CN111203865B - Gear transmission mechanism of steering engine, steering engine and robot - Google Patents
Gear transmission mechanism of steering engine, steering engine and robot Download PDFInfo
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- CN111203865B CN111203865B CN202010046434.0A CN202010046434A CN111203865B CN 111203865 B CN111203865 B CN 111203865B CN 202010046434 A CN202010046434 A CN 202010046434A CN 111203865 B CN111203865 B CN 111203865B
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- steering engine
- motor
- transmission mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Gear Transmission (AREA)
- Retarders (AREA)
Abstract
The invention provides a gear transmission mechanism of a steering engine, which comprises: a power output gear; the gear sets are sequentially in transmission connection with each other, and each gear set comprises at least one driving gear and at least one driven gear which are in transmission connection with each other; the power output gear is in transmission connection with the gear sets, the gears in the gear sets and the power output gear are arranged in multiple rows in an axial consistent mode, a certain distance extends towards two ends of the first row along the height direction of the first row in the row direction to form a preset height, and the gears in other rows except the first row are arranged in the area covered by the preset height. The gear transmission mechanism of the invention has compact structure. Still provide a steering wheel and robot on aforementioned basis. The steering engine and the overall shape of the gear transmission mechanism in the robot are matched with that of the motor in the steering engine, so that the steering engine is compact in overall structure and small in occupied size.
Description
Technical Field
The invention relates to a gear transmission mechanism, in particular to a gear transmission mechanism of a steering engine, the steering engine and a robot.
Background
In the current steering engine, a gear set is widely used as a transmission mechanism. The gear set is generally formed by combining a plurality of gears, and the positions of the plurality of gears are arranged in a disordered way, so that the gear set is not compact and occupies a large volume. And the overall shape and volume of the gear set are not easy to control and design. The mechanical equipment applying the steering engine is limited in development due to the defects.
Disclosure of Invention
The invention aims to provide at least a gear transmission mechanism of a steering engine, the steering engine and a robot, so as to solve the problems. The gear transmission mechanism has compact structure; the steering engine and the gear transmission mechanism in the robot are matched with the overall shape of a motor in the steering engine, so that the steering engine is compact in overall structure and small in occupied volume; the steering engine can also solve the problem of disordered internal line arrangement of the steering engine.
The invention is realized by the following technical scheme:
first aspect of the invention
It should be emphasized that the first aspect of the present invention is to improve the overall shape and internal structure of the gear transmission mechanism from multiple dimensions, such as the height, length, width of the gear transmission mechanism, and the position and arrangement relationship of the driving gear and the driven gear inside the gear transmission mechanism; the specific scheme is as follows:
the invention provides a gear transmission mechanism of a steering engine, which comprises:
a power output gear; and
the gear set comprises a plurality of gear sets which are sequentially in transmission connection with each other, and each gear set comprises at least one driving gear and at least one driven gear which are in transmission connection with each other;
wherein the power output gear is in transmission connection with the plurality of gear sets, a plurality of gears in the plurality of gear sets and the power output gear are arranged in a plurality of rows in an axially consistent manner,
in the column direction, the gears of other columns except the first column extend to both ends of the first column for a certain distance along the height direction of the first column to form a preset height, and the gears of other columns except the first column are arranged in the range of the area covered by the preset height.
In some embodiments, a predetermined width is provided in the width direction of the gear transmission mechanism, and all the gears are provided within a range covered by the predetermined width.
In some embodiments, the plurality of gears are arranged in the row in such a manner that the driving gear and the driven gear are spaced apart from each other.
In some embodiments, the plurality of gears of each column are coaxially arranged in the column direction.
In some embodiments, the plurality of gear sets comprises:
the first gear set is positioned in the first row and comprises a first driving gear and a first driven gear;
the second gear set is positioned in the second row and comprises a second driving gear and a second driven gear;
a third gear set positioned in a third row and comprising a third driving gear and a third driven gear; and
the fourth gear set is positioned in the second row and comprises a fourth driving gear and a fourth driven gear;
the first gear set, the second gear set, the third gear set and the fourth gear set are sequentially meshed and connected, and the power output gear is meshed and connected with the fourth driven gear.
Second aspect of the invention
In combination with the gear transmission mechanism of the first aspect, a second aspect of the present invention provides a steering engine, including:
a body;
the above-described gear transmission mechanism;
a motor having a height greater than or equal to the predetermined height;
the power input gear is arranged on the output shaft of the motor and is meshed and connected with the driving gear arranged at the tail end of the first row;
wherein, along the direction of height of motor, gear drive sets up in the height of motor.
In some embodiments, the body comprises:
the motor and the potentiometer are respectively connected with the gear transmission mechanism;
the circuit board is electrically connected with the pins of the potentiometer and the pins of the motor respectively;
the connecting end of the pin of the potentiometer and the connecting end of the pin of the motor are located on the same plane, and the circuit board is arranged in parallel with the plane.
In some embodiments, the body further comprises a wire terminal connected to the circuit board;
the motor and the potentiometer are arranged at a preset interval, and the wiring terminal is arranged in the preset interval.
In some embodiments, the circuit board is disposed on the plane;
the pins of the motor, the pins of the potentiometer and the pins of the wiring terminal are welded on the circuit board.
Third aspect of the invention
The third aspect provides a robot, which comprises the steering engine.
In the present invention, the gear refers to a mechanical element with a gear on a rim which is continuously engaged to transmit motion and power. It is understood that the gears in this embodiment include the gears defined above and geared members shaped similarly to the gears defined above.
The embodiment of the invention has at least the following beneficial effects:
in some embodiments, a series of improvements and designs are carried out on the overall shape and the internal structure of the gear transmission mechanism from multiple aspects, and the structural compactness of the gear transmission mechanism is improved.
In some embodiments, the motor in the steering engine is matched with the whole shape of the gear transmission mechanism, so that the whole structure of the steering engine consisting of the gear transmission mechanism, the motor and the body is compact, the occupied size is small, and the waste of space is reduced.
In some embodiments, the pins of the potentiometer and the pins of the motor are arranged on the same plane, so that the arrangement of wires when the potentiometer and the motor are connected with the circuit board is simpler, and the consumption of wire resources is reduced.
In some embodiments, the pins of the potentiometer, the pins of the motor and the circuit board are arranged on the same plane, and then the pins of the potentiometer and the pins of the motor are welded on the circuit board, so that wiring on the circuit board is completely avoided, and the circuit arrangement structure inside the steering engine is greatly simplified.
Drawings
FIG. 1 is a schematic structural view of some embodiments of a gear drive mechanism of a steering engine of the present invention;
FIG. 2 is an exploded view of some embodiments of the gear train of the steering engine of the present invention;
FIG. 3 is a schematic top view of some embodiments of the gear drive mechanism of the steering engine of the present invention;
FIG. 4 is a schematic diagram of some embodiments of a gear assembly in cooperation with a motor;
FIG. 5 is a schematic structural view of some embodiments of the steering engine of the present invention;
FIG. 6 is an exploded view of some embodiments of the steering engine of the present invention;
fig. 7 is a schematic layout diagram of a potentiometer, a circuit board, and a motor in some embodiments of a conventional steering engine.
Detailed Description
The following further explains embodiments of the present invention with reference to the drawings.
The invention is realized by the following technical schemes in multiple aspects:
first aspect of the invention
The first embodiment is mainly used to illustrate the technical solution provided by the first aspect of the present invention. The method comprises the following specific steps:
referring to fig. 1, a first embodiment provides a gear transmission mechanism 100 of a steering engine, including:
a power output gear 10; and
a plurality of gear sets 20 in sequential driving connection with each other, each gear set including at least one driving gear and at least one driven gear in driving connection with each other;
wherein the power output gear 10 is in transmission connection with the plurality of gear sets, a plurality of gears in the plurality of gear sets 20 and the power output gear 10 are arranged in a plurality of rows in an axially consistent manner,
in the column direction, a predetermined height H is formed by extending a certain distance along the height direction of the first column L1 towards both ends of the first column L1, and the other columns of gears except the first column L1 are arranged in the area covered by the predetermined height H.
Having briefly described the concept of the first aspect of the present invention, it will be gradually explained by specific technical solutions to enable those skilled in the art to know.
Here, the height of the gear mechanism 100 is primarily optimized, so that the overall shape of the gear mechanism 100 is limited to a predetermined range. The details are as follows:
first, a plurality of gear sets 20, which are in sequential driving connection with each other, should be readily understood, for example: if the design is from 1-5 gear sets, the transmission sequence of the gears is sequentially transferred from the 1 st gear set to the 5 th gear set.
Then, for each gear set including at least one driving gear and at least one driven gear in transmission connection with each other, the simplest way is to design each gear set as a duplicate gear, and certainly, the internal transmission of the gear set can also be realized through the coaxial connection of the transmission shaft with the driving gear and the driven gear respectively, and on this basis, each gear set can be designed in other extensibility.
It is further noted that a plurality of gears of the plurality of gear sets 20 are arranged in a plurality of rows in axial correspondence with the power take-off gear 10. The operation can be performed in such a way that, for example, 15 gears are equally divided into three rows, and then 5 gears are arranged on each row, and certainly, the gears do not need to be equally divided when being divided, and can be arbitrarily arranged according to needs; by "axially aligned" is meant that all gears are axially parallel and that the gears in the same row may be further coaxially designed, thus increasing the compactness of the gear system.
And, for said predetermined height H, in the present embodiment, it is greater than or equal to the height of the first column L1. Generally, the predetermined height H and the height of the first row L1 should be approximately equal, so that the structure of the gear transmission mechanism can be more compact. As regards the predetermined height H, it may be slightly greater than the height of the first column L1 for the purpose of: this allows more flexibility in the design of the gear system, for example, in the sense that the height of the second row may be slightly greater than the height of the first row L1, but does not affect the external shape of the gear system as a whole. What the difference between the predetermined height H and the height of the first row L1 is specifically designed to be is determined according to actual needs, for example, the difference between the predetermined height H and the height of the first row L1 can be set to be one fiftieth to one twentieth of the predetermined height H.
Further, if the design of the gear transmission mechanism is to be made easier, the predetermined height H may be set to be equal to the height of the first row L1, so that the gear transmission mechanism can be ensured to be compact in the height direction (i.e., the row direction) as long as the gears of each row except the first row are limited within the area covered by the predetermined height H.
As is well known, the factor determining the overall occupied volume of an object is not limited to the height direction, but can be considered from dimensions such as length and width. Therefore, as long as the gear transmission mechanism is further designed according to actual needs in the directions of the dimensions, the overall shape of the gear transmission mechanism can be designed to be more compact, and the overall occupied space of the gear transmission mechanism is smaller.
In addition to the above, in the present embodiment, the following improvement is made in the improvement of the compactness in the width direction of the gear transmission mechanism 100. Referring to fig. 3, a predetermined width K is set in the width direction of the gear transmission mechanism 100, and all the gears are disposed in the area covered by the predetermined width K.
The predetermined width K is set in order to limit the plurality of gear sets 20 and all of the gears in the power output gear 10 within the range covered by the predetermined width K. Thereby defining the width of the entirety of the plurality of gear sets 20 in the width direction. The gear transmission mechanism 100 is made compact in the width direction.
In the present embodiment, the predetermined width K should be generally designed to be equal to the diameter of the largest diameter gear of the power output gear 10 and the plurality of gear sets 20, and it is understood that the gear transmission mechanism 100 can be made more compact in the width direction.
Of course, the predetermined width K may be slightly larger than the diameter of the power output gear 10 and the largest gear among the plurality of gear sets 20. In this case, the difference between the predetermined width K and the diameter of the gear having the maximum diameter is specifically set to be small, and is determined by actual needs.
In order to further improve the compactness of the gear transmission mechanism 100 in the width direction. In this embodiment, the centers of the rotation planes of all the gears in the gear sets 20 and the power output gear 10 are coplanar. That is, the rotational axes of all the gears in the gear transmission mechanism 100 are located on the same plane, which further improves the compactness of the gear transmission mechanism 100. In this case, setting the predetermined width K to be equal to the gear diameter having the largest diameter among all the gears not only facilitates the design but also maximizes the compactness of the gear transmission mechanism 100 in the width direction.
In the present embodiment, the plurality of gears in the plurality of gear sets 20 are arranged in such a manner that the driving gear and the driven gear are spaced apart from each other in the row direction. The compactness of the gear transmission mechanism 100 is improved.
In order to further increase the compactness of the gear transmission 100. In this embodiment, the plurality of gears of each row are coaxially arranged in the row direction. The compactness in the length direction is improved, and the gears in the gear sets 20 are prevented from extending for a long distance in the length direction due to non-coaxial arrangement, so that the compactness of the gear transmission mechanism 100 in the length direction is reduced.
Further, in the present embodiment, based on the above technical solution, the diameters of the driving gear with the largest diameter and the driving gear with the smallest diameter in the plurality of gears are substantially equal. The present solution is designed to further improve the compactness of the gear transmission mechanism 100 in the width direction. In view of the above, please refer to fig. 3, the size of all the driving gears in the gear transmission mechanism 100 is set to be uniform (i.e. the diameters are substantially equal), which not only facilitates the specific design of the scheme, but also, more importantly, the arrangement between the gears can be more compact in the manner that the driving gears and the driven gears are staggered with each other. Under the concept, the diameter of the driving gear is determined according to actual requirements, for example: the difference between the diameters of the largest and smallest diameter gear gears is equal to between one twentieth and one tenth of the diameter of the largest gear, although the specific standard is only for the convenience of understanding the scheme by those skilled in the art and should not be considered as a limitation to the scheme.
Likewise, in some embodiments, the diameter of the driven gear may also be designed with reference to the concept of the driving gear.
The present embodiment also provides a series of improvements in the improvement of compactness in the length direction of the gear transmission mechanism 100. In the length direction, two gears which are meshed and connected with each other in the plurality of gears are different in size. Therefore, the driving gears with large diameters and the driven gears with small diameters in the plurality of gear sets 20 are in staggered meshed connection, so that gaps generated when the plurality of gears are connected in the length direction of the gear transmission mechanism 100 are reduced, the arrangement space of the gears is saved, and the compactness of the gear transmission mechanism 100 in the length direction is improved.
In summary, the compactness of the gear transmission mechanism 100 is improved in the height direction, the width direction and the length direction, so that the overall shape of the gear transmission mechanism 100 is similar to a rectangular parallelepiped, the shape is more regular, the structure is compact, and the gear transmission mechanism is convenient to be matched with other mechanical transmission mechanisms for use.
More specifically, the arrangement of the gears of the present embodiment may be realized as follows.
Referring to fig. 1 and 2, the plurality of gear sets 20 includes:
the first gear set 21 in the first row L1 includes a first driving gear 211 and a first driven gear 212;
the second gear set 22 in the second row L2 includes a second driving gear 221 and a second driven gear 222;
a third gear set 23 in a third row L3, including a third driving gear 231 and a third driven gear 232; and
a fourth gear set 24 in a second row L2, including a fourth driving gear 241 and a fourth driven gear 242;
wherein the first gear set 21, the second gear set 22, the third gear set 23 and the fourth gear set 24 are sequentially connected in a meshing manner,
the power output gear 10 is in meshed connection with the fourth driven gear 242.
Specifically, the power output gear 10 is located in the third row L3, the first driven gear 212 is engaged with the second driving gear 221, the second driven gear 222 is engaged with the third driving gear 231, and the third driven gear 232 is engaged with the fourth driving gear 241.
The first gear set 21, the second gear set 22, the third gear set 23, and the fourth gear set 24 are provided as a duplicate gear. Specifically, the first gear set 21 is a coaxial rotating duplicate gear having a certain distance between the first driving gear 211 and the first driven gear 212, and the second gear set 22, the third gear set 23, and the fourth gear set 24 are all coaxial rotating duplicate gears having no distance between the driving gear and the driven gear.
It should be emphasized that in some embodiments, the number of gear sets in the plurality of gear sets 20 may be 2, 3, or more, and is not limited to 4 in this embodiment.
Further, in the present embodiment, the transmission direction of the power is transmitted from the top end to the bottom end of the first row along the height direction of the first row, and then transmitted to the other gears. More specifically, the power is transmitted from the first driving gear 211 and the first driven gear 212 to the second driving gear 221, the second driven gear 222, the third driving gear 231, the third driven gear 232, the fourth driving gear 241 and the fourth driven gear 242, which are connected in sequence.
Second aspect of the invention
The second aspect of the present invention is set forth on the basis of the first aspect, and therefore the second aspect of the present invention will be explained below by way of the second embodiment in conjunction with the first embodiment. Where the second embodiment is identical to the first embodiment, reference is made to the above description, with the following main differences being set forth.
Second embodiment
Referring to fig. 4-6, a second embodiment discloses a steering engine 200, which includes:
a body;
the above-described gear transmission mechanism 100;
the motor 30, the height of the motor 30 is greater than or equal to the preset height H; and
a power input gear 11 disposed on an output shaft of the motor 30, wherein the power input gear 11 is engaged with a first driving gear 211 disposed at an end of the first row L1 in the gear transmission mechanism 100;
wherein the gear transmission mechanism 100 is disposed within the height of the motor 30 along the height direction of the motor 30.
It should be noted that. The first row L1 end refers to either one of the upper and lower ends of the first row L1 in the height direction of the motor 30.
Referring to fig. 1, 2, and 4, in the present embodiment, the height direction of the motor 30 is arranged substantially parallel to the height direction of the gear transmission mechanism 100, and then the motor 30 is mounted in the steering engine 200 in such a manner as to be adjacent to the gears in the first row L1 of the gear transmission mechanism 100. More specifically, the power input gear 11 on the output shaft of the motor 30 is connected to a first drive gear located in the first row L1.
The shape of the motor 30 is generally set to be cylindrical, so that the overall shape of the gear transmission mechanism 100 is further set to be approximately rectangular so as to be matched with the shape of the motor 30, so that the steering engine 200 composed of the gear transmission mechanism 100, the motor 30 and the body is compact in overall structure, small in occupied volume and capable of reducing waste of space.
In this embodiment, the body includes a first fixing shaft 41 penetrating the first gear set 21 (the first gear set 21 rotates around the first fixing shaft 41), a second fixing shaft 42 penetrating the second gear set 22 and the fourth gear set 24 (the second gear set 22 and the fourth gear set 24 rotate around the second fixing shaft 42), a third fixing shaft 43 penetrating the third gear set 23 and the power output gear 10 (the third gear set 23 and the power output gear 10 rotate around the third fixing shaft 43), a housing, and the like. Wherein the case includes an upper case 471, a middle case 472, and a lower case 473.
The power output principle of the invention is as follows: the output torque of the motor 30 is output through the power output gear 10 after being decelerated and increased in torque by the power input gear 11 through the plurality of gear sets 20. More specifically, a steering engine output shaft is connected to the power output gear 10 to output power to external equipment for the steering engine.
The steering engine 200 in this embodiment can be applied to mechanical equipment such as robots, automobile models, and aviation models, which have compact requirements on the overall shape of the steering engine 200 and occupy a small volume.
With continued reference to fig. 4 to 6, in this embodiment, the body includes:
a potentiometer 46 connected to the gear transmission mechanism;
a circuit board 44 electrically connected to a pin of the potentiometer 46 and a pin of the motor 30, respectively;
the connection end of the pin of the potentiometer 46 and the connection end of the pin of the motor 30 are located on the same plane, and the circuit board 44 is arranged in parallel with the plane.
Referring to fig. 7, in the driving rudder 300, since the positions of the motor 303, the circuit board 302 and the potentiometer 301 are loosely and disorderly arranged, the electrical connections between the motor, the potentiometer and the circuit board all need longer circuit routing, which causes waste of internal space of the steering engine, increases the overall occupied volume of the steering engine, and has an overall structure that is not compact enough.
Therefore, in the present embodiment, the connection end of the pin of the potentiometer 46 and the connection end of the pin of the motor 30 are disposed on the same plane, so as to simplify the wire arrangement structure.
It is emphasized that the connection of the pins of the potentiometer 46 "on the same plane" as the connection of the pins of the motor 30 means substantially on the same plane, that is, the connection of the pins of the potentiometer 46 is substantially flush with the connection of the pins of the motor 30.
As described above, in some embodiments, if the connection end of the pin of the potentiometer 46 and the connection end of the pin of the motor 30 are not located on the same plane, a certain distance exists between the pin of the potentiometer 46 and the pin of the motor 30 and the plane, but as long as the distance is not large, the effects of saving the wire resources and simplifying the wire arrangement structure inside the steering engine can be achieved. The specific setting value of the distance is determined according to actual needs.
In conclusion, the electric wire arrangement structure inside the steering engine is simplified, the phenomenon of multiple winding of the internal circuit of the steering engine is avoided (if the pins of the potentiometer and the pins of the motor are not located on the same plane parallel to the circuit board, the pins and the circuit board can be connected only by bypassing other mechanisms inside the steering engine), the electric wire consumption is reduced, and the steering engine is easy to install. In addition, this design also promotes compactness inside the steering engine 200 in the direction perpendicular to the plane.
In this embodiment, the body includes the connection terminal 45 connected to the circuit board 44, the connection terminal 45 is used for connecting an external power source, a predetermined distance is provided between the motor 30 and the potentiometer 46, and the connection terminal 45 is provided within the predetermined distance.
More specifically, referring to fig. 4 and 5, on the basis of the predetermined distance, an accommodating space 50 is formed among the motor 30, the potentiometer 46, the gear transmission mechanism 100 and the plane, and the connection terminal 45 is disposed in the accommodating space 50. The motor 30 and the potentiometer 46 are reduced, the space utilization rate is improved, and the compactness of the internal structure of the steering engine 200 is further improved.
More importantly, since the position of the connection terminal 45 is defined between the motor 30 and the potentiometer 46, and the positional relationship thereof from the circuit board 44 is defined accordingly, the wiring between the connection terminal 45 and the circuit board 44 is also simplified.
Further, in the present embodiment, the predetermined pitch is equal to the length of the connection terminal 45. The compactness of the internal structure of the steering engine 200 is further improved.
In certain embodiments, the predetermined spacing is greater than the length of the wire terminals 45.
In this embodiment, the connection ends of the pins of the connection terminals 45 are located on the plane. Thus, the terminals of the potentiometer 46, the motor 30 and the terminals of the terminals 45 are all disposed on the same plane. The circuit wiring of the potentiometer 46, the motor 30 and the wiring terminal 45 is facilitated, and the wiring length is reduced.
Further, the circuit board 44 is disposed on the plane in this embodiment; wherein, the pin of the motor 30, the pin of the potentiometer 46 and the pin of the wiring terminal 45 are respectively welded on the circuit board 44. This technical scheme has avoided walking the line completely for the inside circuit arrangement of steering wheel is simpler.
In some embodiments, some distance between the circuit board 44 and the plane is allowed, in which case the thickness of the solder joint at the solder joint needs to be increased to complete the connection between the pins of the motor 30, the pins of the potentiometer 46 and the pins of the terminals 45 and the circuit board 44.
With continued reference to fig. 4, in the present embodiment, in the height direction of the motor 30, the gear transmission mechanism 100 is disposed in the area covered by the height of the motor. The compactness of the internal structure of the steering engine is increased.
Further, with continued reference to fig. 4 and fig. 5, in the present embodiment, the height of the motor is equal to the sum of the height H of the motor 100 and the height of the potentiometer 46, wherein the potentiometer 46 is located between the gear transmission mechanism and the circuit board 44 in the height direction of the motor. The compactness of the internal structure of the steering engine is further improved.
Still further, referring to fig. 5, in the present embodiment, in the height direction of the motor, the height of the connection terminal 45 is equal to the height of the potentiometer 46, and the connection terminal 45 is located between the gear transmission mechanism 100 and the circuit board 44. The compactness of the internal structure of the steering engine is increased.
Referring next to fig. 3 and 6, in the present embodiment, in the width direction of the motor 30, the potentiometer 46 and the gear transmission mechanism 100 are disposed in the area covered by the width of the motor 30. In this embodiment, the potentiometer and the gear transmission mechanism 100 inside the steering engine 200 are limited in the width direction within the area covered by the width of the motor 30, thereby improving the compactness of the inside of the steering engine 200 in the width direction.
Further preferably, the width of the motor 30 and the width of the potentiometer 46 are equal to the width K of the gear transmission mechanism 100.
Third aspect of the invention
The robot provided by the third aspect of the invention comprises the steering engine provided by the above embodiment.
The present invention has been described in detail with reference to the above embodiments, but the present invention is not limited thereto. The protection scope of the present invention is not limited to the above embodiments, but equivalent modifications or changes made by those skilled in the art according to the disclosure of the present invention should be included in the protection scope of the claims.
Claims (10)
1. The utility model provides a gear drive of steering wheel which characterized in that includes:
a power output gear; and
the gear set comprises a plurality of gear sets which are sequentially in transmission connection with each other, and each gear set comprises at least one driving gear and at least one driven gear which are in transmission connection with each other;
wherein the power output gear is in transmission connection with the plurality of gear sets, a plurality of gears in the plurality of gear sets and the power output gear are arranged in a plurality of rows in an axially consistent manner,
in the column direction, the gears of other columns except the first column extend to both ends of the first column for a certain distance along the height direction of the first column to form a preset height, and the gears of other columns except the first column are arranged in the range of the area covered by the preset height.
2. The gear transmission mechanism according to claim 1, wherein a predetermined width is provided in a width direction of the gear transmission mechanism, and all the gears are provided within a range of an area covered by the predetermined width.
3. The gear transmission of claim 1, wherein said plurality of gears are arranged in said row in such a manner that said drive gear and said driven gear are spaced from each other.
4. The gear transmission of claim 1, wherein the height of the first row is equal to the predetermined height.
5. The gear transmission mechanism of any of claims 1-4, wherein said plurality of gear sets comprises:
the first gear set is positioned in the first row and comprises a first driving gear and a first driven gear;
the second gear set is positioned in the second row and comprises a second driving gear and a second driven gear;
a third gear set positioned in a third row and comprising a third driving gear and a third driven gear; and
the fourth gear set is positioned in the second row and comprises a fourth driving gear and a fourth driven gear;
the first gear set, the second gear set, the third gear set and the fourth gear set are sequentially meshed and connected, and the power output gear is meshed and connected with the fourth driven gear.
6. A steering engine, comprising:
a body;
the gear assembly of any one of claims 1-5;
a motor having a height greater than or equal to the predetermined height;
the power input gear is arranged on the output shaft of the motor and is meshed and connected with the driving gear arranged at the tail end of the first row;
wherein, along the direction of height of motor, gear drive sets up in the height of motor.
7. The steering engine of claim 6, wherein the body comprises:
the potentiometer is connected with the gear transmission mechanism;
the circuit board is electrically connected with the pins of the potentiometer and the pins of the motor respectively;
the connecting end of the pin of the potentiometer and the connecting end of the pin of the motor are located on the same plane, and the circuit board is arranged in parallel with the plane.
8. The steering engine of claim 7, wherein the body further comprises a terminal connected to the circuit board;
the motor and the potentiometer are arranged at a preset interval, and the wiring terminal is arranged in the preset interval.
9. The steering engine of claim 8, wherein the circuit board is disposed on the plane;
the pins of the motor, the pins of the potentiometer and the pins of the wiring terminal are welded on the circuit board.
10. A robot comprising the steering engine of any one of claims 6-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010046434.0A CN111203865B (en) | 2020-01-16 | 2020-01-16 | Gear transmission mechanism of steering engine, steering engine and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010046434.0A CN111203865B (en) | 2020-01-16 | 2020-01-16 | Gear transmission mechanism of steering engine, steering engine and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111203865A CN111203865A (en) | 2020-05-29 |
| CN111203865B true CN111203865B (en) | 2022-04-22 |
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| CN211550403U (en) * | 2020-01-16 | 2020-09-22 | 深圳市注能科技有限公司 | Gear transmission mechanism of steering engine and steering engine |
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