Servo and robot with servo

Patent metadata

Field	Value
Publication number	US-9815192-B1
Application number	US-201615394745-A
Country	US
Kind code	B1
Filing date	Dec 29, 2016
Priority date	Dec 5, 2016
Publication date	Nov 14, 2017
Grant date	Nov 14, 2017

Abstract

A servo and a robot with the servo are provided. The servo comprises a power input apparatus with a first output shaft, a deceleration apparatus, and a power output mechanism. The deceleration apparatus comprises a first-stage deceleration mechanism and a second-stage deceleration mechanism. The power output mechanism comprises a second output shaft and an output bearing fixedly installed on the second output shaft, wherein the second output shaft is an external spline output shaft. Through the external spline output shaft and the output bearing disposed on the power output mechanism, the servo could directly connect with an exterior component through the external spline output shaft, and the strength is improved. As a result, the friction between the servo and the exterior component is reduced, and the lifetime is therefore increased.

First claim

What is claimed is:

1. A servo, comprising:
a power input apparatus providing rotational power;
a deceleration apparatus driven to operate by the power input apparatus; and
a power output mechanism driven to rotate by the deceleration apparatus;
wherein the power input apparatus comprises a first output shaft; the deceleration apparatus comprises a first-stage deceleration mechanism partly installed on the first output shaft and used to change a power output direction, and a second-stage deceleration mechanism connected between the first-stage deceleration mechanism and the power output mechanism; the power output mechanism comprises a second output shaft driven to rotate by an output terminal of the second-stage deceleration mechanism and connected with an exterior component, and an output bearing fixedly installed on the second output shaft, wherein the second output shaft is an external spline output shaft;
the first-stage deceleration mechanism comprises a power gear installed on the first output shaft and rotating along with the first output shaft as well as a face gear engaged with the power gear, the rotation direction of the face gear is perpendicular to the rotation direction of the power gear; and
the second-stage deceleration mechanism comprises a second-stage pinion rotating coaxially with the face gear, a middle gear set engaged with the second-stage pinion and driven to rotate by the second-stage pinion, a planetary gear set engaged with the middle gear set, a fixing gear engaged with the planetary gear set to prevent the planetary gear set from idling, the second-stage pinion and the planetary gear set each are locked on a fixing shaft on the power output mechanism.

2. The servo of claim 1 , wherein the middle gear set comprises a first gear engaged with the second-stage pinion and driven to rotate by the second-stage pinion, a third-stage pinion rotating coaxially along with the first gear, a second gear engaged with the third-stage pinion and driven to rotate by the third-stage pinion, a third sun gear rotating coaxially along with the second gear and driving the planetary gear set to rotate.

3. The servo of claim 1 , wherein the planetary gear set comprises three planetary gears disposed around the outside of the third sun gear and engaged with the third sun gear, a planet carrier installed on the fixing shaft corresponding to the planetary gear set for installing the planetary gears, the fixing gear is put around a periphery of the planetary gears and engaged with each of the planetary gears.

4. The servo of claim 3 , wherein the power output mechanism further comprises an end cap fixedly connected to the second output shaft and the planet carrier, the end cap is located between the second output shaft and the planet carrier, the planet carrier comprises a lower clamp board fixedly connected with the end cap and a planetary shaft fixedly connected with each of the planetary gears, an installation opening for installing each of the planetary gears is formed between the end cap and the lower clamp board, the planetary shaft is disposed inside the installation opening, and one end of the planetary shaft is inserted into the end cap while the other end of the planetary shaft is inserted into the lower clamp board.

5. The servo of claim 1 , further comprising a base seat provided with a first accommodation chamber, and a side cover fixedly connected with the base seat and forming a second accommodation chamber along with the base seat, the power input apparatus is installed inside the first accommodation chamber, the first-stage deceleration and the second-stage deceleration mechanism are installed inside the second accommodation chamber, the fixing gear is fixed on the base seat and the side cover.

6. The servo of claim 5 , wherein the base seat comprises a body part provided with the first accommodation chamber, a support part protruding out of the bottom of the body part for supporting the face gear, the support part is provided with a fixing aperture, the fixing shaft corresponding to the second-stage pinion is inserted into the fixing aperture and passes through the face gear.

7. The servo of claim 6 , wherein the base seat further comprises ring part opposite to the support part and disposed around a periphery of the fixing gear, and a fixed inner side located between the ring part and the support part and opposite to an end face of the side cover so as to fixedly connect to the end face of the side cover.

8. A robot comprising a servo, the servo comprising:
a power input apparatus providing rotational power;
a deceleration apparatus driven to operate by the power input apparatus; and
a power output mechanism driven to rotate by the deceleration apparatus;
wherein the power input apparatus comprises a first output shaft; the deceleration apparatus comprises a first-stage deceleration mechanism partly installed on the first output shaft and used to change a power output direction, and a second-stage deceleration mechanism connected between the first-stage deceleration mechanism and the power output mechanism; the power output mechanism comprises a second output shaft driven to rotate by an output terminal of the second-stage deceleration mechanism and connected with an exterior component, and an output bearing fixedly installed on the second output shaft, wherein the second output shaft is an external spline output shaft;
the first-stage deceleration mechanism comprises a power gear installed on the first output shaft and rotating along with the first output shaft as well as a face gear engaged with the power gear, the rotation direction of the face gear is perpendicular to the rotation direction of the power gear;
the second-stage deceleration mechanism comprises a second-stage pinion rotating coaxially with the face gear, a middle gear set engaged with the second-stage pinion and driven to rotate by the second-stage pinion, a planetary gear set engaged with the middle gear set, a fixing gear engaged with the planetary gear set to prevent the planetary gear set from idling, the second-stage pinion and the planetary gear set each are locked on a fixing shaft on the power output mechanism.

9. The robot of claim 8 , wherein the middle gear set comprises a first gear engaged with the second-stage pinion and driven to rotate by the second-stage pinion, a third-stage pinion rotating coaxially along with the first gear, a second gear engaged with the third-stage pinion and driven to rotate by the third-stage pinion, a third sun gear rotating coaxially along with the second gear and driving the planetary gear set to rotate.

10. The robot of claim 8 , wherein the planetary gear set comprises three planetary gears disposed around the outside of the third sun gear and engaged with the third sun gear, a planet carrier installed on the fixing shaft corresponding to the planetary gear set for installing the planetary gears, the fixing gear is put around a periphery of the planetary gears and engaged with each of the planetary gears.

11. The robot of claim 10 , wherein the power output mechanism further comprises an end cap fixedly connected to the second output shaft and the planet carrier, the end cap is located between the second output shaft and the planet carrier, the planet carrier comprises a lower clamp board fixedly connected with the end cap and a planetary shaft fixedly connected with each of the planetary gears, an installation opening for installing each of the planetary gears is formed between the end cap and the lower clamp board, the planetary shaft is disposed inside the installation opening, and one end of the planetary shaft is inserted into the end cap while the other end of the

Assignees

• Ubtech Robotics Corp

Inventors

• Du Xuchao
• Liu Lefeng
• Ding Hongyu
• Shu Wenquan
• Xiong Youjun

Classifications

• B25J9/126 Primary

  Rotary actuators · CPC title

• F16H37/041

  for conveying rotary motion with constant gear ratio · CPC title

• F16H1/28

  with gears having orbital motion · CPC title

• F16H1/203

  with non-parallel axes (F16H1/22 takes precedence) · CPC title

• B25J17/00 Primary

  Joints · CPC title