WO2020107344A1 - 舵机和用电设备 - Google Patents

舵机和用电设备 Download PDF

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Publication number
WO2020107344A1
WO2020107344A1 PCT/CN2018/118263 CN2018118263W WO2020107344A1 WO 2020107344 A1 WO2020107344 A1 WO 2020107344A1 CN 2018118263 W CN2018118263 W CN 2018118263W WO 2020107344 A1 WO2020107344 A1 WO 2020107344A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
steering gear
filtering unit
housing
gear according
Prior art date
Application number
PCT/CN2018/118263
Other languages
English (en)
French (fr)
Inventor
罗冲
聂金安
马举猛
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880072569.5A priority Critical patent/CN111406359A/zh
Priority to PCT/CN2018/118263 priority patent/WO2020107344A1/zh
Publication of WO2020107344A1 publication Critical patent/WO2020107344A1/zh

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/02—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for suppression of electromagnetic interference
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/24—Casings; Enclosures; Supports specially adapted for suppression or reduction of noise or vibrations
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • H02M1/126—Arrangements for reducing harmonics from ac input or output using passive filters
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K5/00—Casings, cabinets or drawers for electric apparatus
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • H02M1/123—Suppression of common mode voltage or current

Definitions

  • This application relates to the technical field of motor drive control, in particular to a steering gear and electrical equipment.
  • the steering gear is widely used in the driving device.
  • the power of the steering gear comes from the driving motor.
  • the driving motor drives the transmission component when it works, and the transmission component will output the power of the driving motor.
  • the existing steering gear generally adopts a metal casing, which can make the steering gear have better EMC characteristics (electromagnetic compatibility).
  • the metal casing also makes the overall weight of the steering gear heavier, and the scope of application of the steering gear is limited. For example, in the application of electrical equipment that is sensitive to weight, you need to consider reducing weight from all aspects.
  • Embodiments of the present application provide a steering gear and electrical equipment.
  • An embodiment of the present application provides a steering gear including a motor and a protection circuit
  • the protection circuit includes a drive module and a protection module
  • the protection module is connected to the drive module and the motor
  • the drive module includes a first output And a second output terminal
  • the protection module includes a high-frequency filtering unit, a differential mode filtering unit and a common-mode filtering unit
  • the high-frequency filtering unit is connected to the first output terminal and the second output terminal
  • the differential mode filtering unit connects the high frequency filtering unit and the motor
  • the common mode filtering unit connects the differential mode filtering unit, the high frequency filtering unit, and the motor.
  • An embodiment of the present application provides an electric device including a load and a steering gear of the embodiment of the present application, the steering gear being connected to the load.
  • the steering gear has a protection module. Even without using a metal casing, the steering gear can have good EMC performance, which can make the application of the steering gear wider and is especially suitable for In weight-sensitive electrical equipment.
  • FIG. 1 is a schematic diagram of modules of an electric device according to an embodiment of the present application.
  • FIG. 2 is a control block diagram of a steering gear according to an embodiment of the present application.
  • FIG. 3 is a schematic block diagram of a steering gear according to an embodiment of the present application.
  • FIG. 4 is a circuit diagram of a protection circuit according to an embodiment of the present application.
  • FIG. 5 is a schematic perspective view of a steering gear according to an embodiment of the present application.
  • FIG. 6 is a schematic plan view of a steering gear according to an embodiment of the present application.
  • FIG. 7 is a schematic cross-sectional view of the steering gear of FIG. 6 along the direction VII-VII.
  • FIG. 8 is an exploded schematic view of a steering gear according to an embodiment of the present application.
  • the first feature “above” or “below” the second feature may include the direct contact of the first and second features, or may include the first and second features Contact not directly but through another feature between them.
  • the first feature is “above”, “above” and “above” the second feature includes that the first feature is directly above and diagonally above the second feature, or simply means that the first feature is higher in level than the second feature.
  • the first feature is “below”, “below” and “below” the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is less horizontal than the second feature.
  • connection should be understood in a broad sense, for example, it can be fixed connection or detachable Connect, or connect integrally. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the connection between two elements or the interaction between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.
  • the electric equipment 100 includes a steering gear 10 and a load 20, and the steering gear 10 is connected to the load 20.
  • the steering gear 10 may be used to drive the load 20 or one or more components of the load 20 to rotate.
  • the electrical equipment 100 includes, but is not limited to, drones, unmanned boats, robots, and other devices.
  • the load 20 may be different functional components.
  • the load 20 may be the power component of the drone, and the steering gear 10 may be used to control the motion of the power component relative to the body of the drone to change the yaw, pitch, roll and other attitudes of the drone; of course
  • the load 20 can also be other steering devices mounted on the drone.
  • the steering gear 10 can be used to drive the steering device to steer; the steering gear 10 can also be used to control the movement of the mechanical arm.
  • the steering gear 10 includes a motor 11 and a protection circuit 12.
  • the protection circuit 12 includes a drive module 122 and a protection module 124.
  • the protection module 124 is connected to the drive module 122 and the motor 11.
  • the drive module 122 includes a first output terminal a and a second output terminal b.
  • the protection module 124 includes a high frequency filtering unit 1242, a differential mode filtering unit 1244 and a common mode filtering unit 1246, the high frequency filtering unit 1242 is connected to the first output terminal a and the second output terminal b, and the differential mode filtering unit 1244 is connected to the high frequency filtering unit 1242 and the motor 11, the common mode filter unit 1246 connects the differential mode filter unit 1244, the high frequency filter unit 1242 and the motor 11.
  • the steering gear 10 has a protection module 124, which can make the steering gear 10 have good EMC performance even without using a metal casing, which can make the application of the steering gear 10 wider and is particularly suitable It is applied to the weight-sensitive electrical equipment 100.
  • the weight reduction of drones and robots is particularly important due to the limited battery capacity of the drones and competitive robots.
  • the driving power V of the motor 11 may be a DC power supply
  • the driving module 122 may be an H-bridge circuit.
  • the H-bridge circuit is composed of four switch tubes (M1, M3, M2, and M4) at a certain frequency. Controlling whether the corresponding switch tube is turned on or off can be used to control the current passing through the H-bridge circuit, thereby driving and controlling the steering and speed regulation of the motor 11.
  • the driving module 122 can convert DC power into AC power with variable frequency, and similarly, it can be used to drive the motor 11 to work.
  • the switch tube may be a power transistor (GTR), a power field effect transistor (MOSFET), an insulated gate transistor (IGBT), or the like.
  • GTR power transistor
  • MOSFET power field effect transistor
  • IGBT insulated gate transistor
  • the high-frequency filtering unit 1242 includes a first magnetic bead L1 and a second magnetic bead L2, the first magnetic bead L1 is connected to the first output terminal a and the differential mode filtering unit 1244, and the second magnetic bead L2 is connected to the first Two output terminals b and a differential mode filtering unit 1244.
  • the magnetic beads can be used to filter the drive signal, suppress high-frequency noise and spike interference in the drive signal, and can absorb electrostatic pulses.
  • the first magnetic bead L1 and the second magnetic bead L2 can form a bidirectional filter in the circuit, increasing the performance of the protection circuit 12.
  • the differential mode filtering unit 1244 includes a filtering capacitor C0, which is connected to the high-frequency filtering unit 1242 and the motor 11. Specifically, the filter capacitor C0 and the motor 11 are connected in parallel, and the differential mode noise in the circuit can pass through the filter capacitor C0, thereby reducing the influence of the differential mode noise on the motor 11 and ensuring the stability of the motor 11 driving.
  • the common mode filtering unit 1246 includes a first unit 1246A and a second unit 1246B, a differential mode filtering unit 1244 and a high frequency filtering unit 1242 are connected to form a first connection point c and a second connection point d
  • the first unit 1246A connects the first connection point c and the motor 11
  • the second unit 1246B connects the second connection point d and the motor 11.
  • the first unit 1246A is connected to the first connection point c and the second unit 1246B is connected to the second connection point d
  • the first unit 1246A and the second unit 1246B are connected to the two ends of the motor 11 respectively, that is to say, the common mode noise at both ends of the motor 11 can pass through the first unit 1246A and the second unit 1246B, thereby reducing the common mode noise to the motor 11 influences.
  • the first unit 1246A includes an RC filter circuit
  • the second unit 1246B includes an RC filter circuit.
  • the RC filter circuit is formed by a resistor (R1, R2) and a capacitor (C1, C2) connected in series, one end of the RC filter circuit of the first unit 1246A is connected to the first connection point c, the other end is grounded; the second unit 1246B One end of the RC filter circuit is connected to the second connection point d, and the other end is grounded.
  • the motor 11 includes, but is not limited to, a brush motor 11, a brushless motor 11, or a hollow cup motor 11.
  • the motor 11 may be a brush motor 11.
  • the brushed motor 11 has the characteristics of fast startup, timely braking, smooth speed regulation, etc., which is beneficial to control the rotation angle of the motor 11 to drive the load 20.
  • the protection circuit 12 can be used to suppress the EMC radiation generated by the commutation spark of the brushed motor 11 and improve the EMC performance of the steering gear 10.
  • the steering gear 10 includes a housing 13.
  • the housing 13 includes an upper housing 131, a middle housing 132 and a lower housing 133.
  • the upper housing 131 and the lower housing 133 are mounted on The opposite sides of the middle case 132, and the upper case 131, the middle case 132, and the lower case 133 enclose a receiving space 134.
  • the motor 11 is installed in the middle case 132 and the lower case 133. In this way, the upper case 131, the middle case 132 and the lower case 133 can be used to install and protect the motor 11.
  • the upper case 131 and the lower case 133 are mounted to the middle case 132 by screw 135 connection.
  • the upper shell 131 and the lower shell 133 can also be mounted to the middle shell 132 by snap connections, interference fit connections, or other connection methods.
  • the housing 13 can be made of plastic, which is easy to manufacture, which is beneficial to reduce the cost of the steering gear, and can effectively reduce the weight of the steering gear, and meet the load-bearing requirements of the electrical equipment 100.
  • the steering gear 10 includes a circuit board 14, and the protection circuit 12 is disposed on the circuit board 14.
  • the circuit board 14 is installed in the middle case 132 and located in the receiving space 134.
  • the circuit board 14 is convenient for the protection circuit 12 to be arranged, and the upper case 131, the middle case 132 and the lower case 133 cooperate to protect the protection circuit 12.
  • the steering gear 10 includes a vibration damping member 15, the vibration damping member 15 is located in the housing 13, the motor 11 includes a motor housing 112, and a vibration damping member 15 is provided between the motor housing 112 and the housing 13 .
  • the shock absorbing member 15 can reduce the vibration of the motor 11 during operation, ensure the stability of the operation of the motor 11, reduce the noise generated by the motor 11, and help to improve the user experience.
  • the motor housing 112 includes an upper end 1122 and a lower end 1124.
  • the motor 11 includes a motor shaft 114.
  • the motor shaft 114 passes through the upper end 1122.
  • a damper 15 is provided between the upper end 1122 and the housing 13 and the lower end
  • a damper 15 is provided between 1124 and the housing 13. That is to say, the shock absorbing member 15 is installed on the end surface of the motor housing 112.
  • a damping pad 15 is provided between the upper end 1122 and the middle shell 132
  • a damping pad 15 is provided between the lower end 1124 and the lower shell 133.
  • the upper end 1122 is provided with a first convex portion 1126
  • the lower end 1124 is provided with a second convex portion 1128.
  • the damper 15 at the upper end 1122 is disposed around the first convex portion 1126 and the damper at the lower end 1124 15 is disposed around the second convex portion 1128.
  • the shock absorbing pad 15 may be formed in a ring shape, and are respectively installed on the upper end 1122 and the lower end 1124 of the motor 11.
  • the first convex portion 1126 and the second convex portion 1128 facilitate the installation of the motor 11.
  • the shock absorbing pad 15 may also be arc-shaped or other shapes.
  • the number of the shock absorbing pad 15 may be multiple.
  • the multiple shock absorbing pads 15 at the upper end 1122 are disposed around the first convex portion 1126 at the lower end
  • the plurality of cushioning pads 15 of 1124 are disposed around the second convex portion 1128.
  • a damping pad 15 may be provided between the side wall of the motor 11 and the housing 13 along the circumferential direction of the motor 11 to further increase the damping effect of the motor 11.
  • the shock absorbing pad 15 includes but is not limited to rubber, foam, foam, or sponge.
  • the steering gear 10 includes a transmission assembly 16 and an output shaft 17, the motor shaft 114 is provided with a helical gear 1142, the transmission assembly 16 connects the helical gear 1142 and the output shaft 17, and the motor 11 is used to drive the helical gear 1142 and The assembly 16 drives the output shaft 17 to rotate.
  • the structure is compact, which can reduce the upward and downward movement of the motor shaft 114, reduce the noise generated by the transmission, and improve the transmission stability and transmission efficiency of the motor 11.
  • the transmission assembly 16 is disposed in the housing 13 and is located between the middle shell 132 and the upper shell 131.
  • One or some components of the load 20 may be connected to the output shaft 17.
  • the helical gear 1142 includes, but is not limited to, a spiral bevel gear, face gear, turbine worm, and the like.
  • the transmission assembly 16 includes a reduction gear set.
  • the gear set is composed of multiple gears meshing, and the structure of the transmission assembly 16 can be relatively compact, and through the cooperation between the multiple gears, the multiple gears can be used to transmit torque.
  • the output speed of the motor shaft 114 is relatively high. Therefore, by reasonably designing the size of the gear and the reduction ratio, the transmission assembly 16 has a certain deceleration performance, and can effectively increase the torque, making the steering gear
  • the output shaft 17 of 10 can be output with a small rotation speed and a large torque.
  • the materials of the helical gear 1142 and the gear may be selected from plastic gears, metal gears, powder metallurgy gears, or gears of other materials according to needs, which is not specifically limited herein.
  • the cost of plastic gears is low and easy to manufacture, which is beneficial to reduce the cost of the steering gear 10.
  • the strength of the metal gear is high, and it is not easy to wear, which is conducive to improving the reliability of the steering gear 10.
  • the steering gear 10 includes a controller 18 that is disposed on the circuit board 14 and used to control the driving module 122 to drive the motor 11 to work.
  • the controller 18 is used to determine the target position of the output shaft 17 and control the conduction or disconnection of each switch tube in the drive module 122, thereby driving the motor 11 to work, driving the output shaft 17 to rotate to the target position.
  • the target position of the output shaft 17 may be determined according to a control instruction sent by the user, or the target position of the output shaft 17 may be determined according to the posture and/or position of the load 20 during automatic control.
  • the steering gear 10 includes a position detection assembly 19, and the output shaft 17 is partially located in the housing 13.
  • the output shaft 17 includes a first end 172 inside the housing 13, and the first end 172 is provided with a fixing sleeve 1722 made of a non-magnetic material.
  • the position detection assembly 19 includes a magnetic member 192 and a detection member 194, one of the magnetic member 192 and the detection member 194 is provided in the fixing sleeve 1722, and the detection member 194 is used to detect the position information of the magnetic member 192.
  • the position detection component 19 can be used to detect the rotation angle of the output shaft 17 to determine the position where the output shaft 17 rotates, wherein the position detection component 19 is connected to the controller 18 and sends the position information of the detected output shaft 17 to the controller 18.
  • the controller 18 determines whether the output shaft 17 rotates to the target position according to the received position information of the output shaft 17.
  • the position of the output shaft 17 is made more accurate, and the control accuracy of the steering gear 10 is improved.
  • the detection member 194 may be a magnetic encoder, and the magnetic encoder may be used to detect the magnetism of the magnetic member 192.
  • the encoder does not need to contact the output shaft 17, and the detection accuracy is high and the service life is long.
  • the magnetic encoder detects that the magnetism of the magnetic member 192 also changes accordingly, and the magnetic encoder determines the relative position of the magnetic encoder and the magnetic member 192 according to the detected magnetic change, That is, the detection element 194 can be used to detect the position information of the magnetic element 192.
  • the magnetic encoder detects a change in the magnetic property of the magnetic member 192, and the magnetic encoder determines the rotation angle of the magnetic encoder relative to the magnetic member 192 according to the detected magnetic change.
  • one of the magnetic member 192 and the detecting member 194 is provided in the fixed sleeve 1722, that is, one of the magnetic member 192 and the detecting member 194 rotates in synchronization with the output shaft 17.
  • the detection element 194 can detect the position information of the output shaft 17.
  • the magnetic member 192 is provided in the fixed sleeve 1722 and can rotate synchronously with the output shaft 17, and the detection member 194 is fixedly installed in the housing 13.
  • the detection member 194 is provided in the fixed sleeve 1722 and can rotate synchronously with the output shaft 17, and the magnetic member 192 is fixedly installed in the housing 13.
  • the magnetic member 192 is provided on the fixed sleeve 1722 and can rotate synchronously with the output shaft 17, and the detection member 194 is fixedly installed on the circuit board 14. In this way, the position of the detecting element 194 is fixed, which is convenient for detecting signal transmission.
  • the magnetic member 192 may be a permanent magnet, and the permanent magnet has relatively stable magnetism, which is beneficial to ensure the accuracy of the magnetic information detected by the detection member 194 and improve the control accuracy of the steering gear 10.
  • the fixing sleeve 1722 may be made of a non-magnetic conductive material, so that the magnetism between the detecting member 194 and the magnetic member 192 is not affected by the fixing sleeve 1722.
  • the fixing sleeve 1722 is made of plastic material, and the fixing sleeve 1722 is provided on the first end 172 by injection molding.
  • the magnetic member 192 may be built into the fixing sleeve 1722. In this way, the fixing sleeve 1722 has a low cost, is easy to manufacture, and has a simple installation method.
  • the magnetic member 192 may be installed on the fixing sleeve 1722 by glue, interference fit or other methods.
  • the fixing sleeve 1722 can also be made by machining processes such as machining and 3D printing, which is not specifically limited herein.
  • the fixed sleeve 1722 and the output shaft 17 may be an integral structure or a separate structure.
  • the fixing sleeve 1722 and the output shaft 17 may be an integral structure, that is, the first end 172 of the output shaft 17 is provided with a receiving groove, and the magnetic member 192 may be disposed in the receiving groove.
  • the fixed sleeve 1722 and the output shaft 17 are separate structures, and the magnetic member 192 can be installed to the fixed sleeve 1722 first, and then the fixed sleeve 1722 with the magnetic member 192 can be installed to the output ⁇ 17 ⁇ Axis 17.
  • the output shaft 17 includes a second end 174 located outside the housing 13, the second end 174 is mounted with a rudder disc 1742.
  • the rudder disc 1742 can rotate synchronously with the output shaft 17, and the load 20 is connected to the rudder disc 1742, so that when the output shaft 17 rotates, the load 20 can be driven to rotate, that is, the servo 10 can be used to drive the load 20 to rotate To control the attitude and relative position of the load 20.
  • the rudder disc 1742 can make the connection between the load 20 and the servo 10 more convenient, and the stability of the connection is better.
  • the rudder disc 1742 may be a tapered rudder disc 1742.
  • the conical rudder disc 1742 is connected to the conical slope pin of the output shaft 17.
  • the second end 174 of the output shaft 17 is further provided with a locking screw 1744.
  • the locking screw 1744 cooperates with the output shaft 17 to fix and lock the steering wheel 1742 on the output shaft 17.
  • the housing 13 is provided with a mounting shaft 136, and the mounting shaft 136 is provided with a mounting bearing 1362.
  • the second end 174 of the output shaft 17 extends from the upper casing 131 to the casing 13, and the mounting shaft 136 is provided on the lower casing 133.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Steering Mechanism (AREA)

Abstract

一种舵机(10)，包括电机(11)和防护电路(12)，防护电路(12)包括驱动模块(122)和防护模块(124)，防护模块(124)连接驱动模块(122)和电机(11)，驱动模块(122)包括第一输出端(a)和第二输出端(b)，防护模块(124)包括高频滤波单元(1242)、差模滤波单元(1244)和共模滤波单元(1246)，高频滤波单元(1242)连接第一输出端(a)和第二输出端(b)，差模滤波单元(1244)连接高频滤波单元(1242)和电机(11)，共模滤波单元(1246)连接差模滤波单元(1244)、高频滤波单元(1242)和电机(11)。一种用电设备(100)，包括负载(20)和该舵机(10)，舵机(10)连接负载(20)。

Description

舵机和用电设备 技术领域
本申请涉及电机驱动控制技术领域，特别涉及一种舵机和用电设备。
背景技术
目前，舵机被广泛地应用到驱动装置中。舵机的动力来源于驱动电机，驱动电机工作时带动传动组件，传动组件将驱动电机的动力输出。现有的舵机一般采用金属外壳，金属外壳可以使得舵机具有较佳的EMC特性(电磁兼容性)。然而，金属外壳也使得舵机整体重量较重，舵机的应用范围受限，例如在对重量较敏感的用电设备应用时，则需要考虑从各方面减重。
发明内容
本申请实施方式提供一种舵机和用电设备。
本申请实施方式提供一种舵机，其包括电机和防护电路，所述防护电路包括驱动模块和防护模块，所述防护模块连接所述驱动模块和所述电机，所述驱动模块包括第一输出端和第二输出端，所述防护模块包括高频滤波单元、差模滤波单元和共模滤波单元，所述高频滤波单元连接所述第一输出端和所述第二输出端，所述差模滤波单元连接所述高频滤波单元和所述电机，所述共模滤波单元连接所述差模滤波单元、所述高频滤波单元和所述电机。
本申请实施方式提供一种用电设备，其包括负载和本申请实施方式的舵机，所述舵机连接所述负载。
本申请实施方式的舵机和用电设备中，舵机具有防护模块，即使不使用金属外壳，也能够使得舵机具有良好的EMC性能，这样可使舵机的应用更广，特别适合应用于对重量敏感的用电设备中。
本申请的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实施方式的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本申请实施方式的用电设备的模块示意图。
图2是本申请实施方式的舵机的控制框图。
图3是本申请实施方式的舵机的模块示意图。
图4是本申请实施方式的防护电路的电路图。
图5是本申请实施方式的舵机的立体示意图。
图6是本申请实施方式的舵机的平面示意图。
图7是图6的舵机沿VII-VII方向的剖面示意图。
图8是本申请实施方式的舵机的分解示意图。
主要附图元件说明：
用电设备100、舵机10、电机11、电机壳112、上端1122、下端1124、第一凸部1126、第二凸部1128、电机轴114、斜齿轮1142、防护电路12、驱动模块122、防护模块124、高频滤波单元1242、差模滤波单元1244、共模滤波单元1246、第一单元1246A、第二单元1246B、壳体13、上壳131、中壳132、下壳133、收容空间134、螺钉135、安装轴136、安装轴承1362、电路板14、减振件15、传动组件16、输出轴17、第一端172、固定套1722、第二端174、舵盘1742、锁紧螺丝1744、控制器18、位置检测组件19、磁性件192、检测件194、负载20、第一输出端a、第二输出端b、第一磁珠L1、第二磁珠L2、滤波电容C0、第一连接点c、第二连接点d。
具体实施方式
下面详细描述本申请的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在本申请的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括 第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接。可以是机械连接，也可以是电连接。可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
下文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本申请提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
请参阅图1，本申请实施方式的用电设备100包括舵机10和负载20，舵机10连接负载20。其中，舵机10可以用于驱动负载20或负载20的某一个或多个部件转动。
在某些实施方式中，用电设备100包括但不限于无人机、无人船、机器人等设备。进一步地，对于不同的用电设备100，负载20可以是不同的功能组件。例如，在无人机中，负载20可以是无人机的动力组件，舵机10可用来控制动力组件相对无人机机身运动以改变无人机的偏航、俯仰、翻滚等姿态；当然，负载20还可以是无人机搭载的其他转向装置，舵机10可以用于驱动转向装置转向；舵机10也可以用于控制机械臂的移动。
请一并参阅2至图4，本申请实施方式的舵机10包括电机11和防护电路12。防护电路12包括驱动模块122和防护模块124，防护模块124连接驱动模块122和电机11，驱动模块122包括第一输出端a和第二输出端b。防护模块124包括高频滤波单元1242、差模滤波单元1244和共模滤波单元1246，高频滤波单元1242连接第一输出端a和第二输出端b，差模滤波单元1244连接高频滤波单元1242和电机11，共模滤波单元1246连接差模滤波单元1244、高频滤波单元1242和电机11。
上述舵机10和用电设备100中，舵机10具有防护模块124，即使不使用金属外壳，也能够使得舵机10具有良好的EMC性能，这样可使舵机10的应用更广，特别适合应用于对重量敏感的用电设备100中，例如，对于无人机和竞技机器人来说，由于无人机和竞技机器人所搭载的电池容量有限，无人机和机器人的减重显得尤其重要。
在某些实施方式中，电机11的驱动电源V可以是直流电源，驱动模块122可以是H桥电路，H桥电路由4个开关管(M1、M3、M2、M4)构成，以一定的频率控制对应的开关管导通或断开可以用于控制经过H桥电路的电流，进而驱动并控制电机11的转向和调速。在一个例子中，驱动模块122可以将直流电转换为可变频率的交流电，同样地，可以用于驱动电机11工作。
具体地，在一些实施例中，开关管可以是功率晶体管(GTR)、功率场效应晶体管(MOSFET)或绝缘栅晶体管(IGBT)等。
在某些实施方式中，高频滤波单元1242包括第一磁珠L1和第二磁珠L2，第一磁珠L1连接第一输出端a和差模滤波单元1244，第二磁珠L2连接第二输出端b和差模滤波单元1244。
可以理解，磁珠可以用于对驱动信号进行滤波，抑制驱动信号中的高频噪声和尖峰干扰，并可以吸收静电脉冲。第一磁珠L1和第二磁珠L2可以在电路中形成双向滤波，增加防护电路12的性能。
在某些实施方式中，差模滤波单元1244包括滤波电容C0，滤波电容C0连接高频滤波单元1242和电机11。具体地，滤波电容C0和电机11并联，电路中的差模噪声可以通过滤波电容C0，从而减小差模噪声对电机11的影响，保证电机11驱动的稳定性。
进一步地，在某些实施方式中，共模滤波单元1246包括第一单元1246A和第二单元1246B，差模滤波单元1244和高频滤波单元1242连接形成第一连接点c和第二连接点d，第一单元1246A连接第一连接点c和电机11，第二单元1246B连接第二连接点d和电机11。
具体地，电机11的两端分别连接第一连接点c和第二连接点d，第一单元1246A连接到第一连接点c且第二单元1246B连接到第二连接点d时，第一单元1246A和第二单元1246B分别连接在电机11的两端，也即是说，电机11两端的共模噪声可以分别经过第一单元1246A和第二单元1246B，从而减小共模噪声对电机11的影响。
在某些实施方式中，第一单元1246A包括RC滤波电路，和/或第二单元1246B包括RC滤波电路。其中，RC滤波电路分别由一个电阻(R1、R2)和一个电容(C1、C2)串联形成，第一单元1246A的RC滤波电路一端连接第一连接点c，另一端接地；第二单元1246B的RC滤波电路一端连接第二连接点d，另一端接地。
需要说明的是，本申请实施方式的防护电路12中，可以通过较简单的电路设计和较低的成本实现良好的EMC性能。其中，各个电子元器件(磁珠、电阻、电容等)的大小和性能可以根据需要灵活配置，在此不做具体限定。
在某些实施方式中，电机11包括但不限于有刷电机11、无刷电机11或空心杯电机11。
在一个例子中，电机11可以是有刷电机11。有刷电机11具有启动快、制动及时、调速平滑等特点，有利于控制电机11驱动负载20转动角度。其中，防护电路12可以用于抑制有刷电机11换相火花产生的EMC辐射，提高舵机10的EMC性能。
请一并参阅图5至图8，在某些实施方式中，舵机10包括壳体13，壳体13包括上壳131、中壳132和下壳133，上壳131和下壳133安装在中壳132相背的两侧，且上壳131、中壳132、下壳133合围成收容空间134。其中，电机11安装在中壳132和下壳133。如此，上壳131、中壳132和下壳133可以用于安装并保护电机11。
在图示的实施例中，上壳131和下壳133通过螺钉135连接的方式安装到中壳132。当然，在其他实施例中，上壳131和下壳133还可以通过卡扣连接、过盈配合连接或其他连接方式安装到中壳132。
具体地，在一个例子中，壳体13可以由塑料制成，塑料易于制造，有利于减少舵机的成本，且可以有效降低舵机的重量，满足用电设备100的负重需求。
在某些实施方式中，舵机10包括电路板14，防护电路12设置在电路板14。具体地，电路板14安装在中壳132且位于收容空间134内。电路板14便于防护电路12设置，上壳131、中壳132和下壳133配合可以保护防护电路12。
在某些实施方式中，舵机10包括减振件15，减振件15位于壳体13内，电机11包括电机壳112，电机壳112与壳体13之间设有减振件15。
如此，减震件15可以减小电机11工作时的震动，保证电机11工作的稳定性，减小电机11产生的噪声，有利于提高用户体验。
在某些实施方式中，电机壳112包括上端1122和下端1124，电机11包括电机轴114，电机轴114由上端1122穿出，上端1122与壳体13之间设有减振件15，下端1124与壳体13之间设有减振件15。也即是说，减震件15安装在电机壳112的端面。具体地，上端1122与中壳132之间设有减震垫15，下端1124和下壳133之间设有减震垫15。
在某些实施方式中，上端1122设有第一凸部1126，下端1124设有第二凸部1128，位于上端1122的减振件15围绕第一凸部1126设置，位于下端1124的减振件15围绕第二凸部1128设置。
具体地，减震垫15可以呈环形，分别安装在电机11的上端1122和下端1124，第一凸部1126和第二凸部1128有利于电机11的安装。在其他实施例中，减震垫15还可以是弧形或其他形状，减震垫15的数量可以是多个，位于上端1122的多个减震垫15围绕第一凸部1126设置，位于下端1124的多个减震垫15围绕第二凸部1128设置。
进一步地，在某些实施方式中，电机11侧壁和壳体13之间可以沿电机11的周向设置有减震垫15，进一步增加电机11的减震效果。
具体地，减震垫15包括但不限于橡胶、泡棉、泡沫或海绵等。
在某些实施方式中，舵机10包括传动组件16和输出轴17，电机轴114设有斜齿轮1142，传动组件16连接斜齿轮1142和输出轴17，电机11用于通过斜齿轮1142和传动组件16驱动输出轴17转动。
如此，斜齿轮1142和传动组件16连接时结构紧凑，可以减少电机轴114向的上下攒动，降低传动产生的噪音，提高电机11传动的稳定性和传动效率。具体地，传动组件16设置在壳体13内且位于中壳132和上壳131之间。负载20的某一或某些部件可连接输出轴17。
在某些实施方式中，斜齿轮1142包括但不限于螺旋锥齿轮、面齿轮、涡轮蜗杆等。
在某些实施方式中，传动组件16包括减速齿轮组。
可以理解，齿轮组由多个齿轮啮合构成，传动组件16的结构可以较紧凑，通过多个齿轮之间的配合，可以利用多个齿轮传递力矩。同时，电机11工作时，电机轴114输出的转速较高，因此，可以通过合理设计齿轮的大小和减速比，使得传动组件16具有一定的减速性能，并可以有效增大转矩，使得舵机10的输出轴17能够以较小的转速及较大的转矩输出。
具体地，斜齿轮1142和齿轮的材料可以根据需要选择塑料齿轮、金属齿轮、粉末冶金齿轮或其他材料的齿轮，在此不做具体限定。其中，塑料齿轮成本较低且易于制造，有利于降低舵机10的成本。金属齿轮的强度较高，不容易磨损，有利于提高舵机10的可靠性。
在某些实施方式中，舵机10包括控制器18，控制器18设置在电路板14并用于控制驱动模块122驱动电机11工作。具体地，控制器18用于确定输出轴17的目标位置，并控制驱动模块122中各个开关管的导通或断开，从而驱动电机11工作，带动输出轴17转动到目标位置。其中，输出轴17的目标位置可以根据用户发送的控制指令确定，或输出轴17的目标位置可以根据自动控制时负载20的姿态和/或位置确定。
进一步地，在某些实施方式中，舵机10包括位置检测组件19，输出轴17部分地位于壳体13内。输出轴17包括位于壳体13内的第一端172，第一端172设有由非导磁材料制成的固定套1722。位置检测组件19包括磁性件192和检测件194，磁性件192和检测件194的其中一个设在固定套1722，检测件194用于检测磁性件192的位置信息。
如此，位置检测组件19可以用于检测输出轴17转动的角度从而确定输出轴17转动的位置，其中，位置检测组件19连接控制器18，并将检测到输出轴17的位置信息发送到控制器18，控制器18根据接收到的输出轴17的位置信息判断输出轴17是否转动到目标位 置。使得输出轴17的位置更加准确，提高舵机10控制的精确度。
其中，检测件194可以是磁编码器，磁编码器可以用于检测磁性件192的磁性，相对于接触式电位计，编码器无需与输出轴17接触，且检测精度高，使用寿命长。在磁性件192与磁编码器的相对位置发生变化时，磁编码器检测到磁性件192的磁性也相应发生变化，磁编码器根据检测的磁性变化确定磁编码器和磁性件192的相对位置，即检测件194可以用于检测磁性件192的位置信息。例如，磁编码器和磁性件192相对旋转时，磁编码器检测到磁性件192的磁性发生变化，磁编码器根据检测的磁性变化确定磁编码器相对磁性件192旋转的角度。
具体地，磁性件192和检测件194中的其中一个设在固定套1722，也即是说，磁性件192和检测件194中的其中一个与输出轴17同步转动。如此，检测件194可以检测输出轴17的位置信息。在一个例子中，磁性件192设在固定套1722并能够与输出轴17同步转动，检测件194固定安装在壳体13内。在另一个例子中，检测件194设在固定套1722并能够与输出轴17同步转动，磁性件192固定安装在壳体13内。
较佳地，在图示的例子中，磁性件192设在固定套1722并能够与输出轴17同步转动，检测件194固定安装在电路板14。如此，检测件194位置固定，便于检测信号传输。在一个例子中，磁性件192可以是永磁体，永磁体磁性相对稳定，有利于保证检测件194检测的磁性信息的准确度，提高舵机10控制的精确度。
其中，固定套1722可以由非导磁性材料制成，使得检测件194和磁性件192之间的磁性不受固定套1722的影响。在某些实施方式中，固定套1722由塑胶材料制成，固定套1722通过注塑的方式设在第一端172。磁性件192可以内置于固定套1722，如此，固定套1722成本较低、易于制造，且安装方式简单。其中，磁性件192可以通过打胶、过盈配合或其他方式安装在固定套1722。
在其他实施方式中，固定套1722还可以通过机加工、3D打印等加工工艺制成，在此不做具体限定。
在某些实施方式中，固定套1722和输出轴17可以是一体结构或分体结构。
在一个例子中，固定套1722和输出轴17可以是一体结构，也即是说，输出轴17的第一端172开设有容置槽，磁性件192可以设置在容置槽内。在另一个例子中，如图4所示，固定套1722和输出轴17是分体结构，可以先将磁性件192安装到固定套1722，再将带有磁性件192的固定套1722安装到输出轴17。
在某些实施方式中，输出轴17包括位于壳体13外的第二端174，第二端174安装有舵盘1742。
具体地，舵盘1742可以与输出轴17同步转动，负载20连接在舵盘1742，如此，输 出轴17转动时可以带动负载20转动，也即是说，舵机10可以用于驱动负载20转动以控制负载20的姿态和相对位置。通过舵盘1742可以使得负载20和舵机10的连接更加方便，且连接的稳定性更佳。
在某些实施方式中，舵盘1742可以是锥形舵盘1742。其中，锥形舵盘1742与输出轴17锥形斜面销连接。
在某些实施方式中，输出轴17的第二端174还设置有锁紧螺丝1744，锁紧螺丝1744与输出轴17配合将舵盘1742固定锁紧在输出轴17。
在某些实施方式中，壳体13设有安装轴136，安装轴136设有安装轴承1362。
具体地，输出轴17的第二端174自上壳131伸出壳体13，安装轴136设在下壳133。
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (15)

  1. 一种舵机，其特征在于，包括电机和防护电路，所述防护电路包括驱动模块和防护模块，所述防护模块连接所述驱动模块和所述电机，所述驱动模块包括第一输出端和第二输出端，所述防护模块包括高频滤波单元、差模滤波单元和共模滤波单元，所述高频滤波单元连接所述第一输出端和所述第二输出端，所述差模滤波单元连接所述高频滤波单元和所述电机，所述共模滤波单元连接所述差模滤波单元、所述高频滤波单元和所述电机。
  2. 如权利要求1所述的舵机，其特征在于，所述高频滤滤单元包括第一磁珠和第二磁珠，所述第一磁珠连接所述第一输出端和所述差模滤波单元，所述第二磁珠连接所述第二输出端和所述差模滤波单元。
  3. 如权利要求1所述的舵机，其特征在于，所述差模滤波单元包括滤波电容，所述滤波电容连接所述高频滤波单元和所述电机。
  4. 如权利要求1所述的舵机，其特征在于，所述共模滤波单元包括第一单元和第二单元，所述差模滤波单元和所述高频滤波单元连接形成第一连接点和第二连接点，所述第一单元连接所述第一连接点和所述电机，所述第二单元连接所述第二连接点和所述电机。
  5. 如权利要求4所述的舵机，其特征在于，所述第一单元包括RC滤波电路，和/或所述第二单元包括RC滤波电路。
  6. 如权利要求1所述的舵机，其特征在于，所述舵机包括壳体和减振件，所述电机和所述减振件位于所述壳体内，所述电机包括电机壳，所述电机壳与所述壳体之间设有所述减振件。
  7. 如权利要求6所述的舵机，其特征在于，所述电机壳包括上端和下端，所述电机包括电机轴，所述电机轴由所述上端穿出，所述上端与所述壳体之间设有所述减振件，所述下端与所述壳体之间设有所述减振件。
  8. 如权利要求7所述的舵机，其特征在于，所述上端设有第一凸部，所述下端设有第二凸部，位于所述上端的所述减振件围绕所述第一凸部设置，位于所述下端的所述减振件围绕所述第二凸部设置。
  9. 如权利要求1所述的舵机，其特征在于，所述电机包括电机轴，所述舵机包括传动组件和输出轴，所述电机轴设有斜齿轮，所述传动组件连接所述斜齿轮和所述输出轴，所述电机用于通过所述斜齿轮和所述传动组件驱动所述输出轴转动。
  10. 如权利要求9所述的舵机，其特征在于，所述传动组件包括减速齿轮组。
  11. 如权利要求1所述的舵机，其特征在于，所述舵机包括壳体、输出轴和位置检测组件，所述输出轴部分地位于所述壳体内，所述输出轴包括位于所述壳体内的第一端，所述第一端设有由非导磁材料制成的固定套，所述位置检测组件包括磁性件和检测件，所述磁性件和所述检测件的其中一个设在所述固定套，所述检测件用于检测所述磁性件的位置信息。
  12. 如权利要求11所述的舵机，其特征在于，所述固定套由塑胶材料制成，所述固定套通过注塑的方式设在所述第一端。
  13. 如权利要求11所述的舵机，其特征在于，所述输出轴包括位于所述壳体外的第二端，所述第二端安装有舵盘。
  14. 如权利要求13所述的舵机，其特征在于，所述舵盘为锥形舵盘。
  15. 一种用电设备，其特征在于，包括负载和权利要求1-14任一项所述的舵机，所述舵机连接所述负载。
PCT/CN2018/118263 2018-11-29 2018-11-29 舵机和用电设备 WO2020107344A1 (zh)

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