CN209793734U - Steering engine - Google Patents
Steering engine Download PDFInfo
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- CN209793734U CN209793734U CN201821658233.0U CN201821658233U CN209793734U CN 209793734 U CN209793734 U CN 209793734U CN 201821658233 U CN201821658233 U CN 201821658233U CN 209793734 U CN209793734 U CN 209793734U
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- gear
- steering engine
- gear shaft
- semicircular
- motor
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Abstract
The utility model relates to a steering engine, including motor, reduction gear group, control panel, control line and the potentiometre that sets firmly in the casing, the casing includes casing, well casing, lower casing, reduction gear group, including the one-level gear, second grade gear, tertiary gear and the fourth grade gear of intermeshing in proper order, the fourth grade gear, including gear ring and rotor gear axle, evenly distributed has a plurality of semicircular grooves on the circumference inner wall of gear ring, evenly distributed have with semicircular protruding tooth that semicircular groove mutually supported and axial distribution of one end of rotor gear axle, the rotor gear axle has that one end of semicircular protruding tooth can pull out the placing in the centre bore of gear ring of inserting; the semicircular convex teeth are movably arranged in the semicircular grooves. The rotor gear shaft idles in the gear ring, thereby avoiding burning the steering engine.
Description
Technical Field
The utility model belongs to the technical field of the robot accessory. In particular to a steering engine.
Background
The steering engine is composed of a circuit board, a motor, a reduction gear set, a sensor and a control circuit. The working principle is that a main control board of the robot sends a control signal to a steering engine, corresponding processing is carried out through an IC (integrated circuit) on a circuit board of the steering engine, the rotating direction is judged, a coreless motor is driven to start rotating, power is transmitted to a swing arm through a reduction gear set, meanwhile, a detection signal is sent back to a position detection sensor, and whether the preset position is reached or not is judged. The steering engine is a power source for controlling actions of a remote control model and a humanoid robot, and is an important motion execution device for driving the joint of the robot to move.
The utility model discloses a steering engine and a robot, which is disclosed in the patent number ZL201721627296.5, and comprises a shell, a speed reducing mechanism, a motor, a control panel, a control line and a potentiometer, wherein the speed reducing mechanism comprises an output bearing, an output gear set and a speed change gear set; one end of the output bearing is connected with a potentiometer shaft, the other end of the output bearing is connected with an output gear set shaft, the speed change gear set is connected with a motor shaft, the output gear set is meshed with the speed change gear set, the potentiometer is electrically connected with a control panel through a control line, and the motor is electrically connected with the control panel. The utility model discloses an output bearing, output gear group and speed gearset can make the steering wheel carry out 360 rotations, and in the assembly and debugging process, effectively avoid causing the gear to damage because of the external force of acting on the output shaft is too big, the utility model discloses all changing output gear group and speed gearset into the aluminium material with original, light in weight, low price, and the rigidity is strong, stand wear and tear, therefore the weight and the cost of steering wheel have been alleviateed on the whole. Although a conventional steering engine represented by this steering engine can output different torques according to different control commands. But the technical defect that traditional steering wheel exists lies in: in the process of displaying activities or working of a humanoid or other-shaped robot adopting the steering engine, when a robot joint or arm and other movement execution components driven by the steering engine touch immovable objects, the steering engine is easy to burn and not work, and even the steering engine is burnt.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects and deficiencies in the prior art, the utility model provides a steering engine which has simple structure, ingenious design and automatic tooth-disengaging function.
In order to realize the purpose, the technical scheme of the utility model is that: a steering engine comprises a motor, an output gear shaft, a reduction gear set, a control panel, a control line and a potentiometer, wherein the motor, the output gear shaft, the reduction gear set, the control panel, the control line and the potentiometer are fixedly arranged in a shell, the shell comprises an upper shell, a middle shell and a lower shell, the reduction gear set comprises a first-stage gear, a second-stage gear, a third-stage gear and a fourth-stage gear which are sequentially meshed with one another, the fourth-stage gear is meshed with an input gear on the input end of the output gear shaft, and the output end of the output; the four-stage gear comprises a gear ring and a rotor gear shaft, wherein a plurality of semicircular grooves are uniformly distributed on the circumferential inner wall of the gear ring, and semicircular convex teeth which are matched with the semicircular grooves and axially distributed are uniformly distributed at one end of the rotor gear shaft.
Preferably, one end of the rotor gear shaft with the semicircular convex teeth is arranged in the central hole of the gear ring in a pluggable manner; the semicircular convex teeth are movably arranged in the semicircular grooves.
In any of the above aspects, it is preferable that the diameter of the output gear shaft is 8 to 10 mm.
In any of the above schemes, preferably, the output gear shaft is made of engineering plastics.
In any of the above schemes, preferably, a fixed base is provided on the lower casing, a motor is vertically installed on the base, and one end of the motor passes through a positioning base fixedly provided on one end of the middle casing.
In any of the above aspects, preferably, the rotating shaft of the motor is fixedly connected to a motor gear, and the motor gear is engaged with the primary gear.
In any of the above schemes, preferably, threaded connection holes are respectively arranged at four top corners of the top surface and four top corners of the bottom surface of the middle shell; through holes corresponding to the threaded connecting holes arranged on the top surface of the middle shell are formed in the four top corners of the upper shell; and connecting holes corresponding to the threaded connecting holes arranged on the bottom surface of the middle shell are formed in the four top corners of the lower shell.
In any of the above solutions, preferably, a power interface and a control line interface are provided at the bottom of the lower housing.
In any of the above embodiments, preferably, a bearing is fitted over the output gear shaft.
in any of the above schemes, preferably, a plurality of hollow holes with the same structure are uniformly distributed on the input gear.
In any of the above schemes, preferably, a plurality of grooves with the same structure are uniformly distributed on the input gear.
In any of the above schemes, preferably, a plurality of axial transmission gear grooves are uniformly distributed on the circumferential outer wall of the output end of the output gear shaft.
In any of the above schemes, preferably, a circular groove is formed at the center of the output end of the output gear shaft.
In any of the above schemes, preferably, a plurality of fan-shaped grooves are uniformly distributed on the periphery of the circular groove.
In any of the above schemes, preferably, the end face of the input end of the output gear shaft is uniformly provided with a plurality of axially distributed fan blade-shaped grooves.
In any of the above embodiments, the power supply interface and the control line interface are preferably arranged side by side.
In any of the above schemes, preferably, the first-stage gear, the second-stage gear, the third-stage gear and the fourth-stage gear are all made of engineering plastics.
In any of the above aspects, preferably, the motor is a dc motor.
In any of the above aspects, it is preferable that the number of the semicircular convex teeth is smaller than the number of the semicircular concave grooves.
In any of the above embodiments, it is preferable that the number of the semicircular convex teeth is three.
compared with the prior art, the utility model has the advantages of: due to the four-stage gear with the automatic tooth disengaging structure, when the robot arm or the motion executing component driven by the steering engine touches an immovable object, the object blocks the robot arm or the motion executing component from continuing to move. At this time, the output gear shaft driven by the four-stage gear stops rotating, and the robot arm or the motion executing component also stops moving at the same time. While the rotor gear shaft of the fourth stage gear continues to rotate within the gear ring without driving the gear ring in rotation. In other words, the rotor gear shaft idles within the gear ring. Thereby avoiding burning the steering engine.
Drawings
Fig. 1 is a schematic perspective view of a steering engine according to a preferred embodiment of the present invention.
Fig. 2 is a schematic front view of the steering engine according to the embodiment of fig. 1 of the present invention.
Fig. 3 is a schematic view of a rear view structure of the steering engine according to the embodiment shown in fig. 1 of the present invention.
Fig. 4 is a left side view structure diagram of the steering engine shown in fig. 1 according to the embodiment of the present invention.
fig. 5 is an exploded view of the steering engine according to the embodiment of the present invention shown in fig. 1.
Fig. 6 is a schematic front view of the reduction gear set in the embodiment of the steering engine shown in fig. 1 according to the present invention.
Fig. 7 is a schematic top view of the reduction gear set in the embodiment of the steering engine shown in fig. 6 according to the present invention.
Fig. 8 is a schematic front view of an output gear shaft in the embodiment of the steering engine shown in fig. 6 according to the present invention.
Fig. 9 is a schematic top view of the steering engine according to the embodiment of the present invention shown in fig. 8.
Fig. 10 is a schematic bottom view of the steering engine of the embodiment shown in fig. 8 according to the present invention.
Fig. 11 is a schematic perspective view of a preferred embodiment of a four-stage gear in the embodiment of the steering engine shown in fig. 6 according to the present invention.
Fig. 12 is an exploded view of the steering engine of the embodiment shown in fig. 11 according to the present invention.
Detailed Description
The preferred embodiments of the present invention will be further explained with reference to the accompanying drawings;
Example 1:
As shown in fig. 1-12, the steering engine is used for driving the movement of the robot joint according to the command of the controller. The steering engine comprises a motor 11, an output gear shaft 4, a reduction gear set, a control panel, a control line and a potentiometer, wherein the motor 11 is packaged in a shell. The motor 11 is a dc motor. The shell is of a cuboid structure. The shell comprises an upper shell 1, a middle shell 2 and a lower shell 3. A fixed base 23 is provided on the lower case 3, and the bottom of the motor 11 is fixedly mounted on the fixed base 23. The middle case 2 is provided with a positioning base 12 corresponding to the fixing base 23 of the lower case 3. The bottom of the motor 11 is fixedly installed on the fixed base 23, and the other end is placed in the middle shell 2 and is fixed and limited by the positioning base 12 fixedly arranged on the middle shell 2. The motor 11 is fixedly mounted in the housing at the same time by means of the fixed base 23 and the positioning base 12. A motor gear 14 is fitted to a rotating shaft of the motor 11. The motor gear 14 is in active mesh with a primary gear 15 of the reduction gear set. The output end of the output gear shaft 4 passes through the upper case 1 and is exposed outside the case.
A bearing 13 is sleeved on the output gear shaft 4. An input gear 19 is fixedly arranged at the output end of the output gear shaft 4. The input gear 19 and the output gear shaft 4 are of an integrated structure. By input end is meant the end with the input gear 19. The rotating shaft of the motor 11 is fixedly connected with a motor gear 14. In other words, the motor gear 14 is fixedly fitted over the rotating shaft. The reduction gear set comprises a primary gear 15, a secondary gear 18, a tertiary gear 16 and a quaternary gear 17 which are meshed with each other in sequence. In the present embodiment, the primary gear 15, the secondary gear 18, the tertiary gear 16 and the quaternary gear 17 are all made of engineering plastics.
The motor gear 14 is movably meshed with the primary gear 15; a primary pinion gear is also provided on the rotating shaft of the primary gear 15, which is located at the upper part of the primary gear 15 and is coaxially connected with the primary gear 15; the primary pinion is movably meshed with the secondary gear 18, and a secondary pinion is arranged on a rotating shaft of the secondary gear 18 and is positioned at the bottom of the secondary gear 18 and is coaxially and fixedly connected with the secondary gear 18; the secondary pinion is movably meshed with the tertiary gear 16, and a tertiary pinion is arranged on a rotating shaft of the tertiary gear 16 and is positioned at the lower part of the tertiary gear 16 and is coaxially connected with the tertiary gear 16; the third-stage pinion is movably engaged with the fourth-stage gear 17, a fourth-stage pinion is sleeved on a rotating shaft of the fourth-stage gear 17, and the fourth-stage pinion is positioned at the lower part of the fourth-stage gear 17 and is coaxially connected with the fourth-stage gear 17. The four-stage pinion is movably engaged with an input gear 19 on the input end of the output gear shaft 4. The four-stage pinion and the four-stage gear 17 are of an integrated structure.
In this embodiment, the four-stage gear 17 includes a gear ring 26 and a rotor gear shaft 27, a plurality of semicircular grooves 28 are uniformly distributed on the circumferential inner wall of the gear ring 26, and semicircular convex teeth 29 which are matched with the semicircular grooves 28 and axially distributed are uniformly distributed at one end of the rotor gear shaft 27. The number of semicircular teeth 29 is smaller than the number of semicircular grooves 28. One end of the rotor gear shaft 27 having the semicircular convex teeth 29 is inserted into the central hole of the gear ring 26. The semicircular convex teeth 29 are movably arranged in the semicircular grooves 28. This kind, the purpose of the four-stage gear of automatic tooth disengaging structural design lies in: when the robot arm or the motion execution component driven by the steering engine touches an immovable object, the object prevents the robot arm or the motion execution component from continuing to move. At this time, the output gear shaft driven by the four-stage gear stops rotating, and the robot arm or the motion executing component also stops moving at the same time. While the rotor gear shaft of the fourth stage gear continues to rotate within the gear ring without driving the gear ring in rotation. In other words, the rotor gear shaft idles within the gear ring. Thereby avoiding burning the steering engine.
Threaded connection holes 24 are respectively formed in the four top corners of the top surface and the four top corners of the bottom surface of the middle shell 2; similarly, through holes 7 corresponding to the threaded connecting holes 24 arranged on the top surface of the middle shell 2 are arranged at the four top corners of the upper shell 1; and connecting holes 9 which correspond to the threaded connecting holes 24 arranged on the bottom surface of the middle shell 2 are arranged at the four top corners of the lower shell 3. When assembling, the upper casing 1, the middle casing 2 and the lower casing 3 are fastened correspondingly, and then four screws are respectively put into the four through holes 7 of the upper casing 1 to screw the screws into the threaded connecting holes 24. The other four screws are taken out and put into the connecting holes 9 on the lower shell 3 and screwed into the threaded connecting holes 24 on the bottom surface of the middle shell 2. A power supply interface 8 and a control line interface 10 are provided on the bottom of the lower case 3. In this embodiment, the power supply interface 8 and the control line interface 10 are arranged side by side. One end of the control line is electrically connected with the control line interface 10, and the other end is electrically connected with the control board.
In the present embodiment, the output gear shaft 4 is made of a plastic material, specifically, engineering plastic. The diameter of the output gear shaft 4 is 8-10 mm, preferably 8 mm. Referring to fig. 5 to 10 again, in the present embodiment, a plurality of through holes 21 with the same structure are uniformly distributed on the input gear 19. A plurality of axial transmission gear grooves 6 are uniformly distributed on the circumferential outer wall of the output end of the output gear shaft 4. A circular groove 5 is arranged at the center of one end of the output gear shaft 4. The end face of the other end of the output wheel shaft 4 is provided with axial grooves 22 which are uniformly distributed. The axial grooves 22 are fan-shaped structures, and the axial grooves 22 are fan-shaped structures. The design of the structure reduces the mass of the steering engine to the maximum extent.
Example 2:
The difference between the present embodiment and embodiment 1 is that a plurality of fan-shaped grooves 21 with the same structure are uniformly distributed on one side of the input gear 19, and an annular groove 25 is arranged on the other side.
Example 3:
In the present embodiment, the difference from embodiment 1 is that the number of the semicircular teeth 29 is three.
The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention in any form, and all the technical matters of the present invention are any simple modifications, equivalent changes and modifications made to the above embodiments, and still belong to the scope of the technical solution of the present invention. For example, a gear having a primary gear with an automatic tooth disengaging structure, a gear having a secondary gear with an automatic tooth disengaging structure, and a gear having a tertiary gear with an automatic tooth disengaging structure
After reading this specification, it will be apparent to those skilled in the art that the present invention is formed by a combination of prior art, and some of these prior art forming each part of the present invention are described in detail herein, and some are not described in detail for the sake of brevity of the specification, but will be known to those skilled in the art after reading this specification. Moreover, it will be appreciated by those skilled in the art that the combination of these prior art techniques to form the present invention is highly creative and is a crystal that has been analyzed theoretically and experimented for many years by the inventor. It will also be apparent to those skilled in the art from this disclosure that each of the embodiments disclosed herein, and any combination of features, can be incorporated into the present invention.
Claims (15)
1. A steering engine comprises a motor, an output gear shaft, a reduction gear set, a control panel, a control line and a potentiometer, wherein the motor, the output gear shaft, the reduction gear set, the control panel, the control line and the potentiometer are fixedly arranged in a shell, the shell comprises an upper shell, a middle shell and a lower shell, the reduction gear set comprises a first-stage gear, a second-stage gear, a third-stage gear and a fourth-stage gear which are sequentially meshed with one another, and the output end of the output gear shaft penetrates through the upper shell and; the method is characterized in that: the four-stage gear comprises a gear ring and a rotor gear shaft, wherein a plurality of semicircular grooves are uniformly distributed on the circumferential inner wall of the gear ring, and semicircular convex teeth which are matched with the semicircular grooves and axially distributed are uniformly distributed at one end of the rotor gear shaft.
2. The steering engine of claim 1, wherein: one end of the rotor gear shaft, which is provided with the semicircular convex teeth, can be arranged in the central hole of the gear ring in a pulling and inserting way; the semicircular convex teeth are movably arranged in the semicircular grooves.
3. The steering engine of claim 1, wherein: the diameter of the output gear shaft is 8-10 mm.
4. The steering engine of claim 1 or 3, wherein: the output gear shaft is made of engineering plastics.
5. The steering engine of claim 1, wherein: the lower shell is provided with a fixed base, the base is vertically provided with a motor, and one end of the motor penetrates through a positioning base fixedly arranged at one end of the middle shell.
6. The steering engine of claim 1 or 5, wherein: the rotating shaft of the motor is fixedly connected with a motor gear, and the motor gear is meshed with the primary gear.
7. the steering engine of claim 1, wherein: threaded connecting holes are respectively formed in the four top corners of the top surface and the four top corners of the bottom surface of the middle shell; through holes corresponding to the threaded connecting holes arranged on the top surface of the middle shell are formed in the four top corners of the upper shell; and connecting holes corresponding to the threaded connecting holes arranged on the bottom surface of the middle shell are formed in the four top corners of the lower shell.
8. The steering engine of claim 1 or 5, wherein: and a power supply interface and a control circuit interface are arranged at the bottom of the lower shell.
9. The steering engine of claim 1 or 3, wherein: the output gear shaft is sleeved with a bearing.
10. The steering engine of claim 1, wherein: a plurality of axial transmission gear grooves are uniformly distributed on the circumferential outer wall of the output end of the output gear shaft.
11. The steering engine of claim 10, wherein: and a circular groove is formed in the circle center of the output end of the output gear shaft.
12. The steering engine of claim 1, wherein: and a plurality of fan-blade-shaped grooves which are axially distributed are uniformly formed in the end face of the input end of the output gear shaft.
13. The steering engine of claim 1, wherein: the power supply interface and the control line interface are arranged side by side.
14. The steering engine of claim 1 or 2, wherein: the number of the semicircular convex teeth is smaller than that of the semicircular grooves.
15. The steering engine of claim 14, wherein: the number of the semicircular convex teeth is three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821658233.0U CN209793734U (en) | 2018-10-12 | 2018-10-12 | Steering engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821658233.0U CN209793734U (en) | 2018-10-12 | 2018-10-12 | Steering engine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209793734U true CN209793734U (en) | 2019-12-17 |
Family
ID=68816484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821658233.0U Active CN209793734U (en) | 2018-10-12 | 2018-10-12 | Steering engine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209793734U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4138276A1 (en) * | 2021-08-18 | 2023-02-22 | Robosen Robotics (Shenzhen) Co., Ltd | Servo and robot |
| EP4138278A1 (en) * | 2021-08-18 | 2023-02-22 | Robosen Robotics (Shenzhen) Co., Ltd | Servo and robot |
-
2018
- 2018-10-12 CN CN201821658233.0U patent/CN209793734U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4138276A1 (en) * | 2021-08-18 | 2023-02-22 | Robosen Robotics (Shenzhen) Co., Ltd | Servo and robot |
| EP4138278A1 (en) * | 2021-08-18 | 2023-02-22 | Robosen Robotics (Shenzhen) Co., Ltd | Servo and robot |
| WO2023020308A1 (en) * | 2021-08-18 | 2023-02-23 | 乐森机器人(深圳)有限公司 | Servo and robot |
| US11767900B2 (en) | 2021-08-18 | 2023-09-26 | Robosen Robotics (Shenzhen) Co., Ltd. | Servo and robot |
| US11976709B2 (en) | 2021-08-18 | 2024-05-07 | Robosen Robotics (Shenzhen) Co., Ltd. | Servo and robot |
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Address after: Floor 7, Block C, Heying Center, Building 1, Yard 10, Xiaoying West Road, Haidian District, Beijing, 100096 Patentee after: Lesen Robot (Beijing) Co.,Ltd. Address before: 100096 S101, 2nd Floor, Zone B, Nanjing Xi Cultural and Creative Park, Xisanqi Bridge, Haidian District, Beijing Patentee before: BEIJING SENPOWER TECHNOLOGY CO.,LTD. |