Servo

Patent metadata

Field	Value
Publication number	US-10637331-B2
Application number	US-201615323098-A
Country	US
Kind code	B2
Filing date	Oct 28, 2016
Priority date	Oct 28, 2016
Publication date	Apr 28, 2020
Grant date	Apr 28, 2020

Abstract

A servo (1) includes a power input device (14), a gear assembly (15) drive-connected to the power input device (14), a power output frame (13) that is driven to rotate by the gear assembly (15), an output shaft (131) arranged at the power output frame (13), a magnetic encoding assembly (121) that is arranged at a rotation center axis of the power output frame (13) and used to detect a rotation angle of the output shaft (131) relative to the rotation center axis, and a circuit board (12) connected to the magnetic encoding assembly (121) and the power input device (14). The magnetic encoding assembly (121) does not tend to be affected by environment, to accurately detect the rotation angle of the output shaft (131) relative to the rotation center axis. Meanwhile, the magnetic encoding assembly (121) is simple to structure and light in weight, which facilitates it to be fixed to the servo (1).

First claim

What is claimed is:

1. A servo, comprising:
a power input device, a gear assembly connected to the power input device;
a power output frame that is driven to rotate by the gear assembly;
an output shaft arranged at the power output frame;
a magnetic encoding assembly that is arranged at a rotation center axis of the power output frame and configured to detect a rotation angle of the output shaft relative to the rotation center axis; and
a circuit board connected to the magnetic encoding assembly and the power input device,
wherein the power output frame is inscribed to a flange disk, a central axis of the flange disc coincides with the rotation center axis of the power output frame, and the circuit board is arranged on the flange disc, the magnetic encoding assembly is arranged on the circuit board and located at the central axis of the flange disc, and the circuit board is provided with a sliding groove the is slidably mated with the output shaft.

2. The servo according to claim 1 , wherein the output shall is set to be two in number, and the two output shafts are symmetrically arranged at two sides of the magnetic encoding assembly.

3. The servo according to claim 1 , wherein the flange disc is provided with a connection post for fixing the circuit board, and the circuit board is provided with a first connection hole opposing the connection post.

4. The servo according to claim 3 , wherein the connection post comprises a first connection post and a second connection post arranged to oppose the first connection post, and the first connection post and the second connection post are different in size.

5. The servo according to claim 1 , wherein the flange disc is further provided with a connection block, and the connection block is provided with a second connection hole for connecting with a robot.

6. The servo according to claim 5 , wherein the connection block is arc-shaped, and the arc-shaped connection block is slidably mated with the output shaft.

7. The servo according to claim 1 , wherein the circuit board is provided with a cable connector at an end thereof, and the cable connector is electrically coupled to the magnetic encoding assembly.

8. The servo according to claim 1 , wherein the gear assembly comprises a tube and a planet gear set arranged in the tube, the tube is provided with inner engaged teeth, the planet gear set is provided with outer gears, and the inner engaged teeth of the tube is engaged with the outer gears of the planet gear set.

9. The servo according to claim 8 , wherein the planet gear set is a three-stage planet reduction gear set.

10. The servo according to claim 8 , wherein the power output frame is detachably mounted to one end of the tube.

11. The servo according to claim 10 , wherein an end surface of the tube is provided with a plurality of equally spaced first threaded holes, and the power output frame is correspondingly provided with a plurality of second threaded holes opposing the first threaded holes.

12. The servo according to claim 1 , wherein the power output frame comprises an output planet carrier embedded in the flange disc, the flange disc is provided with an shaft hole, the output planet carrier is engaged with a periphery of the shaft hole, and the output shaft is arranged at the output planet carrier.

13. The servo according to claim 1 , wherein in that the magnetic encoding assembly comprises a magnet and a magnetic sensor that is arranged to oppose the magnet and configured to detect and process change of magnetic field of the magnet.

14. A servo, comprising:
a power input device, a gear assembly connected to the power input device;
a power output frame that is driven to rotate by the gear assembly;
an output shaft arranged at the power output frame;
a magnetic encoding assembly that is arranged at a rotation center axis of the power output frame and configured to detect a rotation angle of the output shaft relative to the rotation center axis; and
a circuit board connected to the magnetic encoding assembly and the power input device, wherein the output shaft is set to be two in number, and the two output shafts are symmetrically arranged at two sides of the magnetic encoding assembly.

15. The servo according to claim 14 , wherein the circuit board is provided with a cable connector at an end thereof, and the cable connector is electrically coupled to the magnetic encoding assembly.

16. The servo according to claim 14 , wherein the magnetic encoding assembly comprises a magnet and a magnetic sensor that is arranged to oppose the magnet and configured to detect and process change of magnetic field of the magnet.

17. A servo, comprising:
a power input device, a gear assembly connected to the power input device;
a power output frame that is driven to rotate by the gear assembly;
an output shaft arranged at the power output frame;
a magnetic encoding assembly that is arranged at a rotation center axis of the power output frame and configured to detect a rotation angle of the output shaft relative to the rotation center axis; and
a circuit board connected to the magnetic encoding assembly and the power input device, wherein the gear assembly comprises a tube and a planet gear set arranged in the tube, the tube is provided with inner engaged teeth, the planet gear set is provided with outer gears, and the inner engaged teeth of the tube is engaged with the outer gears of the planet gear set.

18. The servo according to claim 17 , wherein the planet gear set is a three-stage planet reduction gear set.

19. The servo according to claim 17 , wherein the power output frame is detachably mounted to one end of the tube.

20. The servo according to claim 19 , wherein an end surface of the tube is provided with a plurality of equally spaced first threaded holes, and the power output frame is correspondingly provided with a plurality of second threaded holes opposing the first threaded holes.

Assignees

• Ubtech Robotics Corp

Inventors

• Du Xuchao
• Chen Xinpu
• Liu Meichun
• Liu Lefeng
• Shu Wenquan
• Xiong Youjun

Classifications

• H02K7/003

  Couplings; Details of shafts (means for mounting rotors on shafts H02K1/28) · CPC title

• H02K11/215 Primary

  Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements · CPC title

• H02K7/116

  with gears · CPC title

• F16H1/46

  Systems consisting of a plurality of gear trains each with orbital gears, {i.e. systems having three or more central gears} · CPC title

• B25J13/088

  with position, velocity or acceleration sensors · CPC title