CN111791263A

CN111791263A - Steering wheel module and arm

Info

Publication number: CN111791263A
Application number: CN202010589625.1A
Authority: CN
Inventors: 黄亮; 李剑波; 丁宏钰; 张呈昆; 谭欢; 熊友军
Original assignee: Ubtech Robotics Corp
Current assignee: Ubicon Qingdao Technology Co ltd
Priority date: 2020-06-24
Filing date: 2020-06-24
Publication date: 2020-10-20
Anticipated expiration: 2040-06-24
Also published as: CN111791263B

Abstract

The application discloses a steering engine module, which comprises a shell, a control assembly and two steering engines, wherein the control assembly is arranged in the shell, and the two steering engines are arranged in the shell and are electrically connected with the control assembly; the shell comprises two installation cylinders which are communicated with each other; the axes of the two mounting cylinders form a preset angle; two steering engines are respectively installed in the two installation cylinders. Two installation section of thick bamboo intercommunication each other just are preset the angle, and when two steering engines were installed respectively in two installation sections, the tip of a steering engine can stretch out a little in the installation section of thick bamboo where to with the regional coincidence of the extending direction of the installation section of thick bamboo that another steering engine was located, also be the length of a steering engine protrusion in the installation section of thick bamboo that another steering engine was located, can be less than steering engine self actual length. Therefore, the length of the edge where any steering engine is located is reduced, and the occupied space of the steering engine module is remarkably reduced.

Description

Steering wheel module and arm

Technical Field

The application relates to the technical field of humanoid service robots, in particular to a steering engine module and a mechanical arm.

Background

The traditional joint module is a single steering engine, and a plurality of single steering engines are combined when a multi-degree-of-freedom module is required to be formed. For example, when two single steering engines are combined into a module with two degrees of freedom, the length of the edge where the single steering engine is located needs to be set large enough, the space needed during folding is large, a connecting part needs to be arranged between the steering engines, and the occupied space of the connecting part is large, so that the length of the steering engines is further increased. When the module with two degrees of freedom needs to be folded or an object which is very close to the module needs to be grabbed, the module is limited by the length of the module, and is difficult to realize.

Disclosure of Invention

An aim at of this application provides a steering wheel module, aims at solving prior art, and the problem that the space that the joint module that single steering wheel connection combination formed occupied is big.

To achieve the purpose, the embodiment of the application adopts the following technical scheme:

the steering engine module comprises a shell, a control assembly and two steering engines, wherein the control assembly is arranged in the shell, and the two steering engines are arranged in the shell and are electrically connected with the control assembly; the shell comprises two installation cylinders which are communicated with each other; the axes of the two mounting cylinders form a preset angle; the two steering engines are respectively arranged in the two mounting cylinders.

In one embodiment, the control assembly is located at the intersection of the axes of the two mounting cylinders, and the control assembly is arranged obliquely.

In one embodiment, the housing is provided with a mounting hole, and the mounting hole is positioned at the junction of the axes of the two mounting cylinders; the shell further comprises a sealing cover which is fixedly connected with the mounting cylinder and used for sealing the mounting hole.

In one embodiment, a sealing groove is formed in an orifice of the mounting hole of the housing, a sealing ring is arranged in the sealing groove, and a sealing protrusion which is inserted into the sealing groove and abuts against the sealing ring is arranged on the sealing cover.

In one embodiment, the control assembly comprises a heat dissipation seat fixedly connected with the steering engine, a lower control plate installed on the heat dissipation seat, and an upper control plate located on one side of the lower control plate away from the heat dissipation seat; the lower control panel and two all be equipped with the motor line between the steering wheel, go up the control panel and two all be equipped with the encoder line between the steering wheel.

In one embodiment, the control assembly further comprises a heat-conducting silica gel arranged between the heat dissipation seat and the lower control board, a first copper column connected between the lower control board and the upper control board, and a second copper column connected between the upper control board and the closing cover; the second copper column is inserted into the first copper column, a positioning threaded hole is formed in the sealing cover, a positioning screw is arranged in the positioning threaded hole, and the positioning screw is inserted into the second copper column; and a cover used for covering the positioning threaded hole is arranged on the closed cover.

In one embodiment, one end of the steering engine close to the control assembly is provided with a rear cover, and the control assembly further comprises a connecting seat connected between the heat radiating seat and the rear cover; the connecting seat is detachably connected with the rear cover, and the connecting seat is detachably connected with the heat radiating seat.

In one embodiment, the axes of the two mounting cylinders are perpendicular to each other.

In one embodiment, the steering engine includes a motor assembly having a motor shaft, a reducer coupled to the motor shaft, and an output coupled to an output of the reducer.

In one embodiment, the motor shaft is a hollow shaft, and the output member includes a hollow tube extending through the hollow shaft; the steering engine module further comprises a power line and a communication line which penetrate through the hollow pipe and are electrically connected with the control assembly.

In one embodiment, the inner wall of the hollow tube at the pipe orifices at two opposite ends is provided with a flexible protective coil, and the power line and the communication line are arranged in contact with the flexible protective coil.

In one embodiment, the output member further comprises a flange connected to the hollow tube, the flange being connected to the output end of the reducer.

In one embodiment, the motor assembly comprises a motor casing fixedly connected with the inner wall of the mounting barrel, a motor stator fixed in the motor casing, and a motor rotor fixed on the motor shaft and matched with the motor stator.

In one embodiment, the motor assembly further comprises a brake base fixedly connected with the motor shell, and a brake arranged on the brake base; a brake bulge is fixed on the motor shaft, and a brake pad of the brake is arranged opposite to the brake bulge; and a brake cable is arranged between the brake and the control component.

In one embodiment, motor wires are arranged between the control assembly and the two steering engines, and encoder wires are arranged between the control assembly and the two steering engines; the brake base is provided with a wire harness, and the wire harness is used for fixing the brake wire, the encoder wire and the motor wire on the brake base; the brake base is provided with a wire passing hole for the brake wire, the encoder wire and the motor wire to pass through.

In one embodiment, the motor assembly further comprises a motor encoder mounting seat fixed at one end of the motor shaft close to the control assembly, a motor encoder magnetic grid arranged on the motor encoder mounting seat, and a motor encoder reading head arranged on the brake seat and matched with the motor encoder magnetic grid.

In one embodiment, the motor assembly further comprises a first bearing and a second bearing with inner rings mounted on the motor shaft; the outer ring of the first bearing is arranged on the motor shell, and the outer ring of the second bearing is arranged on the brake seat.

In one embodiment, the reducer is a harmonic reducer; the harmonic reducer comprises a flexible gear fixedly connected with the motor shell, a wave generator connected with the motor shaft and matched with the flexible gear, and a steel gear connected with the hollow tube and matched with the flexible gear. (matching of inner and outer gear rings between steel wheel and flexible wheel)

In one embodiment, the harmonic reducer further comprises an output encoder mounting base fixed to one end of the hollow tube close to the control assembly, an output encoder magnetic grid mounted on the output encoder mounting base, and an output encoder reading head matched with the output encoder magnetic grid.

In one embodiment, the steering engine further comprises a third bearing with an inner ring mounted on the output encoder mounting seat, and a rear cover mounted on an outer ring of the third bearing.

In one embodiment, the housing is a metal piece, and a plastic upper cover and a plastic lower cover are arranged on the housing.

An object of this application is to provide the arm, includes the steering wheel module of any one of the above-mentioned embodiments.

The beneficial effects of the embodiment of the application are as follows: two installation sections are communicated with each other, and a preset angle is formed between the two installation sections, so that when two steering engines are respectively installed on the two installation sections, the end part of one steering engine can slightly extend out of the installation section where the steering engine is located and coincide with the region of the installation section where the other steering engine is located in the extending direction, namely the length of the steering engine protruding out of the installation section where the other steering engine is located can be smaller than the actual length of the steering engine. Therefore, the length of the edge where any steering engine is located is reduced. Compared with a traditional joint steering engine module formed by connecting a single steering engine by using an external connecting part, the occupied space is remarkably reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a steering engine module in an embodiment of the present application;

FIG. 2 is a cross-sectional view of a steering engine module in an embodiment of the present application;

FIG. 3 is an enlarged view of a portion of FIG. 2 at A;

FIG. 4 is a cross-sectional view of a steering engine in an embodiment of the present application;

FIG. 5 is an exploded view of a steering engine module according to an embodiment of the present disclosure;

in the figure:

1. a housing; 11. mounting the cylinder; 12. a closure cap; 121. sealing the protrusion; 122. positioning the threaded hole; 13. a sealing groove; 14. a seal ring; 15. covering; 16. mounting holes; 17. a plastic upper cover; 18. a plastic lower cover;

2. a control component; 21. a heat dissipation base; 22. a lower control panel; 23. an upper control panel; 24. a first copper pillar; 25. a second copper pillar; 26. a set screw; 27. a connecting seat;

3. a steering engine; 31. a rear cover; 32. a motor assembly; 321. a motor shaft; 3211. a hollow shaft; 3212. a brake bulge; 3213. a motor encoder mounting seat; 3214. a motor encoder magnetic grid; 322. a motor housing; 323. a motor stator; 324. a motor rotor; 325. a brake base; 3251. a reading head of a motor encoder; 326. a brake; 327. a first bearing; 328. a second bearing; 33. a speed reducer; 331. a harmonic reducer; 3311. a flexible gear; 3312. a wave generator; 3313. a steel wheel; 3314. a harmonic connection; 3315. an output encoder mounting base; 3316. outputting an encoder magnetic grid; 3317. an output encoder readhead; 34. an output member; 341. a hollow tube; 342. a flange plate; 35. a flexible guard coil; 36. a wire harness; 37. a third bearing; 38. briquetting;

4. a power line; 5. a communication line.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The following detailed description of implementations of the present application is provided in conjunction with specific embodiments.

As shown in fig. 1 to fig. 3, an embodiment of the present application provides a steering engine module, which includes a housing 1, a control component 2 installed in the housing 1, and two steering engines 3 installed in the housing 1 and electrically connected to the control component 2; the shell 1 comprises two mutually communicated mounting cylinders 11; the axes of the two mounting cylinders 11 form a preset angle; two steering engines 3 are respectively installed in two installation cylinders 11.

In the embodiment of this application, the steering wheel module is including two steering wheel 3, and two steering wheel 3 are located two installation section of thick bamboo 11 of casing 1 respectively, and then constitute the steering wheel module of double joint. Because two installation sections 11 communicate each other, and be predetermined angle between the two, therefore when two steering engines 3 were installed respectively in two installation sections 11, the tip of a steering engine 3 can stretch out in the installation section 11 at place slightly to with the regional coincidence of the extending direction of the installation section 11 at another steering engine 3 place, also be that the length that a steering engine 3 protruded in the installation section 11 at another steering engine 3 place, can be less than steering engine 3 self actual length. Therefore, the length of the edge where any steering engine 3 is located is reduced in the double-joint steering engine module formed by combining the two steering engines 3 arranged in the two mounting cylinders 11 of the shell 1. Compared with a traditional joint steering engine module formed by connecting a single steering engine 3 by using an external connecting part, the occupied space is remarkably reduced.

The control assembly 2 in the shell 1 can control the two steering engines 3 at the same time, so that the number of the control assembly 2 is reduced, and the complexity of a control system is reduced. Two steering engines 3 are integrated in two installation cylinders 11 of the shell 1, and the two steering engines 3 are connected without external connecting pieces, so that the number of connecting pieces is reduced, and the number of integral parts is reduced.

The shared space of steering wheel module that this application embodiment provided is less for the expansibility when it is applied to fields such as arm is stronger, and the flexibility ratio when the arm of formation uses is also bigger. Because the length of the edge of any steering engine 3 of the steering engine module is reduced, the mechanical arm formed by a plurality of steering engine modules can be completely folded, and the space required during folding is small (the distance between a certain steering engine 3 and a relative rotation center is small during rotation, the space required for rotation is small, and the mechanical arm is not easy to be blocked by other objects).

Referring to fig. 2-3, as another specific embodiment of the steering engine module provided in the present application, the control assembly 2 is located at the junction of the axes of the two mounting cylinders 11, the control assembly 2 is disposed in an inclined manner, the control assembly 2 can fully utilize the gap left after the two steering engines 3 are mounted in the housing 1, and there is no need to provide other mounting positions for the control assembly 2, so as to further reduce the space occupied by the whole steering engine module. And the juncture of the axes of the two mounting cylinders 11 is the position where the non-steering engine 3 is located, and other parts at the juncture are few, so that the control assembly 2 is not easily influenced by other parts, and is easy to stably mount and quickly dissipate heat.

Referring to fig. 2 to fig. 3, as another specific embodiment of the steering engine module provided in the present application, a mounting hole 16 is formed in the housing 1, and the mounting hole 16 is located at a junction of the axes of the two mounting cylinders 11; the housing 1 further comprises a closure cap 12 fixedly connected to the mounting cylinder 11 and closing the mounting hole 16. The control assembly 2 can be disassembled and assembled through the mounting hole 16, and when the control assembly 2 needs to be updated, maintained or replaced, the operation can be completed only by disassembling the closing cover 12.

Referring to fig. 3, as another embodiment of the steering engine module provided in the present application, a sealing groove 13 is formed in an orifice of the mounting hole 16 of the housing 1, a sealing ring 14 is disposed in the sealing groove 13, and a sealing protrusion 121 inserted into the sealing groove 13 and abutting against the sealing ring 14 is disposed on the sealing cover 12, so as to seal the mounting hole 16, so that the steering engine module has better waterproof and dustproof performances.

Referring to fig. 2-3, as another specific embodiment of the steering engine module provided in the present application, the control assembly 2 includes a heat dissipation seat 21 fixedly connected to the steering engine 3, a lower control board 22 installed on the heat dissipation seat 21, and an upper control board 23 located on a side of the lower control board 22 away from the heat dissipation seat 21; all be equipped with the motor line between lower control panel 22 and two steering wheel 3, all be equipped with the encoder line between upper control panel 23 and two steering wheel 3. The upper control plate 23 and the lower control plate 22 respectively control different functions of the steering engine 3 so as to simplify the occupied area of a single control plate, the upper control plate 23 and the lower control plate 22 are arranged in a stacked mode, the upper control plate 23 and the lower control plate 22 can be arranged in a smaller plane, the space inside the shell 1 can be fully utilized, the structures inside the shell 1 are more compact, the steering engine module is miniaturized, and the occupied volume of the steering engine module is small as much as possible.

Referring to fig. 2-3 and 5, as another embodiment of the steering engine module provided in the present application, the control assembly 2 further includes a heat conductive silica gel disposed between the heat dissipation seat 21 and the lower control plate 22, a first copper pillar 24 connected between the lower control plate 22 and the upper control plate 23, and a second copper pillar 25 connected between the upper control plate 23 and the sealing cover 12; the heat conductive silicone rubber can increase the speed of transferring heat from the lower control board 22 to the heat dissipation base 21, and increase the heat dissipation performance of the control assembly 2. The second copper column 25 is inserted into the first copper column 24, the closing cover 12 is provided with a positioning threaded hole 122, a positioning screw 26 is arranged in the positioning threaded hole 122, the positioning screw 26 is inserted into the second copper column 25, the upper control plate 23 and the lower control plate 22 can be locked and fixed on the closing cover 12 through the positioning screw 26, and the closing cover 12 can also be used as a support piece for mounting the control assembly 2 while realizing the closing of the mounting hole 16; the cooperation of first copper post 24 and second copper post 25 when realizing that upper control panel 23 links to each other with lower control panel 22, still can realize the heat transfer between upper control panel 23 and the lower control panel 22 for the heat can be transferred to heat-dissipating seat 21, reduces the temperature of control assembly 2 self. The closure cap 12 is provided with a cover 15 for covering the positioning screw hole 122.

Referring to fig. 2-3, as another specific embodiment of the steering engine module provided in the present application, one end of the steering engine 3 close to the control component 2 is provided with a rear cover 31, and the control component 2 further includes a connecting seat 27 connected between the heat dissipation seat 21 and the rear cover 31; the connecting base 27 is detachably connected to the rear cover 31, and the connecting base 27 is detachably connected to the heat dissipating base 21. The clearance that forms between two steering wheel 3 in the control assembly 2 make full use of casing 1, the great position in this clearance is for keeping away from the position of steering wheel 3 relatively, in order to realize the primary erection of control assembly 2, utilizes connecting seat 27 with control assembly 2 primary erection on the fixed end of steering wheel 3. The upper control plate 23 of the control assembly 2 can be fixed on the sealing cover 12 through a positioning screw 26, so that the two opposite ends of the heat dissipation seat 21 at the bottommost part of the control assembly 2 are fixed on the two steering engines 3 through the connecting seat 27, the upper control plate 23 at the topmost part of the control assembly 2 is fixed by the sealing cover 12, and then the top and the bottom of the control assembly 2 are effectively fixed. When making the steering wheel module group constitute the arm, when doing quick motions such as rotation or removal in the course of the work, control assembly 2 is difficult not hard up, can keep more stable operating condition, and control assembly 2 is also difficult to damage.

Referring to fig. 2 to 3, as another specific embodiment of the steering engine module provided by the present application, the axes of the two mounting cylinders 11 are perpendicular to each other, and the two steering engines 3 are also in a perpendicular state when mounted, so as to meet the use requirements of most mechanical arms. Meanwhile, the distance between the intersection point of the axis of the mounting cylinder 11 and the steering engine 3 is enough, and the mounting requirement of the control assembly can be met.

Referring to fig. 4, as another embodiment of the steering engine module provided in the present application, the steering engine 3 includes a motor assembly 32 having a motor shaft 321, a speed reducer 33 connected to the motor shaft 321, and an output member 34 connected to an output end of the speed reducer 33. The motor assembly 32 outputs power to the speed reducer 33 through the motor shaft 321, and the speed reducer 33 drives the output member 34 to work, so that the output member 34 outputs rotation.

Referring to fig. 4, as another embodiment of the steering engine module provided in the present application, a motor shaft 321 is a hollow shaft 3211, and an output element 34 includes a hollow tube 341 penetrating through the hollow shaft 3211; the steering engine module further comprises a power line 4 and a communication line 5 which penetrate through the hollow tube 341 and are electrically connected with the control component 2. When the steering engine module is applied to devices such as a mechanical arm, the control assembly 2 can be connected with other structures through the power line 4 and the communication line 5 penetrating through the hollow tube 341 for power supply and signal transmission.

Referring to fig. 4, as another embodiment of the steering engine module provided by the present application, flexible protective coils 35 are installed on the inner walls of the pipe orifices at the two opposite ends of the hollow pipe 341, the power line 4 and the communication line 5 are arranged in contact with the flexible protective coils 35, and the flexible protective coils 35 can prevent the skins of the power line 4 and the communication line 5 from being damaged by friction due to the rotation of the local structure when the steering engine 3 works.

Referring to fig. 4, as another specific embodiment of the steering engine module provided by the present application, the output member 34 further includes a flange 342 connected to the hollow tube 341, and the flange 342 is connected to the output end of the speed reducer 33, that is, the hollow tube 341 is connected to the output member 34 through the flange 342.

Referring to fig. 4, as another embodiment of the steering engine module provided in the present application, the motor assembly 32 includes a motor housing 322 fixedly connected to the inner wall of the mounting barrel 11, a motor stator 323 fixed in the motor housing 322, and a motor rotor 324 fixed on the motor shaft 321 and matched with the motor stator 323. The inner wall of installation section of thick bamboo 11 can set up the fixed station, and the side surface of motor casing 322 can with this fixed station butt, motor casing 322 and through screw and fixed station fixed connection, realize motor element 32's fixed mounting.

Referring to fig. 4, as another specific embodiment of the steering engine module provided in the present application, the motor assembly 32 further includes a brake base 325 fixedly connected to the motor housing 322, and a brake 326 mounted on the brake base 325; a brake bulge 3212 is fixed on the motor shaft 321, and a brake pad of the brake 326 is arranged opposite to the brake bulge 3212; a brake cable is provided between the brake 326 and the control assembly 2. The brake pad on the brake 326 can cooperate with the brake projection 3212 on the motor shaft 321, and when the rotation speed of the motor shaft 321 needs to be reduced, the brake 326 acts to press the brake pad against the surface of the brake projection 3212.

Referring to fig. 4, as another embodiment of the steering engine module provided in the present application, a motor line is disposed between the control component 2 and the two steering engines 3, and an encoder line is disposed between the control component 2 and the two steering engines 3; the brake base 325 is provided with a wire harness 36, and the wire harness 36 is used for fixing the brake cable, the encoder cable and the motor cable on the brake base 325; the brake base 325 is provided with a wire passing hole for passing a brake wire, an encoder wire and a motor wire. Wire materials such as encoder wires, brake wires and the like between the control assembly 2 and the steering engine 3 penetrate through the brake seat 325 to be electrically connected with corresponding parts, and are fixed on the brake seat 325 by the wire buncher 36, so that the wire materials are not easy to loosen or wind when the steering engine 3 works. Meanwhile, a pressing block 38 can be arranged on the rear cover 31 of the steering engine 3 to fix the wires outside the steering engine 3.

Referring to fig. 4, as another specific embodiment of the steering engine module provided in the present application, the motor assembly 32 further includes a motor encoder mounting base 3213 fixed to an end of the motor shaft 321 close to the control assembly 2, a motor encoder magnetic grid 3214 installed on the motor encoder mounting base 3213, and a motor encoder reading head 3251 installed on the brake base 325 and matching with the motor encoder magnetic grid 3214. The motor encoder magnetic grating 3214 installed on the motor shaft 321 through the motor encoder installation base 3213 can rotate along with the motor shaft 321, and the motor encoder reading head 3251 is used for detecting the rotation state of the motor encoder magnetic grating 3214, thereby indirectly detecting information such as the rotation speed of the motor shaft 321.

Referring to fig. 4, as another embodiment of the steering engine module provided in the present application, the motor assembly 32 further includes a first bearing 327 and a second bearing 328, wherein the inner ring of the first bearing 327 is mounted on the motor shaft 321; the outer race of the first bearing 327 is mounted to the motor housing 322, and the outer race of the second bearing 328 is mounted to the brake housing 325. One end of the motor shaft 321 is mounted on the motor housing 322 through an inner ring of the first bearing 327, and the other end of the motor shaft 321 is mounted on the brake mount 325 connected to the motor housing 322 through an inner ring of the second bearing 328, so that the motor shaft 321 can stably rotate.

Referring to fig. 4, as another embodiment of the steering engine module provided in the present application, the speed reducer 33 is a harmonic speed reducer 331; the harmonic reducer 331 includes a flexible gear 3311 fixedly connected to the motor housing 322, a wave generator 3312 connected to the motor shaft 321 and engaged with the flexible gear 3311 (the wave generator 3312 is connected to the motor shaft 321 through a harmonic connector 3314), and a steel gear 3313 connected to the hollow tube 341 and engaged with the flexible gear 3311. The motor shaft 321 of the motor assembly 32 drives the wave generator 3312 to rotate at a high speed and a small torque, and under the action of the wave generator 3312, the flexible gear 3311 deforms, and the deformed flexible gear 3311 interacts with the steel gear 3313 to drive the steel gear 3313 to rotate, thereby driving the hollow tube 341 connected to the steel gear 3313 to rotate (the steel gear 3313 may be connected to the hollow tube 341 through the flange 342, that is, substantially driving the output member 34 to rotate). Optionally, the flexible gear 3311 may be provided with an outer gear ring, the steel gear 3313 may be provided with a corresponding inner gear ring, and the flexible gear 3311 may drive the steel gear 3313 to rotate together when deformed.

Referring to fig. 4, as another embodiment of the steering engine module provided in the present application, the harmonic reducer 331 further includes an output encoder mounting base 3315 fixed to an end of the hollow tube 341 close to the control component 2, an output encoder magnetic grid 3316 mounted on the output encoder mounting base 3315, and an output encoder reading head 3317 matched with the output encoder magnetic grid 3316. The output encoder magnetic grid 3316 mounted on the hollow tube 341 through the output encoder mounting base 3315 can rotate along with the rotation of the hollow tube 341, and the output encoder reading head 3317 can detect the motion state of the output encoder magnetic grid 3316, thereby indirectly detecting the rotation state of the hollow tube 341, and further realizing the real-time monitoring of the rotation speed and other parameters of the output member 34.

Referring to fig. 4, as another embodiment of the steering engine module provided in the present application, the steering engine 3 further includes a third bearing 37 having an inner ring mounted on the output encoder mounting base 3315, and a rear cover 31 mounted on an outer ring of the third bearing 37. When the output encoder mounting base 3315 rotates along with the hollow tube 341, the inner ring of the third bearing 37 can be used as a support member, so that the rotation is stable.

Referring to fig. 1-2, as another embodiment of the steering engine module provided in the present application, the housing 1 is a metal member, and the housing 1 is provided with an upper plastic cover 17 and a lower plastic cover 18.

The embodiment of the application provides a mechanical arm, which comprises a steering engine module in any one embodiment.

It is to be understood that aspects of the present invention may be practiced otherwise than as specifically described.

It should be understood that the above examples are merely examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. The steering engine module is characterized by comprising a shell, a control assembly arranged in the shell and two steering engines arranged in the shell and electrically connected with the control assembly; the shell comprises two installation cylinders which are communicated with each other; the axes of the two mounting cylinders form a preset angle; the two steering engines are respectively arranged in the two mounting cylinders.

2. The steering engine module of claim 1, wherein the control assembly is located at a junction of axes of the two mounting cylinders, and the control assembly is arranged in an inclined manner.

3. The steering engine module of claim 2, wherein the housing is provided with mounting holes, and the mounting holes are located at a junction of axes of the two mounting cylinders; the shell further comprises a sealing cover which is fixedly connected with the mounting cylinder and used for sealing the mounting hole.

4. The steering engine module of claim 3, wherein the housing defines a sealing groove at an opening of the mounting hole, a sealing ring is disposed in the sealing groove, and the sealing cover defines a sealing protrusion inserted into the sealing groove and abutting against the sealing ring.

5. The steering engine module of any one of claims 2-4, wherein the control assembly comprises a heat dissipation seat fixedly connected to the steering engine, a lower control plate mounted on the heat dissipation seat, and an upper control plate located on a side of the lower control plate away from the heat dissipation seat; the lower control panel and two all be equipped with the motor line between the steering wheel, go up the control panel and two all be equipped with the encoder line between the steering wheel.

6. The steering engine module of claim 5, wherein the control assembly further comprises a thermally conductive silicone rubber disposed between the heat dissipation seat and the lower control plate, a first copper pillar connected between the lower control plate and the upper control plate, and a second copper pillar connected between the upper control plate and the closure cap; the second copper column is inserted into the first copper column, a positioning threaded hole is formed in the sealing cover, a positioning screw is arranged in the positioning threaded hole, and the positioning screw is inserted into the second copper column; and a cover used for covering the positioning threaded hole is arranged on the closed cover.

7. The steering engine module of claim 5, wherein a rear cover is disposed at one end of the steering engine close to the control assembly, and the control assembly further comprises a connecting seat connected between the heat dissipation seat and the rear cover; the connecting seat is detachably connected with the rear cover, and the connecting seat is detachably connected with the heat radiating seat.

8. The steering engine module of any one of claims 1-4, wherein the axes of the two mounting cylinders are perpendicular to each other.

9. The steering engine module of claim 1, wherein the steering engine comprises a motor assembly having a motor shaft, a speed reducer coupled to the motor shaft, and an output member coupled to an output of the speed reducer.

10. The steering engine module of claim 9, wherein the motor shaft is a hollow shaft, and the output member comprises a hollow tube extending through the hollow shaft; the steering engine module further comprises a power line and a communication line which penetrate through the hollow pipe and are electrically connected with the control assembly.

11. The steering engine module of claim 10, wherein flexible protective coils are mounted on the inner walls of the pipe openings at the two opposite ends of the hollow pipe, and the power line and the communication line are in contact with the flexible protective coils.

12. The steering engine module of claim 10, wherein the output member further comprises a flange connected to the hollow tube, the flange being connected to the output of the reducer.

13. The steering engine module of claim 9, wherein the motor assembly comprises a motor housing fixedly connected to the inner wall of the mounting cylinder, a motor stator fixed in the motor housing, and a motor rotor fixed to the motor shaft and engaged with the motor stator.

14. The steering engine module of claim 13, wherein the motor assembly further comprises a brake base fixedly connected to the motor housing, and a brake mounted to the brake base; a brake bulge is fixed on the motor shaft, and a brake pad of the brake is arranged opposite to the brake bulge; and a brake cable is arranged between the brake and the control component.

15. The steering engine module of claim 14, wherein motor wires are provided between the control assembly and both of the steering engines, and encoder wires are provided between the control assembly and both of the steering engines; the brake base is provided with a wire harness, and the wire harness is used for fixing the brake wire, the encoder wire and the motor wire on the brake base; the brake base is provided with a wire passing hole for the brake wire, the encoder wire and the motor wire to pass through.

16. The steering engine module of claim 14, wherein the motor assembly further comprises a motor encoder mounting base fixed to an end of the motor shaft near the control assembly, a motor encoder magnetic grid mounted on the motor encoder mounting base, and a motor encoder reading head mounted on the brake base and engaged with the motor encoder magnetic grid.

17. The steering engine module of claim 14, wherein the motor assembly further comprises a first bearing and a second bearing, the first bearing and the second bearing being mounted on the motor shaft at inner rings; the outer ring of the first bearing is arranged on the motor shell, and the outer ring of the second bearing is arranged on the brake seat.

18. The steering engine module of any one of claims 10-17, wherein the reducer is a harmonic reducer; the harmonic reducer comprises a flexible gear fixedly connected with the motor shell, a wave generator connected with the motor shaft and matched with the flexible gear, and a steel gear connected with the hollow tube and matched with the flexible gear.

19. The steering engine module of claim 18, wherein the harmonic reducer further comprises an output encoder mounting base fixed to an end of the hollow tube near the control assembly, an output encoder magnetic grid mounted to the output encoder mounting base, and an output encoder read head coupled to the output encoder magnetic grid.

20. The steering engine module of claim 19, further comprising a third bearing having an inner race mounted to the output encoder mounting base, and a rear cover mounted to an outer race of the third bearing.

21. A robotic arm comprising a steering engine module according to any one of claims 1 to 20.