Joint steering engine

Abstract

The utility model discloses a joint steering engine which comprises a steering engine body, and the steering engine body comprises a driving assembly, a rotating assembly and a monitoring assembly. The driving assembly is connected with the rotating assembly, the monitoring assembly is arranged above the rotating assembly, and the monitoring assembly is connected with the driving assembly; the driving assembly can drive the rotating assembly to rotate, and the monitoring assembly can monitor the angle or position of the rotating assembly and feed back the angle or position to the driving assembly for correction and calibration. The device has the advantages that the driving assembly can drive the rotating assembly to rotate, the rotating assembly is used for driving robot parts to move, the monitoring assembly can monitor the position and the angle of the rotating assembly, and the monitoring result is transmitted to the driving assembly to be corrected. Therefore, the accuracy of the position is improved.

Description

Technical Field

[0001] This utility model relates to the field of servo motor technology, and in particular to a joint servo motor. Background Technology

[0002] Currently used articulated servos are typically short in length and large in diameter, meaning they have a small length-to-diameter ratio. This makes them unsuitable for installation in situations with special space requirements, and they lack angle and position calibration and correction functions, which can easily lead to deviations in the target position during operation.

[0003] To address this, the inventor designed a joint servo motor. Utility Model Content

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the present invention.

[0005] In view of the problems existing in the above or prior art, this utility model is proposed.

[0006] Therefore, the purpose of this utility model is to provide a joint servo motor with a large length-to-diameter ratio, which is suitable for placement on the leg position of a companion robot, and adds the function of automatic calibration of angle and position, which can improve the accuracy of target position.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a joint servo motor, which includes a servo motor body, the servo motor body including a drive component, a rotation component, and a monitoring component; the drive component is connected to the rotation component, the monitoring component is disposed above the rotation component, and the monitoring component is connected to the drive component; the drive component can drive the rotation component to rotate, and the monitoring component can monitor the angle or position of the rotation component and feed it back to the drive component for correction and calibration.

[0008] In a preferred embodiment of the articulated servo motor of this utility model, the rotating assembly includes an output flange, a magnetic component, and an upper housing; a magnetic component is disposed at the center of the output flange, the output flange is disposed inside the upper housing, and a drive assembly is connected to the lower end of the output flange, with the magnetic component rotating along with the output flange.

[0009] In a preferred embodiment of the articulated servo motor of this utility model, a rotation area is provided on the output flange, a monitoring component is disposed within the rotation area and above the magnetic component, and the monitoring component monitors the magnetic component.

[0010] In a preferred embodiment of the articulated servo motor of this utility model, the drive assembly includes a drive control component and a transmission component; the drive control component is connected to the transmission component, and the drive control component can drive the rotating assembly to rotate through the transmission component.

[0011] In a preferred embodiment of the articulated servo motor of this utility model, the drive control component includes a servo motor control motherboard and a drive motor; the servo motor control motherboard is connected to the drive motor, and can control the operation of the drive motor; one side of the servo motor control motherboard is connected to a monitoring component.

[0012] In a preferred embodiment of the articulated servo motor of this utility model, a servo motor housing is provided on the outside of the drive motor, and an interface terminal is also connected to the servo motor control motherboard, which can communicate with an external controller.

[0013] In a preferred embodiment of the articulated servo motor of this utility model, the transmission component includes a planetary gear system, the lower end of which is connected to the drive motor and the upper end of which is connected to the rotating component.

[0014] In a preferred embodiment of the articulated servo motor of this utility model, the magnetic component is a magnet, and the monitoring component can monitor the changes in the magnetic field of the magnetic component.

[0015] In a preferred embodiment of the articulated servo motor of this utility model, the monitoring component includes a detection element and a transmission element; the detection element is disposed above the rotating component, and the transmission element is connected to the detection element and the drive component; the detection element can detect the magnetic field of the rotating component; the transmission element can transmit the magnetic field change data to the drive component for correction.

[0016] In a preferred embodiment of the articulated servo motor of this utility model, the detection component includes a retainer and a Hall sensor circuit board; the retainer can fix the Hall sensor circuit board, and the Hall sensor circuit board can monitor the position or angle of the rotating component in real time.

[0017] The beneficial effects of this utility model are as follows: This utility model can drive the rotating component to rotate through the driving component, and use the rotating component to drive the robot parts to move. Furthermore, the position and angle of the rotating component can be monitored through the monitoring component, and the monitoring results can be sent to the driving component for correction, thereby improving the accuracy of the position. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0019] Figure 1 This is a schematic diagram of the articulated servo motor.

[0020] Figure 2 This is a top view of the articulated servo motor.

[0021] Figure 3 This is a schematic diagram of the joint servo motor from another perspective.

[0022] Figure 4 for Figure 3 Enlarged view of F1 on the mid-joint servo motor.

[0023] Figure 5 This is a schematic diagram of the internal structure of the articulated servo motor. Detailed Implementation

[0024] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0025] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0026] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0027] Example 1

[0028] Reference Figures 1-5 This is the first embodiment of the present invention. This embodiment provides a joint servo motor, which includes a servo motor body Q. The servo motor body Q includes a drive component 1, a rotation component 2, and a monitoring component 3. By setting the rotation component 2 on the drive component 1, the rotation component 2 drives the rotation of the robot parts. The monitoring component 3 monitors the rotation angle of the rotation component 2 in real time and transmits the monitored data to the drive component 1 so that the drive component 1 can adjust its position, thereby greatly improving the accuracy.

[0029] Specifically, the servo motor body Q includes a drive assembly 1, a rotation assembly 2, and a monitoring assembly 3. The drive assembly 1 is connected to the rotation assembly 2, and the monitoring assembly 3 is located above the rotation assembly 2 and connected to the drive assembly 1. The drive assembly 1 can drive the rotation assembly 2 to rotate, and the monitoring assembly 3 can monitor the angle or position of the rotation assembly 2 and feed it back to the drive assembly 1 for correction and calibration.

[0030] Furthermore, the rotating assembly 2 includes an output flange 21, a magnetic element 22, and an upper housing 23; the output flange 21 has a magnetic element 22 at its center, the output flange 21 is located inside the upper housing 23, the lower end of the output flange 21 is connected to the drive assembly 1, and the magnetic element 22 rotates with the output flange 21.

[0031] Furthermore, the magnetic component 22 is a magnet, and the monitoring component 3 can monitor the changes in the magnetic field of the magnetic component 22.

[0032] Preferably, the magnetic component 22 rotates together with the output flange 21. The monitoring component 3 monitors the changes in the magnetic field of the magnetic component 22 to obtain the rotation angle and position of the output flange 21. The monitoring component 3 transmits the data to the drive component 1 for corresponding position or angle correction, thereby improving accuracy.

[0033] Furthermore, a rotation area 24 is provided on the output flange 21, and the monitoring component 3 is set in the rotation area 24 and above the magnetic component 22. The monitoring component 3 monitors the magnetic component 22.

[0034] Preferably, by setting the rotation area 24, the monitoring component 3 can easily monitor the magnetic component 22.

[0035] Furthermore, the drive assembly 1 includes a drive control component 11 and a transmission component 12; the drive control component 11 is connected to the transmission component 12, and the drive control component 11 can drive the rotating assembly 2 to rotate through the transmission component 12.

[0036] Furthermore, the drive control unit 11 includes a servo control motherboard 111 and a drive motor 112; the servo control motherboard 111 is connected to the drive motor 112, the servo control motherboard 111 can control the drive motor 112 to work, and one side of the servo control motherboard 111 is connected to the monitoring component 3.

[0037] Furthermore, the transmission component 12 includes a planetary gear train 121, the lower end of which is connected to the drive motor 112, and the upper end of which is connected to the rotating component 2.

[0038] Preferably, the planetary gears and sun gears at each stage inside the planetary gear system 121 together form a planetary gear system, which can reduce the speed and increase the torque.

[0039] Preferably, the servo control motherboard 111 controls the operation of the servo.

[0040] Preferably, the servo control motherboard 111 can control the drive motor 112 to work, and the drive motor 112 drives the planetary gear train 121 to rotate the rotating component 2 accordingly. The detection element 31 can detect the magnetic field of the magnetic component 22, thereby determining the position and angle of the rotating component 2. The data is transmitted to the servo control motherboard 111 through the transmission element 32, and then the servo control motherboard 111 drives the drive motor 112 to drive the transmission element 12, the output flange 21, and the magnetic component 22 to correct their angle and position, thereby making the target position more accurate.

[0041] Furthermore, a servo housing 113 is provided on the outside of the drive motor 112, and an interface terminal 114 is also connected to the servo control main board 111, which can communicate with an external controller.

[0042] Preferably, an external controller can be connected through interface 114 to communicate, receive control commands, and upload status information.

[0043] Furthermore, the monitoring component 3 includes a detection element 31 and a transmission element 32; the detection element 31 is disposed above the rotating component 2, and the transmission element 32 is connected to the detection element 31 and the drive component 1. The detection element 31 can detect the magnetic field of the rotating component 2; the transmission element 32 can transmit the magnetic field change data to the drive component 1 for correction.

[0044] Furthermore, the detection component 31 includes a fixture 311 and a Hall sensor circuit board 312; the fixture 311 can fix the Hall sensor circuit board 312, and the Hall sensor circuit board 312 can monitor the position or angle of the rotating component 2 in real time.

[0045] Preferably, the Hall sensor circuit board 312 is connected to the servo control main board 111 via the transmission component 32;

[0046] Preferably, the transmission element 32 is an FPC flexible flat cable.

[0047] Preferably, the angular position of the magnet at the center of the output flange 21 is detected by the Hall sensor on the Hall sensor circuit board 312, and converted into an electrical signal and transmitted to the servo control main board 111 through the transmission device 32.

[0048] In summary, this utility model can drive the rotating component 2 to rotate through the driving component 1, and use the rotating component 2 to move the robot parts. Furthermore, the monitoring component 3 can monitor the position and angle of the rotating component 2 and send the monitoring results to the driving component 1 for correction, thereby improving the accuracy of the position.

[0049] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape and proportion of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of this utility model. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structural equivalents but also equivalent structures. Without departing from the scope of this invention, other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments. Therefore, this invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0050] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the present invention as currently considered, or those features that are not relevant to implementing the present invention) may be omitted.

[0051] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0052] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A tiller motor, characterized by: The system includes a servo motor body (Q), which includes a drive assembly (1), a rotation assembly (2), and a monitoring assembly (3). The drive assembly (1) is connected to the rotation assembly (2), and the monitoring assembly (3) is located above the rotation assembly (2) and connected to the drive assembly (1). The drive assembly (1) can drive the rotation assembly (2) to rotate, and the monitoring assembly (3) can monitor the angle or position of the rotation assembly (2) and feed it back to the drive assembly (1) for correction and calibration.

2. The gimbaling machine of claim 1, wherein: The rotating assembly (2) includes an output flange (21), a magnetic component (22), and an upper housing (23); the output flange (21) has a magnetic component (22) at its center, the output flange (21) is located inside the upper housing (23), the lower end of the output flange (21) is connected to the driving assembly (1), and the magnetic component (22) rotates with the output flange (21).

3. The gimbaling machine of claim 2 wherein: The output flange (21) has a rotating area (24), and the monitoring component (3) is located in the rotating area (24) and above the magnetic component (22). The monitoring component (3) monitors the magnetic component (22).

4. The gimbaling mechanism of claim 1 wherein: The drive assembly (1) includes a drive control component (11) and a transmission component (12); the drive control component (11) is connected to the transmission component (12), and the drive control component (11) can drive the rotating assembly (2) to rotate through the transmission component (12).

5. The gimbaling mechanism of claim 4 wherein: The drive control unit (11) includes a servo control motherboard (111) and a drive motor (112); the servo control motherboard (111) is connected to the drive motor (112), the servo control motherboard (111) can control the drive motor (112) to work, and one side of the servo control motherboard (111) is connected to the monitoring component (3).

6. The gimbaling machine of claim 5 wherein: The drive motor (112) is provided with a servo housing (113) on its outside. The servo control motherboard (111) is also connected to an interface terminal (114), which can communicate with an external controller through the interface terminal (114).

7. The gimbaling mechanism of claim 4 wherein: The transmission component (12) includes a planetary gear system (121), the lower end of which is connected to a drive motor (112), and the upper end of which is connected to a rotating component (2).

8. The gimbaling mechanism of claim 2 wherein: The magnetic component (22) is a magnet, and the monitoring component (3) can monitor the magnetic field changes of the magnetic component (22).

9. The gimbaling mechanism according to any one of claims 1 to 8, wherein: The monitoring component (3) includes a detection element (31) and a transmission element (32); the detection element (31) is disposed above the rotating component (2), and the transmission element (32) is connected to the detection element (31) and the driving component (1). The detection element (31) can detect the magnetic field of the rotating component (2); the transmission element (32) can transmit the magnetic field change data to the driving component (1) for correction.

10. The articulated servo motor as described in claim 9, characterized in that: The detection piece (31) comprises a fixer (311) and a Hall sensor circuit board (312); the fixer (311) can fix the Hall sensor circuit board (312), and the Hall sensor circuit board (312) can monitor the position or angle of the rotating assembly (2) in real time.

Images