Steering engine and steering engine control method

Abstract

The invention provides a steering engine and a control method of the steering engine. The steering engine comprises a supporting assembly, a driving assembly, a control assembly and an attenuation assembly. A first gear mechanical limit switch and a second gear mechanical limit switch which are arranged at an interval are formed on a first preset position of the supporting assembly; the control assembly is further in communication connection with the first gear mechanical limiting switch and the second gear mechanical limiting switch. When the rotating part triggers the first-gear mechanical limiting switch or the second-gear mechanical limiting switch, an action stopping instruction can be sent to the driving assembly through the control assembly. The triggering mode of the first gear mechanical limit switch and the second gear mechanical limit switch replaces the existing expensive sensor detection, so that the research and development cost is effectively reduced; in addition, during execution, the control assembly is used for detecting the change of the potential so as to control the driving assembly, and the reliability and flexibility of the detection device are improved.

Description

Technical Field

[0001] The present application relates to the technical field of steering gears, and in particular to a steering gear and a control method thereof. Background Art

[0002] As a key research and development target, high-energy laser equipment has important strategic significance and application value. In high-energy laser equipment, there are usually two working scenarios involving strong laser light and weak laser light. In order to improve the adaptability of the system, the servo is used as a switching device inside the equipment to adapt to different working scenarios by freely switching the optical attenuation lens into the optical path or moving it out of the optical path.

[0003] As an important control and drive component, the servo has been widely used in the fields of aviation, ships, and robots. However, the existing servos still have certain drawbacks in achieving precise control. For example, when the servo controls the mechanical arm to swing to a specific position and stop, it is often necessary to design the motor drive circuit and cooperate with relevant detection equipment to achieve precise control of the mechanical arm swing. This control method is not flexible for switching between strong and weak light gears, and increases the hardware and software levels as well as subsequent maintenance costs.

[0004] Therefore, there is an urgent need for a steering gear and a control method for the steering gear to solve the technical problems existing in the prior art to a certain extent. Summary of the invention

[0005] The purpose of this application is to provide a servo and a servo control method, which can ensure flexible switching of strong and weak light gears of high-energy laser equipment and efficient operation of the equipment to a certain extent, while effectively reducing the subsequent maintenance cost of the equipment.

[0006] The present application provides a steering gear, comprising a support assembly, a drive assembly, a control assembly and an attenuation assembly;

[0007] The support assembly is formed with a first gear mechanical limit switch and a second gear mechanical limit switch arranged at intervals at a first preset position;

[0008] The attenuation component comprises a lens portion and a rotating portion connected to the lens portion; the driving component is connected to the rotating portion and is capable of driving the rotating portion to rotate, so that the rotating portion can trigger the first gear mechanical limit switch or the second gear mechanical limit switch; when the rotating portion triggers the first gear mechanical limit switch, the lens portion is located on the light path; when the rotating portion triggers the second gear mechanical limit switch, the lens portion moves out of the light path;

[0009] The control component is disposed at a second preset position of the support component and is communicatively connected with the drive component, and is capable of sending an action command signal to the drive component;

[0010] The control component is also communicatively connected with the first gear mechanical limit switch and the second gear mechanical limit switch; when the rotating part triggers the first gear mechanical limit switch or the second gear mechanical limit switch, the control component can send a stop action instruction to the driving component.

[0011] In the above technical solution, further, the attenuation component includes an attenuation mirror and a swing arm;

[0012] The two ends of the swing arm are respectively connected to the driving assembly and the attenuation mirror;

[0013] When the driving component drives the swing arm to trigger the first gear mechanical limit switch, it can drive the attenuation mirror to move onto the light path; when the driving component drives the swing arm to trigger the second gear mechanical limit switch, it can drive the attenuation mirror to move out of the light path.

[0014] In the above technical solution, further, the control component includes a communication module, a main control module, a driving module and a detection module;

[0015] The communication module, the main control module, the driving module and the detection module are connected in communication in sequence; the detection module is also connected in communication with the communication module; the driving module is connected in communication with the driving component;

[0016] The communication module sends an action command signal to the driving component through the main control module and the driving module, so that the driving component drives the rotating part to rotate;

[0017] When the rotating part triggers the first gear mechanical limit switch, the detection module can feedback the first preset potential change, and can control the driving component to stop moving through the communication module; when the rotating part triggers the second gear mechanical limit switch, the detection module can feedback the second preset potential change, and can control the driving component to stop moving through the communication module.

[0018] In the above technical solution, further, the communication module adopts MAX485 chip; the main control module adopts MCU based on ARM architecture, model STMF401CCU6TR, with 64KB RAM and 56KB FLASH; the drive module adopts TB5128 chip; the detection module adopts HX25035 chip.

[0019] In the above technical solution, further, the steering gear also includes a single-chip microcomputer;

[0020] The single chip microcomputer is communicatively connected with the communication module, and the single chip microcomputer can send the action instruction signal to the communication module;

[0021] In the process of the driving component driving the rotating part to rotate, the detection module can feed back potential changes in real time, and the communication module can feed back position information of the rotating part to the single-chip microcomputer according to the potential changes fed back by the detection module.

[0022] In the above technical solution, further, the driving assembly includes a driving motor;

[0023] The driving motor is disposed on the first end surface of the supporting assembly at the first preset position; the output shaft of the driving motor passes through the first end surface and is connected to the rotating part at the second end surface.

[0024] In the above technical solution, further, the driving assembly also includes a reducer;

[0025] The reducer is connected to the driving motor and can control the speed of the driving motor.

[0026] In the above technical solution, further, the support assembly includes a support plate;

[0027] The support plate is sequentially formed with the first preset position and the second preset position along the vertical direction;

[0028] The support plate is formed with an installation cavity at the second preset position, and the control component is arranged in the installation cavity.

[0029] In the above technical solution, further, the support assembly also includes a frame, the frame is arranged at the second preset position of the support plate, and the frame and the support plate surround the installation cavity.

[0030] The present application also provides a control method for a steering gear, based on the above-mentioned steering gear; comprising the following steps:

[0031] Sending command steps: The single chip computer sends the action command signal to the drive module through the communication module and the main control module;

[0032] Execution instruction step: the driving component drives the attenuation component to rotate according to the action instruction signal;

[0033] Detection action step: the detection module feeds back the potential change in real time, and the communication module can feed back the position information of the rotating part to the single chip microcomputer according to the potential change fed back by the detection module;

[0034] The step of determining that the rotating part is in place: when the detection module feeds back a first preset potential change or a second preset potential change, the lens part is located on the light path or the lens part moves out of the light path; the driving component can be controlled to stop moving through the communication module.

[0035] Compared with the prior art, the beneficial effects of this application are:

[0036] The present application provides a steering gear, comprising a support assembly, a drive assembly, a control assembly and an attenuation assembly;

[0037] The support assembly is formed with a first gear mechanical limit switch and a second gear mechanical limit switch arranged at intervals at a first preset position;

[0038] The attenuation component comprises a lens portion and a rotating portion connected to the lens portion; the driving component is connected to the rotating portion and is capable of driving the rotating portion to rotate, so that the rotating portion can trigger the first gear mechanical limit switch or the second gear mechanical limit switch; when the rotating portion triggers the first gear mechanical limit switch, the lens portion is located on the light path; when the rotating portion triggers the second gear mechanical limit switch, the lens portion moves out of the light path;

[0039] The control component is disposed at a second preset position of the support component and is communicatively connected with the drive component, and is capable of sending an action command signal to the drive component;

[0040] The control component is also communicatively connected with the first gear mechanical limit switch and the second gear mechanical limit switch; when the rotating part triggers the first gear mechanical limit switch or the second gear mechanical limit switch, the control component can send a stop action instruction to the driving component.

[0041] In summary, the triggering method of the first gear mechanical limit switch and the second gear mechanical limit switch replaces the existing expensive sensor detection, effectively reducing the research and development cost; in addition, the control component is used to detect the change of potential during execution to control the drive component, thereby improving the reliability and flexibility of the detection device.

[0042] The present application also provides a control method for a steering gear, based on the above-mentioned steering gear; comprising the following steps:

[0043] Sending command steps: The single chip computer sends the action command signal to the drive module through the communication module and the main control module;

[0044] Execution instruction step: the driving component drives the attenuation component to rotate according to the action instruction signal;

[0045] Detection action step: the detection module feeds back the potential change in real time, and the communication module can feed back the position information of the rotating part to the single chip microcomputer according to the potential change fed back by the detection module;

[0046] The step of determining that the rotating part is in place: when the detection module feeds back a first preset potential change or a second preset potential change, the lens part is located on the light path or the lens part moves out of the light path; the driving component can be controlled to stop moving through the communication module.

[0047] In summary, after receiving the action information, the communication module controls the swing arm to move accurately to the predetermined position, and the driving module can realize the continuous operation of the swing arm's multiple actions (such as swinging to the strong light position, returning to the weak light position, and then swinging to the strong light position again). In addition, it can also realize swinging at any angle between the strong light position and the weak light position, and realize staying at a designated position point between the strong light position and the weak light position. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 A schematic diagram of the structure of the servo provided in this application from a first perspective;

[0050] Figure 2 A schematic diagram of the structure of the servo provided in this application at a second viewing angle;

[0051] Figure 3 This is a schematic diagram of the structure of the servo provided in this application from a third perspective.

[0052] Figure markings: 1-support assembly; 2-drive assembly; 3-attenuation assembly; 4-first preset position; 5-first gear mechanical limit switch; 6-second gear mechanical limit switch; 7-lens part; 8-rotating part; 9-second preset position; 10-attenuation mirror; 11-swing arm; 12-drive motor; 13-reducer; 14-output shaft; 15-support plate. DETAILED DESCRIPTION

[0053] The following specific embodiments are provided to help the reader obtain a comprehensive understanding of the methods, devices and / or systems described herein. However, after understanding the disclosure of the present application, various changes, modifications and equivalents of the methods, devices and / or systems described herein will be apparent. For example, the order of operations described herein is merely an example, and is not limited to the order set forth herein, but in addition to the operations that must occur in a particular order, changes that will be apparent after understanding the disclosure of the present application may be made. In addition, in order to improve clarity and brevity, descriptions of features known in the art may be omitted.

[0054] The features described herein may be implemented in different forms and should not be interpreted as being limited to the examples described herein. Rather, the examples described herein have been provided only to illustrate some of the many possible ways of implementing the methods, devices and / or systems described herein that will be apparent after understanding the disclosure of the present application.

[0055] Throughout the specification, when an element (such as a layer, a region, or a substrate) is described as being “on”, “connected to”, “bound to”, “over”, or “covering” another element, it may be directly “on”, “connected to”, “bound to”, “over”, or “covering” another element, or one or more other elements may be present between them. In contrast, when an element is described as being “directly on”, “directly connected to”, “directly bound to”, “directly over”, or “directly covering” another element, there may be no other elements present between them.

[0056] As used herein, the term "and / or" includes any one of the associated listed items and any combination of any two or more items.

[0057] Although terms such as "first," "second," and "third" may be used herein to describe various members, components, regions, layers, or portions, these members, components, regions, layers, or portions are not limited by these terms. Rather, these terms are only used to distinguish one member, component, region, layer, or portion from another member, component, region, layer, or portion. Therefore, without departing from the teachings of the examples described herein, the first member, component, region, layer, or portion referred to may also be referred to as the second member, component, region, layer, or portion.

[0058] For ease of description, spatial relational terms such as "above", "upper", "below", and "lower" may be used herein to describe the relationship of one element to another element as shown in the accompanying drawings. Such spatial relational terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. For example, if the device in the accompanying drawings is turned over, an element described as being "above" or "upper" relative to another element will subsequently be "below" or "lower" relative to the other element. Therefore, the term "above" includes both "above" and "below" orientations depending on the spatial orientation of the device. The device may also be positioned in other ways (e.g., rotated 90 degrees or in other orientations), and the spatial relational terms used herein will be interpreted accordingly.

[0059] The terms used herein are only used to describe various examples and are not used to limit the present disclosure. Unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. The terms "include", "comprise" and "have" list the stated features, quantities, operations, components, elements and / or their combinations that exist, but do not exclude the existence or addition of one or more other features, quantities, operations, components, elements and / or their combinations.

[0060] Variations in the shapes shown in the drawings may occur due to manufacturing techniques and / or tolerances. Therefore, the examples described herein are not limited to the specific shapes shown in the drawings but include variations in shapes that occur during manufacturing.

[0061] The features of the examples described herein may be combined in various ways that will be apparent after understanding the disclosure of the present application. In addition, although the examples described herein have various configurations, other configurations are possible as will be apparent after understanding the disclosure of the present application.

[0062] Embodiment 1

[0063] Combine the following Figure 1-Figure 3 A steering gear provided by the present application is described in detail.

[0064] The steering gear in this embodiment includes a supporting component 1 , a driving component 2 , a control component and an attenuation component 3 .

[0065] Specifically, combined Figure 1 As shown, the support assembly 1 includes a support plate 15 extending in the vertical direction, and a support seat is also provided at the bottom of the support plate 15, and the support seat is used to support the support plate 15. A first preset position 4 and a second preset position 9 are sequentially formed on the support plate 15 in the vertical direction; Figure 1As shown, the first preset position 4 is located above the support plate 15, the second preset position 9 is located below the support plate 15, and a mounting cavity is formed at the second preset position 9. Further, the first gear mechanical limit switch 5 and the second gear mechanical limit switch 6 are arranged at intervals on the first preset position 4; Figure 1 As shown, the axes of the first gear mechanical limit switch 5 and the second gear mechanical limit switch 6 are 60°. Further, the control assembly is arranged in the installation cavity. It is worth noting that the first gear mechanical limit switch 5 is a strong light gear mechanical limit switch, and the second gear mechanical limit switch 6 is a weak light gear mechanical limit switch.

[0066] Specifically, combined Figure 1 As shown, the attenuation assembly 3 has a lens portion 7 and a rotating portion 8 connected to the lens portion 7; the driving assembly 2 is connected to the rotating portion 8 and can drive the rotating portion 8 to rotate so that the rotating portion 8 can trigger the first gear mechanical limit switch 5 or the second gear mechanical limit switch 6; when the rotating portion 8 triggers the first gear mechanical limit switch 5, the lens portion 7 is located on the light path, and when the lens portion 7 is located on the light path, the transmittance of the laser can be reduced to a certain extent. When the rotating portion 8 triggers the second gear mechanical limit switch 6, the lens portion 7 moves out of the light path.

[0067] Specifically, the control component is arranged at the second preset position 9 of the support component 1, and is communicatively connected with the drive component 2, and can send an action command signal to the drive component 2; further, the control component is also communicatively connected with the first gear mechanical limit switch 5 and the second gear mechanical limit switch 6.

[0068] In actual use, the control component can send an action command to the drive component 2, directly control the drive component 2, so that the drive component 2 drives the rotating part 8 to rotate. When the lens part 7 needs to rotate to the optical path, the drive component 2 drives the rotating part 8 to rotate toward the first gear mechanical limit switch 5. When the rotating part 8 triggers the first gear mechanical limit switch 5, specifically, when the rotating part 8 triggers and presses the first gear mechanical limit switch 5 by optical coupling, the control component can detect the potential change and control the drive component 2 to stop moving. When the lens part 7 needs to be removed from the pipeline, the drive component 2 drives the rotating part 8 to rotate toward the second gear mechanical limit switch 6. When the rotating part 8 triggers the second gear mechanical limit switch 6, specifically, when the rotating part 8 triggers and opens the second gear mechanical limit switch 6 by optical coupling, the control component can detect the potential change and control the drive component 2 to stop moving.

[0069] In summary, the triggering method of the first gear mechanical limit switch 5 and the second gear mechanical limit switch 6 replaces the existing expensive sensor detection, effectively reducing the research and development cost; in addition, during execution, the control component is used to detect the change of potential to control the drive component 2, thereby improving the reliability and flexibility of the detection device.

[0070] In this embodiment, further, combined with Figure 1 As shown, the attenuation component 3 includes an attenuation mirror 10 and a swing arm 11; two ends of the swing arm 11 are connected to the driving component 2 and the attenuation mirror 10 respectively.

[0071] During actual use, when the driving component 2 drives the swing arm 11 to trigger the first gear mechanical limit switch 5, it can drive the attenuation mirror 10 to move to the light path; when the driving component 2 drives the swing arm 11 to trigger the second gear mechanical limit switch 6, it can drive the attenuation mirror 10 to move out of the light path.

[0072] In this embodiment, further, the control component includes a communication module, a main control module, a drive module and a detection module; wherein the communication module, the main control module, the drive module and the detection module are communicatively connected in sequence; the detection module is also communicatively connected to the communication module; and the drive module is communicatively connected to the drive component 2.

[0073] Specifically, the communication module sends an action command signal to the driving component 2 through the main control module and the driving module, so that the driving component 2 drives the rotating part 8 to rotate; and when the rotating part 8 triggers the first gear mechanical limit switch 5, the detection module can feedback the first preset potential change, and can control the driving component 2 to stop moving through the communication module; when the rotating part 8 triggers the second gear mechanical limit switch 6, the detection module can feedback the second preset potential change, and can control the driving component 2 to stop moving through the communication module.

[0074] The first preset potential change can be understood as a change from a high potential to a low potential, and the second preset potential change can be understood as a change from a low potential to a high potential.

[0075] Furthermore, the communication module uses the MAX485 chip; the main control module uses an ARM-based MCU, model STMF401CCU6TR, with 64KB of RAM and 56KB of FLASH; the driver module uses the TB5128 chip, which is a two-phase bipolar stepper motor driver using PWM chopping, allowing full step, half step, quarter step, 1 / 8 step, 1 / 16 step, 1 / 32 step, 1 / 64 step, 1 / 128 step multiple controls; the detection module uses the HX25035 chip. This application uses a main control module with dynamic power consumption adjustment function, which can achieve power consumption as low as 128μA / MHz in operating mode and when executing from Flash memory, greatly reducing the problem of equipment heating.

[0076] Furthermore, the servo also includes a single-chip microcomputer; the single-chip microcomputer is connected to the communication module for communication, and the single-chip microcomputer can send an action command signal to the communication module. In the process of driving the driving component 2 to drive the rotating part 8 to rotate, the detection module can feedback the potential change in real time, and the communication module can feedback the position information of the rotating part 8 to the single-chip microcomputer according to the potential change feedback from the detection module. If the position information received by the single-chip microcomputer feedbacks that the rotating part 8 has not arrived on the light path, then the communication module continues to feedback to the driving component 2, and the driving component 2 continues to drive the rotating part 8 to rotate.

[0077] In this embodiment, further, combined with Figure 2 As shown, the driving assembly 2 includes a driving motor 12; the driving motor 12 is disposed on the first end surface of the supporting assembly 1 at the first preset position 4; the output shaft 14 of the driving motor 12 passes through the first end surface and is connected to the rotating part 8 at the second end surface.

[0078] Furthermore, the driving assembly 2 also includes a reducer 13 ; the reducer 13 is connected to the driving motor 12 and can control the speed of the driving motor 12 .

[0079] In actual use: the control component can be understood as a hardware circuit structure, and the attenuation component 3 can be understood as a mechanical structure; in actual use, firstly, 24V DC is used to power the hardware circuit structure; then, the attenuation component 3 is switched between the strong light position and the weak light position in sequence to complete initialization. After the single-chip microcomputer sends the strong and weak light position switching command, the servo determines and starts to receive the command action information, that is, switches to the specific position information.

[0080] Specifically, after receiving the strong light gear action information through the communication module, the main control module controls the drive module to drive the drive motor 12 to rotate clockwise. When the swing arm 11 moves to the strong light gear position, the first gear mechanical limit switch 5 is triggered. The action detection of whether the button is pressed or not is realized by optical coupling, so that the potential of the detection module changes, and the communication module hardware circuit feeds back the position information of the swing arm 11, triggering the external interrupt of the microcontroller, stopping the rotation of the drive motor 12, and completing an action.

[0081] After the communication module receives the low-light gear action information, the main control module controls the drive module to drive the drive motor 12 to rotate counterclockwise. When the mechanical swing arm 11 moves to the low-light gear position, the second gear mechanical limit switch 6 is triggered. The action detection of whether the button is pressed or not is realized through optical coupling, so that the potential of the detection module changes, and the communication module hardware circuit feeds back the position information of the swing arm 11, triggering the external interrupt of the microcontroller, stopping the rotation of the motor, and completing an action.

[0082] Embodiment 2

[0083] The present application also provides a control method for a steering gear, based on the above-mentioned steering gear; comprising the following steps:

[0084] Sending command step 100: The single chip microcomputer sends an action command signal to the driving module through the communication module and the main control module;

[0085] Execute instruction step 200: the driving component drives the attenuation component to rotate according to the action instruction signal;

[0086] Detection action step 300: the detection module feeds back potential changes in real time, and the communication module can feed back position information of the rotating part to the single chip microcomputer according to the potential changes fed back by the detection module;

[0087] Step 400 of determining that the rotating part is in position: when the detection module feeds back a first preset potential change or a second preset potential change, the lens part is located on the light path or the lens part moves out of the light path; the driving component can be controlled to stop moving through the communication module.

[0088] In summary, after receiving the action information, the communication module controls the swing arm to move accurately to the predetermined position, and the driving module can realize the continuous operation of the swing arm's multiple actions (such as swinging to the strong light position, returning to the weak light position, and then swinging to the strong light position again). In addition, it can also realize swinging at any angle between the strong light position and the weak light position, and realize staying at a designated position point between the strong light position and the weak light position.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A steering gear, characterized in that: It includes a support component, a drive component, a control component and an attenuation component; The support assembly is formed with a first gear mechanical limit switch and a second gear mechanical limit switch arranged at intervals at a first preset position; The attenuation component comprises a lens portion and a rotating portion connected to the lens portion; the driving component is connected to the rotating portion and is capable of driving the rotating portion to rotate, so that the rotating portion can trigger the first gear mechanical limit switch or the second gear mechanical limit switch; when the rotating portion triggers the first gear mechanical limit switch, the lens portion is located on the light path; when the rotating portion triggers the second gear mechanical limit switch, the lens portion moves out of the light path; The control component is disposed at a second preset position of the support component and is communicatively connected with the drive component, and is capable of sending an action command signal to the drive component; The control component is also communicatively connected with the first gear mechanical limit switch and the second gear mechanical limit switch; when the rotating part triggers the first gear mechanical limit switch or the second gear mechanical limit switch, the control component can send a stop action instruction to the driving component.

2. The steering gear according to claim 1, characterized in that: The attenuation component includes an attenuation mirror and a swing arm; The two ends of the swing arm are respectively connected to the driving assembly and the attenuation mirror; When the driving component drives the swing arm to trigger the first gear mechanical limit switch, it can drive the attenuation mirror to move onto the light path; when the driving component drives the swing arm to trigger the second gear mechanical limit switch, it can drive the attenuation mirror to move out of the light path.

3. The steering gear according to claim 2, characterized in that: The control component includes a communication module, a main control module, a drive module and a detection module; The communication module, the main control module, the driving module and the detection module are connected in communication in sequence; the detection module is also connected in communication with the communication module; the driving module is connected in communication with the driving component; The communication module sends an action command signal to the driving component through the main control module and the driving module, so that the driving component drives the rotating part to rotate; When the rotating part triggers the first gear mechanical limit switch, the detection module can feedback the first preset potential change, and can control the driving component to stop moving through the communication module; when the rotating part triggers the second gear mechanical limit switch, the detection module can feedback the second preset potential change, and can control the driving component to stop moving through the communication module.

4. The steering gear according to claim 3, characterized in that: The communication module adopts MAX485 chip; the main control module adopts MCU based on ARM architecture, model STMF401CCU6TR, with 64KB RAM and 56KB FLASH; the drive module adopts TB5128 chip; the detection module adopts HX25035 chip.

5. The steering gear according to claim 3, characterized in that: The steering gear also includes a single-chip microcomputer; The single chip microcomputer is communicatively connected with the communication module, and the single chip microcomputer can send the action instruction signal to the communication module; In the process of the driving component driving the rotating part to rotate, the detection module can feed back potential changes in real time, and the communication module can feed back position information of the rotating part to the single-chip microcomputer according to the potential changes fed back by the detection module.

6. The steering gear according to claim 2, characterized in that: The driving assembly includes a driving motor; The driving motor is disposed on the first end surface of the supporting assembly at the first preset position; the output shaft of the driving motor passes through the first end surface and is connected to the rotating part at the second end surface.

7. The steering gear according to claim 6, characterized in that: The drive assembly also includes a reducer; The reducer is connected to the driving motor and can control the speed of the driving motor.

8. The steering gear according to claim 4, characterized in that: The support assembly includes a support plate; The support plate is sequentially formed with the first preset position and the second preset position along the vertical direction; The support plate is formed with an installation cavity at the second preset position, and the control component is arranged in the installation cavity.

9. The steering gear according to claim 8, characterized in that: The support assembly further includes a frame, which is disposed at the second preset position of the support plate, and the frame and the support plate surround the installation cavity.

10. A method for controlling a steering gear, based on the steering gear according to any one of claims 1 to 9; characterized in that: The steps include: Sending command steps: The single chip computer sends the action command signal to the drive module through the communication module and the main control module; Execution instruction step: the driving component drives the attenuation component to rotate according to the action instruction signal; Detection action step: the detection module feeds back the potential change in real time, and the communication module can feed back the position information of the rotating part to the single chip microcomputer according to the potential change fed back by the detection module; The step of determining that the rotating part is in place: when the detection module feeds back a first preset potential change or a second preset potential change, the lens part is located on the light path or the lens part moves out of the light path; the driving component can be controlled to stop moving through the communication module.

Images