CN112260469A - Linear steering engine set structure - Google Patents
Linear steering engine set structure Download PDFInfo
- Publication number
- CN112260469A CN112260469A CN202011142386.1A CN202011142386A CN112260469A CN 112260469 A CN112260469 A CN 112260469A CN 202011142386 A CN202011142386 A CN 202011142386A CN 112260469 A CN112260469 A CN 112260469A
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- China
- Prior art keywords
- steering engine
- linear
- connecting plate
- motor
- rudder arm
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- 230000000712 assembly Effects 0.000 claims 4
- 238000000429 assembly Methods 0.000 claims 4
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 239000011664 nicotinic acid Substances 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
- H02K37/24—Structural association with auxiliary mechanical devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a linear steering engine group structure which comprises a plurality of steering engine components, a motor fixing plate and a connecting plate, wherein the motor fixing plate is used for connecting a motor for fixing the steering engine components, the motor of the steering engine components is connected with one end of a screw rod of the steering engine components, a linear traction steering arm of the steering engine components is connected onto a screw rod nut of the steering engine components, the other end of the screw rod of the steering engine components is installed on the connecting plate through a bearing, a guide pillar is arranged between the connecting plate and the motor fixing plate, the linear traction steering arm of the steering engine components is sleeved on the guide pillar, and a linear position sensor of the steering engine components is installed between the motor fixing. The bionic robot has the advantages that the structures are mutually supported and connected to form a compact structure, the internal hollow channel can be reserved for other pipelines or accessories, the whole structure occupies small space, the strength is high, the manufacture is easy, and the requirements of the bionic robot on the degree of freedom of motion are met by combining a plurality of steering engine components.
Description
Technical Field
The invention relates to a linear steering engine set structure, and belongs to the technical field of electromechanics.
Background
The steering engine generally comprises a direct current motor, a reduction gear set, a sensor and a control circuit, and specifies the rotation angle of an output shaft by sending signals. The steering wheel is that control certain object rotates certain angle and designs (for example the joint of robot), and current steering wheel generally is single design, because the design of current steering wheel structure, has the unmatched problem of size and output torque, or can not satisfy the overall dimension requirement of robot, or can't realize big moment output, and in addition, bionic robot motion degree of freedom requires much, and single steering wheel structure can't realize control, consequently, needs to innovate steering wheel structure.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a linear steering engine set structure.
In order to achieve the technical purpose, the invention adopts the technical scheme that: the utility model provides a straight line steering wheel group structure, including a plurality of steering wheel subassembly, the motor fixed plate, the connecting plate, the motor fixed plate is used for connecting the motor of fixed steering wheel subassembly, the one end of the lead screw of this steering wheel subassembly is connected to the motor of steering wheel subassembly, the straight line of this steering wheel subassembly pulls the rudder arm to connect on the lead screw nut of this steering wheel subassembly, the lead screw other end of this steering wheel subassembly passes through the bearing and installs on the connecting plate, set up the guide pillar between connecting plate and the motor fixed plate, the straight line of this steering wheel subassembly pulls the rudder arm to cup joint on the guide pillar, the straight line position sensor of this steering wheel.
Furthermore, the linear traction rudder arm of each steering engine component is sleeved with two guide posts, and the two guide posts are distributed on two sides of the screw rod and are parallel to the screw rod.
Furthermore, the motor fixing plate and the connecting plate are both hollow circular plates, and the motors of the steering engine components are uniformly arranged on the circular plates in a circumferential manner; two guide posts sleeved by the linear traction rudder arm of each steering engine component are uniformly distributed with different circumferences of the circular ring-shaped plate respectively, so that the linear traction rudder arm is arranged on the plane along the direction of the radius of the circle.
Many guide pillars through the circumference distribution are fixed into a spatial structure with motor fixed plate and connecting plate, and two guide pillars that distribute inside and outside on the steering wheel subassembly play the direction and bear the effect of torsion, and every steering wheel moving part drives alone, and the part each other is for supporting and compact combination, and other pipelines or accessories can also be left to the cavity passageway of inside stroke, and the whole occupation space of this structure is little, simple structure, and intensity is good.
Furthermore, a linear position sensor is arranged on one side of the guide pillar, the linear traction rudder arm is connected with a sensor sliding handle, and the sensor sliding handle moves along with the linear traction rudder arm to generate a position signal which is fed back to the steering engine control circuit board.
Furthermore, a control circuit board of the steering engine assembly is mounted on the connecting plate, and the linear position sensor is connected with the control circuit board.
Furthermore, the motor is connected with the screw rod through the coupler and drives the screw rod to drive the linear traction rudder arm connected with the screw rod nut, the connecting plate and the motor fixing plate are both arranged to be annular hollow plates with the same size, the motor fixing plate and the connecting plate are fixedly connected through a plurality of guide pillars, the linear traction rudder arm is guided and bears torsion by two guide pillars which are sleeved, the linear position sensors are uniformly distributed between the connecting plate and the motor fixing plate through the circumference, the control circuit board is uniformly distributed on the connecting plate through the circumference, and the control circuit board of each steering engine assembly controls the part of the steering engine assembly to move.
The beneficial technical effects of the invention are as follows: the structure supports each other to connect and constitute compact structure, inside hollow passage can be reserved for other pipelines or accessories and use, and the whole occupation space of structure is little, and intensity is high, easily makes, and many steering wheel subassembly combinations accomplish the requirement of bionic robot motion degree of freedom.
Drawings
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a partial sectional structure diagram of the present invention.
In the figure: 1. the device comprises a bearing seat, 2, a guide pillar, 3, a screw rod, 4, a screw rod nut, 5, a linear traction rudder arm, 6, a coupler, 7, a linear position sensor, 8, a sensor sliding handle, 9, a motor, 10, a motor fixing plate, 11, a connecting plate, 12 and a control circuit board.
Detailed Description
Example 1
The utility model provides a straight line steering wheel group structure, including a plurality of steering wheel subassembly, motor fixed plate 10, connecting plate 11, motor fixed plate 10 is used for connecting the motor 9 of fixed steering wheel subassembly, motor 9 can adopt direct current motor or step-by-step servo motor, the one end of this steering wheel subassembly's lead screw 3 is connected to steering wheel subassembly's motor 9, this steering wheel subassembly's straight line traction rudder arm 5 is connected on this steering wheel subassembly's screw-nut 4, the 3 other ends of this steering wheel subassembly's lead screw pass through the bearing and install on connecting plate 11, set up guide pillar 2 between connecting plate 11 and the motor fixed plate 10, this steering wheel subassembly's straight line traction rudder arm 5 cup joints on guide pillar 2, this steering wheel subassembly's straight line position sensor 7 is installed between motor.
Example 2
As a specific structural design of embodiment 1, as shown in fig. 1, a linear traction rudder arm 5 of each steering engine assembly is connected to two guide posts 2, and the two guide posts 2 are distributed on two sides of a screw rod 3 and are parallel to the screw rod 3.
Preferably, the motor fixing plate 10 and the connecting plate 11 are both hollow circular plates, and the motors 9 of the steering engine components are uniformly arranged on the circular plates in a circumferential manner; two guide posts 2 sleeved with a linear traction rudder arm 5 of each steering engine component are uniformly distributed with different circumferences of a circular ring-shaped plate respectively, so that the linear traction rudder arm 5 is arranged on a plane in which the linear traction rudder arm is arranged along the direction of a circular radius.
Many guide pillars through the circumference distribution are fixed into a spatial structure with motor fixed plate and connecting plate, and two guide pillars that distribute inside and outside on the steering wheel subassembly play the direction and bear the effect of torsion, and every steering wheel moving part drives alone, and the part each other is for supporting and compact combination, and other pipelines or accessories can also be left to the cavity passageway of inside stroke, and the whole occupation space of this structure is little, simple structure, and intensity is good.
Preferably, a linear position sensor 7 is arranged on one side of the guide post 2, the linear traction rudder arm 5 is connected with a sensor sliding handle 8, and the sensor sliding handle 8 moves along with the linear traction rudder arm 5 to generate a position signal.
Preferably, a control circuit board 12 of the steering engine assembly is mounted on the connecting plate 11, and the linear position sensor 7 is connected with the control circuit board 12.
Preferably, the motor 9 is connected with and drives the screw rod 3 through the coupler 6, the linear traction rudder arm 5 connected with the screw rod nut 4 is driven, the connecting plate 11 and the motor fixing plate 10 are both set to be circular hollow plates with the same size, the motor fixing plate 10 and the connecting plate 11 are fixedly connected through the guide posts 2, the linear traction rudder arm 5 is guided and bears torsion by the two guide posts 2 which are sleeved, the linear position sensors 7 are uniformly distributed between the connecting plate 11 and the motor fixing plate 10 through the circumference, the control circuit board 12 is uniformly distributed on the connecting plate 11 through the circumference, and the control circuit board 12 of each steering engine assembly controls the part motion of the steering engine assembly.
According to the bionic robot, the structures are mutually supported and connected to form a compact structure, the internal hollow channel can be reserved for other pipelines or accessories, the whole structure occupies small space, the strength is high, the bionic robot is easy to manufacture, and the requirements of the bionic robot on the motion freedom degree are met due to the combination of multiple steering engine components.
The above embodiments are only used for explaining the technical solution of the present invention, and are not used for limiting the technical solution of the present invention, and all the simple modifications based on the present invention belong to the protection scope of the present invention.
Claims (6)
1. The utility model provides a straight line steering wheel group structure which characterized in that: the steering engine comprises a plurality of steering engine assemblies, a motor fixing plate and a connecting plate, wherein the motor fixing plate is used for connecting a motor for fixing the steering engine assemblies, the motor of the steering engine assemblies is connected with one end of a screw rod of each steering engine assembly, a linear traction rudder arm of each steering engine assembly is connected onto a screw rod nut of each steering engine assembly, the other end of the screw rod of each steering engine assembly is installed on the connecting plate through a bearing, a guide pillar is arranged between the connecting plate and the motor fixing plate, the linear traction rudder arm of each steering engine assembly is sleeved on the guide pillar, and a linear position sensor of each steering engine assembly is installed.
2. The linear steering engine set structure of claim 1, wherein: the linear traction rudder arm of each steering engine component is sleeved with two guide posts, and the two guide posts are distributed on two sides of the screw rod and are parallel to the screw rod.
3. The linear steering engine set structure of claim 2, wherein: the motor fixing plate and the connecting plate are both hollow circular plates, and the motors of the steering engine assemblies are uniformly arranged on the circular plates in a circumferential manner; two guide posts sleeved by the linear traction rudder arm of each steering engine component are uniformly distributed with different circumferences of the circular ring-shaped plate respectively, so that the linear traction rudder arm is arranged on the plane along the direction of the radius of the circle.
4. The linear steering engine set structure of claim 2, wherein: and a linear position sensor is arranged on one side of the guide post, the linear traction rudder arm is connected with a sensor sliding handle, and the sensor sliding handle moves along with the linear traction rudder arm to generate a position signal and feed the signal back to the control circuit board.
5. The linear steering engine set structure of claim 2, wherein: the control circuit board of the steering engine assembly is installed on the connecting plate, and the linear position sensor is connected with the control circuit board.
6. The linear steering engine set structure of claim 3, wherein: the motor passes through the coupling joint and drives the lead screw, drive the straight line traction rudder arm of being connected with screw-nut, connecting plate and motor fixed plate all set up to the ring shape cavity board of equidimension, a plurality of guide pillars are connected motor fixed plate and connecting plate fixedly, straight line traction rudder arm relies on two guide pillars that cup joint to lead and bear the torsion, linear position sensor is with the circumference equipartition between connecting plate and motor fixed plate, control circuit board is with the circumference equipartition on the connecting plate, the part motion of steering wheel subassembly in place is controlled to the control circuit board of every steering wheel subassembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011142386.1A CN112260469A (en) | 2020-10-23 | 2020-10-23 | Linear steering engine set structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011142386.1A CN112260469A (en) | 2020-10-23 | 2020-10-23 | Linear steering engine set structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112260469A true CN112260469A (en) | 2021-01-22 |
Family
ID=74263178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011142386.1A Pending CN112260469A (en) | 2020-10-23 | 2020-10-23 | Linear steering engine set structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN112260469A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106813537A (en) * | 2016-12-13 | 2017-06-09 | 中国航天空气动力技术研究院 | A kind of four axle combines the helm gear of precision actuation |
| CN107792345A (en) * | 2017-09-30 | 2018-03-13 | 中国科学院长春光学精密机械与物理研究所 | A kind of compact steering wheel and steering gear flat |
| CN108286918A (en) * | 2017-12-29 | 2018-07-17 | 中国航天空气动力技术研究院 | A kind of how shaft-driven annular rudder control unit |
| CN207766087U (en) * | 2017-11-15 | 2018-08-24 | 四川航天烽火伺服控制技术有限公司 | A kind of electric steering engine |
| US20190063566A1 (en) * | 2016-03-22 | 2019-02-28 | Continental Automotive Gmbh | Linear Drive Apparatus |
| CN209795815U (en) * | 2019-03-29 | 2019-12-17 | 成都云鼎智控科技有限公司 | Steering engine for aircraft |
-
2020
- 2020-10-23 CN CN202011142386.1A patent/CN112260469A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190063566A1 (en) * | 2016-03-22 | 2019-02-28 | Continental Automotive Gmbh | Linear Drive Apparatus |
| CN106813537A (en) * | 2016-12-13 | 2017-06-09 | 中国航天空气动力技术研究院 | A kind of four axle combines the helm gear of precision actuation |
| CN107792345A (en) * | 2017-09-30 | 2018-03-13 | 中国科学院长春光学精密机械与物理研究所 | A kind of compact steering wheel and steering gear flat |
| CN207766087U (en) * | 2017-11-15 | 2018-08-24 | 四川航天烽火伺服控制技术有限公司 | A kind of electric steering engine |
| CN108286918A (en) * | 2017-12-29 | 2018-07-17 | 中国航天空气动力技术研究院 | A kind of how shaft-driven annular rudder control unit |
| CN209795815U (en) * | 2019-03-29 | 2019-12-17 | 成都云鼎智控科技有限公司 | Steering engine for aircraft |
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