CN219398942U

CN219398942U - Servo driver

Info

Publication number: CN219398942U
Application number: CN202222870442.4U
Authority: CN
Inventors: 赖皓瀛; 曾昱树; 盛健军; 顾乾岗; 潘建威; 赖涛; 胡波; 吕伟宏; 沈卫国; 赖建防
Original assignee: Ningbo Tianhong Power Appliance Co Ltd
Current assignee: Ningbo Tianhong Power Appliance Co Ltd
Priority date: 2022-10-27
Filing date: 2022-10-27
Publication date: 2023-07-25
Anticipated expiration: 2032-10-27

Abstract

The application discloses servo driver, its characterized in that: the automatic speed changing device comprises a power module, a speed changing module and a servo module, wherein a plurality of output shafts are arranged on the speed changing module, the power module is suitable for driving a plurality of output shafts to rotate simultaneously and output power through the speed changing module, the servo module avoids the arrangement of the output shafts, and the servo module is suitable for controlling the action of the power module and feeding back rotation signals of the output shafts. The multi-output shaft type power transmission device has the advantages of being reasonable in arrangement and stable in output.

Description

Servo driver

Technical Field

The application relates to the technical field of drivers, in particular to a servo driver.

Background

The steering engine is a position (angle) servo driver and is suitable for control systems which need continuous change of angles and can be maintained. Have found widespread use in high-end remote control toys, such as aircraft, submarine models, and remote control robots. The steering engine mainly comprises a shell, a circuit board, a driving motor, a speed reducer and a position detection element. The working principle is that a receiver sends a signal to a steering engine, an IC on a circuit board drives a coreless motor to start rotating, power is transmitted to an output shaft through a speed reducer to act, and a position detector sends back a signal to judge whether positioning is achieved. The existing steering engine is generally single-shaft output, and has the problems of unbalanced output moment, poor applicability and the like in a specific application scene.

Therefore, how to improve the existing steering engine or other servo driver to overcome the above problems is a urgent problem for those skilled in the art.

Disclosure of Invention

An object of the present application is to provide a servo driver with multiple output shafts, reasonable arrangement and stable output.

In order to achieve the above purpose, the technical scheme adopted in the application is as follows: a servo driver, characterized in that: the automatic speed changing device comprises a power module, a speed changing module and a servo module, wherein a plurality of output shafts are arranged on the speed changing module, the power module is suitable for driving a plurality of output shafts to rotate simultaneously and output power through the speed changing module, the servo module avoids the arrangement of the output shafts, and the servo module is suitable for controlling the action of the power module and feeding back rotation signals of the output shafts.

As an implementation mode, the servo module comprises a circuit board and an induction element, the induction element is arranged on the circuit board, a yielding hole is formed in the circuit board, the servo module is fixedly arranged on the speed changing module, one output shaft penetrates through the yielding hole, an induction mark is arranged on the output shaft, and the induction element is aligned with the induction mark.

As another embodiment, the servo driver further comprises a sensing shaft, the power module is suitable for driving the sensing shaft to synchronously rotate, the rotating speeds of the sensing shaft and the output shaft are the same, and the servo module is suitable for feeding back a rotating signal of the sensing shaft.

Further, the servo driver further comprises a speed change mechanism, the speed change mechanism and the speed change module have the same transmission ratio, and the power module is suitable for driving the induction shaft to rotate through the speed change mechanism.

Further, the speed change mechanism is arranged on the power module and is in transmission connection with the power module.

Further, the speed change mechanism is arranged on the speed change module and is in transmission connection with the power module.

Further, the sensing shaft is disposed on the speed changing module.

Furthermore, the speed change mechanism adopts a reduction box structure or a gear set structure or a synchronous pulley structure, and the induction shaft and the servo module can be arranged at the far end through the speed change mechanism.

Further, a universal coupling is arranged on the power module, the speed changing module or the speed changing mechanism, and the induction shaft is suitable for being connected with the universal coupling.

Further, the output shaft is provided with two output shafts and is arranged on two sides of the speed changing module in a collinear manner.

Compared with the prior art, the beneficial effect of this application lies in: according to the scheme, the servo modules are shifted or arranged in a yielding mode, more installation space is reserved for the speed changing modules, a plurality of output shafts can be arranged for the speed changing modules, more balanced output torque of the servo driver is achieved under a specific application scene, and the reliability and stability of use of the servo driver are guaranteed.

Drawings

FIG. 1 is a schematic diagram of a model structure of an existing steering engine according to the present application;

FIG. 2 is an exploded view of FIG. 1 in accordance with the teachings of the present application;

FIG. 3 is a schematic structural view of another view of FIG. 2 in accordance with the teachings of the present application;

FIG. 4 is a schematic diagram of a specific application scenario of an existing steering engine according to the present application;

FIG. 5 is a schematic perspective view of a first preferred embodiment according to the present application;

FIG. 6 is an exploded view according to a first preferred embodiment of the present application and shows a partially enlarged view;

FIG. 7 is a schematic structural view of a second preferred embodiment according to the present application, wherein the induction shaft, the speed change mechanism and the servo module are mounted on the power module;

FIG. 8 is a schematic structural view of a second preferred embodiment according to the present application, wherein the sensing shaft, the shifting mechanism and the servo module are mounted on the shifting module;

FIG. 9 is a schematic illustration of a transmission mechanism in a steering reduction gear box and mounted on a power module according to a second preferred embodiment of the present application;

FIG. 10 is a schematic illustration of a transmission mechanism in a steering reduction gear box and mounted on a transmission module according to a second preferred embodiment of the present application;

fig. 11 is a schematic structural view of a transmission mechanism according to a second preferred embodiment of the present application, which is a synchronous pulley and is mounted on a power module;

fig. 12 is a schematic view of a transmission mechanism according to a second preferred embodiment of the present application, which is a synchronous pulley and is mounted on a transmission module;

FIG. 13 is a schematic illustration of a transmission mechanism as a gear set and mounted to a power module in accordance with a preferred embodiment of the present application;

FIG. 14 is a schematic illustration of a transmission mechanism as a gear set and mounted to a transmission module in accordance with a preferred embodiment of the present application;

FIG. 15 is a schematic view of a universal joint according to a second preferred embodiment of the present application when mounted to a power module;

fig. 16 is a schematic view showing a structure in which a universal joint is mounted on a transmission module according to a second preferred embodiment of the present application.

In the figure: 100. a drive motor; 200. a speed reducer; 300. a circuit board; 400. a position detecting element; 500. a bracket; 600. swing arms; 201. a power shaft; 1. a power module; 2. a speed change module; 21. an output shaft; 211. sensing the identification; 3. a servo module; 31. a circuit board; 32. an inductive element; 311. a relief hole; 4. an induction shaft; 5. a speed change mechanism; 51. a linear reduction gearbox; 52. a steering reduction gearbox; 53. a synchronous pulley; 54. a gear set; 6. a universal coupling.

Detailed Description

The present application will be further described with reference to the specific embodiments, and it should be noted that, on the premise of no conflict, new embodiments may be formed by any combination of the embodiments or technical features described below.

In the description of the present application, it should be noted that, for the azimuth terms such as terms "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the azimuth and positional relationships are based on the azimuth or positional relationships shown in the drawings, it is merely for convenience of describing the present application and simplifying the description, and it is not to be construed as limiting the specific protection scope of the present application that the device or element referred to must have a specific azimuth configuration and operation, as indicated or implied.

The terms "comprises" and "comprising," along with any variations thereof, in the description and claims of the present application are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements that are expressly listed or inherent to such process, method, article, or apparatus.

As shown in fig. 1 to 3, the conventional steering engine mainly includes a driving motor 100, a speed reducer 200, a circuit board 300 and a position detecting element 400, wherein the position detecting element 400 is generally integrally disposed on the circuit board 300, the speed reducer 200 has a power shaft 201, the power shaft 201 extends out of the speed reducer 200 toward two sides, and the circuit board 300 is fixed on one side of the speed reducer 200 such that the position detecting element 400 is aligned with one end of the power shaft 201, and the other end of the power shaft 201 is connected with other functional components for outputting power. It can be seen from the above structure that the circuit board 300 and the position detecting element 400 are required to be disposed at one end of the power shaft 201 of the conventional steering engine, and cannot be used for power output, i.e., the steering engine with the structure can only perform single-shaft output.

As shown in fig. 4, the steering engine is fixed on the bracket 500 and is suitable for driving the dual swing arms 600 to rotate, because the steering engine has only a single power shaft 201, the swing arm 600 on one side is fixedly connected with the power shaft 201, and the swing arm 600 on the other side can only rotate and be connected on the bracket 500, so that the stress of the swing arms 600 on both sides is unbalanced, and the running stability and the service life of the device can be affected.

Based on the problems, the applicant carries out preliminary improvement on the existing steering engine structure, and the basic idea of the improvement is as follows:

as shown in fig. 5 to 16, the servo driver of the present application includes a power module 1, a speed change module 2 and a servo module 3, wherein a plurality of output shafts 21 are provided on the speed change module 2, the power module 1 is adapted to drive the plurality of output shafts 21 through the speed change module 2 to rotate simultaneously and output power, the servo module 3 is avoided being provided by the output shafts 21, and the servo module 3 is adapted to control the power module 1 to act and feed back the rotation signals of the output shafts 21. It should be noted that the plurality of output shafts 21 may be arranged in a collinear manner or may be arranged separately.

The key point of the application is that: the servo module 3 avoids the arrangement of the output shafts 21, reserves more installation space for the speed changing module 2, enables the speed changing module 2 to be provided with a plurality of output shafts 21, realizes more balanced output torque of the servo driver in a specific application scene, and ensures the reliability and stability of the use of the servo driver. The servo module 3 mainly has two avoidance setting modes in the application, and the two avoidance setting modes are specifically as follows:

as shown in fig. 5 and 6, the servo module 3 in the first embodiment of the present application includes a circuit board 31 and an induction element 32, the induction element 32 is disposed on the circuit board 31, a yielding hole 311 is formed in the circuit board 31, the servo module 3 is fixedly disposed on the speed change module 2, an output shaft 21 passes through the yielding hole 311, an induction mark 211 is disposed on the output shaft 21, and the induction element 32 is aligned with the induction mark 211. The sensing mark 211 may be a bump, a pit, a magnetic dot, a light emitting dot, or the like, which can distinguish other positions of the output shaft 21, and the sensing element 32 may be a member capable of performing sensing such as photoelectric sensing, magnetic induction, or the like, and the specific structure and working principle thereof are well known to those skilled in the art, so they are not specifically described in the present embodiment, but they do not prevent them from becoming the technical features underlying the present application.

As shown in fig. 7 to 16, in the second embodiment of the present application, an induction shaft 4 is additionally provided, the power module 1 is adapted to drive the induction shaft 4 to rotate synchronously, and the rotation speeds of the induction shaft 4 and the output shaft 21 are the same, and the servo module 3 is adapted to feed back the rotation signal of the induction shaft 4. Because the rotation speed of the induction shaft 4 is the same as that of the output shaft 21, the rotation speed signals of the induction shaft 4 and the output shaft 21 are the same, namely, the induction shaft 4 simulates the rotation speed signal of the output shaft 21, so that the servo module 3 can accurately feed back the rotation signal of the output shaft 21, and the same function of a common steering engine is realized.

As shown in fig. 7 to 14, in order to achieve the same rotation speed of the sensing shaft 4 and the output shaft 21, the present embodiment is further provided with a speed change mechanism 5, the speed change mechanism 5 has the same transmission ratio as the speed change module 2, and the power module 1 is adapted to drive the sensing shaft 4 to rotate through the speed change mechanism 5.

The speed change mechanism 5 may take various forms: as shown in fig. 7 and 8, the transmission mechanism 5 adopts a linear reduction gearbox 51 structure; as shown in fig. 9 and 10, the speed change mechanism 5 adopts a steering reduction box 52 structure; as shown in fig. 11 and 12, the transmission mechanism 5 adopts a synchronous pulley 53 structure; as shown in fig. 13 and 14, the transmission mechanism 5 employs a gear set 54 structure. It should be noted that the sensing shaft 4 and the servo module 3 may be disposed at a distal end through a speed change mechanism 5 for remote sensing and control.

As shown in fig. 7, 9, 11 and 13, the speed change mechanism 5 is provided on the power module 1 and is drivingly connected to the power module 1.

As shown in fig. 8, 10, 12 and 14, the transmission mechanism 5 is provided on the transmission module 2 and is drivingly connected to the power module 1. The gear change mechanism 5 has a drive shaft which can pass through the gear change module 2 and which is connected to the gear change mechanism 5.

Of course, the sensing shaft 4 may be directly provided to the transmission module 2, and may be a part of the transmission module 2, and may output the same rotation speed.

As shown in fig. 15 and 16, in order to change the output direction of the induction shaft 4, the power module 1 or the speed change module 2 or the speed change mechanism 5 is provided with a universal joint 6, and the induction shaft 4 is adapted to be connected to the universal joint 6.

In the present embodiment, the output shaft 21 has two and co-linear integrated portions provided on both sides of the transmission module 2.

The specific structure and operation principle of the power module 1, the speed changing module 2, the servo module 3, and the speed changing mechanism 5 of the present application are all well known to those skilled in the art, and are not specifically described in the present embodiment, but they do not prevent them from becoming the technical features implicit in the present application.

The foregoing has outlined the basic principles, main features and advantages of the present application. It will be appreciated by persons skilled in the art that the present application is not limited to the embodiments described above, and that the embodiments and descriptions described herein are merely illustrative of the principles of the present application, and that various changes and modifications may be made therein without departing from the spirit and scope of the application, which is defined by the appended claims. The scope of protection of the present application is defined by the appended claims and equivalents thereof.

Claims

1. A servo driver, characterized in that: the automatic speed changing device comprises a power module, a speed changing module and a servo module, wherein a plurality of output shafts are arranged on the speed changing module, the power module is suitable for driving a plurality of output shafts to rotate simultaneously and output power through the speed changing module, the servo module avoids the arrangement of the output shafts, and the servo module is suitable for controlling the action of the power module and feeding back rotation signals of the output shafts.

2. A servo driver according to claim 1 wherein: the servo module comprises a circuit board and an induction element, the induction element is arranged on the circuit board, a yielding hole is formed in the circuit board, the servo module is fixedly arranged on the speed changing module, one of the output shafts penetrates through the yielding hole, an induction mark is arranged on the output shaft, and the induction element is aligned with the induction mark.

3. A servo driver according to claim 1 wherein: the servo driver further comprises an induction shaft, the power module is suitable for driving the induction shaft to synchronously rotate, the rotation speeds of the induction shaft and the output shaft are the same, and the servo module is suitable for feeding back rotation signals of the induction shaft.

4. A servo driver according to claim 3 wherein: the servo driver further comprises a speed change mechanism, the speed change mechanism and the speed change module have the same transmission ratio, and the power module is suitable for driving the induction shaft to rotate through the speed change mechanism.

5. A servo driver according to claim 4 wherein: the speed change mechanism is arranged on the power module and is in transmission connection with the power module.

6. A servo driver according to claim 4 wherein: the speed change mechanism is arranged on the speed change module and is in transmission connection with the power module.

7. A servo driver according to claim 3 wherein: the induction shaft is arranged on the speed changing module.

8. A servo driver according to claim 4 wherein: the speed change mechanism adopts a reduction gearbox structure or a gear set structure or a synchronous pulley structure, and the induction shaft and the servo module can be arranged at the far end through the speed change mechanism.

9. A servo driver according to claim 4 wherein: the power module, the speed changing module or the speed changing mechanism is provided with a universal coupling, and the induction shaft is suitable for being connected with the universal coupling.

10. A servo driver according to any one of claims 1 to 9 wherein: the output shaft is provided with two output shafts and is arranged on two sides of the speed changing module in a collinear way.