CN219235296U

CN219235296U - Steering engine

Info

Publication number: CN219235296U
Application number: CN202223224552.XU
Authority: CN
Inventors: 郑黎明; 陈小森
Original assignee: Lesen Robot Beijing Co ltd
Current assignee: Lesen Robot Beijing Co ltd
Priority date: 2022-12-02
Filing date: 2022-12-02
Publication date: 2023-06-23
Anticipated expiration: 2032-12-02

Abstract

The utility model relates to a steering engine, which comprises an upper cover (1), a middle cover (2), a lower cover (3), a direct current motor (21) and a gear set meshed with each other, wherein the gears comprise a primary gear (22), a secondary gear (23), a tertiary gear (24), a quaternary gear (25), a penta-stage gear (26), an output gear (27) and a motor gear (31), and an inert gear (30) is arranged between the output gear (27) and the penta-stage gear (26); the five-stage gear (26) is provided with a pinion which is meshed with the inert gear (30), so that the whole gear set is lengthened, and the whole steering engine is more suitable for a position with a narrower output position of the robot, such as a shoulder position of the robot.

Description

Steering engine

Technical Field

The utility model belongs to the technical field of robot accessories. 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 on a steering engine circuit board, the rotation direction is judged, the coreless motor is driven to start rotating, power is transmitted to a swinging arm through a reduction gear set, and meanwhile, a position detection sensor sends back a detection signal to judge whether the preset position is reached. The steering engine is a power source for controlling actions of a remote control model and a humanoid robot, and is also an important motion executing device for driving the robot joints to move.

For example, chinese patent publication No. CN 207616609U discloses a steering engine and a robot, wherein the steering engine comprises a shell, a speed reducing mechanism, a motor, a control panel, a control line and a potentiometer, and 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 the potentiometer shaft, the other end of the output bearing is connected with the output gear set shaft, the speed change gear set is connected with the motor shaft, the output gear set is meshed with the speed change gear set, the potentiometer is electrically connected with the control board through a control wire, and the motor is electrically connected with the control board. According to the utility model, the steering engine can rotate 360 degrees through the output bearing, the output gear set and the speed change gear set, and gear damage caused by overlarge external force acting on the output shaft is effectively avoided in the process of assembly and debugging. But the steering engine is not suitable for being used in a relatively narrow joint of a robot.

Disclosure of Invention

In order to overcome the defects and shortcomings in the prior art, the utility model provides a steering engine, which solves the problem that a robot cannot normally operate when the internal space of the robot is smaller in the prior art.

The technical scheme of the utility model for realizing the purpose is as follows: the steering engine comprises an upper cover, a middle cover, a lower cover, a direct current motor and a gear set meshed with each other, wherein the gears comprise a primary gear, a secondary gear, a tertiary gear, a quaternary gear, a fifth gear, an output gear and a motor gear, and an inert gear is arranged between the output gear and the fifth gear; the five-stage gear is provided with a pinion which is meshed with the inert gear, so that the whole gear set is lengthened, and the whole steering engine is more suitable for a position with a narrower output position of the robot, such as a shoulder position of the robot.

Preferably, the gear shafts of the five-stage gear and the output gear are respectively provided with a copper alloy sleeve.

In any of the above schemes, preferably, a rudder disk tooth plug is arranged at the top of the output gear.

In any of the above schemes, preferably, a steering engine PCB and a potentiometer are arranged in the lower cover.

In any of the above schemes, it is preferable that the lower cover is provided with a wire outlet groove and a T-shaped wiring hole.

In any of the above schemes, preferably, threaded holes are formed in the upper cover, the middle cover and the lower cover, and six screws are adopted between the upper cover and the middle cover to penetrate through the threaded holes to connect the upper cover and the middle cover together; four screws penetrate through the threaded holes between the middle cover and the lower cover to connect the middle cover and the lower cover together.

In any of the above schemes, preferably, the top of the middle cover is provided with a transverse limit bar and a longitudinal limit bar, so that the middle cover and the upper cover are tightly matched together.

Drawings

Fig. 1 is a schematic structural view of a preferred embodiment of a steering engine according to the present utility model.

Fig. 2 is a split view of the preferred embodiment of fig. 1 of a steering engine according to the utility model.

Fig. 3 is a schematic view of the gear set of the preferred embodiment of fig. 1 of the steering engine according to the present utility model.

Fig. 4 is a schematic view of the bottom structure of the preferred embodiment of fig. 1 of the steering engine according to the utility model.

Labeled part name description: the upper cover 1, the middle cover 2, the lower cover 3, the screw 4, the direct current motor 21, the primary gear 22, the secondary gear 23, the tertiary gear 24, the quaternary gear 25, the quaternary gear 26, the output gear 27, the PCB circuit board 28, the potentiometer 29, the inert gear 30, the motor gear 31, the rudder disk tooth plug 32, the copper alloy sleeve 33, the wire slot 34, the wire connection hole 35, the transverse limiting strip 211 and the longitudinal limiting strip 212.

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 utility model in more detail with reference to the accompanying drawings.

As shown in fig. 1-3, a preferred embodiment of a steering engine according to the present utility model is schematically shown. The steering engine comprises an upper cover 1, a middle cover 2, a lower cover 3, a direct current motor 21 and a gear set meshed with each other, wherein the gears comprise a primary gear 22, a secondary gear 23, a tertiary gear 24, a quaternary gear 25, a penta-stage gear 26, an output gear 27 and a motor gear (31), and an inert gear 30 is arranged between the output gear 27 and the penta-stage gear 26; the five-stage gear 26 is provided with a pinion which is meshed with the idler gear 30, so that the whole gear set is lengthened, and the whole steering engine is more suitable for a position with a narrower output position of the robot, such as a shoulder position of the robot.

In this embodiment, the gear shafts of the five-stage gear 26 and the output gear 27 are respectively provided with a copper alloy sleeve 33.

In this embodiment, a rudder plate tooth plug 32 is provided on the top of the output gear 27.

In this embodiment, a steering engine PCB 28 and a potentiometer 29 are disposed in the lower cover 3.

The working process of the gear set is as follows: the motor gear 31 is movably engaged with the primary gear 22; a primary pinion gear is also mounted on the rotating shaft of the primary gear 22, and 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 the rotating shaft of the secondary gear 23, and the secondary pinion is positioned at the bottom of the secondary gear 23 and is fixedly connected with the secondary gear 23 in a coaxial way; the secondary pinion is movably meshed with the tertiary gear 24, a tertiary pinion is sleeved on the rotating shaft of the tertiary gear 24, and the tertiary pinion is positioned at the bottom of the tertiary gear 24 and is coaxially connected with the tertiary gear 24; the three-level pinion is movably meshed with the four-level gear 25, a rotating shaft of the four-level gear 25 is sleeved with the four-level pinion, and the four-level pinion is positioned at the bottom of the four-level gear 25 and is coaxially and fixedly connected with the four-level gear 25; the four-stage pinion is movably meshed with the five-stage gear 26, a five-stage pinion is sleeved on a rotating shaft of the five-stage gear 26, the five-stage pinion is positioned above the five-stage gear 26 and is coaxially and fixedly connected with the five-stage gear 26, the five-stage pinion is meshed with the idler gear 30, the idler gear 30 is movably meshed with an input gear on an input end of an output shaft of the output gear 27, so that power is transmitted out through the output gear 27, and the potentiometer 29 detects the angle of the output gear 27.

In this embodiment, threaded holes are formed in the upper cover 1, the middle cover 2 and the lower cover 3, and six screws 4 are adopted between the upper cover 1 and the middle cover 2 to connect the upper cover 1 and the middle cover 2 together through the threaded holes; four screws 4 are adopted between the middle cover 2 and the lower cover 3 to penetrate through threaded holes to connect the middle cover 2 and the lower cover 3 together.

In this embodiment, the top of the middle cover 2 is provided with a transverse limit bar 211 and a longitudinal limit bar 212, so that the middle cover and the upper cover are tightly matched together.

When in assembly, firstly, the clamping grooves corresponding to the upper cover 1 and the middle cover 2 are buckled together, then six screws 4 are respectively put into the upper cover 1 to connect the upper cover 1 with the middle cover 2, and finally four screws 4 are put into the lower cover 3 to connect the lower cover 3 with the middle cover 2.

Finally, referring to fig. 4, a schematic view of the bottom structure of the preferred embodiment of fig. 1 of the steering engine according to the present utility model is shown.

In this embodiment, the lower cover 3 is provided with a wire outlet slot 34 and a T-shaped wire connection hole 35, and the T-shaped wire connection hole is adopted to facilitate the installation of the outgoing wire.

The wiring mode of this version steering wheel is: firstly, a potentiometer 29 is fixed on a steering engine PCB (printed Circuit Board) 28, meanwhile, a small hole on the potentiometer 29 is matched with a potentiometer shaft on an output gear 27, then the circuit board is covered, the steering engine PCB 28 is provided with two wire holders, then a lower cover 3 and a middle cover 2 are covered together, a wire holder 35 on the lower cover 3 is aligned with the wire holder on the steering engine PCB 28, and in operation, an outgoing wire is only needed to be inserted on the wire holder and then led out from a wire outlet groove 34. Adopt the steering wheel of above-mentioned wiring mode, its lead-out wire seals through steering wheel PCB circuit board 28 and lower cover 3 respectively, and the tip is buried in wire groove 34, so on the one hand, avoided the lead-out wire to expose outside, it is convenient to install and change the wire rod, can accomplish to hide the wire rod completely in the appearance, on the other hand, reduction line fatigue that can be great, the life of promotion wire rod has improved the aesthetic property of steering wheel when having improved performance and stability of steering wheel.

It will be readily appreciated by those skilled in the art that the steering engine of the present utility model includes any combination of the parts of the present description. These combinations are not described in detail herein for the sake of brevity and clarity of the description, but the scope of the utility model, which is defined by any combination of the various parts of this specification, is not to be construed as limiting.

Claims

1. The utility model provides a steering engine, includes upper cover (1), well lid (2), lower cover (3), direct current motor (21) and intermeshing's gear train, its characterized in that: the gear comprises a primary gear (22), a secondary gear (23), a tertiary gear (24), a quaternary gear (25), a penta-stage gear (26), an output gear (27) and a motor gear (31), and an inert gear (30) is arranged between the output gear (27) and the penta-stage gear (26); the five-stage gear (26) is provided with a pinion which is meshed with the idler gear (30).

2. The steering engine of claim 1, wherein: the gear shafts of the five-stage gear (26) and the output gear (27) are respectively provided with a copper alloy sleeve (33).

3. Steering engine according to claim 1 or 2, characterized in that: the top of the output gear (27) is provided with a rudder disk tooth plug (32).

4. The steering engine of claim 1, wherein: a steering engine PCB (28) and a potentiometer (29) are arranged in the lower cover (3).

5. The steering engine of claim 1 or 4, wherein: the lower cover (3) is provided with a wire outlet groove (34) and a T-shaped wiring hole (35).

6. The steering engine of claim 1, wherein: screw holes are formed in the upper cover (1), the middle cover (2) and the lower cover (3), six screws (4) penetrate through the screw holes between the upper cover (1) and the middle cover (2) to connect the upper cover (1) with the middle cover (2); four screws (4) penetrate through threaded holes between the middle cover (2) and the lower cover (3) to connect the middle cover (2) and the lower cover (3) together.

7. The steering engine of claim 1, wherein: the top of the middle cover (2) is provided with a transverse limit strip (211) and a longitudinal limit strip (212), so that the middle cover and the upper cover are tightly matched together.