are many joint parts formed by assembling two structural members capable of relatively rotating, and the rotating motion of the joint parts is driven by a motor, that is, one structural member is driven by the motor to rotate relative to the other structural member, for example, the knee joint part of the humanoid robot, the motor is mounted on a thigh limb, and the motor drives a shank limb to rotate relative to the thigh limb, so that the rotating motion of the knee joint part is realized. Correspondingly, for the motors used at each joint part, a corresponding control module is configured to control the motors and communicate with the central control system of the robot. The control module and the motor form a servo module for the joint part.

In some existing robots, a control module integrates control functions, driving functions, power control functions and the like on a circuit board, and then the circuit board is assembled into a housing and is connected and fixed with an assembled housing of a motor to form a modularized servo module. The formed control module is large in size, so that the size of the finally formed servo module is too large, and then all joint parts of the robot are quite bulky, and the design thought of the robot pursuing small size is not met.

In other robots, the control module integrates the control function, the driving function, the power control function and the like on a circuit board, so that each joint of the robot is bulky, therefore, the control module is not assembled with the motor to form a modularized servo module, but the control module is assembled in the accommodation space of the body of the robot, and then the motor is connected through wiring. Thus, although the volume of each joint part of the robot can be reduced to realize the small-volume design, the modularization development trend of the existing robot is overcome.

Disclosure of Invention

The utility model aims at providing a servo module and robot, aim at solving the volume of the servo module of current robot too big, or lead to each joint position of robot bulky, the problem of bulkiness, or lead to control module and motor unable formation modularized design's problem.

In order to achieve the above purpose, the technical scheme adopted in the application is as follows: a servo module, comprising:

a housing formed with a first fitting space and a second fitting space;

the driving mechanism is arranged in the first assembly space, and an output shaft of the driving mechanism penetrates out of the shell;

the servo controller is arranged in a second assembly space at the side edge of the driving mechanism and comprises a control board, a driving board, a power board and a connecting component, wherein the driving board and the power board are electrically connected with the control board, the driving mechanism is electrically connected with the control board, and the control board, the driving board and the power board are placed in a laminated mode through the connecting component.

In one embodiment, the housing comprises a first housing and a second housing, the first housing is provided with a first assembly space, the second housing is provided with a second assembly space and a port communicated with the second assembly space, the outline shape of the port is matched with the outline of the outer wall of the first housing, the second housing is connected to the first housing, and the central axis direction of the output shaft of the driving mechanism is perpendicular to the connecting line direction from the first housing to the second housing.

In one embodiment, the control board, the driving board and the power board are stacked to form a space between two adjacent layers through the connecting member, the power board is located at the bottom of the second assembly space opposite to the port, and the power board is in heat conduction connection with the bottom of the second assembly space.

In one embodiment, the servo controller further comprises a heat dissipation plate, wherein the heat dissipation plate is arranged between the power plate and the bottom of the second assembly space, and two sides of the heat dissipation plate are respectively in heat conduction connection with the power plate and the bottom of the second assembly space.

In one embodiment, the second shell is a metal shell.

In one embodiment, the driving mechanism comprises a servo motor and a speed reducer, an output rotating shaft of the servo motor is in driving connection with an input end of the speed reducer, and an output end of the speed reducer is used for outputting power.

In one embodiment, the speed reducer is a planetary speed reducer.

In one embodiment, the servo module further comprises a position detection mechanism, the position detection mechanism is electrically connected with the control board, the position detection mechanism is used for detecting position information of the output rotating shaft of the servo motor to generate a position signal, and the position detection mechanism sends the position signal to the control board.

In one embodiment, the position detecting mechanism comprises a magnetic element and a position detecting unit, wherein the magnetic element is arranged at the end part of the output rotating shaft of the servo motor, the magnetic element synchronously rotates along with the output rotating shaft of the servo motor, the position detecting unit is arranged on the shell and is opposite to the magnetic element, the position detecting unit is electrically connected with the control board, and the position detecting unit is used for detecting the position information of the magnetic element to generate a position signal.

According to another aspect of the present application, a robot is provided. Specifically, the robot comprises the servo module.

The application has at least the following beneficial effects:

the servo module of this application is assembled to the joint position department of robot, on the one hand through first assembly space of casing design and second assembly space, assemble actuating mechanism and servo controller respectively in first assembly space and second assembly space, thereby the shaping becomes modular servo module, on the other hand, this servo module's servo controller has set up control panel, drive plate and power board, distinguish control function, drive function and power control function, thereby design respectively on different circuit boards, then carry out the stromatolite with control panel, drive plate and power board and place in the second assembly space, for the control module of current robot, the volume of the servo controller of this application obviously reduces, then make servo module's whole volume reduce. When the servo module is applied to each joint of the robot, the size of each joint of the robot can be correspondingly reduced, and the small-size design of each joint part is realized. In addition, the rotary motion of each joint part of the robot with the small-volume design is realized, so that the robot is more flexible and stable in response.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an assembly structure of a servo module according to an embodiment of the present disclosure;

FIG. 2 is a second schematic diagram of an assembly structure of a servo module according to an embodiment of the present disclosure;

FIG. 3 is an exploded view of the servo module shown in FIG. 1;

FIG. 4 is an exploded view of the servo module shown in FIG. 2.

Wherein, each reference sign in the figure:

100. a servo module;

10. a housing; 101. a first assembly space; 102. a second fitting space; 11. a first shell; 111. a main body case; 112. a front cover; 113. a rear cover; 12. a second case; 103. a port;

20. a driving mechanism; 21. a servo motor; 211. an output shaft; 22. a speed reducer; 23. an output shaft;

30. a servo controller; 31. a control board; 32. a driving plate; 33. a power board; 34. a connecting member; 35. a heat dissipation plate;

40. a position detecting mechanism; 41. a tape magnetic element; 42. a position detection unit;

51. a bearing; 52. and (5) arranging wires.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

Fig. 1 to 2 are schematic views illustrating an assembly structure of a servo module 100 according to an embodiment of the present application. Fig. 3-4 are exploded views of various portions of a servo module 100 according to an embodiment of the present application.

As shown in fig. 1 to 2, the servo module 100 includes a housing 10, a driving mechanism 20 and a servo controller 30.

The structure of the housing 10 is as shown in fig. 2 and 3, and the housing 10 is formed with a first fitting space 101 and a second fitting space 102. Specifically, the housing 10 includes a first case 11 and a second case 12, the first case 11 is provided with a first fitting space 101, the second case 12 is provided with a second fitting space 102 and a port 103 communicating with the second fitting space 102, the contour shape of the port 103 is adapted to the contour of the outer wall of the first case 11 and the second case 12 is attached to the first case 11. The first case 11 includes a main body case 111, a front cover 112, and a rear cover 113, the rear cover 113 is connected to the main body case 111 by screws, the front cover 112 is interference fit with the main body case 111, and the main body case 111, the front cover 112, and the rear cover 113 together constitute the first assembly space 101.

As shown in fig. 3 and 4, the driving mechanism 20 is mounted in the first mounting space 101, and the output shaft 23 of the driving mechanism 20 passes through the housing 10. The central axis direction of the output shaft 23 of the drive mechanism 20 is perpendicular to the connecting line direction of the first casing 11 to the second casing 12. Specifically, the driving mechanism 20 includes a servo motor 21 and a decelerator 22, an output shaft 211 of the servo motor 21 is drivingly connected to an input end of the decelerator 22, and an output end of the decelerator 22 is used for outputting power. The output shaft 211 passes through the first housing 11 and is coupled to the first housing 11 through the bearing 51, thereby reducing friction between the output shaft 211 and the first housing 11. The speed reducer 22 may have various options such as a gear reducer, a worm reducer, and a planetary gear reducer, and the speed reducer 22 is preferably a planetary gear reducer. The planetary gear reducer has the advantages of large transmission speed ratio, high bearing capacity, high transmission precision, high torque and small volume, and meets the requirement of reducing the volume of each joint of the robot.

As shown in fig. 3 and 4, the servo controller 30 is mounted in the second assembly space 102 at the side of the driving mechanism 20, the servo controller 30 includes a control board 31, a driving board 32, a power board 33 and a connecting member 34, the driving board 32 and the power board 33 are electrically connected with the control board 31, the driving mechanism 20 is electrically connected with the control board 31, and the control board 31, the driving board 32 and the power board 33 are stacked via the connecting member 34. Distinguish control function, drive function and power control function to design respectively on different circuit boards, then with control panel 31, drive plate 32 and power board 33 carry out the lamination and place in second assembly space 102, for the control module of current robot, the volume of servo controller 30 of this application obviously reduces, then makes servo module 100's whole volume reduce.

Further, a space is formed between adjacent two layers of the control board 31, the driving board 32 and the power board 33 which are placed in a stacked manner by the connection member 34, and the power board 33 is located at the bottom of the second fitting space 102 opposite to the port 103, and the power board 33 is thermally connected to the bottom of the second fitting space 102. The servo controller 30 further includes a heat dissipation plate 35, where the heat dissipation plate 35 is disposed between the power plate 33 and the bottom of the second assembly space 102, and two sides of the heat dissipation plate 35 are respectively in heat conduction connection with the bottoms of the power plate 33 and the second assembly space 102. The control board 31 includes a power module, an MCU, a memory chip, a communication chip, etc. for implementing control, communication, fault or information recording of the servo motor 21. The drive board 32 is used to implement the control function of the power device. The power board 33 mainly contains power device MOSFETs, wherein the MOSFETs are three-phase full bridge circuit structures, and can realize a three-phase current control function of the servo motor 21. The power device is a main heating device, and the temperature is higher in the working process. The heat dissipation plate 35 is used to transfer heat generated by the operation of the power board 33 to the second case 12, and silicone grease is preferably filled between the heat dissipation plate 35, the power board 33 and the second case 12 to achieve efficient heat transfer so as to optimize the heat dissipation effect. The material of the heat dissipating plate 35 is selected from various materials, such as copper alloy and aluminum alloy, the aluminum alloy is relatively low in price and light in weight, and the weight of the aluminum alloy is 1/3 of that of the steel heat sink, so that the aluminum alloy is light and smart and is convenient to process. Since aluminum oxide is the best protective film formed after oxidation of aluminum, further oxidation can be avoided, and thus it is resistant to oxidation corrosion, and therefore the material of the heat dissipation plate 35 is preferably an aluminum alloy material.

In order to further improve the heat dissipation efficiency, the material of the housing 10 may be an aluminum alloy material. The high-efficiency thermal conductivity of aluminum alloy is the most ideal medium for maintaining the determining factor of good heat dissipation function and heat energy conversion. The aluminum alloy is characterized in that: less time consumption, fast heat supply and high efficiency.

As shown in fig. 3 and 4, the servo module 100 further includes a position detecting mechanism 40, the position detecting mechanism 40 is electrically connected to the control board 31, the position detecting mechanism 40 is used for detecting position information of the output shaft 211 of the servo motor 21 to generate a position signal, and the position detecting mechanism 40 sends the position signal to the control board 31. The position detecting mechanism 40 includes a magnetic element 41 and a position detecting unit 42, the magnetic element 41 is mounted at an end of the output shaft 211 of the servo motor 21, the magnetic element 41 rotates synchronously with the output shaft 211 of the servo motor 21, the position detecting unit 42 is mounted on the housing 10 and is opposite to the magnetic element 41, the position detecting unit 42 is electrically connected with the control board 31, and the position detecting unit 42 is used for detecting position information of the magnetic element 41 to generate a position signal. The detected position information is connected with the servo controller 30 through the flat cable 52 and is sent to the servo controller 30, the servo controller 30 controls the driving plate 32 and the power plate 33 according to the position information, the power plate 33 is connected with the servo motor 21 through a power cable, and the power plate 33 outputs current to control the rotation angle and the rotation speed of the servo motor 21.

In one embodiment, the servo modules 100 are mounted on a leg frame of the robot, one leg includes five servo modules 100, one servo module 100 is used for controlling the left and right movement of the leg (adjusting standing position), and the other two pairs of servo modules 100 are respectively used for controlling the back and forth movement of the leg (walking and running control) and controlling the movement of the foot of the robot (gesture control of the sole). The five servo modules 100 work cooperatively to perform the functions of the robot legs.

The servo module 100 is applied to be assembled to the joint part of the robot, on one hand, the first assembling space 101 and the second assembling space 102 are designed through the shell 10, the driving mechanism 20 and the servo controller 30 are assembled in the first assembling space 101 and the second assembling space 102 respectively, so that the servo module 100 is formed, on the other hand, the servo controller 30 of the servo module 100 is provided with the control board 31, the driving board 32 and the power board 33, the control function, the driving function and the power control function are distinguished, so that the control board 31, the driving board 32 and the power board 33 are respectively designed on different circuit boards, then the control board 31, the driving board 32 and the power board 33 are placed in the second assembling space 102 in a stacked mode, and compared with the control module of the existing robot, the volume of the servo controller 30 is obviously reduced, and then the whole volume of the servo module 100 is reduced. When the servo module 100 is applied to each joint of the robot, the size of each joint of the robot can be correspondingly reduced, so that the small-size design of each joint part is realized. In addition, the rotary motion of each joint part of the robot with the small-volume design is realized, so that the robot is more flexible and stable in response.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims (10)

1. A servo module (100), comprising:

a housing (10), the housing (10) being formed with a first fitting space (101) and a second fitting space (102);

a driving mechanism (20), wherein the driving mechanism (20) is installed in the first assembly space (101), and an output shaft (23) of the driving mechanism (20) penetrates out of the shell (10);

the servo controller (30), servo controller (30) install in second assembly space (102) of actuating mechanism (20) side, servo controller (30) include control panel (31), drive plate (32), power board (33) and connecting element (34), drive plate (32) with power board (33) all with control panel (31) electric connection, actuating mechanism (20) with control panel (31) electric connection, control panel (31) drive plate (32) with power board (33) are the stromatolite and place through connecting element (34).

2. The servo module (100) of claim 1, wherein,

the shell (10) comprises a first shell (11) and a second shell (12), the first shell (11) is provided with a first assembly space (101), the second shell (12) is provided with a second assembly space (102) and a port (103) communicated with the second assembly space (102), the outline shape of the port (103) is matched with the outline of the outer wall of the first shell (11) and the second shell (12) is connected to the first shell (11), and the central axis direction of an output shaft (23) of the driving mechanism (20) is perpendicular to the connecting line direction of the first shell (11) to the second shell (12).

3. The servo module (100) of claim 2, wherein,

the control board (31), the driving board (32) and two adjacent layers of the power board (33) are placed in a stacked mode, an interval is formed between the two adjacent layers through the connecting component (34), the power board (33) is located at the bottom of the second assembly space (102) opposite to the port (103), and the power board (33) is in heat conduction connection with the bottom of the second assembly space (102).

4. The servo module (100) of claim 3, wherein,

the servo controller (30) further comprises a heat dissipation plate (35), the heat dissipation plate (35) is arranged between the power plate (33) and the bottom of the second assembly space (102), and two sides of the heat dissipation plate (35) are respectively in heat conduction connection with the bottoms of the power plate (33) and the second assembly space (102).

5. The servo module (100) of claim 4, wherein,

the second shell (12) is a metal shell (10).

6. The servo module (100) of any one of claims 1 to 5, wherein,

the driving mechanism (20) comprises a servo motor (21) and a speed reducer (22), an output rotating shaft (211) of the servo motor (21) is in driving connection with an input end of the speed reducer (22), and an output end of the speed reducer (22) is used for outputting power.

7. The servo module (100) of claim 6, wherein,

the speed reducer (22) is a planetary speed reducer.

8. The servo module (100) of claim 6, wherein,

the servo module (100) further comprises a position detection mechanism (40), the position detection mechanism (40) is electrically connected with the control board (31), the position detection mechanism (40) is used for detecting position information of an output rotating shaft (211) of the servo motor (21) to generate a position signal, and the position detection mechanism (40) sends the position signal to the control board (31).

9. The servo module (100) of claim 8, wherein,

the position detection mechanism (40) comprises a magnetic element (41) and a position detection unit (42), wherein the magnetic element (41) is arranged at the end part of an output rotating shaft (211) of the servo motor (21), the magnetic element (41) synchronously rotates along with the output rotating shaft (211) of the servo motor (21), the position detection unit (42) is arranged on the shell (10) and is opposite to the magnetic element (41), the position detection unit (42) is electrically connected with the control board (31), and the position detection unit (42) is used for detecting the position information of the magnetic element (41) to generate a position signal.

10. A robot, characterized in that it comprises a servo module (100) according to any one of claims 1-9.

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