A center-out shaft steering gear unit structure and its control system

Abstract

The invention discloses a steering engine unit structure allowing shafts to come out from the center and a control system of the steering engine unit structure. The steering engine unit structure allowing the shafts to come out from the center comprises a left shell, a right shell, the output connecting shaft, a static connecting shaft and a motor, wherein a rotary potentiometer and a gear reduction set are arranged on the two sides of the output connecting shaft respectively, the rotary potentiometer is connected to a circuit board, the driving end of the motor is also connected with the circuit board, two 4-pin communication slots are formed in the back side of the circuit board, and pressure inductive sensor modules are arranged on the two side faces of the static connecting shaft respectively. The control system of the steering engine unit structure allowing the shafts to come out from the center comprises a main controller, all signal lines and power lines of the steering engine unit structure are connected in a bus mode by means of the 485 bus communication protocol, and special grooves are integrally connected with the signal lines and the power lines through bus communication. According to the steering engine unit structure allowing the shafts to come out from the center and the control system of the steering engine unit structure, the mechanical structure and the wiring structure of a robot are simplified, and assembly and maintenance are convenient.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a center-out shaft steering gear unit structure and a control system thereof. Background technique [0002] The existing models and robot steering gears all have top and side shafts, which is inconvenient in installation and use. This is especially true when multiple servos are cascaded and expanded, and each additional level requires additional special-shaped adapters. On the one hand, it increases the development cost, on the other hand, it also reduces the space utilization rate, and because of the internal mechanical structure, the rudder arm can only be fixed from one direction, which increases the instability of the mechanical structure. [0003] Most of the communication methods of existing servos are PWM and pulse width modulation, which require a signal line and a positive and negative power line. The signal wires of each steering gear must be connected to the digital o...

AI Technical Summary

Problems solved by technology

The signal line of each steering gear must be connected to the digital output port of the microprocessor separately. The number of wires increases with the number of steering gears, resulting in messy appearance and difficult wiring.

[0004] Ordinary steering gear does not have any form of external interrupt feedback system, it only communicates with the steering gear itself through the main controller, so it cannot be interrupted by manpower from outside the control system

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