CN218837822U - Steering engine - Google Patents

Abstract

The utility model relates to a steering engine, including last casing (1), well casing (2), casing (3), direct current motor (21) and intermeshing's gear train down, this steering engine is whole to be the zigzag, and whole overall dimension is littleer, but output torque is unchangeable, and space utilization is higher. When the steering engine is installed in the shape of the small arm of the robot in the robot small arm highly-simulated reduction cartoon, the steering engine is more suitable for the humanoid robot of a thin arm type, and the utilization rate of the inner space of the shell is higher.

Description

Steering engine

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 of the robot 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.

For example, chinese utility model patent with publication number CN 207616609U discloses a steering engine and a robot, the steering engine includes a housing, a speed reducing mechanism, a motor, a control panel, a control line and a potentiometer, the speed reducing mechanism includes 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 being used in the output shaft is too big, and this utility model will be original all changes output gear group and speed gearset into the aluminium material, light in weight, low price, and the rigidity is strong, stand wear and tear, therefore has alleviateed the weight and the cost of steering wheel on the whole. But the steering engine occupies a large space in the robot.

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 solves the problem that the inner space of the robot cannot normally operate when the inner space is smaller in the prior art.

In order to realize the purpose, the technical scheme of the utility model is that: the utility model provides a steering wheel, includes casing, well casing, lower casing, direct current motor and intermeshing's gear train, this steering wheel is whole to be the zigzag, and whole overall dimension is littleer, but output torque is unchangeable, and space utilization is higher. When the steering engine is installed in the shape of the small arm of the robot in the robot small arm highly-simulated reduction cartoon, the steering engine is more suitable for the humanoid robot of a thin arm type, and the utilization rate of the inner space of the shell is higher.

Preferably, the gear set includes a primary gear, a secondary gear, a tertiary gear, a quaternary gear, a quintuplet gear, an output gear and a motor gear located within the middle housing; an aluminum alloy plug is arranged on a gear shaft of the output gear. The main shafts of the output gear and the motor gear are 2 special shafts, the two shafts do not need to be penetrated by stainless steel shafts, and the other 5 shafts are all in a stainless steel penetrating structure.

Preferred in any above-mentioned scheme is, one-level gear, second grade gear, tertiary gear, level four gear, five-stage gear, output gear and motor gear in well casing are the zigzag and arrange to practice thrift the inside space of rudder casing more, make whole steering wheel smaller and more exquisite, more be applicable to the humanoid robot of "thin arm" type.

In any of the above schemes, preferably, the rotation shaft of the fourth-stage gear is further sleeved with a fourth-stage pinion, and the fourth-stage pinion is positioned at the bottom of the fourth-stage gear and is coaxially and fixedly connected with the fourth-stage gear; the fourth-stage pinion is movably meshed with the fifth-stage gear; the five-stage gear is a transition gear, and the position of the output gear is fixed, so that the five-stage gear is additionally connected with the output gear and the four-stage gear in the whole steering engine, and the torque transmission effect is achieved.

In any of the above schemes, preferably, the lower casing is internally provided with a steering engine main board and a potentiometer, and the potentiometer is positioned on the steering engine main board.

In any of the above embodiments, the rotation angle of the potentiometer is preferably 330 degrees.

In any of the above schemes, preferably, a side surface of the middle shell is provided with a connecting hole; the corresponding positions of the upper shell and the lower shell are also provided with connecting holes; the upper shell, the middle shell and the lower shell are connected together in a matching way through screws and connecting holes.

In any of the above solutions, preferably, the edge of the middle shell is provided with a limiting strip, so that the middle shell and the upper shell are matched together.

Drawings

Fig. 1 is a schematic structural diagram of a preferred embodiment of a steering engine according to the present invention.

Fig. 2 is an exploded view of the steering engine according to the preferred embodiment of the present invention shown in fig. 1.

Fig. 3 is a schematic structural diagram of a gear set in the preferred embodiment shown in fig. 1 of the steering engine according to the present invention.

Description of the labeled part names: go up casing 1, well casing 2, lower casing 3, screw 4, connecting hole 211, spacing 212, direct current motor 21, one-level gear 22, second grade gear 23, tertiary gear 24, level four gear 25, level five gear 26, output gear 27, steering wheel mainboard 28, potentiometre 29, copper alloy sleeve 30, motor gear 31, aluminum alloy plug 32.

Detailed Description

The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. The following describes the steering engine according to the present invention with reference to the accompanying drawings.

As shown in fig. 1 to 3, a steering engine according to a preferred embodiment of the present invention has a schematic structural diagram. The utility model discloses a steering wheel, including last casing 1, well casing 2, lower casing 3, direct current motor 21 and intermeshing's gear train, this steering wheel is whole to be the zigzag, and whole overall dimension is littleer, but the output torque is unchangeable, and space utilization is higher. When the steering engine is installed in the shape of the small arm of the robot in the robot small arm highly-simulated reduction cartoon, the steering engine is more suitable for the humanoid robot of a thin arm type, and the utilization rate of the inner space of the shell is higher.

In the present embodiment, the gear set includes a primary gear 22, a secondary gear 23, a tertiary gear 24, a quaternary gear 25, a quintuplet gear 26, an output gear 27, and a motor gear 31 inside the middle housing 2; an aluminum alloy plug 32 is arranged on the gear shaft of the output gear 27. The main shafts of the output gear 27 and the motor gear 31 are 2 special shafts, and do not need stainless steel shafts for penetrating treatment, and the other 5 shafts are all in a stainless steel penetrating structure.

In this embodiment, the first-stage gear 22, the second-stage gear 23, the third-stage gear 24, the fourth-stage gear 25, the fifth-stage gear 26, the output gear 27 and the motor gear 31 in the middle housing 2 are arranged in a zigzag manner, so that the space inside the rudder housing is saved, the whole steering engine is smaller, and the steering engine is more suitable for a human-shaped robot with a thin arm.

In this embodiment, the fifth gear 26 is a transition gear, and the position of the output gear 27 is fixed, so that the fifth gear 26 is additionally connected with the output gear 27 and the fourth gear 25 in the whole steering engine to transmit torque.

In this embodiment, a steering engine main board 28 and a potentiometer 29 are arranged in the lower housing 3, and the potentiometer 29 is located on the steering engine main board 28.

In the present embodiment, the rotation angle of the potentiometer 29 is 330 degrees. According to design requirements, a 360-degree continuous rotation scheme is finally adopted. The rotation angle range of the steering engine is basically determined by a potentiometer. The potentiometer divided into 360 degrees at this time supports continuous rotation, and the effective range is 330 degrees. This time the pin is not blocked. Regarding the angle range, the target is designed to be 300 degrees, so that the 330-degree potentiometers are used for cutting off 15 degrees respectively by pinching the heads and the tails, and the angle resolution of the steering engine is also subdivided according to 1 degree. The serial port bus communication technology is adopted at this time, so that the control angle is sent through the serial port. In order to reduce the communication burden of the robot master controller, an 8-bit data structure is adopted, and the steering engine angle precision is controlled within a 0-255 subdivision range. Taking the interval 0-250, since the resolution is 1 °, the control range is temporarily set to 250 °, and then it is found feasible after actual verification of robot installation. Some special joints need to increase the stroke, the program is modified on the main control panel of the robot, and the steering engine is not modified.

In the present embodiment, the side surface of the middle housing 2 is provided with a connection hole 211; the corresponding positions of the upper shell 1 and the lower shell 3 are also provided with connecting holes; the upper casing 1, the middle casing 2 and the lower casing 3 are connected together by matching screws 4 with the connecting holes (see fig. 2).

In this embodiment, a limit strip 212 is provided at the edge of the middle case 2, so that the middle case and the upper case are fitted together.

The working process of the gear set is as follows: the motor gear 31 is movably meshed with the primary gear 22; a primary pinion is also mounted on the rotating shaft of the primary gear 22, is positioned at the upper part of the primary gear 22 and is coaxially connected with the primary gear 22; the primary pinion is movably meshed with the secondary gear 23, a secondary pinion is sleeved on a rotating shaft of the secondary gear 23 and is positioned at the bottom of the secondary gear 23 and is coaxially and fixedly connected with the secondary gear 23; the second-stage pinion is movably meshed with the third-stage gear 24, a third-stage pinion is sleeved on a rotating shaft of the third-stage gear 24 and is positioned at the bottom of the third-stage gear 24 and coaxially connected with the third-stage gear 24; the third-stage pinion is movably meshed with the fourth-stage gear 25, a fourth-stage pinion is sleeved on a rotating shaft of the fourth-stage gear 25 and is positioned at the bottom of the fourth-stage gear 25 and is coaxially and fixedly connected with the fourth-stage gear 25; the fourth stage pinion is movably engaged with the fifth stage gear 26. The fifth gear 26 is in movable engagement with an input gear on the input end of the output shaft of the output gear 27.

In the present embodiment, the output gear 27 is fixed to a gear shaft that penetrates the upper case 1 and the middle case 2.

In this embodiment, the thickness of the steering engine PCB circuit board 27 is 1.0 mm, so that the steering engine PCB circuit board is more suitable for a steering engine with a large motor driving current.

In this embodiment, the upper casing 1, the middle casing 2 and the lower casing 3 are all provided with threaded holes, and six screws penetrate through the threaded holes to connect the upper casing 1, the middle casing 2 and the lower casing 3 together.

During assembly, the corresponding clamping grooves of the upper shell 1, the middle shell 2 and the lower shell 3 are buckled together, and then six screws are respectively put into the lower shell 3 and connected with the upper shell 1 after passing through the combination of the lower shell 3 and the middle shell 2, so that the upper shell 1, the middle shell 2 and the lower shell 3 are assembled together.

The routing mode of this section steering wheel does: firstly, a potentiometer 29 is fixed on a steering engine main board 28, meanwhile, a small hole in the potentiometer 29 is matched with a potentiometer shaft on an output gear 27, then a circuit board is covered, a wire holder is arranged on the steering engine main board 28, then the lower shell 3 and the middle shell 2 are covered together, and when the steering engine main board works, only an outgoing line needs to be welded on the circuit board from a wire groove and then is led out from a round hole in the bottom of the lower shell 3. Adopt above-mentioned steering wheel of walking the line mode, its lead-out wire seals through steering wheel mainboard 28 and lower casing 3 respectively, and the tip is buried in the wire casing, and on the one hand like this, it exposes outside to have avoided the lead-out wire, and the installation is convenient with the change wire rod, can accomplish to hide the wire rod in the appearance completely, and on the other hand, reduction line fatigue that can be great promotes the life of wire rod, has improved the aesthetic property of steering wheel when having improved the performance and the stability of steering wheel.

According to the other scheme of the invention, the electric wire is directly welded on the steering engine main board 28, the wire holder is used as a spare, and a round hole is formed in the socket part of the upper shell 1 and is used as a wire passing port.

As can be easily understood by those skilled in the art, the steering engine of the present invention includes any combination of the parts in the present specification. These combinations are not described in detail herein for the sake of brevity and clarity, but the scope of the invention, which is defined by any combination of parts or features disclosed herein, will become apparent after a review of this specification.

Claims (8)

1. The utility model provides a steering wheel, includes casing (1), well casing (2), lower casing (3), direct current motor (21) and intermeshing's gear train, its characterized in that: the steering engine is overall Z-shaped.

2. The steering engine of claim 1, wherein: the gear set comprises a first-stage gear (22), a second-stage gear (23), a third-stage gear (24), a fourth-stage gear (25), a fifth-stage gear (26), an output gear (27) and a motor gear (31) which are positioned in the middle shell (2); an aluminum alloy plug (32) is arranged on a gear shaft of the output gear (27).

3. The steering engine of claim 2, wherein: a first-stage gear (22), a second-stage gear (23), a third-stage gear (24), a fourth-stage gear (25), a fifth-stage gear (26), an output gear (27) and a motor gear (31) in the middle shell (2) are arranged in a Z shape.

4. The steering engine of claim 2, wherein: a four-stage pinion is sleeved on the rotating shaft of the four-stage gear (25), is positioned at the bottom of the four-stage gear (25) and is coaxially and fixedly connected with the four-stage gear (25); the four-stage pinion is movably meshed with a five-stage gear (26); the five-stage gear (26) is a transition gear.

5. The steering engine of claim 1, wherein: a steering engine main board (28) and a potentiometer (29) are arranged in the lower shell (3), and the potentiometer (29) is located on the steering engine main board (28).

6. The steering engine of claim 5, wherein: the rotation angle of the potentiometer (29) is 330 degrees.

7. The steering engine of any one of claims 1-3, wherein: the side surface of the middle shell (2) is provided with a connecting hole (211); the corresponding positions of the upper shell (1) and the lower shell (3) are also provided with connecting holes; the upper shell (1), the middle shell (2) and the lower shell (3) are connected with the connecting hole in a matched mode through screws (4).

8. The steering engine of claim 1 or 6, wherein: the edge of the middle shell (2) is provided with a limit strip (212).

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