Splicing building block type steering engine

Abstract

The utility model discloses a splicable building block type steering engine, which comprises a building block steering engine body, a wireless signal communication module and a control terminal, and is characterized in that the building block steering engine body comprises a shell, and a main control board, a micromotor, a planetary gear set, a position sensing device and an output shaft which are arranged in the shell; the position sensing device is used for sensing the rotation angle, speed and number of turns of the output shaft; the micromotor and the position sensing device are electrically connected with the main control board, the main control board is connected with signal lines and a power line, the signal lines and the power line penetrate out of the shell and are gathered in the signal connector, at least two sets of signal lines are arranged and correspond to different control modes, and the signal connector is connected with the wireless signal communication module. And the wireless signal communication module is in wireless communication connection with the control terminal. By arranging the position sensing device, the state of the steering engine can be sensed in real time, the control function of the steering engine is improved, wireless control can be carried out, the application value of the steering engine is improved, and user experience is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to building block rudder technology field especially relates to a kind of splicing building block type rudder. BACKGROUND

[0002] Building blocks are usually cubic wooden or plastic solid toys, generally decorated with letters or pictures on each surface, allowing different arrangements or building activities. Building blocks come in various styles, can develop children's intelligence, can be assembled into houses, various animals, etc. With the development of technology, some building blocks are equipped with driving components to make the assembled building block models of animals more lively and flexible, and more interesting. The driving components are mostly building block rudders. The existing building block rudders have simple structure and single function, which is not conducive to flexible control of building block models. SUMMARY

[0003] The utility model aims to provide a kind of splicing building block type rudder, by setting position sensing device can real-time response the state of rudder, perfect rudder control function, and can carry out wireless control, improve the application value of rudder, improve user experience.

[0004] To achieve the above object, the utility model provides the following scheme:

[0005] A kind of splicing building block type rudder, comprising: building block rudder body, wireless signal communication module and control terminal, the building block rudder body includes shell and the main control board, micro motor, planetary gear set, position sensing device, output shaft arranged in shell, the building block splicing hole is arranged on the shell, the micro motor, planetary gear set, output shaft are sequentially transmission connection, the position sensing device uses potentiometer, the potentiometer is coaxially fixed on the output shaft;The micro motor, position sensing device are electrically connected with the main control board respectively, the main control board is connected with signal line and power line, the signal line and power line are drawn out from the shell, and are gathered in signal connector, wherein, the signal line includes motor mode signal line and rudder mode signal line, the signal connector connects wireless signal communication module, the wireless signal communication module is wirelessly connected with the control terminal;The wireless signal communication module uses wifi communication module or bluetooth communication module, the control terminal is remote controller or mobile phone;The power line includes power supply positive and power supply negative.

[0006] Further, the position sensing device includes a permanent magnet and a Hall effect plate, the permanent magnet and the Hall effect plate are respectively sleeved on the output shaft, the permanent magnet is fixedly connected with the output shaft, the output shaft drives the permanent magnet to rotate, a gap is provided between the Hall effect plate and the output shaft, the Hall effect plate is arranged above the upper surface of the permanent magnet, and a certain space is reserved between the Hall effect plate and the upper surface of the permanent magnet.

[0007] Further, the planetary gear set comprises a gear ring and a planetary carrier arranged on the gear ring, a plurality of planet gears are arranged on the planetary carrier and are in meshing connection, the bottommost planet gear is in meshing connection with the gear ring, and the topmost planet gear is in meshing connection with the output shaft.

[0008] Further, the shell comprises an upper shell and a lower shell which are clamped and connected, and the outer surfaces of the upper shell and the lower shell are provided with a plurality of building block splicing holes which are used for splicing with other building block modules.

[0009] According to the specific embodiments provided by the utility model, the utility model discloses the following technical effects: the utility model provides the building block type steering engine, through the combination transmission structure of micro motor and planetary gear set, while realizing miniaturization by reducing the size, ensure the multiple transmission driving function of output shaft, realize automatic monitoring through the real-time acquisition of the rotating angle, speed, number of turns of output shaft of position sensing device, realize wireless communication through wireless communication module as communication transfer, perfect the steering engine function. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0011] Figure 1 It is the integral structure schematic diagram of the building block steering engine body in the embodiment one of the utility model;

[0012] Figure 2 It is the explosion structure schematic diagram of the building block steering engine body in the embodiment one of the utility model;

[0013] Figure 3 It is the integral structure schematic diagram of the building block steering engine body in the embodiment two of the utility model;

[0014] Figure 4 It is the explosion structure schematic diagram of the building block steering engine body in the embodiment two of the utility model;

[0015] Figure 5 It is the three-dimensional structure schematic diagram of the building block steering engine body in the embodiment of the utility model;

[0016] Figure 6 It is the control principle diagram of the building block type steering engine of the utility model.

[0017] EXPLANATION OF REFERENCE NUMERALS:

[0018] 1. Upper shell; 2. Lower shell; 3. Output shaft; 4. Position sensing device; 4-1. Hall sensor board; 4-2. Permanent magnet; 5. Planetary gear set; 5-1. Gearbox housing; 5-2. Planetary gear; 5-3. Planetary carrier; 5-4. Internal gear ring; 6. Micro motor; 7. Main control board; 8-1. Positive power supply; 8-2. Negative power supply; 9-1. Motor mode signal line; 9-2. Servo mode signal line; 10. Signal connector. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] like Figures 1-5 As shown, the modular servo motor provided by this utility model includes: a modular servo motor body, a wireless signal communication module, and a control terminal. The modular servo motor body includes a housing and a main control board 7, a micro motor 6, a planetary gear set 5, a position sensing device 4, and an output shaft 3 disposed within the housing. The housing is provided with modular splicing holes. The micro motor 6, the planetary gear set 5, and the output shaft 3 are sequentially connected for transmission. The position sensing device 4 is disposed at the output shaft 3 and is used to sense the rotation angle, speed, and number of revolutions of the output shaft 3. The micro motor 6 and the position sensing device 4 are electrically connected to the main control board 7. The main control board 7 is connected to signal lines and power lines. The signal lines and power lines pass through the housing and converge at a signal connector 10. The signal lines are provided in at least two sets, corresponding to different control modes, for transmitting different control signals. The signal connector 10 is connected to the wireless signal communication module, and the wireless signal communication module is wirelessly connected to the control terminal.

[0022] Specifically, the planetary gear set 5 includes an internal gear ring 5-4 and a planet carrier 5-3 disposed on the internal gear ring 5-4. Multiple meshing planetary gears 5-2 are disposed on the planet carrier 5-3. The bottommost planetary gear 5-2 meshes with the internal gear ring 5-4, and the topmost planetary gear 5-2 meshes with the output shaft 3. Furthermore, the planetary gear set 5 also includes a gearbox housing 5-1.

[0023] The shell comprises an upper shell 1 and a lower shell 2, the upper shell 1 and the lower shell 2 are clamped and connected, and the outer surfaces of the upper shell 1 and the lower shell 2 are provided with a plurality of building block splicing holes for splicing with other building block modules. The upper shell 1 and the lower shell 2 can also be connected in other connection modes, and can be conveniently disassembled, and the utility model is not limited. In addition, the end surface and the side surface of the upper shell 1 and the lower shell 2 can be provided with building block splicing holes, so that building blocks in different directions can be spliced.

[0024] The signal line comprises a motor mode signal line 9-1 and a steering gear mode signal line 9-2, and the power supply line comprises a power supply positive pole 8-1 and a power supply negative pole 8-2. The motor mode signal line 9-1 corresponds to a motor control mode, for example, speed control of forward movement, backward movement and the like, and the steering gear mode signal line 9-2 corresponds to a steering gear control mode, for example, fine control of a rotating angle and the like.

[0025] For example, the wireless signal communication module can select a common wireless communication module according to actual needs, for example, Bluetooth, wifi and the like. The control terminal can be a remote controller or a mobile phone and the like.

[0026] As shown in Figure 1 and 2 In embodiment one, the position sensing device 4 can comprise a permanent magnet 4-2 and a Hall sensing plate 4-1, the permanent magnet 4-2 and the Hall sensing plate 4-1 are sleeved on the output shaft 3, the permanent magnet 4-2 is fixedly connected with the output shaft 3, the output shaft 3 drives the permanent magnet 4-2 to rotate, a gap is arranged between the Hall sensing plate 4-1 and the output shaft 3, the Hall sensing plate 4-1 is arranged above the upper surface of the permanent magnet 4-2, and a certain space is reserved between the Hall sensing plate 4-1 and the upper surface of the permanent magnet 4-2.

[0027] As shown in Figure 3 and 4 In embodiment two, the position sensing device 4 can adopt a potentiometer, and the potentiometer is coaxially fixedly installed on the output shaft 3.

[0028] As shown in Figure 6 The utility model also provides a control method of the splicable building block type steering gear, which is applied to the above splicable building block type steering gear and comprises the following steps:

[0029] The wireless signal communication module receives a control signal from the control terminal and transmits the control signal to the main control board through a signal line corresponding to a control mode;

[0030] The main control board controls the micro motor to drive the output shaft to rotate based on the corresponding control mode;

[0031] The position sensing device monitors the rotation angle, speed and number of turns of the output shaft in real time and sends the information to the main control board;

[0032] The main control board adjusts the control instruction of the micro motor according to the received control signal and the rotation angle, speed and number of turns of the output shaft collected at the current time based on the PID control algorithm, and controls the micro motor to rotate to make the output shaft reach the target angle, target speed and target number of turns in the control signal.

[0033] In addition, the method further comprises:

[0034] The main control board judges whether the micro motor is in failure by the motor output, speed and current, and sends a protection instruction; when any two of the three parameters exceed the normal preset value, it is judged that the micro motor is in failure, an alarm is given and the motor output is turned off.

[0035] The above method can effectively prevent the problem of burning plate and even fire.

[0036] For example, when the motor output reaches 80% for a period of time and the speed is lower than the preset value, it indicates that the product is in a jammed or overloaded state, and needs to be stopped for protection.

[0037] For example, when the current is greater than the preset value, it indicates that the product motor is abnormal or overloaded, and needs to be stopped for protection.

[0038] The milliamperes level of current information can be detected through the current sampling resistor or current sampling chip and the operational amplifier circuit, and the accurate current value can be obtained in real time and quickly through the specially optimized filtering algorithm in the software.

[0039] In this paper, specific examples are applied to explain the principle and implementation mode of the utility model, and the above examples are only used to help understand the method and core idea of the utility model; at the same time, for the general technical personnel in the field, according to the idea of the utility model, the specific implementation mode and application range will be changed. In conclusion, the content of the specification should not be understood as a limitation of the utility model.

Claims

1. A splicable building block type rudder, characterized in that, Include: The building block steering engine body, wireless signal communication module and control terminal, the building block steering engine body includes the casing and the main control board, micro motor, planetary gear set, position sensing device, output shaft arranged in the casing, the casing is provided with building block splicing hole, the micro motor, planetary gear set, output shaft are connected in turn, the position sensing device adopts potentiometer, the potentiomieter is coaxially fixed on the output shaft;The micro motor, position sensing device are electrically connected with the main control board respectively, the main control board is connected with signal line and power line, the signal line and power line are drawn out of the casing and are gathered in signal connector, wherein, the signal line includes motor mode signal line and steering engine mode signal line, the signal connector is connected with wireless signal communication module, the wireless signal communication module is connected with the control terminal wireless communication;The wireless signal communication module adopts wifi communication module or bluetooth communication module, the control terminal is remote controller or mobile phone;The power line includes power supply positive and power supply negative.

2. The splicable building block actuator of claim 1, wherein, The position sensing device includes permanent magnet and hall effect plate, the permanent magnet and hall effect plate are respectively sleeved on the output shaft, the permanent magnet is fixedly connected with the output shaft, the output shaft drives the permanent magnet to rotate, a gap is arranged between the hall effect plate and the output shaft, the hall effect plate is arranged above the upper surface of the permanent magnet, and the hall effect plate and the upper surface of the permanent magnet are reserved a certain space.

3. The splicable, building block style actuator of claim 1, wherein, The planetary gear set includes gear inner ring gear and planetary carrier arranged on the gear inner ring gear, a plurality of meshing planetary gears are arranged on the planetary carrier, the bottommost planetary gear is meshed with the gear inner ring gear, and the topmost planetary gear is meshed with the output shaft.

4. The splicable building block actuator of claim 1, wherein, The casing includes upper shell and lower shell, the upper shell and lower shell are clamped and connected, a plurality of building block splicing holes are arranged on the outer surfaces of the upper shell and lower shell, and the building block splicing holes are used for splicing with other building block modules.

Images