CN211841994U - Robot steering engine structure device compatible with two modes of pin joint and machine wire fixing - Google Patents
Robot steering engine structure device compatible with two modes of pin joint and machine wire fixing Download PDFInfo
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- CN211841994U CN211841994U CN201922455391.7U CN201922455391U CN211841994U CN 211841994 U CN211841994 U CN 211841994U CN 201922455391 U CN201922455391 U CN 201922455391U CN 211841994 U CN211841994 U CN 211841994U
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Abstract
The utility model relates to a steering wheel constructional device of robot of two kinds of modes is fixed to compatible pin joint and quick silk, especially relates to the quick shell structure that extends of robot, contains opening cross round pin, and steering wheel epitheca, steering wheel inferior valve, the main steering wheel mechanism of pre-buried copper nut can realize functions such as quick installation, fixed, extension and dismantlement. The utility model has the advantages that: through doing function extension interface design on the shell, the problem of building blocks class and different material compatible connections such as panel beating has been solved, and realizes the miniaturization and the powerful function of steering wheel, can more effectively expand more functions of steering wheel.
Description
Technical Field
The utility model relates to a steering wheel structure device of robot of compatible pin joint and fixed dual mode of machine silk, especially relate to the quick shell structure that extends of robot.
Background
The steering engine system mainly comprises a shell mechanical structure, a speed reducing system, a feedback system, a control system, a motor body and the like. The traditional steering engine shell only generally plays the effects of fixing a control panel, a gear, a motor and the like inside, or a metal plate connecting interface is designed on the shell in a large number, so that the functions of higher practicability can be expanded on the basis of the shell difficultly. And the traditional small-sized steering engine system is generally low in power and cannot support high-power coordination control operation.
SUMMERY OF THE UTILITY MODEL
To the above problem, the utility model aims at providing a steering wheel structure device of robot of compatible pin joint and fixed dual mode of quick-witted silk, include: steering wheel epitheca, steering wheel inferior valve, main steering wheel mechanism.
The technical scheme of the utility model as follows:
the method comprises the following steps: the steering engine comprises an upper steering engine shell, a lower steering engine shell and a main steering wheel mechanism;
the steering engine upper shell comprises a split cross pin and is embedded with a copper nut;
the lower steering engine shell comprises a split cross pin and is embedded with a copper nut;
the main steering wheel mechanism is a steering wheel mechanism which comprises a split cross pin and is embedded with a copper nut;
furthermore, the upper shell and the lower shell of the steering engine comprise split cross pins, and the arrangement mode of the cross pins is compatible with a mainstream toy interface, so that the steering engine can be conveniently and quickly disassembled; the shape of the split cross pin is 2cmX2cm, the width of the split is 3mm, and the depth of the notch is 2 cm;
furthermore, the lower shell of the steering engine comprises an embedded copper nut, and a machine wire fixing mode is adopted, so that the fixing is reliable, and the connecting force is firm; the machine thread is M4;
furthermore, the upper shell and the lower shell of the steering engine are integrally formed, and are made of inorganic non-metal materials, wherein the inorganic non-metal materials are high-molecular-weight ethylene materials.
Further, the main steering wheel mechanism at least comprises a reduction gear set part, a potentiometer part, a current sensor part, a motor part and a control circuit part;
the speed reduction gear set part is transmitted to an output rudder disc after speed reduction through a series of gear sets;
the potentiometer part is mechanically connected with an output shaft of the motor and outputs a voltage feedback signal to the loop, and then the control circuit determines the deflection direction and the angle of the motor according to the potentiometer feedback signal.
The current sensor part is used for enabling the current of the motor part to pass through the current sensor and providing a feedback signal to the control circuit processor;
the motor part provides a whole system structure and provides a positive and negative rotation executing mechanism;
the control circuit part is characterized in that the processor receives signals of the main control board, the driving motor rotates forwards and backwards, and the feedback signals of the current sensor regulate loop current, so that the current-limiting protection effect is achieved.
Further, the control circuit part at least comprises a control motor circuit and a high-power driving circuit; the control motor circuit adopts an H-bridge circuit consisting of 4 power elements to control the motor circuit; the high-power driving circuit adopts a high-integration small-volume H-shaped power driving circuit;
the power element is preferably a MOSFET tube IRF 53.
The power driver is preferably an IR2110 chip.
Furthermore, the system adopts a potentiometer for angle feedback, and the change of the deflection of the control surface is converted into a resistor
And the change of the resistance value is converted into the output of a voltage signal through a measuring circuit, so that the position of the output shaft of the steering engine is accurately reflected.
The utility model discloses beneficial effect adopts above-mentioned technical scheme, through having designed a plurality of cross round pin interfaces, can fine compatible mainstream building blocks class toy on the market, through the fixed mode of quick-witted silk, the connection between the steering wheel is realized to swift convenient fixed panel beating, has solved building blocks class and different material compatible connection's such as panel beating problem, and realizes the miniaturization and the powerful function of steering wheel, can more effectively expand more functions of steering wheel.
Drawings
The above and other objects, features and advantages of the present invention will be described in detail in connection with the following drawings, wherein like reference numerals refer to like elements.
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of the structure of the main steering wheel of the present invention.
Fig. 3 is the H-bridge motor driving circuit of the present invention.
Fig. 4 is a schematic diagram of single IR21lO driving single arm IRF530 according to the present invention.
Fig. 5 is a schematic diagram of the potentiometer and the corresponding equivalent circuit.
In the figure, 1 shows an upper shell of a steering engine, 2 main steering wheel mechanisms and 3 lower shells of the steering engines.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined below to clearly and completely describe the technical solution of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention.
Example 1
As shown in fig. 1, the structure diagram of the present invention includes: the steering engine comprises an upper steering engine shell, a lower steering engine shell and a main steering wheel mechanism;
the steering engine upper shell comprises a split cross pin and is embedded with a copper nut;
the lower steering engine shell comprises a split cross pin and is embedded with a copper nut;
the main steering wheel mechanism is a steering wheel mechanism which comprises a split cross pin and is embedded with a copper nut;
in one step, the upper shell and the lower shell of the steering engine comprise split cross pins, and the arrangement mode of the cross pins is compatible with a mainstream toy interface, so that the steering engine can be conveniently and quickly disassembled; the shape of the split cross pin is 2cmX2cm, the width of the split is 3mm, and the depth of the notch is 2 cm;
furthermore, the upper shell and the lower shell of the steering engine comprise pre-embedded copper nuts, and a machine wire fixing mode is adopted, so that the steering engine is reliable in fixing and firm in connecting force; the machine thread is M4.
Furthermore, the upper shell and the lower shell of the steering engine are integrally formed, and are made of inorganic non-metal materials, wherein the inorganic non-metal materials are high-molecular-weight ethylene materials.
Example 2
As shown in FIG. 2, the rudder wheel mechanism of the present invention includes a DC motor, a gear set, a motor control board, and a potentiometer.
Further, the main steering wheel mechanism at least comprises a reduction gear set part, a potentiometer part, a current sensor part, a motor part and a control circuit part;
the speed reduction gear set part is transmitted to an output rudder disc after speed reduction through a series of gear sets;
the potentiometer part is mechanically connected with an output shaft of the motor and outputs a voltage feedback signal to the loop, and then the control circuit determines the deflection direction and the angle of the motor according to the potentiometer feedback signal.
The current sensor part is used for enabling the current of the motor part to pass through the current sensor and providing a feedback signal to the control circuit processor;
the motor part provides a whole system structure and provides a positive and negative rotation executing mechanism;
the control circuit part is characterized in that the processor receives signals of the main control board, the motor is driven to rotate positively and negatively, and feedback signals of the current sensor regulate loop current, so that the current limiting protection effect is achieved;
further, the control circuit part at least comprises a control motor circuit and a high-power driving circuit; the control motor circuit adopts an H-bridge circuit consisting of 4 power elements to control the motor circuit; the high-power drive circuit adopts a high-integration small-volume H-shaped power drive circuit
The power element is preferably a MOSFET tube IRF 53. The MOSFET tube is a voltage control type element, has the characteristics of large input impedance, high switching speed, no secondary breakdown and the like, and can provide voltage similar to power supply voltage when a motor runs. An H-bridge circuit of 4 MOSFETs is shown in fig. 3.
The power driver is preferably an IR2110 chip. In order to drive 4 IRF530 chips, two IR2110 chips are selected in the design, and meanwhile, a small number of auxiliary devices are externally connected to form an H-type power driving circuit with high integration level and small size. As shown in fig. 4, which is a schematic diagram of driving a single bridge arm IRF530 for a single chip IR2I 10.
Wherein C is1、C3、C4All the capacitors are capacitors between each power supply and the ground, and the energy storage of the capacitors is utilized to prevent the voltage from having large fluctuation. C2For bootstrap capacitance, VccWarp D1、C2Load, Q2To C2Charged to ensure at Q2Off, Q1When conducting, Q2Grid of the tube is against C2And sufficient stored energy to drive. The value of the bootstrap capacitor is related to the frequency of the PWM, and when the frequency is low, a large capacitor is selected; when the frequency is high, a smaller capacitor is selected. D in the figure1Is a protection diode for preventing Q1High voltage serial human V when onccThe terminals damage the driving chip.
Example 3
The system adopts a potentiometer for angle feedback, and changes of deflection of the control surface are converted into resistors
And the change of the resistance value is converted into the output of a voltage signal through a measuring circuit, so that the position of the output shaft of the steering engine is accurately reflected. As shown in fig. 5
In the figure R0The resistance of the potentiometer is 1 angle, namely delta theta, and the delta theta is the angle of the electric brush deflected from the midpoint 0 of the potentiometer to any direction; 2 angle theta0，θ0Is the maximum electrical rotation angle of the potentiometer; rfIs a load resistor; i isfIs the load current.
The potentiometer is designed to be linear, with a resistance change.
When the impedance of the output end of the sensor is large, RfAnd infinity has a linear relationship.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic representation of terms does not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The present invention is not limited to the above description, but various modifications and changes can be allowed, and various changes and modifications can be made by workers in the field without departing from the technical spirit of the present invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (6)
1. The utility model provides a robot steering wheel constructional device of compatible pin joint and fixed two kinds of modes of machine silk, includes: the steering engine comprises an upper steering engine shell, a lower steering engine shell and a main steering wheel mechanism;
the steering engine upper shell comprises a split cross pin and is embedded with a copper nut;
the lower steering engine shell comprises a split cross pin and is embedded with a copper nut;
the main steering wheel mechanism refers to a deflection angle actuating mechanism for controlling a steering surface.
2. The robot steering engine structure device compatible with two modes of pin joint and machine wire fixation according to claim 1, characterized in that: the upper shell and the lower shell of the steering engine comprise split cross pins, and the arrangement mode of the cross pins is compatible with a mainstream toy interface, so that the steering engine can be conveniently and quickly disassembled.
3. The robot steering engine structure device compatible with two modes of pin joint and machine wire fixation according to claim 1, characterized in that: the steering wheel inferior valve contains pre-buried copper nut, adopts the fixed mode of quick-witted silk, and is fixed reliable, and the dynamics of connecting is firm.
4. The robot steering engine structure device compatible with two modes of pin joint and machine wire fixation according to claim 1, characterized in that: the upper and lower shells of the steering engine are made of inorganic nonmetallic materials.
5. The robot steering engine structure device compatible with two modes of pin joint and machine wire fixation according to claim 1, characterized in that: the main rudder disk mechanism at least comprises a reduction gear set part, a potentiometer part, a current sensor part, a motor part and a control circuit part;
the speed reduction gear set part is transmitted to an output rudder disc after speed reduction through a series of gear sets;
the potentiometer part is characterized in that the potentiometer is mechanically connected with an output shaft of the motor and outputs a voltage feedback signal to the loop, and then the control circuit determines the deflection direction and the angle of the motor according to the potentiometer feedback signal;
the current sensor part is used for enabling the current of the motor part to pass through the current sensor and providing a feedback signal to the control circuit processor;
the motor part provides a whole system structure and provides a positive and negative rotation executing mechanism;
the control circuit part is characterized in that the processor receives signals of the main control board, the driving motor rotates forwards and backwards, and the feedback signals of the current sensor regulate loop current, so that the current-limiting protection effect is achieved.
6. The steering engine structure device of the robot compatible with the two modes of pin joint and machine wire fixation as claimed in claim 5, wherein: the control circuit part at least comprises a control motor circuit and a high-power drive circuit; the control motor circuit adopts an H-bridge circuit consisting of 4 power elements to control the motor circuit; the high-power driving circuit adopts a high-integration small-power driver to form an H-shaped circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922455391.7U CN211841994U (en) | 2019-12-31 | 2019-12-31 | Robot steering engine structure device compatible with two modes of pin joint and machine wire fixing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922455391.7U CN211841994U (en) | 2019-12-31 | 2019-12-31 | Robot steering engine structure device compatible with two modes of pin joint and machine wire fixing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211841994U true CN211841994U (en) | 2020-11-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922455391.7U Active CN211841994U (en) | 2019-12-31 | 2019-12-31 | Robot steering engine structure device compatible with two modes of pin joint and machine wire fixing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211841994U (en) |
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2019
- 2019-12-31 CN CN201922455391.7U patent/CN211841994U/en active Active
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Effective date of registration: 20210716 Address after: 200333 room 509, 5th floor, No.5 Lane 600, Yunling West Road, Putuo District, Shanghai Patentee after: Shanghai nashen robot Co.,Ltd. Address before: 311100 Room 101, building 1, No. 12-1, Jinting Road, Yunhe street, Yuhang District, Hangzhou City, Zhejiang Province (4th floor) Patentee before: Hangzhou Mapo Intelligent Technology Co.,Ltd. |