WO2023020308A1 - 一种舵机及机器人 - Google Patents

一种舵机及机器人 Download PDF

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Publication number
WO2023020308A1
WO2023020308A1 PCT/CN2022/110647 CN2022110647W WO2023020308A1 WO 2023020308 A1 WO2023020308 A1 WO 2023020308A1 CN 2022110647 W CN2022110647 W CN 2022110647W WO 2023020308 A1 WO2023020308 A1 WO 2023020308A1
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WO
WIPO (PCT)
Prior art keywords
gear
steering gear
steering
upper cover
lower cover
Prior art date
Application number
PCT/CN2022/110647
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English (en)
French (fr)
Inventor
陈小森
郑黎明
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乐森机器人(深圳)有限公司
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Publication of WO2023020308A1 publication Critical patent/WO2023020308A1/zh

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    • 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
    • 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
    • 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
    • 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
    • H02K5/08—Insulating casings
    • 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
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information

Definitions

  • the present disclosure belongs to the technical field of robot accessories. In particular, it relates to a steering gear and a robot.
  • the steering gear is the power source for motion control of remote control models, humanoid robots, etc., and it is also an important motion actuator that drives the joint activities of the robot. How to make the steering gear suitable for a narrower space and improve its applicability is an important research and development content for those skilled in the art.
  • a steering gear including: a steering gear body, an upper cover fixedly connected to the top of the steering gear body, a lower cover fixedly connected to the bottom of the steering gear body, and a steering gear body
  • the gear set further includes a first-stage gear, a second-stage gear, a third-stage gear, a fourth-stage gear, and a transition gear sequentially connected in transmission, wherein the motor gear meshes with the primary gear, and the output gear meshes with the transition gear.
  • the motor gear, the first gear, the second gear, the third gear, the fourth gear, the transition gear and the output gear are arranged in a W shape.
  • the upper cover has a round hole in the second part; the steering gear also includes a plug-in steering wheel coaxially connected with the output gear and extending out of the round hole.
  • a copper ring is provided between the output gear and the plugged steering wheel.
  • the steering gear body has an open cavity, and the bottom of the cavity is hollow.
  • the steering gear further includes: a printed circuit board and a potentiometer arranged between the steering gear body and the lower cover.
  • the potentiometer is arranged coaxially with the transition gear and inserted with interference.
  • the steering gear further includes: wires welded to the printed circuit board.
  • the steering gear body, the upper cover and the lower cover are all shell structural parts, the edges of the steering gear body and the upper cover are provided with a first limiting structure for mutual limiting, and the edges of the steering gear body The edge of the lower cover and the lower cover are provided with a second limiting structure for mutual limiting.
  • the first limiting structure and the second limiting structure include limiting grooves and limiting protrusions.
  • the thickness of the steering gear body, the upper cover and the lower cover ranges from 0.8 mm to 2.5 mm.
  • the materials of the steering gear body, the upper cover and the lower cover are selected from nylon 66+30% glass fiber.
  • the upper cover is fixedly connected to the steering gear body by screws
  • the lower cover is fixedly connected to the steering gear body by screws
  • a robot including the steering gear of the aforementioned embodiments.
  • FIG. 1 is a schematic perspective view of a steering gear according to some embodiments of the present disclosure.
  • Fig. 2 is a schematic diagram of a disassembled structure of a steering gear according to some embodiments of the present disclosure.
  • Fig. 3 is a schematic diagram of the internal structure of a steering gear according to some embodiments of the present disclosure.
  • the steering gear is mainly composed of circuit boards, motors, reduction gear sets, sensors and control circuits.
  • the working principle of the steering gear is summarized as follows: the main control board of the robot sends a control signal to the steering gear; the single-chip microcomputer on the circuit board of the steering gear makes corresponding processing based on the control signal and judges the direction of rotation, and then drives the motor, such as a DC brush motor, to start rotating ;
  • the motor transmits power to the output gear through the reduction gear set, and at the same time, the position detection sensor detects the rotation angle of the output gear and sends the detection signal to the single-chip microcomputer; the single-chip microcomputer judges whether the rotation of the output gear has reached the predetermined position based on the detection signal of the position detection sensor .
  • the inventors of the present disclosure understand that some steering gears in the related art need to occupy a lot of space inside the robot, so they are not suitable for humanoid robots with "thin arms” and robots with small arms.
  • the embodiments of the present disclosure provide a steering gear and a robot, which can effectively alleviate or even eliminate the above defects.
  • FIG. 1 is a schematic diagram of a three-dimensional structure of a steering gear according to some embodiments of the present disclosure
  • FIG. 2 is a schematic diagram of a disassembled structure of the steering gear
  • FIG. 3 is a schematic diagram of the internal structure of the steering gear .
  • the steering gear provided by the embodiment of the present disclosure includes: a steering gear body 1, an upper cover 2 fixedly connected to the top of the steering gear body 1, a lower cover 3 fixedly connected to the bottom of the steering gear body 1, and a steering gear body disposed on the steering gear body 1 between the upper cover 2 and the DC motor 13, the motor gear 20 and the gear set in sequence, wherein the steering gear includes a first part and a second part protruding from the first part, and the gear set includes an output located in the second part Gear 19A.
  • the steering gear is in the shape of a Chinese character "convex" as a whole, and its second part is narrower than the first part, for example.
  • the width change design of the first part and the second part can be better suitable for narrow spaces, for example, it can be applied to the "thin arm” type A humanoid robot or a robot with a small arm, so it has a wide range of applications.
  • the steering gear body 1 , the upper cover 2 and the lower cover 3 may all be shell structural parts, which may be formed by injection molding.
  • the edge of the steering gear body 1 and the edge of the upper cover 2 are provided with a first spacing structure for mutual spacing, and the edge of the steering gear body 1 and the edge of the lower cover 3 are provided with a second spacing structure for mutual spacing.
  • the first limiting structure and the second limiting structure both include a limiting groove and a limiting protrusion. The design of the first limiting structure and the second limiting structure not only facilitates the assembly of the shell structural parts, but also makes the cooperation between the shell structural parts more accurate.
  • the wall thickness of the steering gear body 1 , the upper cover 2 and the lower cover 3 ranges from 0.8 mm to 2.5 mm, and the material thereof may include at least one of polyamide and glass fiber.
  • the wall thicknesses of the steering gear body 1 , the upper cover 2 and the lower cover 3 are all designed to be 1.5 mm, and the steering gear body 1 , the upper cover 2 and the lower cover 3 are all made of nylon 66+30% glass fiber.
  • the upper cover 2 is fixedly connected to the steering gear body 1 by screws
  • the lower cover 3 is fixedly connected to the steering gear body 1 by screws 4 . Therefore, the steering gear body 1, the upper cover 2 and the lower cover 3 are fixedly connected together, and are easy to disassemble.
  • both the upper cover 2 and the lower cover 3 have threaded holes, and a plurality of screws 4 pass through the threaded holes to connect the upper cover 2 , the steering gear body 1 and the lower cover 3 together.
  • the plurality of screws 4 there is a gap of 2.6 millimeters between the upper and lower screws close to the DC motor 13, which can increase the torque and power, and reserve space for replacing the hollow cup motor.
  • the gear set further includes a first-stage gear 14 , a second-stage gear 15 , a third-stage gear 16 , a fourth-stage gear 17 , and a transition gear 19 that are sequentially connected to transmit power.
  • the motor gear 20 meshes with the primary gear 14
  • the output gear 19A meshes with the transition gear 19 .
  • the material of the primary gear 14, the secondary gear 15, the tertiary gear 16 and the fourth gear 17 can be iron
  • the material of the transition gear 19 and the output gear 19A can be aluminum alloy.
  • Transition gear 19 is set between fourth-stage gear 17 and output gear 19A, it is easier to make output gear 19A arranged at the narrower end of the steering gear in the shape of "convex", so that the shape of steering gear is easier to adapt to narrow space.
  • the rotation of the output gear 19A can also be judged indirectly by detecting the rotation angle of the transition gear 19 .
  • the connecting line between the centers of the motor gear 20, the first-stage gear 14, the second-stage gear 15, the third-stage gear 16, the fourth-stage gear 17, the transition gear 19 and the output gear 19A is roughly in the shape of a broken line, for example, approximately W shape.
  • Such a layout makes the structure of the gear set relatively compact, which in turn makes the overall structure of the steering gear more compact, thus saving the space occupied inside the robot.
  • the upper cover 2 has a round hole 21 in the second part, and the steering gear also includes a plug-in steering wheel that is coaxially connected with the output gear 19A and extends out of the round hole 21 11.
  • a copper ring 18 is provided between the output gear 19A and the plugged steering wheel 11 .
  • the structure of the gear set is designed as follows: the motor gear 20 meshes with the first-stage gear 14; The upper part is coaxially connected with the first-stage gear 14; the first-stage pinion meshes with the second-stage gear 15, and a second-stage pinion is also set on the rotating shaft of the second-stage gear 15.
  • the bottom is coaxially fixedly connected with the secondary gear 15; the secondary pinion meshes with the tertiary gear 16, and a tertiary pinion is set on the rotating shaft of the tertiary gear 16, and the tertiary pinion is located in the tertiary gear 16 and coaxially connected with the third-stage gear 16; the third-stage pinion meshes with the fourth-stage gear 17, and the fourth-stage pinion is set on the rotating shaft of the fourth-stage gear 17, and the fourth-stage pinion is located below the fourth-stage gear 17 And it is coaxially fixedly connected with the fourth-stage gear 17; the fourth-stage pinion gear meshes with the transition gear 19, and finally the transition gear 19 meshes with the gear of the output gear 19A.
  • the output end of the output shaft of the output gear 19A passes through the upper cover 2 and is exposed outside the upper cover 2 .
  • each gear in the gear set is equipped with a gear shaft with a different diameter, wherein the diameter of the first-stage pinion shaft is 1.2 mm, the diameter of the second-stage pinion shaft is 1.2 mm, and the diameter of the third-stage pinion shaft is 1.5mm, the diameter of the fourth-stage gear shaft is 1.5mm.
  • the diameter of the output shaft of the DC motor is 1 mm, and the diameter of the output gear shaft is 6.0 mm.
  • the steering gear body 1 has an open cavity, and the bottom of the cavity is hollowed out, which not only makes the layout of the gears at all levels more compact, but also reduces the overall weight of the steering gear .
  • the steering gear also includes a printed circuit board 31 (Printed Circuit Board, PCB) and a potentiometer 32 arranged between the steering gear body 1 and the lower cover 3 .
  • PCB printed Circuit Board
  • the PCB 31 is welded with the wires, and signals are output or input through the wires. Compared with the plug-in method, the use of terminals can be avoided, thereby saving space as much as possible.
  • the servo can use the serial bus communication method, including three wires plugged in cascade, which can reduce the total number of wires of the robot compared with the traditional PWM circuit.
  • the thickness of the PCB 31 can be designed to be 1 mm, so that a motor with a larger current can be applied.
  • the potentiometer 32 can be used to detect the rotation angle of the transition gear 19 .
  • the position of the output gear 19A can be judged indirectly based on the detection value of the rotation angle of the transition gear 19 .
  • the potentiometer 32 can be a miniature potentiometer, so that the small arm of the robot can continuously rotate 360°.
  • the potentiometer 32 is arranged coaxially with the transition gear 19 and is interferingly inserted.
  • the miniature potentiometer is inserted into the transition gear 19 in an interference fit manner. Since the lower end of the transition gear 19 is inserted into the micro potentiometer in an interference fit manner, the structural parts at the lower end of the transition gear 19 should be designed to have a certain elastic shape.
  • the lower end of the transition gear 19 can be provided with a coupling, and the miniature potentiometer is interference fit with the coupling.
  • the lower section of the coupling can be designed with a D-shaped boss, so that the impact force on the micro potentiometer can be reduced.
  • Transition gear 19 can adopt aluminum alloy material to make.
  • the diameter of the coupling is relatively small, and metal materials with higher hardness can be used, such as 304 stainless steel.
  • a press can be used to press the stainless steel shaft coupling into the lower end of the transition gear 19 of the aluminum alloy material.
  • the potentiometer 32 is a potentiometer with 360° continuous rotation and an electrical range of 280°, which is provided with a D-shaped hole with a diameter of 1.6 mm and a depth of 5 mm.
  • the diameter of the D-shaped boss of the coupling is 1.6mm in diameter and 2mm in length.
  • Couplings are machined from 304 stainless steel.
  • the steering gear provided by the embodiments of the present disclosure can be assembled by manual assembly, and the assembly process includes:
  • An electric screwdriver can be used during assembly, the specification of the screw 4 is, for example, M2 ⁇ 10, and grease can be added to the gear set during assembly.
  • the wiring method of the steering gear is as follows: electric wires (such as lead wires) are welded on the PCB 31 in the lower cover 3, and the potentiometer 32 and the transition gear 19 that have been fixed on the PCB 31 are passed through the shaft coupling. The device is connected; the electric wire is drawn out from the through hole 33 that offers on the lower cover 3.
  • electric wires such as lead wires
  • part of its wires can be hidden between the PCB 31 and the lower cover 3. On the one hand, it avoids the exposure of a large number of wires, making the appearance of the steering gear more beautiful. On the other hand, it can also protect the wires, prolong the service life of the wires, and improve the stability of the performance of the steering gear.
  • An embodiment of the present disclosure also provides a robot, including the steering gear of any one of the foregoing embodiments.
  • the robot includes a left steering gear and a right steering gear, which are symmetrically arranged on the humanoid robot body of the "thin arm” type, and its structure is small and compact, which can reduce the gap between it and the joint parts.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Gear Transmission (AREA)

Abstract

一种舵机，包括：舵机本体(1)、与舵机本体(1)的顶部固定连接的上盖(2)、与舵机本体(1)的底部固定连接的下盖(3)，以及，设于舵机本体(1)与上盖(2)之间且依次传动连接的直流电机(13)、马达齿轮(20)和齿轮组，其中，舵机包括第一部分和凸出于第一部分的第二部分，齿轮组包括位于第二部分的输出齿轮(19A)。以及包括该舵机的机器人。

Description

一种舵机及机器人 技术领域
本公开属于机器人配件技术领域。特别是涉及一种舵机及机器人。
背景技术
舵机是遥控模型、人形机器人等进行动作控制的动力来源，同时也是驱动机器人关节活动的重要运动执行装置。如何使舵机适用于更加狭小的空间，提高其适用性，是本领域技术人员的一个重要研发内容。
发明内容
根据本公开的一个方面，提供一种舵机，包括：舵机本体、与舵机本体的顶部固定连接的上盖、与舵机本体的底部固定连接的下盖，以及，设于舵机本体与上盖之间且依次传动连接的直流电机、马达齿轮和齿轮组，其中，舵机包括第一部分和凸出于第一部分的第二部分，齿轮组包括位于第二部分的输出齿轮。
在一些实施例中，齿轮组还包括依次传动连接的一级齿轮、二级齿轮、三级齿轮、四级齿轮和过渡齿轮，其中，马达齿轮与一级齿轮啮合，输出齿轮与过渡齿轮啮合。
在一些实施例中，马达齿轮、一级齿轮、二级齿轮、三级齿轮、四级齿轮、过渡齿轮和输出齿轮呈W字形排布。
在一些实施例中，上盖在第二部分开设有圆孔；舵机还包括与输出齿轮同轴连接并且伸出圆孔的插接舵盘。
在一些实施例中，输出齿轮与插接舵盘之间设置有铜环。
在一些实施例中，舵机本体具有敞开的腔体，腔体的底部呈镂空状。
在一些实施例中，舵机，还包括：设于舵机本体与下盖之间的印制电路板和电位器。
在一些实施例中，电位器与过渡齿轮同轴设置并且过盈插接。
在一些实施例中，舵机还包括：与印制电路板焊接的电线。
在一些实施例中，舵机本体、上盖和下盖均为壳体结构件，舵机本体的边缘与上盖的边缘设有用于相互限位的第一限位结构，舵机本体的边缘与下盖的边缘设有用于相互限位的第二限位结构。
在一些实施例中，第一限位结构和第二限位结构包括限位槽和限位凸起。
在一些实施例中，舵机本体、上盖和下盖的壁厚范围为0.8毫米～2.5毫米。
在一些实施例中，舵机本体、上盖和下盖的材料选用尼龙66+30％玻璃纤维。
在一些实施例中，上盖与舵机本体通过螺钉固定连接，下盖与舵机本体通过螺钉固定连接。
根据本公开的一个方面，提供一种机器人，包括前述实施例的舵机。
附图说明
图1为根据本公开一些实施例的舵机的立体结构示意图。
图2为根据本公开一些实施例的舵机的拆解结构示意图。
图3为根据本公开一些实施例的舵机的内部结构示意图。
具体实施方式
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舵机的具体实施方式作进一步的说明。
舵机主要由电路板、电机、减速齿轮组、传感器和控制电路等组成。舵机的工作原理概述为：机器人的主控板发出控制信号给舵机；舵机的电路板上的单片机基于控制信号作出相应处理并且判断转动方向，然后驱动电机、例如直流有刷电机开始转动；电机通过减速齿轮组将动力传递至输出齿轮，同时，位置检测传感器检测输出齿轮的转动角度并将检测信号发送至单片机；单片机基于位置检测传感器的检测信号判断输出齿轮的转动是否已经达到预定位置。
本公开的发明人了解到，相关技术中的一些舵机，需要占用机器人内部较多的空间，因此，对于“细手臂”类型的人形机器人以及带有小臂的机器人并不适用。
基于此，本公开实施例提供了一种舵机及机器人，可以有效缓解甚至消除上述缺陷。
如图1至图3所示，其中，图1为根据本公开一些实施例的舵机的立体结构示意图，图2为该舵机的拆解结构示意图，图3为该舵机的内部结构示意图。
本公开实施例提供的舵机包括：舵机本体1、与舵机本体1的顶部固定连接的上盖2、与舵机本体1的底部固定连接的下盖3，以及，设于舵机本体1与上盖2之间且依次传动连接的直流电机13、马达齿轮20和齿轮组，其中，舵机包括第一部分和凸出于第一部分的第二部分，齿轮组包括位于第二部分的输出齿轮19A。
该舵机整体呈汉字“凸”字形，其第二部分例如窄于第一部分，第一部分和第二部分的宽窄变化设计能够更好地适用于狭小空间，例如可以应用于“细手臂”类型的人形机器人或者带有小臂的机器人，因而适用范围较广。
在本公开实施例中，舵机本体1、上盖2和下盖3可以均为壳体结构件，可以采用注塑工艺成型。舵机本体1的边缘与上盖2的边缘设有用于相互限位的第一限位结构，舵机本体1的边缘与 下盖3的边缘设有用于相互限位的第二限位结构。第一限位结构和第二限位结构例如均包括限位槽和限位凸起。第一限位结构和第二限位结构的设计不但使得壳体结构件之间便于组装，而且使得壳体结构件之间的配合更加准确。
在一些实施例中，舵机本体1、上盖2和下盖3的壁厚范围为0.8毫米～2.5毫米，其材料可以包括聚酰胺和玻璃纤维中的至少一种。在一些实施例中，舵机本体1、上盖2和下盖3的壁厚均设计为1.5毫米，舵机本体1、上盖2和下盖3均采用尼龙66+30％玻璃纤维。
在一些实施例中，上盖2与舵机本体1通过螺钉固定连接，下盖3与舵机本体1通过螺钉4固定连接。从而，舵机本体1、上盖2和下盖3固定连接在一起，并且便于拆装。在一个实施例中，上盖2和下盖3均开有螺纹孔，多个螺钉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。多个螺钉4中，靠近直流电机13的上、下螺钉之间留有2.6毫米的间隙，这样可以增加扭矩和提高功率，并且为更换空心杯马达预留空间。
如图3所示，在本公开的一些实施例中，齿轮组还包括依次传动连接以传递动力的一级齿轮14、二级齿轮15、三级齿轮16、四级齿轮17和过渡齿轮19，其中，马达齿轮20与一级齿轮14啮合，输出齿轮19A与过渡齿轮19啮合。一级齿轮14、二级齿轮15、三级齿轮16、四级齿轮17的材料可以选用铁，过渡齿轮19和输出齿轮19A的材料可以选用铝合金。
在四级齿轮17和输出齿轮19A之间设置过渡齿轮19，更容易使输出齿轮19A布置在呈“凸”字形的舵机的较窄的一端，使得舵机的外形更容易适用狭小空间。此外，还可以通过检测过渡齿轮19的转动角度来间接判断输出齿轮19A的转动情况。
在一些实施例中，马达齿轮20、一级齿轮14、二级齿轮15、三级齿轮16、四级齿轮17、过渡齿轮19和输出齿轮19A的中心连线大致呈折线形，例如大致呈W形。这样的布局使得齿轮组的结构较为紧凑，进而使得舵机整体的结构更加小巧，因此可以节约在机器人内部占用的空间。
如图1和图2所示，在一些实施例中，上盖2在第二部分开设有圆孔21，舵机还包括与输出齿轮19A同轴连接并且伸出圆孔21的插接舵盘11。在该实施例中，输出齿轮19A与插接舵盘11之间设置有铜环18。
在一些实施例中，齿轮组的结构设计为：马达齿轮20与一级齿轮14啮合；在一级齿轮14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14的上方并与一级齿轮14同轴连接；一级小齿轮与二级齿轮15啮合，在二级齿轮15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15的下方并与二级齿轮15同轴固定连接；二级小齿轮与三级齿轮16啮合，在三级齿轮16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16的下方并与三级齿轮16同轴连接；三级小齿轮与四级齿轮17啮合，在四级齿轮17的转动轴上套装有四级小齿轮，四级小齿 轮处于四级齿轮17的下方并与四级齿轮17同轴固定连接；四级小齿轮与过渡齿轮19啮合，最后过渡齿轮19与输出齿轮19A的齿轮啮合。输出齿轮19A的输出轴的输出端穿过上盖2并裸露在上盖2外。
在一些实施例中，齿轮组中的每个齿轮都配有直径不同的齿轮轴，其中一级齿轴的直径为1.2mm，二级齿轴的直径为1.2mm，三级齿轴的直径为1.5mm，四级齿轴的直径为1.5mm。直流电机的输出轴的直径为1mm，输出齿轴的直径为6.0mm，本公开的发明人通过大量试验得出，选用上述齿轮组以及对应直径的齿轮轴，可以使各级减速部分轴距最小，从而最大限度的节约占用空间，使整个舵机的体积达到最小。
如图2所示，在一些实施例中，舵机本体1具有敞开的腔体，腔体的底部呈镂空状，不但使得各级齿轮的布局更加紧凑，而且也能减小舵机整体的重量。
如图2所示，在一些实施例中，舵机还包括设于舵机本体1与下盖3之间的印制电路板31(Printed Circuit Board，PCB)和电位器32。
PCB 31与电线焊接，通过电线输出或者输入信号，相比插接方式，可以避免使用端子，从而可以尽量节省占用空间。舵机可以采用串行总线的通讯方式，包括级联式插接的三根电线，相比传统的PWM电路，可以减少机器人的电线总数。在本公开一些实施例中，可以将PCB 31的厚度设计为1毫米，这样可以适用更大电流的电机。
电位器32可用于检测过渡齿轮19的转动角度。可以基于过渡齿轮19的转动角度检测值，间接判断输出齿轮19A的位置情况。电位器32可以采用微型电位器，从而支持机器人的小臂能够360°连续旋转。电位器32与过渡齿轮19同轴设置并且过盈插接。在一些实施例中，微型电位器采用过盈配合的方式插入过渡齿轮19中。由于过渡齿轮19的下端采用过盈配合的方式插入微型电位器，所以，过渡齿轮19的下端的结构件应设计为具有一定弹性的形状。过渡齿轮19的下端可以设有联轴器，微型电位器与该联轴器过盈配合。联轴器的下段可以设计有D字形凸台，这样，可以减少对微型电位器的冲涨力。过渡齿轮19可以采用铝合金材料制作。联轴器直径比较小，可以采用硬度更高的金属材料，例如304不锈钢。可以使用压力机将不锈钢联轴器压入铝合金材料的过渡齿轮19下端。
在一些实施例中，电位器32为360°连续旋转并且电气量程为280°的电位器，其开设有直径为1.6mm、深度为5mm的D字形孔。联轴器的D字形凸台的直径为1.6mm直径，长度为2mm。联轴器采用304不锈钢机加工成型。
本公开实施例提供的舵机可以采用手工组装的方式进行组装，组装流程包括：
将齿轮组和直流电机13组装在舵机本体1的腔体内；
使直流电机13与PCB 31、电位器32完成配合，例如，将PCB 31和电位器32电连接后放置在下盖3内，将直流电机13与PCB 31电连接；
将上盖2和下盖3分别与舵机本体1扣接在一起，使插接舵盘11穿出上盖2上的圆孔21；
使用多个螺钉4将上盖2、舵机本体1和下盖3固定在一起，从而将整个舵机组装完成。
组装时可以采用电动螺丝刀，螺钉4的规格例如为M2×10，齿轮组在组装时可以加入润滑脂。
在一些实施例中，舵机的走线方式为：将电线(例如引出线)焊接在下盖3内的PCB 31上，并将已经固定在PCB 31上的电位器32与过渡齿轮19通过联轴器连接；将电线从下盖3上开设的通孔33引出。
采用上述走线方式的舵机，其电线的一部分可以隐藏在PCB 31与下盖3之间。一方面，避免了大量线材裸露在外，使得舵机外形更加美观，另一方面，也可以对线材进行保护，延长线材使用寿命，提高舵机性能的稳定性。
本公开实施例还提供一种机器人，包括前述任一实施例的舵机。在一些实施例中，机器人包括左舵机和右舵机，其对称布置在“细手臂”类型的人形机器人身上，其结构小巧，可以减小与关节零件之间的间隙。
本领域技术人员不难理解，本公开技术方案可以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 (15)

  1. 一种舵机，包括：舵机本体(1)、与舵机本体(1)的顶部固定连接的上盖(2)、与舵机本体(1)的底部固定连接的下盖(3)，以及，设于舵机本体(1)与上盖(2)之间且依次传动连接的直流电机(13)、马达齿轮(20)和齿轮组，其中，
    舵机包括第一部分和凸出于第一部分的第二部分，齿轮组包括位于第二部分的输出齿轮(19A)。
  2. 如权利要求1所述的舵机，其中，
    齿轮组还包括依次传动连接的一级齿轮(14)、二级齿轮(15)、三级齿轮(16)、四级齿轮(17)和过渡齿轮(19)，其中，马达齿轮(20)与一级齿轮(14)啮合，输出齿轮(19A)与过渡齿轮(19)啮合。
  3. 如权利要求2所述的舵机，其中，
    马达齿轮(20)、一级齿轮(14)、二级齿轮(15)、三级齿轮(16)、四级齿轮(17)、过渡齿轮(19)和输出齿轮(19A)呈W字形排布。
  4. 如权利要求1所述的舵机，其中，
    上盖(2)在第二部分开设有圆孔(21)；
    舵机还包括与输出齿轮(19A)同轴连接并且伸出圆孔(21)的插接舵盘(11)。
  5. 如权利要求4所述的舵机，其中，
    输出齿轮(19A)与插接舵盘(11)之间设置有铜环(18)。
  6. 如权利要求1所述的舵机，其中，
    舵机本体(1)具有敞开的腔体，腔体的底部呈镂空状。
  7. 如权利要求1所述的舵机，还包括：
    设于舵机本体(1)与下盖(3)之间的印制电路板(31)和电位器(32)。
  8. 如权利要求7所述的舵机，还包括：
    与印制电路板(31)焊接的电线。
  9. 如权利要求2所述的舵机，其中，
    舵机还包括：设于舵机本体(1)与下盖(3)之间的印制电路板(31)和电位器(32)；
    电位器(32)与过渡齿轮(19)同轴设置并且过盈插接。
  10. 如权利要求1所述的舵机，其中，
    舵机本体(1)、上盖(2)和下盖(3)均为壳体结构件，舵机本体(1)的边缘与上盖(2)的边缘设有用于相互限位的第一限位结构，舵机本体(1)的边缘与下盖(3)的边缘设有用于相互限位的第二限位结构。
  11. 如权利要求10所述的舵机，其中，
    第一限位结构和第二限位结构包括限位槽和限位凸起。
  12. 如权利要求10所述的舵机，其中，
    舵机本体(1)、上盖(2)和下盖(3)的壁厚范围为0.8毫米～2.5毫米。
  13. 如权利要求1所述的舵机，其中，
    舵机本体(1)、上盖(2)和下盖(3)的材料选用尼龙66+30％玻璃纤维。
  14. 如权利要求1至13中任一项所述的舵机，其中，
    上盖(2)与舵机本体(1)通过螺钉固定连接，下盖(3)与舵机本体(1)通过螺钉固定连接。
  15. 一种机器人，包括：
    如权利要求1至14中任一项所述的舵机。
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