CN207548788U - Steering engine structure - Google Patents
Steering engine structure Download PDFInfo
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- CN207548788U CN207548788U CN201721336524.3U CN201721336524U CN207548788U CN 207548788 U CN207548788 U CN 207548788U CN 201721336524 U CN201721336524 U CN 201721336524U CN 207548788 U CN207548788 U CN 207548788U
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- CN
- China
- Prior art keywords
- steering engine
- output shaft
- engine output
- housing
- gear
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Abstract
The utility model is related to a kind of steering engine structures, including housing, motor, steering engine output shaft and outer corner measurement module, motor is installed in housing, outer corner measurement module deviates the rotation axis setting of steering engine output shaft, two apparent surfaces of housing are run through at the both ends of steering engine output shaft, during motor driving steering engine output shaft rotation, outer corner measurement module synchronization measures the rotation angle of steering engine output shaft.In the steering engine structure that the utility model embodiment is provided, outer corner measurement module deviates the rotation axis setting of steering engine output shaft, the rotation angle of steering engine output shaft can be not only monitored, simultaneously can by the both ends of steering engine output shaft simultaneously shaft housing two apparent surfaces, to improve the stability of bindiny mechanism being connected with steering engine output shaft, make mechanism operation more stable.
Description
Technical field
The utility model is related to technical field of motors, more particularly to a kind of steering engine structure.
Background technology
With the development of science and technology, the higher mechanism of the flexibilities such as robot is widely used in teaching or industrial automation
In production.Since the stability of steering engine is good, control accuracy is high, it will usually using power source of the steering engine as driving mechanism.
However, current steering engine, when carrying out corner monitoring, angular transducer would be normally located at and steering engine output shaft
The opposite position in end face, steering engine at this time uniaxial with bindiny mechanism can only just be connected and are driven, and be easy to cause mechanism in this way
Both sides are different by the torsion of steering engine output shaft, influence the stability of mechanism kinematic.In order to improve mechanism kinematic stability, people are not
The linkage structure of not design structure complexity is obtained, not only increases cost, and complicated, inconvenience control.
Utility model content
Based on this, it is necessary to provide a kind of steering engine structure simple in structure, stable.
A kind of steering engine structure, including housing, motor, steering engine output shaft and outer corner measurement module, the motor is installed on institute
It states in housing, the rotation axis that the outer corner measurement module deviates the steering engine output shaft is set, and the two of the steering engine output shaft
Two apparent surfaces of the housing are run through at end, when the motor drives the steering engine output shaft rotation, the outer corner measurement module
The rotation angle of steering engine output shaft described in synchro measure.
The outer corner measurement module includes the magnetic coder and magnet that are oppositely arranged in one of the embodiments, described
When motor drives the steering engine output shaft rotation, the steering engine output shaft drives the magnet to be rotated relative to the magnetic coder.
The steering engine structure further includes pcb board in one of the embodiments, and the pcb board is arranged in the housing,
The magnetic coder is arranged on the pcb board.
The outer corner measurement module further includes rotational pin, the rotational pin and the steering engine in one of the embodiments,
Output shaft is mutually parallel and mutually links, and the magnet is fixed on the rotational pin towards one end of the magnetic coder, with
During the steering engine output shaft rotation, the rotational pin drives the magnet to be rotated relative to the magnetic coder.
The steering engine output shaft is equipped with first gear in one of the embodiments, and the rotational pin is equipped with second
Gear, the first gear are intermeshed with the second gear.
The first gear and the modulus of the second gear and number of teeth all same in one of the embodiments, so that
The rotational pin is rotated with the steering engine output shaft synchronous.
The steering engine structure further includes train of reduction gears in one of the embodiments, and the motor passes through the deceleration
Gear set is driven the steering engine output shaft rotation.
The housing includes upper shell, middle casing and lower housing, the upper shell and lower casing in one of the embodiments,
Body is fixed on by screw or bolt in the middle casing.
The steering engine output shaft is provided in the axial direction with through-hole in one of the embodiments, and the through-hole runs through the rudder
The both ends end face of machine output shaft.
The cross section of the through-hole is " ten " font in one of the embodiments,.
Steering engine structure provided by the utility model, outer corner measurement module deviate the rotation axis setting of steering engine output shaft, no
But the rotation angle of steering engine output shaft can be monitored, at the same can by the both ends of steering engine output shaft simultaneously shaft in housing
Two apparent surfaces, to improve the stability of bindiny mechanism that is connected with steering engine output shaft, run mechanism more stable.
Description of the drawings
Fig. 1 is the steering engine STRUCTURE DECOMPOSITION structure diagram of one embodiment of the utility model；
Fig. 2 is another visual angle of steering engine STRUCTURE DECOMPOSITION structure shown in Fig. 1；
Fig. 3 is Fig. 1 and the internal structure stereoscopic schematic diagram of steering engine structure shown in Figure 2；
Fig. 4 is the internal structure front view of steering engine structure shown in Fig. 3；
Fig. 5 is the internal structure vertical view of steering engine structure shown in Fig. 3.
Specific embodiment
For the ease of understanding the utility model, the utility model is more fully retouched below with reference to relevant drawings
It states.The better embodiment of the utility model is given in attached drawing.But the utility model can come in many different forms
It realizes, however it is not limited to embodiments described herein.On the contrary, the purpose of providing these embodiments is that make new to this practicality
The more thorough and comprehensive that the disclosure of type understands.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
For illustrative purposes only, it is unique embodiment to be not offered as " right side " and similar statement.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to the technology of the utility model
The normally understood meaning of technical staff in domain is identical.It is only in the term used in the description of the utility model herein
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term as used herein " and/or " packet
Include the arbitrary and all combination of one or more relevant Listed Items.
As shown in Figure 1 to Figure 3, the steering engine structure of an embodiment, including housing 10, motor 20,30 and of steering engine output shaft
Outer corner measurement module 40.Wherein, outer corner measurement module 40 is used for the synchro measure when motor 20 drives steering engine output shaft 30 to rotate
The rotation angle of steering engine output shaft 30.
In the embodiment, motor 20 is installed in housing 10, and outer corner measurement module 40 deviates the rotation of steering engine output shaft 30
Shaft axis is set, and two apparent surfaces of housing 10 are run through at the both ends of steering engine output shaft 30.
Specifically, housing 10 can include upper shell 11, middle casing 12 and lower housing 13, upper shell 11 is logical with lower housing 13
It crosses screw or bolt 14 is fixed in middle casing 12.Wherein, the first axis hole 111 is equipped on upper shell 11, is set on lower housing 13
There is the second axis hole 131.The first end 30a of steering engine output shaft 30 can expose the surface of upper shell 11, steering engine from the first axis hole 111
The second end 30b of output shaft 30 can expose the surface of lower housing 13 from the second axis hole 131, and then can be by bindiny mechanism's (figure
In be not shown) be connected to the first end 30a of steering engine output shaft 30 and second end 30b so that the uniform force of both sides, and improve fortune
Capable stability.
It should be noted that in present embodiment, mounting structure can be set on the housing 10, such as in middle casing 12
Mounting hole 121 is opened up, so as to the installation steering engine structure stablized under not by structures such as steering engine mounting bases.
As shown in Figure 3 and Figure 4, outer corner measurement module 40 includes the magnetic coder 41 being oppositely arranged and magnet 42, motor 20
When driving 30 rotation of steering engine output shaft, steering engine output shaft 30 is rotated with moving magnet 42 relative to magnetic coder 41.When steering engine output shaft
30 band moving magnets 42 relative to magnetic coder 41 rotate when, magnet 42 can generate variation by the magnetic flux of magnetic coder 41, and then
Monitor the rotation angle of steering engine output shaft 30, it should be noted that the change of this magnetic flux and the rotation of steering engine output shaft 30
Between gyration can there are corresponding mapping relations, this mapping relations can by being tested to determine to steering engine structure,
In addition, the effect that different magnet 42 generate magnetic coder 41 is different.
Steering engine structure further includes pcb board 50, and pcb board 50 is arranged in housing 10, and magnetic coder 41 is arranged on pcb board 50
On.In the present embodiment, motor 20 can be electrically connected with pcb board 50, and Wiring port 51 can also be set on pcb board 50,
Wiring port 51 is exposed to 10 surface of housing, and then pcb board 50 can be connected to peripheral circuit by Wiring port 51.
Outer corner measurement module 40 further includes rotational pin 43, and rotational pin 43 is mutually parallel with steering engine output shaft 30 and mutually interconnects
Dynamic, magnet 42 is fixed on rotational pin 43 towards one end of magnetic coder 41, with when steering engine output shaft 30 rotates, 43 band of rotational pin
Moving magnet 42 is rotated relative to magnetic coder 41, and realize the rotational angle of rotational pin 43 is monitored, due to rotational pin 43 with
It mutually links between steering engine output shaft 30, and then outer corner measurement module 40 can also measure the rotational angle of steering engine output shaft 30.
It should be noted that there is the mode of a variety of linkages, such as belt passes between steering engine output shaft 30 and rotational pin 43
Dynamic or gear engaged transmission.
Specifically, as shown in Figure 3 and Figure 4, first gear 31 on steering engine output shaft 30 is set, is set on rotational pin 43
Second gear 44, first gear 31 are intermeshed with second gear 44.In this way when steering engine output shaft 30 rotates, 43 meeting of rotational pin
The rotary motion under the engaged transmission of first gear 31 and second gear 44, and then revolved with moving magnet 42 with respect to magnetic coder 41
Turn, obtain the rotation angle of steering engine output shaft 30.
First gear 31 and the modulus of second gear 44 and number of teeth all same, so that rotational pin 43 is same with steering engine output shaft 30
Step rotation, therefore, the rotational angle of rotational pin 43 is identical with the angular speed of steering engine output shaft 30, that is to say, that outer corner measurement mould
The rotational angle of rotational pin 43 that block 40 measures is the rotational angle of steering engine output shaft 30.
In the above embodiment, steering engine structure further includes train of reduction gears 60, and motor 20 is driven by train of reduction gears 60
Steering engine output shaft 30 rotates.
As shown in Figure 3 and Figure 5, steering engine output shaft 30 is provided in the axial direction with through-hole 32, and through-hole 32 runs through steering engine output shaft 30
Both ends end face.In this way, bindiny mechanism and through-hole 32 can be coordinated and realize the connection with steering engine output shaft 30, in steering engine
When output shaft 30 rotates, the both sides of bindiny mechanism being connected with steering engine output shaft 30 first end 30a and second end 30b are equal by torsion
Even and holding is synchronized with the movement, and then improves operation stability.In the embodiment, the cross section of through-hole 32 can be " ten " word
Shape in this way, when 30 drive connection mechanism of steering engine output shaft acts, can provide good torsional moment.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Embodiment described above only expresses the several embodiments of the utility model, and description is more specific and detailed,
But therefore it can not be interpreted as the limitation to utility model patent range.It should be pointed out that the common skill for this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
1. a kind of steering engine structure, which is characterized in that including housing, motor, steering engine output shaft and outer corner measurement module, the motor
It is installed in the housing, the outer corner measurement module deviates the rotation axis setting of the steering engine output shaft, and the steering engine is defeated
Two apparent surfaces of the housing are run through at the both ends of shaft, when the motor drives the steering engine output shaft rotation, the corner
The rotation angle of steering engine output shaft described in measurement module synchro measure.
2. steering engine structure according to claim 1, which is characterized in that the outer corner measurement module includes the magnetic being oppositely arranged
Encoder and magnet, when the motor drives the steering engine output shaft rotation, the steering engine output shaft drives the magnet opposite
The magnetic coder rotation.
3. steering engine structure according to claim 2, which is characterized in that the steering engine structure further includes pcb board, the PCB
Plate is arranged in the housing, and the magnetic coder is arranged on the pcb board.
4. steering engine structure according to claim 2, which is characterized in that the outer corner measurement module further includes rotational pin, institute
It states rotational pin to be mutually parallel with the steering engine output shaft and mutually link, the magnet is fixed on the rotational pin towards the magnetic
One end of encoder, with when the steering engine output shaft rotates, the rotational pin drives the relatively described magnetic coder of magnet
Rotation.
5. steering engine structure according to claim 4, which is characterized in that the steering engine output shaft is equipped with first gear, institute
Rotational pin is stated equipped with second gear, the first gear is intermeshed with the second gear.
6. steering engine structure according to claim 5, which is characterized in that the modulus of the first gear and the second gear
With number of teeth all same so that the rotational pin and the steering engine output shaft synchronous rotate.
7. according to claim 1-6 any one of them steering engine structures, which is characterized in that the steering engine structure further includes reducing gear
Wheel group, the motor are driven the steering engine output shaft by the train of reduction gears and rotate.
8. according to claim 1-6 any one of them steering engine structures, which is characterized in that the housing includes upper shell, middle shell
Body and lower housing, the upper shell are fixed on by screw or bolt in the middle casing with lower housing.
9. according to claim 1-6 any one of them steering engine structures, which is characterized in that the steering engine output shaft opens up in an axial direction
There is through-hole, the through-hole runs through the both ends end face of the steering engine output shaft.
10. steering engine structure according to claim 9, which is characterized in that the cross section of the through-hole is " ten " font.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721336524.3U CN207548788U (en) | 2017-10-13 | 2017-10-13 | Steering engine structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721336524.3U CN207548788U (en) | 2017-10-13 | 2017-10-13 | Steering engine structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207548788U true CN207548788U (en) | 2018-06-29 |
Family
ID=62674259
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721336524.3U Expired - Fee Related CN207548788U (en) | 2017-10-13 | 2017-10-13 | Steering engine structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207548788U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514543A (en) * | 2018-12-24 | 2019-03-26 | 深圳市优必选科技有限公司 | Steering wheel and robot |
| WO2020119429A1 (en) * | 2018-12-10 | 2020-06-18 | 上海海压特智能科技有限公司 | Actuator module |
-
2017
- 2017-10-13 CN CN201721336524.3U patent/CN207548788U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020119429A1 (en) * | 2018-12-10 | 2020-06-18 | 上海海压特智能科技有限公司 | Actuator module |
| CN109514543A (en) * | 2018-12-24 | 2019-03-26 | 深圳市优必选科技有限公司 | Steering wheel and robot |
| US11148283B2 (en) | 2018-12-24 | 2021-10-19 | Ubtech Robotics Corp Ltd | Servo and robot having the same |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180629 Termination date: 20191013 |