WO2023020304A1 - 舵机及机器人 - Google Patents

舵机及机器人 Download PDF

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Publication number
WO2023020304A1
WO2023020304A1 PCT/CN2022/110529 CN2022110529W WO2023020304A1 WO 2023020304 A1 WO2023020304 A1 WO 2023020304A1 CN 2022110529 W CN2022110529 W CN 2022110529W WO 2023020304 A1 WO2023020304 A1 WO 2023020304A1
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WO
WIPO (PCT)
Prior art keywords
gear
steering gear
steering
stage
output
Prior art date
Application number
PCT/CN2022/110529
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English (en)
French (fr)
Inventor
陈小森
郑黎明
Original Assignee
乐森机器人(深圳)有限公司
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Filing date
Publication date
Application filed by 乐森机器人(深圳)有限公司 filed Critical 乐森机器人(深圳)有限公司
Publication of WO2023020304A1 publication Critical patent/WO2023020304A1/zh

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    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/06—Use of materials; Use of treatments of toothed members or worms to affect their intrinsic material properties
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/031—Gearboxes; Mounting gearing therein characterised by covers or lids for gearboxes
    • 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
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • 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
    • H02K5/22—Auxiliary parts of casings not covered by groups H02K5/06-H02K5/20, e.g. shaped to form connection boxes or terminal boxes
    • H02K5/225—Terminal boxes or connection arrangements
    • 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
    • H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02034—Gearboxes combined or connected with electric machines
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2211/00—Specific aspects not provided for in the other groups of this subclass relating to measuring or protective devices or electric components
    • H02K2211/03—Machines characterised by circuit boards, e.g. pcb

Definitions

  • the disclosure belongs to the technical field of robot accessories, and in particular relates to a steering gear and a robot including the steering gear.
  • the steering gear is mainly composed of circuit boards, motors, reduction gear sets, sensors and control circuits. Its working principle is that the main control board of the robot sends a control signal to the steering gear, and the single-chip microcomputer on the steering gear circuit board makes corresponding processing to judge the direction of rotation, then drives the coreless motor to start rotating, and transmits the power to the steering gear through the reduction gear set. Swing the arm, and send back the detection signal to the position detection sensor at the same time to judge whether it has reached the predetermined position.
  • the steering gear is the power source for the remote control model and the humanoid robot to control the action, and it is also an important motion execution device for driving the joint activities of the robot.
  • the Chinese utility model patent whose authorized announcement number is CN 207616609U discloses a steering gear and a robot.
  • the steering gear includes a housing, a speed reduction mechanism, a motor, a control board, a control line and a potentiometer, and the speed reduction mechanism includes an output bearing.
  • the output gear set and the speed change gear set one end of the output bearing is connected with the potentiometer shaft, the other end of the output bearing is connected with the output gear set shaft, the speed change gear set is connected with the motor shaft, and the output gear set is connected with the speed changer
  • the gear set is meshed, the potentiometer is electrically connected to the control board through the control line, and the motor is electrically connected to the control board.
  • a steering gear including a steering gear body, an upper cover, a lower cover, and a gear set with a plurality of gears meshing with each other.
  • the gear set is located in the steering gear body and includes an output Gear, from the cross section of the steering gear body, the output gear is located in the center of the steering gear body.
  • a robot including the steering gear mentioned above.
  • a steering gear suitable for a small internal space of a robot and a small robot can be provided.
  • Fig. 1 is a schematic structural diagram of a steering gear according to some exemplary embodiments of the present disclosure.
  • Fig. 2 is a disassembled schematic diagram of a steering gear according to some exemplary embodiments of the present disclosure.
  • Fig. 3 is a schematic diagram of the internal structure of a steering gear according to some exemplary embodiments of the present disclosure.
  • Fig. 4 is a schematic structural diagram of a gear set in a steering gear according to some exemplary embodiments of the present disclosure.
  • Fig. 5 is a schematic structural diagram of a steering gear according to other exemplary embodiments of the present disclosure.
  • the directional indications (such as top, bottom, up, down, left, right, front, back) are only used to explain the position in a certain posture (such as the posture shown in the accompanying drawings) ) under the relative positional relationship, movement conditions, etc. between the various components, if the specific posture changes, the directional indication will also change accordingly.
  • connection and “fixation” should be interpreted in a broad sense, for example, “fixation” can be a non-detachable connection, a detachable connection, or an integral body; It may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediary, and it may be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined.
  • first, second, etc. to describe various elements is not intended to limit the positional relationship, chronological relationship, or importance relationship of these elements. to distinguish one element from another.
  • first element and the second element may refer to the same instance of the element, and in some cases, they may also refer to different instances based on contextual description.
  • Fig. 1 shows a schematic structural diagram of a steering gear according to some exemplary embodiments of the present disclosure.
  • Fig. 2 is a disassembled schematic diagram of a steering gear according to some exemplary embodiments of the present disclosure.
  • Fig. 3 is a schematic diagram of the internal structure of a steering gear according to some exemplary embodiments of the present disclosure.
  • a steering gear including a steering gear body 1, an upper cover 2, a lower cover 3, and a gear set with a plurality of gears meshing with each other, and the gear set is located in the steering gear body 1 , which includes an output gear 20 located at the center of the steering gear body 1 .
  • the steering gear according to the embodiments of the present disclosure can effectively utilize the inner space of the steering gear housing, and can be used as a steering gear for the biceps of the robot, so that the biceps of the robot can rotate normally in the center.
  • the steering gear has an elongated shape suitable for use as a bicep joint for a robot.
  • the overall size of the steering gear is 53.4mm ⁇ 26.4mm ⁇ 22.5mm. It is obvious from the size that the steering gear is thin and tall, suitable for biceps joints, and easy to embed inside the big arm of the robot.
  • the steering gear includes a motor.
  • motors are required to be small in size and capable of providing powerful torque.
  • the motor adopts a hollow cup structure, the torque can be released to the maximum, and the locked-rotor torque can reach 35g ⁇ cm, which is very strong.
  • the hollow cup motor 12 is disposed below the output gear 20 , and a potentiometer 22 is provided between the output gear 20 and the hollow cup motor 12 . Since the motor is arranged below the output gear, the potentiometer can be arranged between the motor and the output gear to detect the angle of the output gear.
  • the potentiometer 22 is fixed on the servo PCB circuit board 21 .
  • the servo PCB circuit board 21 is located below the output gear 20 and beside the hollow cup motor, so that the potentiometer 22 fixed on the PCB circuit board 21 is located between the output gear 20 and the hollow cup motor 12. between.
  • the rear end of the steering gear PCB circuit board 21 is circularly cut, as shown in Figure 3, the end of the steering gear PCB circuit board 21 near the hollow cup motor is cut A circular recess through which the coreless motor passes saves space.
  • the servo board PCB is thickened by 1.0mm.
  • a steering plate 31 is provided under the lower cover 3 to prepare for connecting the arm steering gear.
  • the steering gear can drive the forearm to move normally while the bicep of the robot is centered and rotated normally.
  • the steering gear has an upper outlet structure 5 and a lower outlet structure 6 .
  • the upper outlet structure 5 is arranged on the upper cover 2
  • the lower outlet structure 6 is arranged on the lower cover 3 .
  • the steering gear also includes an upper lead-out wire and a lower lead-out wire.
  • the routing method is, for example, welding the upper lead-out wire through the upper cover 2 to the steering gear PCB circuit board 21, and the potentiometer 22 is fixed on the steering gear.
  • the steering gear includes a connection seat 7 for plugging and electrically connecting with another steering gear
  • the connection base 7 is disposed outside the steering gear and is configured to be electrically connected to the PCB circuit board 21 . Through the connecting seat 7, it can be conveniently electrically connected with other steering gears.
  • the connecting seat 7 is arranged on the outer surface of the steering gear body 1, in the form of a socket, and is electrically connected with the PCB circuit board 21 located in the steering gear body 1, for connecting with the steering gear body 1.
  • Other servos such as the connecting socket on the forearm servo, are plugged in for connection.
  • the connecting seat 7 the lower lead-out line and the lower lead-out line structure 6 can be replaced.
  • the gear set includes a plurality of intermeshing gears.
  • Fig. 4 shows a schematic structural diagram of a gear set in a steering gear according to some exemplary embodiments of the present disclosure.
  • the steering gear body 1 is also provided with a first-stage gear 13, a second-stage gear 14, a third-stage gear 15, a fourth-stage gear 16, a fifth-stage gear 17, a sixth-stage gear 18 and a motor.
  • the gear 23, the motor gear is connected with the output shaft of the motor (such as the coreless motor 12).
  • the whole gear set is roughly arranged side by side with the hollow cup motor 12 in the axial direction, the motor gear 23 is connected with the output shaft of the hollow cup motor, and the output gear 20 is located on the other side of the hollow cup motor 12 opposite to the output shaft, thus saving space And it can realize the overall thin and long steering gear.
  • the motor teeth are made of copper alloy material.
  • the working process of the gear set is, for example: the motor gear 23 is in active engagement with the first-stage gear 13;
  • the first-stage gear 13 is coaxially connected;
  • the first-stage pinion is movably meshed with the second-stage gear 14, and a second-stage pinion is also set on the rotating shaft of the second-stage gear 14, and the second-stage pinion is located on the upper part of the second-stage gear 14
  • the secondary pinion is movably meshed with the tertiary gear 15, and a tertiary pinion is set on the rotating shaft of the tertiary gear 15, and the tertiary pinion is in the tertiary
  • the upper part of the gear 15 is coaxially connected with the third-stage gear 15;
  • the third-stage pinion is movably meshed with the fourth-stage gear 16, and a fourth-stage pinion is set on the rotating shaft of the fourth-stage gear 16, and the fourth-stage pinion Located
  • the fifth-stage pinion is located on the upper part of the fifth-stage gear 17 and is coaxially connected with the fifth-stage gear 17; the fifth-stage pinion is movably meshed with the sixth-stage gear 18, and the sixth-stage pinion is set on the rotating shaft of the sixth-stage gear 18 , the sixth-stage pinion is at the top of the sixth-stage gear 18 and fixedly connected with the sixth-stage gear 18 coaxially, and the sixth-stage pinion is connected to the input end of the output shaft of the output gear 20 (that is, the end meshing with the sixth-stage pinion)
  • the upper input gear is actively engaged.
  • the output end 11 of the output shaft of the output gear 20 passes through the upper cover 2 and is exposed outside the upper cover 2 .
  • the gear shaft diameter of the first-stage gear 13 is 1.2 mm; the gear shaft diameter of the second-stage gear 14 and the fourth-stage gear 16 is 1.5 mm; the gear shaft diameter of the third-stage gear 15 and the fifth-stage gear 17
  • the diameter of the gear shaft of the sixth-stage gear 18 is 2.0 mm; the diameter of the gear shaft of the output gear 20 is 8.0 mm.
  • the first-stage gear 13, the second-stage gear 14, the third-stage gear 15, the fourth-stage gear 16, the fifth-stage gear 17, and the sixth-stage gear 18 are made of iron teeth plus aluminum alloy teeth, that is, Some gears use iron teeth, and some gears use aluminum alloy teeth.
  • the fixedly connected pinions use iron teeth or aluminum alloy teeth. For example, their respective pinions adopt iron teeth to withstand greater forces.
  • the five-stage gear 17 and the six-stage gear 18 are larger in size and adopt aluminum alloy teeth.
  • the output gear 20 is made of aluminum alloy teeth.
  • the output gear 20 and the potentiometer are connected by a coupling 24, wherein a first end of the coupling is inserted into the output gear, and a second end of the coupling is inserted into a hole on the potentiometer.
  • the output gear 20 is made of aluminum alloy, so that a part of the coupling can be pressed into the gear and tightly fitted.
  • the coupling is machined from, for example, 304 stainless steel.
  • the lower section of the coupling (the second end that inserts into the potentiometer) is a D-piece for insertion directly into the potentiometer.
  • the potentiometer has a D-shaped hole matching the D-shaped head of the coupling.
  • the D-shaped hole is, for example, 1.4mm in diameter and 2mm in depth; correspondingly, the lower section of the coupling is designed to be 1.4mm in diameter and 2mm in length.
  • the potentiometer is a 360° continuous rotation potentiometer with an electrical range of 280°.
  • a round hole 25 is opened at the end of the upper cover 2, and the output gear 20 in the steering gear body 1 passes through the round hole.
  • the steering gear body 1, the upper cover 2 and the lower cover 3 are all provided with threaded holes, and the upper cover 2, the steering gear body 1 and the lower cover 3 are connected together by screws passing through the threaded holes .
  • threaded holes are provided at three corners of the steering gear body 1; threaded holes corresponding to the threaded holes provided on the steering gear body 1 are provided at three corners of the upper cover 2; Three of the corners are provided with threaded holes corresponding to the threaded holes provided on the steering gear body 1 and the upper cover 2 .
  • the upper cover 2, the steering gear body 1 and the lower cover 3 can be connected together by using three upper and lower screws 4 respectively passing through the threaded holes.
  • a threaded hole is respectively set at two adjacent corners of the steering gear body 1 and the middle of the side wall opposite to the two corners; Threaded holes are respectively provided at positions corresponding to the threaded holes of the steering gear body 1 , and threaded holes are respectively provided at positions corresponding to the threaded holes of the steering gear body 1 of the lower cover 3 .
  • the steering gear is designed in the form of 3 screws on the upper cover and the lower cover respectively. Compared with the traditional design of the steering gear with 4 screws, it can achieve a smaller frontal cross-sectional size and is suitable for smaller robots. space.
  • the gear shaft of the output gear 20 is provided with an oil bearing 19 .
  • a robot including the steering gear of any one of the above embodiments.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Thermal Sciences (AREA)
  • Electromagnetism (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Power Steering Mechanism (AREA)
  • Manipulator (AREA)
  • General Details Of Gearings (AREA)
  • Gear Transmission (AREA)

Abstract

提供一种舵机及其机器人，舵机包括舵机本体(1)、上盖(2)、下盖(3)以及具有相互啮合的多个齿轮的齿轮组，所述齿轮组位于舵机本体(1)内，其包括输出齿轮(20)，从所述舵机本体(1)的横截面看，该输出齿轮位于舵机本体(1)的居中部位。

Description

舵机及机器人 技术领域
本公开属于机器人配件技术领域，特别涉及一种舵机以及包括这种舵机的机器人。
背景技术
舵机主要由电路板、电机、减速齿轮组、传感器和控制电路组成。其工作原理是由机器人的主控板发出控制信号给舵机，经由舵机电路板上的单片机作出相应的处理，判断转动方向、再驱动无核心马达开始转动，通过减速齿轮组将动力传递至摆动臂，同时又将位置检测传感器送回检测信号，判断是否已经达到预定位置。舵机是遥控模型、人形机器人控制动作的动力来源，同时也是驱动机器人关节活动的重要运动执行装置。
例如授权公告号为CN 207616609U的中国实用新型专利，其公开了一种舵机和机器人，舵机包括壳体、减速机构、电机、控制板、控制线和电位器，所述减速机构包括输出轴承、输出齿轮组和变速齿轮组；所述输出轴承的一端与电位器轴连接，输出轴承的另一端与输出齿轮组轴连接，所述变速齿轮组与电机轴连接，所述输出齿轮组与变速齿轮组啮合，所述电位器通过控制线与控制板电连接，所述电机与控制板电连接。
发明内容
根据本公开实施例的一个方面，提供一种舵机，包括舵机本体、上盖、下盖以及具有相互啮合的多个齿轮的齿轮组，所述齿轮组位于舵机本体内，其包括输出齿轮，从舵机本体的横截面看，该输出齿轮位于舵机本体的居中部位。
根据本公开实施例的另一方面，提供一种机器人，包括上述舵机。
通过根据本公开实施例，可提供一种适用于机器人较小内部空间的舵机以及一种小体型机器人。
附图说明
下面将通过参照附图详细描述本公开的实施例，使本领域的普通技术人员更清楚本公开实施例的上述及其他特征和优点，附图中：
图1为根据本公开一些示例性实施例的舵机的结构示意图。
图2为根据本公开一些示例性实施例的舵机的拆分示意图。
图3为根据本公开一些示例性实施例的舵机的内部结构示意图。
图4为根据本公开一些示例性实施例的舵机中的齿轮组的结构示意图。
图5为根据本公开另一些示例性实施例的舵机的结构示意图。
附图标记说明：
1舵机本体，12空心杯电机，13一级齿轮，14二级齿轮，15三级齿轮，16四级齿轮，17五级齿轮，18六级齿轮，19铜环，20输出齿轮，21舵机PCB电路板，22电位器，23马达齿轮，24联轴器，25圆孔，2上盖，3下盖，4螺钉，5上出线结构，6下出线结构，7连接座。
具体实施方式
为了对本公开的技术特征、目的和效果有更加清楚的理解，现参照附图说明本公开的具体实施方式，在各图中相同的附图标记表示相同或相似的元素。为使图面简洁，各图中只示意性地表示出了与本公开相关的部分，它们并不代表其作为产品的实际结构。
在本文中，“示意性”表示“充当实例、例子或说明”，不应将在本文中被描述为“示意性”的任何图示、实施方式解释为一种更优选的或更具优点的技术方案。
需要说明的是，本公开实施例中，方向性指示(诸如顶、底、上、下、左、右、前、后)仅用于解释在某一特定姿态(如附图中所示的姿态)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
在本公开中，除非另有明确的规定和限定，术语“连接”、“固定”等应做广义理解，例如，“固定”可以是不可拆卸连接，也可以是可拆卸连接，或成一体；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，除非另有明确的限定。
在本公开中，除非另有说明，否则使用术语“第一”、“第二”等来描述各种要素并不意图限定这些要素的位置关系、时序关系或重要性关系，这种术语只是用于将一个要素与另一要素区分开。在一些示例中，第一要素和第二要素可以指向该要素的同一实例，而在某些情况下，基于上下文的描述，它们也可以指代不同实例。
以下的说明本质上仅仅是示例性的而并不是为了限制本公开、应用或用途。下面结合说明书附图对本公开的舵机的具体实施方式作进一步的说明。
图1示出了根据本公开一些示例性实施例的舵机的结构示意图。图2为根据本公开一些示例性实施例的舵机的拆分示意图。图3为根据本公开一些示例性实施例的舵机的内部结构示意图。
根据本公开实施例的一个方面，提供一种舵机，包括舵机本体1、上盖2、下盖3以及具有相互啮合的多个齿轮的齿轮组，所述齿轮组位于舵机本体1内，其包括输出齿轮20，该输出齿轮位于舵机本体1的居中部位。根据本公开实施例的舵机，可有效利用舵机壳体的内部空间，可用作机器人二头肌的舵机，使机器人二头肌居中正常转动。
在一些实施例中，舵机呈瘦长形，可适合用作机器人的二头肌关节。例如，该舵机整体尺寸为53.4mm×26.4mm×22.5mm，从尺寸上明显看出，该舵机属于瘦高型，适合用作二头肌关节，便于埋入机器人的大臂内部。
在一些实施例中，所述舵机包括电机。在机器人中，要求电机尺寸小，且需要电机能够提供强大的扭矩。在一些示例中，电机采用空心杯结构，扭矩得以最大释放，堵转扭矩能够达到35g·cm，非常强劲。
在一些实施例中，空心杯电机12设置在所述输出齿轮20的下方，输出齿轮20与空心杯电机12之间设有电位器22。由于电机设置在输出齿轮的下方，电位器可以设置在电机和输出齿轮之间，用于检测输出齿轮的角度。
在一些实施例中，所述电位器22固定在舵机PCB电路板21上。例如，如图3所示，舵机PCB电路板21位于输出齿轮20的下方以及空心杯电机的旁侧，使得固定在PCB电路板21上的电位器22处于输出齿轮20与空心杯电机12之间。在一些示例中，在采用圆柱形的空心杯电机时，舵机PCB电路板21的后端是圆形剪裁，如图3所示，舵机PCB电路板21的靠近空心杯电机的一端被剪裁出圆形凹口，空心杯电机穿过该凹口，从而节省空间。在一些示例中，舵机板PCB电路板采用了1.0mm加厚处理。
在一些实施例中，所述下盖3的下方设有舵盘31，为连接小臂舵机做准备。由此，舵机在使机器人二头肌居中正常转动的同时能够带动小臂正常活动。
在一些实施例中，所述舵机具有上出线结构5和下出线结构6。例如，在如图1所示的实施例中，上出线结构5设置在上盖2上，下出线结构6设置在下盖3上。在电位器位于舵机本体的中间部位时，设置上出线结构5和下出线结构6可有效利用壳体的内部空间。
在一些实施例中，舵机还包括上引出线和下引出线，走线方式例如为：将上引出线穿过上盖2焊接在舵机PCB电路板21上，电位器22固定在舵机PCB电路板21上，同 时使电位器22上的小孔与输出齿轮20上的电位器轴配合，然后盖上电路板，上引出线从上盖2上的上出线结构5的孔引出；将下引出线从舵机PCB电路板21上引出，电位器22固定在舵机PCB电路板21上，同时使电位器22上的小孔与输出齿轮20上的电位器轴配合，然后盖上电路板，下引出线从下盖3上的下出线结构6的孔引出。
在一些实施例中，所述舵机包括用于与另一舵机插接电连接的连接座7，该连接座7设置于舵机外侧且被配置为与PCB电路板21电连接。通过连接座7，可方便地与其他舵机电连接。
例如，在如图5所示的实施例中，连接座7设置于舵机本体1的外侧面上，呈插座的形式，与位于舵机本体1内的PCB电路板21电连接，用于与其他舵机、例如小臂舵机上的连接座插接连接。通过该连接座7，可替代下引出线和下出线结构6。
在一些实施例中，齿轮组包括多个相互啮合的齿轮。图4示出了根据本公开一些示例性实施例的舵机中的齿轮组的结构示意图。在图4所示的实施例中，所述舵机本体1内还设有一级齿轮13、二级齿轮14、三级齿轮15、四级齿轮16、五级齿轮17、六级齿轮18和马达齿轮23，马达齿轮与电机(例如空心杯电机12)的输出轴连接。齿轮组整体大致与空心杯电机12沿轴向并排布置，马达齿轮23与空心杯电机的输出轴连接，输出齿轮20位于空心杯电机12的与其输出轴相对的另一侧，由此可节省空间并可实现整体瘦长型的舵机。在一些示例中，为了减少噪音，采用铜合金材料制作马达齿。
齿轮组的工作过程例如为：马达齿轮23与一级齿轮13活动啮合；在一级齿轮13的转动轴上还安装有一级小齿轮，该一级小齿轮处于一级齿轮13的上部并与一级齿轮13同轴连接；所述一级小齿轮与二级齿轮14活动啮合，在二级齿轮14的转动轴上还套装有二级小齿轮，该二级小齿轮处于二级齿轮14的上部并与二级齿轮14同轴固定连接；所述二级小齿轮与三级齿轮15活动啮合，在三级齿轮15的转动轴上还套装有三级小齿轮，该三级小齿轮处于三级齿轮15的上部并与三级齿轮15同轴连接；所述三级小齿轮与四级齿轮16活动啮合，在四级齿轮16的转动轴上套装有四级小齿轮，所述四级小齿轮处于四级齿轮16的上部并与四级齿轮16同轴固定连接；所述四级小齿轮与五级齿轮17活动啮合，在五级齿轮17的转动轴上还套装有五级小齿轮，该五级小齿轮处于五级齿轮17的上部并与五级齿轮17同轴连接；所述五级小齿轮与六级齿轮18活动啮合，在六级齿轮18的转动轴上套装有六级小齿轮，所述六级小齿轮处于六级齿轮18的上部并与六级齿轮18同轴固定连接，六级小齿轮与输出齿轮20的输出轴的输入端(即与六级小 齿轮啮合的一端)上输入齿轮活动啮合。输出齿轮20的输出轴的输出端11穿过上盖2并裸露在上盖2外。
在一些实施例中，所述一级齿轮13的齿轮轴直径为1.2mm；二级齿轮14、四级齿轮16的齿轮轴直径为1.5mm；三级齿轮15、五级齿轮17的齿轮轴直径为2.0mm；六级齿轮18的齿轮轴直径为2.0mm；输出齿轮20的齿轮轴直径为8.0mm。
在一些实施例中，所述一级齿轮13、二级齿轮14、三级齿轮15、四级齿轮16、五级齿轮17和六级齿轮18选用铁齿加铝合金齿制造，也就是说，部分齿轮选用铁齿，部分齿轮选用铝合金齿。在另一些实施例中，所述一级齿轮13、二级齿轮14、三级齿轮15、四级齿轮16、五级齿轮17和六级齿轮18中的至少一个齿轮及其各自的与其同轴固定连接的小齿轮选用铁齿或铝合金齿，例如，其各自的小齿轮采用铁齿以承受较大的力，所述一级齿轮13、二级齿轮14、三级齿轮15、四级齿轮16、五级齿轮17和六级齿轮18尺寸较大，采用铝合金齿。输出齿轮20选用铝合金齿。
在一些实施例中，输出齿轮20和电位器通过联轴器24连接，其中，联轴器的第一端插入输出齿轮内，联轴器的第二端插入电位器上的孔内。在一些示例中，输出齿轮20选用铝合金材料，便于将联轴器一部分压入到齿轮内，并紧配合。联轴器例如采用304不锈钢机加工成型。在一些示例中，联轴器下段(插入电位器中的第二端)是D型头，用于直接插入电位器内。电位器具有与联轴器的D型头相配合D型孔，D型孔例如直径为1.4mm，深度为2mm；相应地，联轴器的下段例如设计为1.4mm直径，2mm长度。在一些示例中，电位器采用360°连续旋转电位器，电气量程为280°。
在一些实施例中，所述上盖2的端部开有圆孔25，舵机本体1中的输出齿轮20穿过该圆孔。
在一些实施例中，所述舵机本体1、上盖2和下盖3上均开有螺纹孔，利用穿过螺纹孔的螺钉将上盖2、舵机本体1以及下盖3连接在一起。
例如，在舵机本体1的其中三个边角处开设有螺纹孔；在上盖2的其中三个边角开设有与舵机本体1上开设的螺纹孔相互对应的螺纹孔；在下盖3的其中三个边角开设有与舵机本体1以及上盖2上开设的螺纹孔相互对应的螺纹孔。可采用上下各三根螺钉4穿过螺纹孔将上盖2、舵机本体1以及下盖3连接在一起。又例如，如在图2中所示，在舵机本体1的相邻的两个边角处以及与该两个边角相对的侧壁的中间处分别设置一个螺纹孔；在上盖2的与舵机本体1的螺纹孔对应的位置处分别设置螺纹孔，在下盖3的与舵机本体1的螺纹孔对应的位置处分别设置螺纹孔。
在组装时，例如，首先将上盖2、舵机本体1以及下盖3相互对应的卡槽扣合在一起，然后取三根螺钉4分别放入上盖2中将上盖2与舵机本体1连接在一起，最后取三根螺钉4放入下盖3中将下盖3与舵机本体1连接在一起。对于本领域技术人员来说可理解的是，可以按照与上述步骤顺序不同的另一步骤顺序进行组装。
舵机设计成上盖和下盖各有3根螺钉的形式，相较于传统的一般采用4根螺钉的舵机设计方式，其可实现更小的正截面尺寸，适用于较小的机器人内部空间。
在一些实施例中，所述输出齿轮20的齿轮轴上设有含油轴承19。
根据本公开实施例的另一方面，提供一种机器人，包括如上所述的任一实施例的舵机。
本领域技术人员不难理解，本公开的舵机包括本说明书中各部分的任意组合。限于篇幅且为了使说明书简明，在此没有将这些组合一一详细介绍，但看过本说明书后，由本说明书构成的各部分的任意组合构成的本公开的范围已经不言自明。

Claims (12)

  1. 一种舵机，包括舵机本体(1)、上盖(2)、下盖(3)以及具有相互啮合的多个齿轮的齿轮组，其中，所述齿轮组位于所述舵机本体(1)内，其包括输出齿轮(20)，从所述舵机本体(1)的横截面看，该输出齿轮位于所述舵机本体(1)的居中部位。
  2. 如权利要求1所述的舵机，其中，所述舵机还包括空心杯电机(12)和电位器(22)，所述空心杯电机(12)设置在所述输出齿轮(20)的下方，所述电位器设置在所述输出齿轮(20)与所述空心杯电机(12)之间。
  3. 如权利要求2所述的舵机，其中，所述舵机还包括舵机PCB电路板(21)，所述电位器(22)固定在所述舵机PCB电路板(21)上。
  4. 如权利要求1-3中任一项所述的舵机，其中，所述下盖(3)的下方设有舵盘(31)，用于连接小臂舵机。
  5. 如权利要求1-4中任一项所述的舵机，其中，所述舵机具有上出线结构(5)和下出线结构(6)，所述上出线结构(5)设置在所述上盖(2)上，所述下出线结构(6)设置在所述下盖(3)上。
  6. 如权利要求1-5中任一项所述的舵机，其中，所述齿轮组还包括设置在所述舵机本体(1)内的一级齿轮(13)、二级齿轮(14)、三级齿轮(15)、四级齿轮(16)、五级齿轮(17)、六级齿轮(18)和马达齿轮(23)。
  7. 如权利要求6所述的舵机，其中，所述马达齿轮(23)选用铜合金；所述一级齿轮(13)、二级齿轮(14)、三级齿轮(15)、四级齿轮(16)、五级齿轮(17)和六级齿轮(18)选用铁齿加铝合金齿；所述输出齿轮(20)选用铝合金齿。
  8. 如权利要求1-7中任一项所述的舵机，其中，所述上盖(2)的端部开有圆孔，所述输出齿轮(20)穿过该圆孔。
  9. 如权利要求1-8中任一项所述的舵机，其中，所述上盖(2)和所述下盖(3)均具有多个螺纹孔，通过从上穿过所述上盖(2)的螺纹孔的多个螺钉以及从下穿过所述下盖(3)的螺纹孔的多个螺钉将所述上盖(2)、所述舵机本体(1)以及所述下盖(3)连接在一起。
  10. 如权利要求1-9中任一项所述的舵机，其中，所述输出齿轮(20)的齿轮轴上设有含油轴承(19)。
  11. 如权利要求1-10中任一项所述的舵机，其中，所述舵机具有设置于所述舵机本体(1)外侧面上的连接座(7)，其与位于所述舵机本体(1)内的舵机PCB电路板(21)电连接，并且用于与另一舵机插接电连接。
  12. 一种机器人，包括如权利要求1-11中任一项所述的舵机。
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