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WO2018121695A1 - 伺服舵机及机器人 - Google Patents

伺服舵机及机器人 Download PDF

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Publication number
WO2018121695A1
WO2018121695A1 PCT/CN2017/119556 CN2017119556W WO2018121695A1 WO 2018121695 A1 WO2018121695 A1 WO 2018121695A1 CN 2017119556 W CN2017119556 W CN 2017119556W WO 2018121695 A1 WO2018121695 A1 WO 2018121695A1
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WO
WIPO (PCT)
Prior art keywords
gear
power
servo steering
shaft
planetary
Prior art date
Application number
PCT/CN2017/119556
Other languages
English (en)
French (fr)
Inventor
熊友军
杜旭超
丁宏钰
Original Assignee
深圳市优必选科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市优必选科技有限公司 filed Critical 深圳市优必选科技有限公司
Publication of WO2018121695A1 publication Critical patent/WO2018121695A1/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
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/2809—Toothed gearings for conveying rotary motion with gears having orbital motion with means for equalising the distribution of load on the planet gears
    • F16H1/2827—Toothed gearings for conveying rotary motion with gears having orbital motion with means for equalising the distribution of load on the planet gears by allowing limited movement of the planet carrier, e.g. relative to its shaft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • 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
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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
    • F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
    • 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
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H57/082—Planet carriers

Definitions

  • the invention belongs to the field of robot technology, and in particular relates to a servo steering gear and a robot having the same.
  • the servo steering gear is usually realized by parallel shaft gear transmission, which has a single-stage reduction ratio and is not compact enough.
  • the object of the present invention is to provide a servo steering gear, which aims to solve the technical problem that the servo steering gear of the prior art adopts parallel shaft gear transmission and causes a reduction ratio.
  • a servo steering gear includes:
  • a driving device for providing power and having a first output shaft for outputting power, wherein the first output shaft is mounted with a power input gear;
  • a speed reduction mechanism for changing a power output direction of the driving device, and including a power gear that cooperates with the power input gear, a first coaxially disposed with the power gear, and rotates synchronously with the power gear a transmission gear, a speed reduction assembly driven by the first transmission gear;
  • the power output mechanism is driven by the speed reduction mechanism, and includes a second output shaft driven by the output end of the speed reduction assembly and connected to an external component;
  • an axial direction of the first output shaft is perpendicular to an axial direction of the power gear.
  • the power input gear and the power gear are intermeshing worm gears, crossed helical gears or hypoid helical gears.
  • the speed reduction assembly includes a fixed shaft disposed axially parallel to the power gear, a second transmission gear intermeshing with the first transmission gear, and a coaxial arrangement with the second transmission gear and a planetary gear set connected to the power output mechanism, the second transmission gear and the planetary gear set being mounted on the fixed shaft, the second transmission gear comprising a first gear and a second gear coaxially disposed and fixed to each other The first gear meshes with the first transmission gear, and the second gear meshes with the planetary gear set.
  • the planetary gear set includes three planetary gears disposed outside the second gear and meshing with the second gear, a planet carrier for mounting the planetary gears and mounted on the fixed shaft And a fixed gear that is sleeved on the periphery of the planet carrier and meshes with each of the planet gears to restrict the planetary gear from being idling, and the power output mechanism is coaxially mounted on the fixed shaft with the planetary gear set.
  • the power output mechanism further includes an end cover fixedly coupled to the second output shaft and fixedly coupled to the carrier, the end cover being located between the second output shaft and the planet carrier;
  • the carrier includes a lower jaw fixedly coupled to the end cap and a planet shaft fixedly coupled to each of the planet gears, and an installation between the end cap and the lower plate for mounting each of the planet gears is formed An opening, the planetary shaft is disposed in the mounting opening, and one end is inserted into the end cover and the other end is inserted into the lower clamping plate.
  • the servo steering gear further includes a base provided with a first accommodating cavity, and a side cover fixedly connected to the base and forming a second accommodating cavity with the base,
  • the driving device Mounted in the first accommodating cavity the cradle includes a fixing plate protruding from a cavity wall of the first accommodating cavity and for mounting the fixed shaft and the power gear, and the The side cover abuts the fixed casing portion, the speed reduction mechanism is installed in the second accommodating cavity, and the casing portion is provided with a first fixing hole for fixedly mounting the power output mechanism, the fixed gear Fixed to the housing portion and the side cover.
  • the servo steering gear further includes a mounting assembly fixedly mounted on a side of the housing portion facing the fixing plate to be coaxially disposed with the second output shaft, the housing portion being provided with a seat a second fixing hole opposite to the first fixing hole, the mounting assembly includes a connecting plate fixedly mounted on the fixing plate, and is fixedly mounted on the connecting plate through the second fixing hole and has a connecting shaft The connecting column of the hole.
  • the power output mechanism includes a fixed bearing ringed around the periphery of the end cover and a snap ring that is disposed between the hole wall of the first fixing hole and the periphery of the fixed bearing.
  • the invention also provides a robot comprising the above servo steering gear.
  • the technical effect of the present invention is that the servo steering gear is powered by the speed reduction mechanism, and the power gear is meshed with the power input gear and the power gear is driven by the speed reduction mechanism.
  • the first transmission gear and the speed reduction assembly perform power transmission, and the structure is simple and the single-stage transmission ratio is large; and the power input gear and the power gear are interlaced to reduce the cooperation between the gears of each stage. Noise, and increase the reduction ratio of the speed reduction mechanism.
  • FIG. 1 is a structural diagram of a servo steering gear according to an embodiment of the present invention.
  • Figure 2 is a cross-sectional view of the servo steering gear of Figure 1 in one direction;
  • Figure 3 is a cross-sectional view of the servo steering gear of Figure 1 in another direction;
  • Figure 4 is an exploded view of the servo steering gear of Figure 1;
  • FIG. 5 is an exploded view of a driving device, a speed reduction mechanism, and a power output mechanism according to an embodiment of the present invention
  • Fig. 6 is a structural view showing the driving device, the speed reducing mechanism, and the power output mechanism of Fig. 5.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” and “second” may include one or more of the features either explicitly or implicitly.
  • the meaning of "a plurality” is two or more unless specifically and specifically defined otherwise.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. , or integrated; can be mechanical connection, or can be electrical connection; can be directly connected, or can be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements.
  • installation can be understood on a case-by-case basis.
  • the servo steering gear provided by the embodiment of the present invention includes:
  • the driving device 10 is configured to provide power and has a first output shaft 12 for outputting power, and the first output shaft 12 is mounted with a power input gear 14;
  • a speed reduction mechanism 20 for changing a power output direction of the driving device 10, and including a power gear 21 cooperating with the power input gear 14, coaxially disposed with the power gear 21, and a first transmission gear 22 of the power gear 21 synchronously rotating, a deceleration assembly 24 driven by the first transmission gear 22 to rotate thereof;
  • the power output mechanism 30 is driven by the speed reduction mechanism 20, and includes a second output shaft 32 driven by the output end of the speed reduction assembly 24 and connected to an external component;
  • the power input gear 14 and the power gear 21 are interlaced.
  • the servo steering gear provided by the embodiment of the present invention is powered by the speed reduction mechanism 20, and the power gear 21 of the speed reduction mechanism 20 is meshed with the power input gear 14 and the power gear 21 drives the first A transmission gear 22 and the reduction assembly 24 perform power transmission, and the structure is simple and the single-stage transmission ratio is large; and the power input gear 14 and the power gear 21 are interlaced to reduce the gear coordination of each stage. The noise between them is increased, and the reduction ratio of the speed reduction mechanism 20 is increased.
  • the driving device 10 is a driving motor, and different types of driving motors can be selected according to actual required output power.
  • the speed reduction mechanism 20 further includes a mounting shaft (not shown) for mounting the power gear 21 and the first transmission gear 22, the mounting shaft being perpendicular to the first output shaft 12, and the power gear 21 mounted on the mounting shaft is interlaced with the power input gear 14 mounted on the first output shaft 12, and the power input gear 14 interlaced with each other and the
  • the power gear 21 can effectively reduce the noise of the servo steering gear and can increase the single-stage reduction ratio of the servo steering gear.
  • the axial direction of the first output shaft 12 is perpendicular to the axial direction of the power gear 21 .
  • the axial direction of the first output shaft 12 is perpendicular to the axial direction of the mounting shaft to form a stagger to change the power output direction of the driving device 10.
  • the first output shaft 12 is vertically disposed with the mounting shaft, and the power input gear 14 is interlaced with the power gear 21 to improve the single-stage reduction ratio of the entire servo servo and reduce noise. .
  • the power input gear 14 and the power gear 21 are worm gears, crossed helical gears or hypoid helical gears that mesh with each other. It can be understood that the servo steering gear performs power input by using a worm gear, a crossed helical gear or a hypoid helical gear that mesh with each other, and changes the power transmission direction of the driving device 10 to pass through the power output mechanism 30.
  • the second output shaft 32 transmits power to the external components.
  • the teeth of the power input gear 14 are spirally disposed along the axis of the first output shaft 12
  • the teeth of the power gear 21 are inclined along the outer circumferential surface of the power gear 21, and
  • the tilting direction is inclined along the axis of the mounting shaft.
  • the mounting shaft and the second output shaft 32 are disposed parallel to each other, that is, the first output shaft 12 is perpendicular to the second output shaft 32.
  • the gear outer diameter of the power gear 21 is larger than the outer diameter of the first transmission gear 22, and the number of teeth of the power gear 21 is greater than the number of teeth of the first transmission gear 22.
  • the first transmission gear 22 and the power gear 21 are disposed together on the same gear base, that is, the first transmission gear 22 rotates as the power gear 21 rotates.
  • the speed reduction assembly 24 includes a fixed shaft 240 disposed axially parallel to the power gear 21 , a second transmission gear 242 meshing with the first transmission gear 22 , and
  • the second transmission gear 242 is coaxially disposed and coupled to the power output mechanism 30, and the second transmission gear 242 and the planetary gear set 246 are mounted on the fixed shaft 240.
  • the second transmission gear 242 includes a first gear 244 and a second gear 245 that are coaxially disposed and fixed to each other, the first gear 244 intermeshing with the first transmission gear 22, the second gear 245 and the planet The wheel sets 246 are in mesh with each other.
  • the servo steering gear meshes with the planetary gear set 246 by providing the second transmission gear 242 in the speed reduction mechanism 20 to provide the servo steering gear with a sufficient deceleration effect.
  • the fixed shaft 240 is disposed coaxially with the second output shaft 32 and is disposed in parallel with the mounting shaft.
  • the number of teeth of the second transmission gear 242 is greater than the number of teeth of the first transmission gear 22 to achieve a corresponding reduction ratio requirement.
  • the second transmission gear 242 is rotated by the first transmission gear 22, and the first gear 244 and the second gear 245 are disposed on the same gear base 40 and rotate synchronously, the first transmission gear 22 engages with the first gear 244 and rotates as the first gear 244 rotates.
  • the second gear 245 is in mesh with the planetary gear set 246 to drive the planetary gear set 246 to rotate.
  • the second gear 245 protrudes along the disk surface of the first gear 244 and is provided with teeth that mesh with the planetary gear set 246.
  • the first gear 244 and the second gear 245 are integrally formed, and the second gear 245 rotates with the rotation of the first gear 244 and has the same rotational speed to drive The planetary gear set 246 rotates.
  • the planetary gear set 246 includes three planetary gears 2460 disposed outside the second gear 245 and meshing with the second gear 245 for mounting the planet. a gear 2460 and a carrier 2462 mounted on the fixed shaft 240, and a fixed gear 248 that is sleeved around the periphery of the carrier 2462 and meshes with each of the planetary gears 2460 to restrict the planetary gear 2460 from idling.
  • the output mechanism 30 is mounted coaxially with the planetary gear set 246 on the fixed shaft 240.
  • Each of the planetary gears 2460 meshes with the second gear 245 and drives the carrier 2462 to rotate, thereby driving the power output mechanism 30 to rotate.
  • the carrier 2462 is provided with a through hole, and the external teeth of the second gear 245 mesh with the external teeth of each of the planetary gears 2460 to drive the planetary gear 2460 to rotate.
  • the planet gears 2460 drive the planet carrier 2462 to rotate and drive the power take-off mechanism 30 to rotate with the planet carrier 2462.
  • the servo steering gear divides the power by three of the planetary gears 2460 in the planetary gear set 246, and the power is shunted by the three of the planetary gears 2460, so that the load-carrying capacity of the speed reduction mechanism 20 is high.
  • the servo steering gear is driven by the planetary gear 2460 by the speed reducing mechanism 20, and the single-stage deceleration is relatively large. Therefore, the entire servo steering gear only needs the power gear 21, the first transmission gear 22, and the second transmission.
  • the gear 242 and the planetary gear set 246 can meet the overall reduction ratio requirements.
  • the servo steering gear adopts the planetary gear 2460, the number of gears used by the servo steering gear is greatly reduced, the assembly procedure of the servo steering gear is relatively reduced, and the cost is saved, and at the same time, since the planetary gear 2460 is used for transmission,
  • the structure of the speed reduction mechanism 20 is very compact and has high load carrying capacity.
  • the fixed gear 248 is provided with inner teeth that mesh with each of the planetary gears 2460. It can be understood that the inner gear teeth of the fixed gear 248 mesh with the outer teeth of the planetary gears 2460 to prevent the planetary gears 2460 from idling, and to ensure the normal operation of each of the planetary gears 2460.
  • the power output mechanism 30 further includes an end cover 31 fixedly coupled to the second output shaft 32 and fixedly coupled to the carrier 2462.
  • the end cover 31 is located at the end.
  • the carrier 2462 includes a lower jaw 2464 fixedly coupled to the end cap 31 and a planet shaft 2466 fixedly coupled to each of the planet gears 2460,
  • a mounting opening 2468 for mounting each of the planetary gears 2460 is formed between the end cover 31 and the lower clamping plate 2464.
  • the planetary shaft 2466 is disposed in the mounting opening 2468 and one end is inserted into the end cover 31. And the other end is inserted into the lower clamping plate 2464.
  • the servo steering gear realizes the installation of each of the planetary gears 2460 by providing the end cover 31 and the lower clamping plate 2464, and has a compact structure and convenient assembly and disassembly.
  • the end cap 31 and the second output shaft 32 are integrally formed.
  • the servo steering gear mounts each of the planetary gears 2460 by the end cover 31 and the lower clamping plate 2464, and a planetary shaft 2466 is disposed between the end cover 31 and the lower clamping plate 2464 to place each of the planets A gear 2460 is fixedly mounted on the planet shaft 2466.
  • each of the planet shafts 2466 When installed, each of the planet shafts 2466 is inserted into the corresponding planet gears 2460 and fixedly engaged with the planet gears 2460, and one end of the planet shafts 2466 is inserted into the lower jaws 2464, the ends A cover 31 is disposed relative to the lower jaw 2464 and the other end of the planet shaft 2466 is inserted into the end cap 31 and the end cap 31 and the lower jaw 2464 are secured together by a locking screw, thereby The planet shaft 2466 is mounted in the mounting opening 2468 along with the planetary gears 2460. Under the engagement of the second gear 245, the planetary gears 2460 drive the end caps 31 and the lower portions fixed to each other. The splint 2464 is rotated.
  • the lower clamping plate 2464 includes a seat body (not labeled) and a plurality of raised columns (not labeled) protruding along the surface of the seat body toward the end cover 31 side.
  • Each of the protruding pillars is spaced apart, and a planetary gear 2460 is disposed between two adjacent convex pillars, and the base body is provided with a through hole for the second gear 245 to pass through ( Not shown) and a first mounting slot (not shown) between two adjacent raised posts, one end of the planet shaft 2466 is inserted into the first mounting slot.
  • the end cover 31 is provided with a second mounting slot (not labeled) opposite to the first mounting slot, and the other end of the planet shaft 2466 is inserted into the second mounting slot.
  • the end cover 31 is disposed opposite to the lower clamping plate 2464 and the first mounting groove is opposite to the second mounting groove, and passes through the end cap 31 and is locked by the locking screw
  • the raised posts of the splint 2464 are such that adjacent ones of the raised posts enclose the end cap 31 to form the mounting opening 2468 in which the planet gears 2460 are mounted.
  • the seat body, the protruding column and the end cover 31 are enclosed to form the receiving cavity for receiving the second gear 245, the receiving cavity is communicated with the mounting opening 2468, and the second gear 245 And being engaged in the receiving cavity and engaging with each of the planetary gears 2460 installed in the mounting opening 2468, so that the planetary gears 2460 drive the end cover 31 and the lower clamping plate 2464 to rotate, thereby driving the The second output shaft 32 rotates to transmit power.
  • both ends of each of the planetary shafts 2466 are respectively mounted in the first mounting groove and the second mounting groove by bearings, so that each of the planetary gears 2460 drives the end cover 31 and The lower jaw 2464 rotates.
  • each of the planetary gears 2460 is equally spaced along the circumference of the fixed shaft 240.
  • the servo steering gear sets the planetary gears 2460 at equal intervals to uniformly transmit loads at the same time, so that the power is evenly split.
  • the servo steering gear further includes a base 40 provided with a first receiving cavity 42 and fixedly connected with the base 40 and forming a second with the base 40 .
  • the side cover 50 of the cavity 52 is received.
  • the driving device 10 is mounted in the first accommodating cavity 42.
  • the base 40 includes a wall protruding from the cavity of the first accommodating cavity 42.
  • a fixing plate 44 for mounting the fixed shaft 240 and the power gear 21, and a housing portion 45 fixed to the side cover 50, wherein the speed reducing mechanism 20 is mounted to the second receiving cavity 52.
  • the housing portion 45 is provided with a first fixing hole 450 for fixing the power output mechanism 30, and the fixing gear 248 is fixed to the housing portion 45 and the side cover 50.
  • the base 40 and the side cover 50 form an appearance member of the servo steering gear, and constitute an outer casing structure of the servo steering gear, and protect the power input device and the speed reduction mechanism 20.
  • the circumference of the fixed gear 248 is fixed to the base 40 and the side cover 50 and is received in the second receiving cavity 52.
  • the servo steering gear further includes an installation fixedly mounted on a side of the housing portion 45 facing the fixing plate 44 to be coaxial with the second output shaft 32 .
  • the housing portion 45 is provided with a second fixing hole 452 opposite to the first fixing hole 450.
  • the mounting assembly 60 includes a connecting plate 62 fixedly mounted on the fixing plate 44 and a through hole.
  • the second fixing hole 452 is fixedly mounted on the connecting plate 62 and has a connecting post 64 connecting the shaft holes.
  • the servo steering gear is coupled to the external component by providing the connecting plate 62 and the connecting post 64, and the connecting post 64 is disposed coaxially with the second output shaft 32 to facilitate mounting on the external component.
  • the power output mechanism 30 further includes a fixed bearing 34 disposed around the periphery of the end cover 31 and a hole wall and the fixed bearing of the first fixing hole 450 .
  • the servo steering gear fixes the power output mechanism 30 by providing the fixed bearing 34 on the power output mechanism 30 to add a primary bearing outside the servo steering gear, so that the servo steering mechanism structure is more stable, which is beneficial to the servo steering mechanism.
  • the angle output by the power output mechanism 30 is more precise.
  • the servo steering gear is fitted to the base 40 by stably fitting the snap ring 36 around the fixed bearing 34 to prevent it from traveling in the radial direction.
  • the fixed bearing 34 includes an inner ring (not shown) that is sleeved on the second output shaft 32, and an outer ring that is coaxial with and spaced apart from the inner ring (not shown). And a rolling element (not shown) disposed between the inner ring and the outer ring.
  • the outer ring is locked in the snap ring 36, and is fixed between the outer ring and the base 40 by the snap ring 36, thereby fixing the fixed bearing 34 to the base. 40, to reduce the rotational friction between the second output shaft 32 and the snap ring 36.
  • the robot provided by the embodiment of the present invention includes the above servo steering gear.
  • the servo steering gear in this embodiment has the same structure as the servo steering gear in the above embodiments, and functions the same, and will not be described herein.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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  • Retarders (AREA)
  • Power Steering Mechanism (AREA)

Abstract

一种伺服舵机，包括：驱动装置（10），具有第一输出轴（12），第一输出轴（12）上安装有动力输入齿轮（14）；减速机构（20），包括与动力输入齿轮（14）配合的动力齿轮（21）、与动力齿轮（21）同轴设置且与动力齿轮（21）同步转动的第一传动齿轮（22）、由第一传动齿轮（22）驱动其转动的减速组件（24）；动力输出机构（30），由减速机构（20）带动其转动，并包括第二输出轴（32）；动力输入齿轮（14）与动力齿轮（21）之间交错啮合；还公开了具有上述伺服舵机的机器人。

Description

伺服舵机及机器人 技术领域
本发明属于机器人技术领域，尤其涉及一种伺服舵机以及具有该伺服舵机的机器人。
背景技术
在当前的自动化工业生产中，机器人是其核心。然而，机器人的一些操作要求速度都比较慢，需要大传动比的减速装置传动。现有的减速装置普遍存在传动比不够大，特别是在人形智能机器人的关节伺服舵机中，要求其减速装置体积小、扭矩大和结构紧凑，并且满足特定的减速比要求。
为了满足特定的减速比要求，通常伺服舵机采用平行轴齿轮传动来实现，具有单级减速比小，而其结构布置不够紧凑。
发明内容
本发明的目的在于提供一种伺服舵机，旨在解决现有技术中伺服舵机采用平行轴齿轮传动而导致减速比小的技术问题。
本发明是这样实现的，一种伺服舵机，包括：
驱动装置，用于提供动力并具有用于输出动力的第一输出轴，所述第一输出轴上安装有动力输入齿轮；
减速机构，所述减速机构用于改变所述驱动装置的动力输出方向，并包括与所述动力输入齿轮配合的动力齿轮、与所述动力齿轮同轴设置且与所述动力齿轮同步转动的第一传动齿轮、由所述第一传动齿轮驱动其转动的减速组件；
动力输出机构，所述动力输出机构由所述减速机构带动其转动，并包括由所述减速组件的输出端驱动其转动并与外部元件连接的第二输出轴；
其中，所述动力输入齿轮与所述动力齿轮之间交错啮合。
进一步地，所述第一输出轴的轴向垂直于所述动力齿轮的轴向。
进一步地，所述动力输入齿轮和所述动力齿轮为相互啮合的蜗轮蜗杆、交错轴斜齿轮或者准双曲面斜齿轮。
进一步地，所述减速组件包括与所述动力齿轮轴向平行设置的固定轴、与所述第一传动齿轮相互啮合的第二传动齿轮以及与所述第二传动齿轮同轴设置且与所述动力输出机构连接的行星轮组，所述第二传动齿轮与所述行星轮组安装于所述固定轴上，所述第二传动齿轮包括同轴设置且相互固定的第一齿轮和第二齿轮，所述第一齿轮与所述第一传动齿轮相互啮合，所述第二齿轮与所述行星轮组相互啮合。
进一步地，所述行星轮组包括三个环设于所述第二齿轮外侧并与所述第二齿轮啮合的行星齿轮、用于安装所述行星齿轮并安装于所述固定轴上的行星架、套设于所述行星架外围并与各所述行星齿轮啮合以限制所述行星齿轮空转的固定齿轮，所述动力输出机构与所述行星轮组同轴安装于所述固定轴上。
进一步地，所述动力输出机构还包括与所述第二输出轴固定连接且与所述行星架固定连接的端盖，所述端盖位于所述第二输出轴与所述行星架之间；所述行星架包括与所述端盖固定连接的下夹板以及与各所述行星齿轮固定连接的行星轴，所述端盖与所述下夹板之间形成用于安装各所述行星齿轮的安装开口，所述行星轴设置于所述安装开口内且一端插设于所述端盖中以及另一端插设于所述下夹板中。
进一步地，所述伺服舵机还包括设有第一容置腔体的机座以及与所述机座固定连接并与所述机座形成第二容置腔体的侧盖，所述驱动装置安装于所述第一容置腔体内，所述机座包括突设于所述第一容置腔体的腔壁上并用于安装所述固定轴和所述动力齿轮的固定板以及与所述侧盖相互对接固定的壳体部，所述减速机构安装于所述第二容置腔体内，所述壳体部设有用于固定安装所述动力输出机构的第一固定孔，所述固定齿轮固定于所述壳体部与所述侧盖上。
进一步地，所述伺服舵机还包括固定安装于所述壳体部之朝向所述固定板一侧以与所述第二输出轴同轴设置的安装组件，所述壳体部设有与所述第一固定孔相对的第二固定孔，所述安装组件包括固定安装于所述固定板上的连接板以及穿过所述第二固定孔以固定安装于所述连接板上且具有连接轴孔的连接柱。
进一步地，所述动力输出机构包括环设于所述端盖外围的固定轴承以及卡设于所述第一固定孔的孔壁与所述固定轴承外围之间的卡接环。
本发明还提供了一种机器人，包括上述伺服舵机。
本发明相对于现有技术的技术效果是：该伺服舵机利用所述减速机构进行动力传动，并利用所述减速机构中所述动力齿轮与所述动力输入齿轮啮合以及所述动力齿轮带动所述第一传动齿轮和所述减速组件进行动力传输，结构简单且单级传动比大；且所述动力输入齿轮与所述动力齿轮采用交错啮合的方式，以减小各级齿轮配合之间的噪音，并且增大所述减速机构的减速比。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对本发明实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的伺服舵机的结构图；
图2是图1中伺服舵机于一方向的剖视图；
图3是图1中伺服舵机于另一方向的剖视图；
图4是图1中伺服舵机的分解图；
图5是本发明实施例提供的驱动装置、减速机构和动力输出机构的分解图；
图6是图5中驱动装置、减速机构和动力输出机构的结构图。
附图标记说明：
10 驱动装置 60 安装组件
12 第一输出轴 62 连接板
14 动力输入齿轮 64 连接柱
20 减速机构    
21 动力齿轮    
22 第一传动齿轮 30 动力输出机构
24 减速组件 31 端盖
240 固定轴 32 第二输出轴
242 第二传动齿轮 34 固定轴承
244 第一齿轮 36 卡接环
245 第二齿轮 40 机座
246 行星轮组 42 第一容置腔体
2460 行星齿轮 44 固定板
2462 行星架 45 壳体部
2464 下夹板 450 第一固定孔
2466 行星轴 452 第二固定孔
2468 安装开口 50 侧盖
248 固定齿轮 52 第二容置腔体
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、 “底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，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。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。
请参照图1至图6，本发明实施例提供的伺服舵机包括：
驱动装置10，用于提供动力并具有用于输出动力的第一输出轴12，所述第一输出轴12上安装有动力输入齿轮14；
减速机构20，所述减速机构20用于改变所述驱动装置10的动力输出方向，并包括与所述动力输入齿轮14配合的动力齿轮21、与所述动力齿轮21同轴设置且与所述动力齿轮21同步转动的第一传动齿轮22、由所述第一传动齿轮22驱动其转动的减速组件24；
动力输出机构30，所述动力输出机构30由所述减速机构20带动其转动，并包括由所述减速组件24的输出端驱动其转动并与外部元件连接的第二输出轴32；
其中，所述动力输入齿轮14与所述动力齿轮21之间交错啮合。
本发明实施例提供的伺服舵机利用所述减速机构20进行动力传动，并利用所述减速机构20中所述动力齿轮21与所述动力输入齿轮14啮合以及所述动力齿轮21带动所述第一传动齿轮22和所述减速组件24进行动力传输，结构简单且单级传动比大；且所述动力输入齿轮14与所述动力齿轮21采用交错啮合的方式，以减小各级齿轮配合之间的噪音，并且增大所述减速机构20的减速比。
在该实施例中，所述驱动装置10为驱动电机，可以依据实际需要的输出功率选择不同型号的驱动电机。
在该实施例中，所述减速机构20还包括用于安装所述动力齿轮21和所述第一传动齿轮22的安装轴(未图示)，所述安装轴垂直于所述第一输出轴12，且安装于所述安装轴上的所述动力齿轮21与安装于所述第一输出轴12上的所述动力输入齿轮14交错啮合，相互交错咬合的所述动力输入齿轮14与所述动力齿轮21可以有效降低所述伺服舵机的噪音，并且可以增大所述伺服舵机的单级减速比。
请参照图2至图6，进一步地，所述第一输出轴12的轴向垂直于所述动力齿轮21的轴向。所述第一输出轴12的轴向与所述安装轴的轴向相垂直，形成交错，以改变所述驱动装置10的动力输出方向。另外，所述第一输出轴12与所述安装轴交错垂直设置且所述动力输入齿轮14与所述动力齿轮21交错咬合，以提高整个所述伺服舵机的单级减速比，并降低噪音。
进一步地，所述动力输入齿轮14和所述动力齿轮21为相互啮合的蜗轮蜗杆、交错轴斜齿轮或者准双曲面斜齿轮。可以理解地，该伺服舵机利用相互咬合的蜗轮蜗杆、交错轴斜齿轮或者准双曲面斜齿轮进行动力输入，并改变所述驱动装置10的动力传动方向，以通过所述动力输出机构30中的第二输出轴32将动力传送至外部元件。
在该实施例中，所述动力输入齿轮14的轮齿沿所述第一输出轴12的轴线螺旋设置，所述动力齿轮21的轮齿沿所述动力齿轮21的外周圆表面倾斜设置， 且倾斜方向沿所述安装轴的轴线倾斜设置。
在该实施例中，所述安装轴与所述第二输出轴32相互平行设置，即所述第一输出轴12垂直于所述第二输出轴32。
在该实施例中，所述动力齿轮21的齿轮外径大于所述第一传动齿轮22的外径，且所述动力齿轮21的齿数大于所述第一传动齿轮22的齿数。
在该实施例中，所述第一传动齿轮22与所述动力齿轮21共同设置于同一齿轮座上，即所述第一传动齿轮22随着所述动力齿轮21的转动而转动。
请参照图2至图6，进一步地，所述减速组件24包括与所述动力齿轮21轴向平行设置的固定轴240、与所述第一传动齿轮22相互啮合的第二传动齿轮242以及与所述第二传动齿轮242同轴设置且与所述动力输出机构30连接的行星轮组246，所述第二传动齿轮242与所述行星轮组246安装于所述固定轴240上，所述第二传动齿轮242包括同轴设置且相互固定的第一齿轮244和第二齿轮245，所述第一齿轮244与所述第一传动齿轮22相互啮合，所述第二齿轮245与所述行星轮组246相互啮合。该伺服舵机通过在所述减速机构20中设置所述第二传动齿轮242与所述行星轮组246啮合以使所述伺服舵机具有足够的减速效果。可以理解地，所述固定轴240与所述第二输出轴32同轴设置，且与所述安装轴平行设置。优选地，所述第二传动齿轮242的齿数多于所述第一传动齿轮22的齿数，以达到相应的减速比要求。所述第二传动齿轮242由所述第一传动齿轮22带动其转动，所述第一齿轮244与所述第二齿轮245设置于同一齿轮机座40上且同步转动，所述第一传动齿轮22与所述第一齿轮244啮合并随着所述第一齿轮244的转动而转动。所述第二齿轮245与所述行星轮组246相互啮合，以带动所述行星轮组246转动。
在该实施例中，所述第二齿轮245沿所述第一齿轮244的盘面上突出延伸，并设有与所述行星轮组246相互啮合的轮齿。优选地，所述第一齿轮244与所述第二齿轮245由一体成型而制成，所述第二齿轮245随着所述第一齿轮244的转动而转动，且具有相同的转速，以带动所述行星轮组246转动。
请参照图4至图5，进一步地，所述行星轮组246包括三个环设于所述第二齿轮245外侧并与所述第二齿轮245啮合的行星齿轮2460、用于安装所述行星齿轮2460并安装于所述固定轴240上的行星架2462、套设于所述行星架2462外围并与各所述行星齿轮2460啮合以限制所述行星齿轮2460空转的固定齿轮248，所述动力输出机构30与所述行星轮组246同轴安装于所述固定轴240上。各所述行星齿轮2460与所述第二齿轮245啮合并带动所述行星架2462转动，从而带动所述动力输出机构30转动。可以理解地，所述行星架2462设有导通孔，所述第二齿轮245的外齿与各所述行星齿轮2460的外齿相啮合，以带动而所述行星齿轮2460转动，并由所述行星齿轮2460带动所述行星架2462转动，并带动所述动力输出机构30随着所述行星架2462转动。
该伺服舵机通过在所述行星轮组246中设置三个所述行星齿轮2460，利用三个所述行星齿轮2460同时传递载荷，使功率分流，这样，所述减速机构20的承载能力高。
在该实施例中，所述伺服舵机由于减速机构20采用行星齿轮2460传动，单级减速比较大，因此，整个伺服舵机仅需所述动力齿轮21、第一传动齿轮22、第二传动齿轮242和所述行星轮组246就可以满足总减速比要求。而且，由于该伺服舵机采用行星齿轮2460，该伺服舵机所使用的齿轮数量大大减少，该伺服舵机的装配步骤相对减少，并节约了成本，同时，由于采用行星齿轮2460传动，使得所述减速机构20的结构非常紧凑，且承载能力高。
在该实施例中，所述固定齿轮248设有与各所述行星齿轮2460啮合的内轮齿。可以理解地，所述固定齿轮248的所述内轮齿与所述行星齿轮2460的外齿啮合，以防止各所述行星齿轮2460空转，保证各所述行星齿轮2460的正常运行。
请参照图2至图6，进一步地，所述动力输出机构30还包括与所述第二输出轴32固定连接且与所述行星架2462固定连接的端盖31，所述端盖31位于所述第二输出轴32与所述行星架2462之间；所述行星架2462包括与所述端盖 31固定连接的下夹板2464以及与各所述行星齿轮2460固定连接的行星轴2466，所述端盖31与所述下夹板2464之间形成用于安装各所述行星齿轮2460的安装开口2468，所述行星轴2466设置于所述安装开口2468内且一端插设于所述端盖31中以及另一端插设于所述下夹板2464中。该伺服舵机通过设置所述端盖31和所述下夹板2464以实现对各所述行星齿轮2460的安装，结构紧凑且拆装方便。
在该实施例中，所述端盖31与所述第二输出轴32由一体成型而制成。该伺服舵机利用所述端盖31与所述下夹板2464来安装各所述行星齿轮2460，并且在所述端盖31与所述下夹板2464之间设置行星轴2466以将各所述行星齿轮2460固定安装在该行星轴2466上。
安装时，各所述行星轴2466插设于对应的所述行星齿轮2460中并与所述行星齿轮2460固定配合，并将所述行星轴2466的一端插入所述下夹板2464中，所述端盖31相对于所述下夹板2464设置并且所述行星轴2466的另一端插入所述端盖31中，并利用锁紧螺丝将所述端盖31和所述下夹板2464固定在一起，从而将所述行星轴2466连同所述行星齿轮2460安装于所述安装开口2468中，在所述第二齿轮245的啮合作用下，所述行星齿轮2460带动相互固定的所述端盖31和所述下夹板2464转动。
请参照图5，在该实施例中，所述下夹板2464包括座体(未标示)以及多个沿所述座体表面朝向所述端盖31一侧突出延伸的凸起柱(未标示)，各所述凸起柱间隔设置，且相邻两所述凸起柱之间安装有一所述行星齿轮2460，所述座体上设有供所述第二齿轮245穿过的导通孔(未标示)以及位于相邻两所述凸起柱之间的第一安装槽(未标示)，所述行星轴2466的一端插设于第一安装槽内。所述端盖31设有与所述第一安装槽相对的第二安装槽(未标示)，所述行星轴2466的另一端插设于所述第二安装槽内。所述端盖31与所述下夹板2464相对设置且使得所述第一安装槽与所述第二安装槽相正对，利用锁紧螺丝穿过所述端盖31并锁紧于所述下夹板2464的凸起柱中，这样相邻两所述凸起 柱与所述端盖31围合形成安装所述行星齿轮2460的所述安装开口2468。所述座体、所述凸起柱和所述端盖31围合形成收容所述第二齿轮245的所述收容腔，所述收容腔与所述安装开口2468相通，所述第二齿轮245收容于所述收容腔内并与安装于所述安装开口2468内的各所述行星齿轮2460啮合，以使所述行星齿轮2460带动所述端盖31和所述下夹板2464转动，从而带动所述第二输出轴32转动以传输动力。
在该实施例中，各所述行星轴2466的两端分别通过轴承安装于所述第一安装槽和所述第二安装槽中，以使各所述行星齿轮2460带动所述端盖31和所述下夹板2464转动。
在该实施例中，各所述行星齿轮2460沿所述固定轴240的周向等间距分布。该伺服舵机通过等间距设置所述行星齿轮2460，以同时均匀地传递载荷，使功率均匀分流。
请参照图2至图6，进一步地，所述伺服舵机还包括设有第一容置腔体42的机座40以及与所述机座40固定连接并与所述机座40形成第二容置腔体52的侧盖50，所述驱动装置10安装于所述第一容置腔体42内，所述机座40包括突设于所述第一容置腔体42的腔壁上并用于安装所述固定轴240和所述动力齿轮21的固定板44以及与所述侧盖50相互对接固定的壳体部45，所述减速机构20安装于所述第二容置腔体52内，所述壳体部45设有用于固定安装所述动力输出机构30的第一固定孔450，所述固定齿轮248固定于所述壳体部45与所述侧盖50上。所述机座40和所述侧盖50形成所述伺服舵机的外观件，构成所述伺服舵机的外壳结构，对所述动力输入装置和所述减速机构20起到保护作用。所述固定齿轮248的周缘固定于所述机座40和所述侧盖50上，并收容于所述第二容置腔体52内。
请参照图2至图6，进一步地，所述伺服舵机还包括固定安装于所述壳体部45之朝向所述固定板44一侧以与所述第二输出轴32同轴设置的安装组件60，所述壳体部45设有与所述第一固定孔450相对的第二固定孔452，所述安 装组件60包括固定安装于所述固定板44上的连接板62以及穿过所述第二固定孔452以固定安装于所述连接板62上且具有连接轴孔的连接柱64。该伺服舵机通过设置所述连接板62和所述连接柱64，以与外部元件连接，且所述连接柱64与所述第二输出轴32同轴设置，以便于安装于外部元件上。
请参照图2至图6，进一步地，所述动力输出机构30包括环设于所述端盖31外围的固定轴承34以及卡设于所述第一固定孔450的孔壁与所述固定轴承34外围之间的卡接环36。该伺服舵机通过在所述动力输出机构30上设置所述固定轴承34以在该伺服舵机外部增加一级轴承来固定所述动力输出机构30，以使伺服舵机结构更加稳固，有利于该动力输出机构30输出的角度更加精准。该伺服舵机通过在所述固定轴承34外围嵌合所述卡接环36，以使所述固定轴承34稳定地安装于所述机座40中，避免其沿径向跑偏。
在上述各实施例中，所述固定轴承34包括套设于所述第二输出轴32上的内圈(未图示)、与所述内圈同轴且间隔设置的外圈(未图示)以及设置于所述内圈与所述外圈之间的滚动体(未图示)。所述外圈卡设于所述卡接环36内，利用所述卡接环36固定于所述外圈与所述机座40之间，从而将所述固定轴承34固定于所述机座40中，以减少第二输出轴32与卡接环36之间的转动摩擦。
请参照图1至图6，本发明实施例提供的机器人包括上述伺服舵机。本实施例中的伺服舵机与上述各实施例中的伺服舵机具有相同的结构，且所起作用相同，在此不赘述。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种伺服舵机，其特征在于，包括：
    驱动装置，用于提供动力并具有用于输出动力的第一输出轴，所述第一输出轴上安装有动力输入齿轮；
    减速机构，所述减速机构用于改变所述驱动装置的动力输出方向，并包括与所述动力输入齿轮配合的动力齿轮、与所述动力齿轮同轴设置且与所述动力齿轮同步转动的第一传动齿轮、由所述第一传动齿轮驱动其转动的减速组件；
    动力输出机构，所述动力输出机构由所述减速机构带动其转动，并包括由所述减速组件的输出端驱动其转动并与外部元件连接的第二输出轴；
    其中，所述动力输入齿轮与所述动力齿轮之间交错啮合。
  2. 如权利要求1所述的伺服舵机，其特征在于，所述第一输出轴的轴向垂直于所述动力齿轮的轴向。
  3. 如权利要求1所述的伺服舵机，其特征在于，所述动力输入齿轮和所述动力齿轮为相互啮合的蜗轮蜗杆、交错轴斜齿轮或者准双曲面斜齿轮。
  4. 如权利要求1至3任意一项所述的伺服舵机，其特征在于，所述减速组件包括与所述动力齿轮轴向平行设置的固定轴、与所述第一传动齿轮相互啮合的第二传动齿轮以及与所述第二传动齿轮同轴设置且与所述动力输出机构连接的行星轮组，所述第二传动齿轮与所述行星轮组安装于所述固定轴上，所述第二传动齿轮包括同轴设置且相互固定的第一齿轮和第二齿轮，所述第一齿轮与所述第一传动齿轮相互啮合，所述第二齿轮与所述行星轮组相互啮合。
  5. 如权利要求4所述的伺服舵机，其特征在于，所述行星轮组包括三个环设于所述第二齿轮外侧并与所述第二齿轮啮合的行星齿轮、用于安装所述行星齿轮并安装于所述固定轴上的行星架、套设于所述行星架外围并与各所述行星齿轮啮合以限制所述行星齿轮空转的固定齿轮，所述动力输出机构与所述行星轮组同轴安装于所述固定轴上。
  6. 如权利要求5所述的伺服舵机，其特征在于，所述动力输出机构还包括 与所述第二输出轴固定连接且与所述行星架固定连接的端盖，所述端盖位于所述第二输出轴与所述行星架之间；所述行星架包括与所述端盖固定连接的下夹板以及与各所述行星齿轮固定连接的行星轴，所述端盖与所述下夹板之间形成用于安装各所述行星齿轮的安装开口，所述行星轴设置于所述安装开口内且一端插设于所述端盖中以及另一端插设于所述下夹板中。
  7. 如权利要求6所述的伺服舵机，其特征在于，还包括设有第一容置腔体的机座以及与所述机座固定连接并与所述机座形成第二容置腔体的侧盖，所述驱动装置安装于所述第一容置腔体内，所述机座包括突设于所述第一容置腔体的腔壁上并用于安装所述固定轴和所述动力齿轮的固定板以及与所述侧盖相互对接固定的壳体部，所述减速机构安装于所述第二容置腔体内，所述壳体部设有用于固定安装所述动力输出机构的第一固定孔，所述固定齿轮固定于所述壳体部与所述侧盖上。
  8. 如权利要求7所述的伺服舵机，其特征在于，还包括固定安装于所述壳体部之朝向所述固定板一侧以与所述第二输出轴同轴设置的安装组件，所述壳体部设有与所述第一固定孔相对的第二固定孔，所述安装组件包括固定安装于所述固定板上的连接板以及穿过所述第二固定孔以固定安装于所述连接板上且具有连接轴孔的连接柱。
  9. 如权利要求7所述的伺服舵机，其特征在于，所述动力输出机构包括环设于所述端盖外围的固定轴承以及卡设于所述第一固定孔的孔壁与所述固定轴承外围之间的卡接环。
  10. 一种机器人，其特征在于，包括如权利要求1至9任意一项所述的伺服舵机。
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