Splicing building block type steering engine and control method thereof

Abstract

The invention discloses a splicable building block type steering engine and a control method thereof.The splicable building block type steering engine comprises a building block steering engine body, a wireless signal communication module and a control terminal, the building block steering engine body comprises a shell, a main control board, a micromotor, a planetary gear set, a position sensing device and an output shaft, and the main control board, the micromotor, the planetary gear set, the position sensing device and the output shaft 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 the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of building block steering gears, and in particular to a building block type steering gear that can be spliced ​​and a control method thereof. Background Art

[0002] Building blocks are usually cubic wooden or plastic solid toys, usually decorated with letters or pictures on each surface, allowing different arrangements or construction activities. Building blocks have various styles, which can develop children's intelligence and can be assembled into houses, various animals, etc. With the development of technology, some building blocks are equipped with drive components to make the assembled building block models such as animals more vivid, flexible and interesting. Most of the drive components refer to building block servos, etc. The existing building block servos have simple structures and single functions, which are not conducive to the flexible control of building block models. Summary of the invention

[0003] The purpose of the present invention is to provide a splicable building block type steering gear and a control method thereof, which can sense the state of the steering gear in real time by setting a position sensing device, improve the steering gear control function, and perform wireless control, thereby improving the application value of the steering gear and enhancing the user experience.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] A kind of splicable building block type steering gear, comprising: a building block steering gear body, a wireless signal communication module and a control terminal, the building block steering gear body comprising a shell and a main control board, a micro motor, a planetary gear set, a position sensing device and an output shaft arranged in the shell, the shell is provided with building block splicing holes, the micro motor, the planetary gear set and the output shaft are sequentially connected in transmission, the position sensing device is arranged at the output shaft, and is used to sense the rotation angle, speed and number of revolutions of the output shaft; the micro motor and the position sensing device are electrically connected to the main control board respectively, the main control board is connected with a signal line and a power line, the signal line and the power line pass through the shell and are gathered in a signal connector, wherein the signal line is provided with at least two groups, corresponding to different control modes, the signal connector is connected to the wireless signal communication module, and the wireless signal communication module is wirelessly connected to the control terminal.

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

[0007] Furthermore, the position sensing device adopts a potentiometer, and the potentiometer is coaxially fixedly mounted on the output shaft.

[0008] Furthermore, the planetary gear set includes a gear ring and a planet carrier arranged on the gear ring, and a plurality of meshing planetary gears are arranged on the planet carrier, the bottom planetary gear is meshed with the gear ring, and the top planetary gear is meshed with the output shaft.

[0009] Furthermore, the shell includes an upper shell and a lower shell, the upper shell and the lower shell are connected by snap-fitting, and the outer surfaces of the upper shell and the lower shell are both provided with a plurality of building block splicing holes, and the building block splicing holes are used for splicing with other building block modules.

[0010] Furthermore, the signal line includes a motor mode signal line and a servo mode signal line, and the power line includes a positive power electrode and a negative power electrode.

[0011] The present invention also provides a control method for a splicable building block type steering gear, which is applied to the above-mentioned splicable building block type steering gear, and comprises the following steps:

[0012] The wireless signal communication module receives the control signal from the control terminal and transmits it to the main control board through the signal line corresponding to the control mode;

[0013] The main control board controls the micro motor to drive the output shaft to rotate based on the corresponding control mode;

[0014] The position sensor device monitors the rotation angle, speed, and number of revolutions of the output shaft in real time and sends the information to the main control board;

[0015] Based on the PID control algorithm, the main control board adjusts the control instructions of the micromotor according to the received control signal and the rotation angle, speed, and number of revolutions of the output shaft collected at the current moment, and controls the rotation of the micromotor so that the output shaft reaches the target angle, target speed, and target number of revolutions in the control signal.

[0016] Furthermore, the method further comprises:

[0017] The main control board uses the three parameters of motor output, speed, and current to determine whether the micromotor has an operating fault and issue a protection command; when any two of the three parameters exceed the normal preset values, the micromotor is judged to have an operating fault, an alarm is issued, and the motor output is shut down.

[0018] Furthermore, the current is detected as milliampere level current information through a current sampling resistor or a current sampling chip and an operational amplifier circuit, and is filtered through a filtering algorithm.

[0019] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects: the connectable building block type servo and the control method thereof provided by the present invention, by setting a combined transmission structure of a micro motor and a planetary gear set, while reducing the volume to achieve miniaturization, ensures multiple transmission drive functions of the output shaft; the rotation angle, speed, and number of revolutions of the output shaft can be collected in real time through a position sensing device to realize automatic monitoring; wireless communication is realized by using a wireless communication module as a communication relay, thereby improving the servo function; the control method can also switch the control mode of the servo in real time according to the data collected by the position sensing device and the control signal of the control terminal, thereby improving the control accuracy and control efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 This is a schematic diagram of the assembled structure of the building block servo body in the first embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the exploded structure of the building block servo body in the first embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the assembled structure of the building block servo body in the second embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the exploded structure of the building block servo body in the second embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the three-dimensional structure of the building block servo body in an embodiment of the present invention;

[0026] Figure 6 The figure is a control principle diagram of the connectable building block type steering gear of the present invention.

[0027] Description of reference numerals:

[0028] 1. Upper shell; 2. Lower shell; 3. Output shaft; 4. Position sensing device; 4-1. Hall sensor plate; 4-2. Permanent magnet; 5. Planetary gear set; 5-1. Gearbox housing; 5-2. Planetary gear; 5-3. Planetary carrier; 5-4. Gear ring; 6. Micromotor; 7. Main control board; 8-1. Positive power pole; 8-2. Negative power pole; 9-1. Motor mode signal line; 9-2. Servo mode signal line; 10. Signal connector. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] like Figure 1-5 As shown, the present invention provides a splicable building block type servo, comprising: a building block servo body, a wireless signal communication module and a control terminal, wherein the building block servo body comprises a shell 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 arranged in the shell, wherein the shell is provided with a building block splicing hole, wherein the micro motor 6, the planetary gear set 5 and the output shaft 3 are sequentially connected in transmission, wherein the position sensing device 4 is arranged at the output shaft 3 for sensing the rotation angle, speed and number of revolutions of the output shaft 3; wherein the micro motor 6 and the position sensing device 4 are respectively electrically connected to the main control board 7, wherein the main control board 7 is connected with a signal line and a power line, wherein the signal line and the power line pass through the shell and are aggregated in a signal connector 10, wherein at least two groups of signal lines are arranged corresponding to different control modes for transmitting different control signals, wherein the signal connector 10 is connected with a wireless signal communication module, and the wireless signal communication module is wirelessly connected with the control terminal.

[0032] Specifically, the planetary gear set 5 includes a gear ring 5-4 and a planet carrier 5-3 arranged on the gear ring 5-4, and a plurality of meshing planetary gears 5-2 are arranged on the planet carrier 5-3, the bottom planetary gear 5-2 meshes with the gear ring 5-4, and the top planetary gear 5-2 meshes with the output shaft 3. In addition, the planetary gear set 5 also includes a gear box housing 5-1.

[0033] The housing includes an upper shell 1 and a lower shell 2, the upper shell 1 and the lower shell 2 are connected by snapping, and the outer surfaces of the upper shell 1 and the lower shell 2 are provided with a plurality of building block splicing holes, and the building block splicing holes are used for splicing with other building block modules. The upper shell 1 and the lower shell 2 can also be connected by other connection methods, which is convenient for disassembly and assembly, and the present invention does not limit it. In addition, the end faces and side faces of the upper shell 1 and the lower shell 2 can be provided with building block splicing holes to facilitate the splicing of building blocks in different directions.

[0034] The signal line includes a motor mode signal line 9-1 and a servo mode signal line 9-2, and the power line includes a positive power supply line 8-1 and a negative power supply line 8-2. The motor mode signal line 9-1 corresponds to the motor control mode, such as forward and backward speed control, and the servo mode signal line 9-2 corresponds to the servo control mode, such as rotation angle refinement control.

[0035] For example, the wireless signal communication module can be a common wireless communication module according to actual needs, such as Bluetooth, WiFi, etc. The control terminal can be a remote controller or a mobile phone, etc.

[0036] like Figure 1 and 2 As shown, in embodiment 1, the position sensing device 4 may include 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 respectively mounted on the output shaft 3, the permanent magnet 4-2 is fixedly connected to the output shaft 3, the output shaft 3 drives the permanent magnet 4-2 to rotate, a certain gap is set between the Hall sensing plate 4-1 and the output shaft 3, the Hall sensing plate 4-1 is set 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.

[0037] like Figure 3 and 4 As shown, in the second embodiment, the position sensing device 4 may be a potentiometer, and the potentiometer is coaxially fixedly mounted on the output shaft 3 .

[0038] like Figure 6 As shown, the present invention also provides a control method for a splicable building block type steering gear, which is applied to the above-mentioned splicable building block type steering gear, comprising the following steps:

[0039] The wireless signal communication module receives the control signal from the control terminal and transmits it to the main control board through the signal line corresponding to the control mode;

[0040] The main control board controls the micro motor to drive the output shaft to rotate based on the corresponding control mode;

[0041] The position sensor device monitors the rotation angle, speed, and number of revolutions of the output shaft in real time and sends the information to the main control board;

[0042] Based on the PID control algorithm, the main control board adjusts the control instructions of the micromotor according to the received control signal and the rotation angle, speed, and number of revolutions of the output shaft collected at the current moment, and controls the rotation of the micromotor so that the output shaft reaches the target angle, target speed, and target number of revolutions in the control signal.

[0043] In addition, the method further comprises:

[0044] The main control board uses the three parameters of motor output, speed, and current to determine whether the micromotor has an operating fault and issue a protection command; when any two of the three parameters exceed the normal preset values, the micromotor is judged to have an operating fault, an alarm is issued, and the motor output is shut down.

[0045] The above method can effectively prevent the problem of burning boards or even fire.

[0046] For example, when the motor output reaches 80% within a period of time and the speed is lower than the preset value, it means that the product is stuck or overloaded and needs to be shut down for protection.

[0047] For example, when the current is greater than the preset value, it means that the product motor is abnormal or overloaded and needs to be shut down for protection.

[0048] Among them, milliampere-level current information can be detected through current sampling resistors or current sampling chips and operational amplifier circuits, and accurate current values ​​can be obtained quickly and in real time using specially optimized filtering algorithms in the software.

[0049] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A modular servo, characterized in that: include: A building block servo body, a wireless signal communication module and a control terminal, wherein the building block servo body comprises a shell and a main control board, a micro motor, a planetary gear set, a position sensing device and an output shaft arranged in the shell, wherein the shell is provided with building block splicing holes, wherein the micro motor, the planetary gear set and the output shaft are sequentially connected in transmission, wherein the position sensing device is arranged at the output shaft for sensing the rotation angle, speed and number of revolutions of the output shaft; wherein the micro motor and the position sensing device are electrically connected to the main control board respectively, wherein the main control board is connected with a signal line and a power line, wherein the signal line and the power line pass through the shell and are gathered in a signal connector, wherein at least two groups of signal lines are arranged corresponding to different control modes, wherein the signal connector is connected with a wireless signal communication module, and the wireless signal communication module is wirelessly connected with the control terminal.

2. The modular steering gear according to claim 1, characterized in that: The position sensing device includes a permanent magnet and a Hall sensing plate, which are respectively sleeved on the output shaft, the permanent magnet is fixedly connected to the output shaft, the output shaft drives the permanent magnet to rotate, a certain gap is set between the Hall sensing plate and the output shaft, the Hall sensing plate is set above the upper surface of the permanent magnet, and a certain space is reserved between the Hall sensing plate and the upper surface of the permanent magnet.

3. The modular steering gear according to claim 1, characterized in that: The position sensing device adopts a potentiometer, and the potentiometer is coaxially fixedly mounted on the output shaft.

4. The modular steering gear according to claim 1, characterized in that: The planetary gear set includes a gear ring and a planet carrier arranged on the gear ring. A plurality of meshing planetary gears are arranged on the planet carrier. The bottom planetary gear meshes with the gear ring, and the top planetary gear meshes with the output shaft.

5. The modular steering gear according to claim 1, characterized in that: The shell comprises an upper shell and a lower shell, the upper shell and the lower shell are connected by snapping, and the outer surfaces of the upper shell and the lower shell are both provided with a plurality of building block splicing holes, and the building block splicing holes are used for splicing with other building block modules.

6. The modular steering gear according to claim 1, characterized in that: The signal line includes a motor mode signal line and a servo mode signal line, and the power line includes a positive power electrode and a negative power electrode.

7. A control method for a modular steering gear, applied to the modular steering gear described in any one of claims 1 to 6, characterized in that: The following steps are involved: The wireless signal communication module receives the control signal from the control terminal and transmits it to the main control board through the signal line corresponding to the control mode; The main control board controls the micro motor to drive the output shaft to rotate based on the corresponding control mode; The position sensor device monitors the rotation angle, speed, and number of revolutions of the output shaft in real time and sends the information to the main control board; Based on the PID control algorithm, the main control board adjusts the control instructions of the micromotor according to the received control signal and the rotation angle, speed, and number of revolutions of the output shaft collected at the current moment, and controls the rotation of the micromotor so that the output shaft reaches the target angle, target speed, and target number of revolutions in the control signal.

8. The control method of the modular steering gear according to claim 7, characterized in that: The method further comprises: The main control board uses the three parameters of motor output, speed, and current to determine whether the micromotor has an operating fault and issue a protection command; when any two of the three parameters exceed the normal preset values, the micromotor is judged to have an operating fault, an alarm is issued, and the motor output is shut down.

9. The control method of the modular steering gear according to claim 8, characterized in that: The current is detected as milliampere level current information through a current sampling resistor or a current sampling chip and an operational amplifier circuit, and is filtered through a filtering algorithm.

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