CN105128028B - The multiaspect of center shaft with position feedback can cascade steering wheel - Google Patents
The multiaspect of center shaft with position feedback can cascade steering wheel Download PDFInfo
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- CN105128028B CN105128028B CN201510564645.2A CN201510564645A CN105128028B CN 105128028 B CN105128028 B CN 105128028B CN 201510564645 A CN201510564645 A CN 201510564645A CN 105128028 B CN105128028 B CN 105128028B
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- connector
- steering wheel
- output shaft
- gear hub
- multiaspect
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Abstract
The invention discloses a kind of multiaspect of the center shaft with position feedback can cascade steering wheel, including steering wheel main body and motor, steering wheel main body includes top shell, gear hub and lower casing, bottom enclosure connector is provided with lower casing, motor, which is set, to be fixed in gear hub, the center of gear hub is provided with an output shaft, train of reduction gears is provided with output shaft, a turn-sensitive device that linkage is engaged with train of reduction gears is additionally provided with gear hub, an output shaft connector is connected with the top of output shaft, output shaft connector and bottom enclosure connector center are provided with the connecting groove of formed objects, output shaft connector can be cascaded by Quick Release connector and next steering wheel bottom enclosure connector, it can also be cascaded simultaneously with next steering wheel side by angular connector, it is simple in construction, geometrical stability is good.
Description
Technical field
The present invention relates to steering wheel technical field, and in particular to a kind of multiaspect of the center shaft with position feedback can cascade
Steering wheel.
Background technology
Existing model and robot are one side bias shaft with steering wheel, many be present not when installation and use
Just, shaft to the west causes output shaft to deviate its geometric center, causes precision to reduce, the consequence such as stability and carrying reduction,
Multiple steering wheel cascades are particularly true when expanding, and one side shaft make it that the face for connecting steering wheel is very limited, it is difficult to which two steering wheels are held
Different angle is directly connected to each other, and is on the one hand added development cost, is on the one hand also reduced space availability ratio.In multiple steering wheels
During cascade, it is necessary to concatenated, can not directly docked by extra shaped piece.When steering wheel is with load, due to output
Deviate cluster center, the uneven score of the game of weight can be caused to match somebody with somebody, increase steering wheel damage probability.
Due to internal mechanical structure, existing steering wheel output shaft development length in steering wheel is short, and stability is low.
The control program of existing steering wheel is an externally input pwm signal more, and a steering wheel is in addition to power supply, it is necessary to which one independent
Signal wire.After signal inputs to steering wheel, angle feed-back, control panel motor again are carried out to control panel by potentiometer inside steering wheel
Regulation output.Internally closed loop, outside can not learn the present function situation of steering wheel to overall control process, be single for outside
To opened loop control.
The content of the invention
(1) technical problems to be solved
In order to overcome prior art insufficient, it is proposed that a kind of center shaft, while the novel steering engine structure that multiaspect can cascade,
Steering wheel can feed back to the angle signal of interior angle sensor the controller of outside simultaneously, and peripheral control unit can be learnt in real time
The working condition and output angle of steering wheel, the control of other equipment can be carried out with this signal and higher level is carried out to the system
Closed-loop control.
(2) technical scheme
The present invention is achieved through the following technical solutions：The invention discloses a kind of the more of center shaft with position feedback
Face can cascade steering wheel, including steering wheel main body and motor, and the steering wheel main body, which includes, is sequentially assemblied in integral top shell, gear
Shell and lower casing, bottom enclosure connector is provided with the lower casing, the motor, which is set, to be fixed in gear hub, the gear
The center of shell is provided with an output shaft, and train of reduction gears is provided with the output shaft, and the motor output shaft passes through tooth
Wheel is engaged linkage with train of reduction gears, and a rotation sensing that linkage is engaged with train of reduction gears is additionally provided with the gear hub
Device, the output shaft top are connected with an output shaft connector by square hole gear, and the output shaft connector stretches out in top shell
Outside, the output shaft connector and bottom enclosure connector center are provided with the connecting groove of formed objects.
As an improvement the connecting groove can be one in circle, triangle, square or other arbitrary polygons
Kind.
As a further improvement, socket joint is connected with a Quick Release connector in connecting groove in the output shaft connector,
The Quick Release connector socket joint is connected in the connecting groove in next steering wheel bottom part body cage connection mouth, and the output shaft
The side of connector and bottom enclosure connector is provided with lock screw.
As a further improvement, the Quick Release connector cross sectional shape is identical with connecting groove shape.
As a further improvement, the both sides of the gear hub are symmetrically arranged with positioning keyhole, lead at the positioning keyhole
Cross screw and be fixed with an angular connector, the angular connector bottom is provided with the countersunk head step being mutually twisted with positioning keyhole
Hole, be provided with the top of the angular connector with lower casing bottom enclosure connector identical connector, the connector passes through fast
Connector is torn open to be connected with next steering wheel main body output shaft connector.
As a further improvement, be provided with potentiometer and control panel in the steering wheel main body, the control panel and motor and
Turn-sensitive device electrically connects, and the potentiometer has additional a pin of potentiometer line, and the pin of potentiometer line is communicated to outside control
Device processed.
(3) beneficial effect
The present invention has the advantages that relative to prior art：
Invention, which provides a kind of multiaspect of the center shaft with position feedback, can cascade steering wheel, this steering wheel from center shaft,
Top surface and two sides are designed with special connector so that the simpler stabilization of connection between two similar steering wheels, it is several
What Stability Analysis of Structures, precision and same volume can bearing capacity increase, steering wheel output shaft is in the middle part of whole steering wheel, by bottom enclosure
It is directly fixed to top casing, the diastema of output shaft is effectively reduced, the radial force ability of output shaft is improved, so as to improve
The operating accuracy of steering wheel；In addition, this steering wheel with the addition of an extra potentiometer signal wire, steering wheel can sense interior angle
The angle signal of device feeds back to the controller, robot control panel etc. of outside.Peripheral control unit can learn the work of steering wheel in real time
Make situation and output angle, the control of other equipment can be carried out with this signal and the closed loop control of higher level is carried out to the system
System.
Brief description of the drawings
Fig. 1 is steering wheel agent structure composition explosive view.
Fig. 2 is two steering wheel head and the tail cascade schematic diagrames.
Fig. 3 is Quick Release connecting-piece structure schematic diagram.
Fig. 4 is side cascade schematic diagram of the top with another steering wheel of a steering wheel.
Fig. 5 is angular connector structural representation one.
Fig. 6 is angular connector structural representation two.
1- top shells；2- gear hubs；3- lower casings；4- output shafts；5- motors；6- train of reduction gears；7- turn-sensitive devices；8- is defeated
Go out mandrel connector；9- connecting grooves；10- Quick Release connectors；11- lock screws；12- angular connectors；21- positions keyhole；31-
Bottom enclosure connector；121- countersunk head stepped holes；122- connectors.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
A kind of multiaspect of center shaft with position feedback as shown in figures 1 to 6 can cascade steering wheel, including steering wheel master
Body and motor 5, the steering wheel main body, which includes, is sequentially assemblied in integral top shell 1, gear hub 2 and lower casing 3, the lower casing
Bottom enclosure connector 31 is provided with 3, the motor 5, which is set, to be fixed in gear hub 2, the center of the gear hub 2
An output shaft 4 is provided with, train of reduction gears 6 is provided with the output shaft 4, the output shaft of motor 5 is by gear with slowing down
The occlusion of gear train 6 is linked, and a turn-sensitive device 7 that linkage is engaged with train of reduction gears 6, institute are additionally provided with the gear hub 2
State the top of output shaft 4 and one output shaft connector 8 is connected with by square hole gear, the output shaft connector 8 is stretched out in outside top shell 1
Side, output shaft connector 8 and bottom enclosure connector 31 center are provided with the connecting groove 9 of formed objects.
Wherein, the connecting groove 9 can be one kind in circle, triangle, square or other arbitrary polygons；It is described
Socket joint is connected with a Quick Release connector 10, the socket joint of Quick Release connector 10 connection in connecting groove 9 in output shaft connector 8
In in the connecting groove 9 in next steering wheel bottom part body cage connection mouth 31, and the output shaft connector 8 and bottom enclosure connect
The side of interface 31 is provided with lock screw 11；The cross sectional shape of Quick Release connector 10 is identical with the shape of connecting groove 9；Institute
The both sides for stating gear hub 2 are symmetrically arranged with positioning keyhole 21, and being screwed an angle at the positioning keyhole 21 connects
Device 12 is connect, the bottom of angular connector 12 is provided with the countersunk head stepped hole 121 being mutually twisted with positioning keyhole 21, the angle
The top of connector 12 be provided with the identical connector 122 of 3 bottom enclosure connector of lower casing 31, the connector 122 is by fast
Connector 10 is torn open to be connected with next steering wheel main body output shaft connector 8；Potentiometer and control are provided with the steering wheel main body
Making sheet, the control panel electrically connect with motor 5 and turn-sensitive device 7, and the potentiometer has additional a pin of potentiometer line, described
Pin of potentiometer line is communicated to peripheral control unit.
A kind of multiaspect for center shaft with position feedback that embodiments above is mentioned can cascade steering wheel, motor 5
As the power source of whole steering wheel, motor 5 connects train of reduction gears 6 and slowed down, and increases moment of torsion, train of reduction gears 6 and rotation
Sensor 7 is connected, and is detected for angle.
Steering wheel body top center shaft, coordinate the connecting groove 9 on the top output shaft connector 8 of output shaft 4, it is not only more
It can be directly linked between individual steering wheel without adaptor, avoid baroque embarrassment caused by increase adaptor；And
It will not cause the skew of geometric center, it is more convenient during use；The side of steering wheel main body is provided with angular connector 12 simultaneously,
Multiple steering wheel units are facilitated to carry out being stably connected with for different angle.For some common robot architectures, such as mechanical arm,
Anthropomorphic robot, quadruped robot, Hexapod Robot etc., it can build and within the extremely short time.
On the other hand, the present invention adds on the basis of original potentiometer positive source, power cathode and signal wire
A piece pin of potentiometer line, so as to can directly feed back its position by steering wheel, steering wheel can be by the angle of internal rotation sensor 7
Signal feeds back to the controller, robot control panel etc. of outside.Peripheral control unit can learn in real time steering wheel working condition and
Output angle, the control of other equipment can be carried out with this signal and the closed-loop control of higher level is carried out to the system, can be incited somebody to action
Steering wheel uses as output equipment, increases playability, and realizes higher control accuracy, and can prevent because steering wheel is stuck,
Steering wheel burns caused by load excessive, damage etc..
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and scope is defined.On the premise of design concept of the present invention is not departed from, technology of the ordinary people in the field to the present invention
The all variations and modifications that scheme is made, all should drop into protection scope of the present invention, the claimed technology contents of the present invention,
All record in detail in the claims.
Claims (4)
1. the multiaspect of the center shaft with position feedback can cascade steering wheel, including steering wheel main body and motor (5), its feature exist
In：The steering wheel main body, which includes, is sequentially assemblied in integral top shell (1), gear hub (2) and lower casing (3), the lower casing (3)
On be provided with bottom enclosure connector (31), the motor (5), which is set, is fixed in gear hub (2), in the gear hub (2)
Heart position is provided with an output shaft (4), and train of reduction gears (6), motor (5) output shaft are provided with the output shaft (4)
Linkage is engaged with train of reduction gears (6) by gear, be additionally provided with one in the gear hub (2) is engaged with train of reduction gears (6)
The turn-sensitive device (7) of linkage, output shaft (4) top is connected with an output shaft connector (8) by square hole gear, described
Output shaft connector (8) is stretched out on the outside of top shell (1), in the output shaft connector (8) and bottom enclosure connector (31)
Heart position is provided with the connecting groove (9) of formed objects, the connecting groove (9) can be circle, triangle, it is square or other
One kind in arbitrary polygon, connecting groove (9) interior socket joint in the output shaft connector (8) are connected with a Quick Release connector
(10), Quick Release connector (10) socket joint is connected to the connecting groove on next steering wheel bottom part body cage connection mouth (31)
(9) in, and the side of the output shaft connector (8) and bottom enclosure connector (31) is provided with lock screw (11).
2. the multiaspect of the center shaft according to claim 1 with position feedback can cascade steering wheel, it is characterised in that：Institute
It is identical with connecting groove (9) shape to state Quick Release connector (10) cross sectional shape.
3. the multiaspect of the center shaft according to claim 1 with position feedback can cascade steering wheel, it is characterised in that：Institute
The both sides for stating gear hub (2) are symmetrically arranged with positioning keyhole (21), and one has been screwed at described positioning keyhole (21) place
Angular connector (12), angular connector (12) bottom are provided with the countersunk head stepped hole being mutually twisted with positioning keyhole (21)
(121), it is provided with the top of the angular connector (12) and lower casing (3) bottom enclosure connector (31) identical connector
(122), the connector (122) is connected by Quick Release connector (10) and next steering wheel main body output shaft connector (8).
4. the multiaspect of the center shaft according to claim 1 with position feedback can cascade steering wheel, it is characterised in that：Institute
State and potentiometer and control panel are provided with steering wheel main body, the control panel electrically connects with motor (5) and turn-sensitive device (7), institute
State potentiometer and have additional a pin of potentiometer line, the pin of potentiometer line is communicated to peripheral control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510564645.2A CN105128028B (en) | 2015-09-07 | 2015-09-07 | The multiaspect of center shaft with position feedback can cascade steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510564645.2A CN105128028B (en) | 2015-09-07 | 2015-09-07 | The multiaspect of center shaft with position feedback can cascade steering wheel |
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| Publication Number | Publication Date |
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| CN105128028A CN105128028A (en) | 2015-12-09 |
| CN105128028B true CN105128028B (en) | 2018-03-13 |
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| CN201510564645.2A Active CN105128028B (en) | 2015-09-07 | 2015-09-07 | The multiaspect of center shaft with position feedback can cascade steering wheel |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666520B (en) * | 2016-04-01 | 2017-08-25 | 哈尔滨工业大学 | One kind is based on gear-driven activation lacking mechanical arm wrist |
| WO2017214954A1 (en) * | 2016-06-16 | 2017-12-21 | 深圳市创客工场科技有限公司 | Servo |
| CN106584436B (en) * | 2016-12-30 | 2023-09-26 | 深圳市优必选科技有限公司 | Steering engine virtual position testing device and steering engine virtual position testing system |
| CN106669185A (en) * | 2017-02-23 | 2017-05-17 | 深圳市瑞诚微电子有限公司 | Steering engine |
| CN107528418B (en) * | 2017-09-28 | 2023-07-14 | 深圳市优必选科技有限公司 | Steering engine |
| CN113949203B (en) * | 2020-07-15 | 2023-01-03 | Oppo广东移动通信有限公司 | Steering engine and electronic device |
| CN112943902B (en) * | 2021-03-17 | 2023-02-14 | 成都双创时代科技有限公司 | RV square speed reducer |
| CN117656101A (en) * | 2024-02-01 | 2024-03-08 | 南京信息工程大学 | STM 32-based self-balancing desktop robot system |
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| CN102381378A (en) * | 2011-08-18 | 2012-03-21 | 天津理工大学 | Reconfigurable modular robot |
| CN202694153U (en) * | 2012-07-31 | 2013-01-23 | 南京龙泰航空电子科技有限公司 | Microminiature digital servo machine with gyroscope |
| CN104536326A (en) * | 2015-01-05 | 2015-04-22 | 谷逍驰 | Steering engine unit structure allowing shafts to come out from center and control system thereof |
| CN205033234U (en) * | 2015-09-07 | 2016-02-17 | 谷逍驰 | Steering wheel can be cascaded to multiaspect of center play axle with position feedback |
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| CN1067769A (en) * | 1991-06-17 | 1993-01-06 | 北京市西城区新开通用试验厂 | A kind of differential reducing is exported the numerical control servo unit outward |
| US6605914B2 (en) * | 2001-08-24 | 2003-08-12 | Xerox Corporation | Robotic toy modular system |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102381378A (en) * | 2011-08-18 | 2012-03-21 | 天津理工大学 | Reconfigurable modular robot |
| CN202694153U (en) * | 2012-07-31 | 2013-01-23 | 南京龙泰航空电子科技有限公司 | Microminiature digital servo machine with gyroscope |
| CN104536326A (en) * | 2015-01-05 | 2015-04-22 | 谷逍驰 | Steering engine unit structure allowing shafts to come out from center and control system thereof |
| CN205033234U (en) * | 2015-09-07 | 2016-02-17 | 谷逍驰 | Steering wheel can be cascaded to multiaspect of center play axle with position feedback |
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| CN105128028A (en) | 2015-12-09 |
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Effective date of registration: 20190409 Address after: 518000, Block A, TCL Building No. 6, Gaoxin Nandao, Nanshan District, Shenzhen City, Guangdong Province, 777 Patentee after: Shenzhen Daishi science and Technology Co., Ltd. Address before: 210036 Jufu Garden, Gulou District, Nanjing City, Jiangsu Province Patentee before: Gu Xiaochi |
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