Side-out robot steering engine and side-out robot steering engine assembling method

Abstract

The invention provides a side-out robot steering engine and an assembling method of the side-out robot steering engine, and relates to the technical field of robot steering engines, the steering engine comprises an upper shell, a first middle shell, a second middle shell and a lower shell which are sequentially arranged from top to bottom, a driving motor is arranged in the upper shell, the output end of the driving motor extends into the lower shell and is provided with a motor gear, and the output end of the driving motor is provided with a motor gear; an installation gap is formed between the right end of the second middle shell and the first middle shell, an output gear is arranged in the lower shell, is in transmission connection with a motor gear through a speed reducing mechanism and is arranged on an output shaft, the lower end of the output shaft is rotationally connected with the lower shell, the upper end of the output shaft is rotationally connected with the first middle shell, and a rocker arm is arranged on the output shaft. One end of the rocker is positioned in the mounting gap. In the invention, the rocker arm is mounted at the position close to the middle of the output shaft, and two ends of the output shaft are stably and reliably connected, so that the rocker arm and the output shaft are connected more firmly, and the stability of the rocker arm is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot steering gear, and particularly relates to a side-out robot steering gear and a side-out robot steering gear assembling method. BACKGROUND

[0002] The robot steering gear is one of the core components of the robot joint driving, and the robot steering gear realizes the movement of the mechanical structure by accurately controlling the angle and the torque. The steering gear is generally composed of a circuit board, a motor, a reduction gear set, a sensor and a control circuit.

[0003] A Chinese patent with the authorized announcement number CN222301588U discloses an assembled steering gear structure, which comprises a steering gear body, a motor fixedly installed in the interior of the steering gear body, a driving gear fixedly connected to the output end of the motor, a driven gear arranged in the interior of the steering gear body, a planetary gear set arranged in the interior of the steering gear body, an output shaft connected to the output end of the planetary gear set, a rudder disc installed on the output shaft, and a circuit board fixedly installed in the interior of the steering gear body. The planetary gear set effectively improves the impact resistance of the assembled steering gear structure. When the planetary gear set moves, the rotation speed transmitted by the motor is reduced, the torque is increased to make the output shaft rotate, the joint movement of the fighting robot is controlled, the primary gear of the assembled steering gear structure uses a synchronous gear transmission, the output stage uses a planetary structure, the impact resistance is increased, and the service life and the transmission efficiency are improved.

[0004] However, in the above-mentioned scheme, the rudder disc is installed at the end of the output shaft in a cantilevered mounting structure, and the end of the output shaft on which the rudder disc is installed is prone to deformation due to the lack of support, so that the stability of the end of the output shaft is poor. SUMMARY

[0005] The present application provides a side-out robot steering gear and a side-out robot steering gear assembling method to solve the technical problem that the end of the output shaft of the current steering gear is prone to deformation due to the lack of support, so that the stability of the end of the output shaft is poor.

[0006] To solve the above-mentioned technical problem, the present application discloses a side-out robot steering gear, which comprises an upper shell, a first middle shell, a second middle shell and a lower shell arranged in sequence from top to bottom, a driving motor arranged in the upper shell, a motor gear extended to the lower shell from the output end of the driving motor, an installation gap arranged between the right end of the second middle shell and the first middle shell, an output gear arranged in the lower shell, the output gear being in transmission connection with the motor gear through a reduction mechanism, the output gear being arranged on an output shaft, the lower end of the output shaft being in rotary connection with the lower shell through a first bearing, the upper end of the output shaft being extended to the first middle shell and in rotary connection with the first middle shell through a second bearing, a rocker arm arranged on the output shaft, and one end of the rocker arm being located at the installation gap.

[0007] Preferably, the lower shell and the second middle shell form a mounting cavity, and the speed reduction mechanism is located in the mounting cavity.

[0008] Preferably, the speed reduction mechanism comprises a first gear, a second gear and a third gear, the first gear is rotatably connected to the inner wall of the mounting cavity through a first rotating shaft, the first gear is engaged with the gear of the motor, a first pinion is arranged on the first gear, the first pinion is engaged with the second gear, the second gear is rotatably connected to the inner wall of the mounting cavity through a second rotating shaft, a second pinion is arranged on the second gear, the second pinion is engaged with the third gear, the third gear is rotatably connected to the inner wall of the mounting cavity through a third rotating shaft, a third pinion is arranged at the bottom of the third gear, and the third pinion is engaged with the output gear.

[0009] Preferably, a potentiometer is arranged at the upper end of the output shaft, the potentiometer is used to collect the angle data of the rotation of the rocker arm, and a circuit board is arranged in the upper shell and electrically connected with the potentiometer.

[0010] Preferably, a lubricating mechanism is arranged at the bottom of the lower shell, the lubricating mechanism comprises a return box and a conveying box arranged on the bottom wall of the lower shell, the return box is communicated with the inside of the lower shell through a return hole, the conveying box is communicated with the inside of the lower shell through a conveying hole, the conveying box and the return box are communicated through a conveying pipe, a conveying pump is arranged in the conveying box, the input end of the conveying pump is communicated with the inside of the conveying box, and the output end of the conveying pump is communicated with the conveying hole.

[0011] Preferably, a drainage plate is arranged in the return box, one end of the drainage plate is connected to the inner wall of the return box away from the conveying box, an installation plate is arranged on the inner wall of the return box close to the conveying pipe, a communication hole is arranged in the installation plate, the communication hole is communicated with the inlet end of the conveying pipe, a first baffle is arranged on the side of the installation plate away from the conveying pipe, the first baffle is connected to the inner wall of the return box through a connecting assembly, the end of the first baffle away from the installation plate is in contact with the lower surface of the drainage plate, an installation hole is arranged in the first baffle, and a filter screen is arranged in the installation hole.

[0012] Preferably, a guide plate is arranged on the installation plate, one end of the guide plate is connected to the installation plate, and the other end of the guide plate is connected to the inner wall of the upper end of the return box, and the guide plate is in the shape of a circular arc.

[0013] Preferably, the connecting assembly comprises a fourth rotating shaft, the first baffle is rotatably connected to the inner wall of the return box through the fourth rotating shaft, a torsional spring is arranged on the fourth rotating shaft, one end of the torsional spring is connected to the fourth rotating shaft, and the other end of the torsional spring is connected to the side wall of the installation plate.

[0014] Preferably, clamping holes are arranged on the front and rear side walls of the first baffle respectively, positioning holes corresponding to the clamping holes are arranged on the inner wall of the return box, a positioning column is arranged in the positioning hole, the positioning column is connected to the inner wall of the positioning hole through a connecting spring, the end of the positioning column away from the connecting spring is in the shape of a hemisphere, and the end of the positioning column away from the connecting spring extends into the clamping hole.

[0015] Also include a side out robot steering gear assembly method for assembling the above-mentioned side out robot steering gear, comprising the following steps:

[0016] The output gear, the first bearing and the rocker arm are installed on the output shaft, and the first bearing is installed in the lower shell;

[0017] The reduction mechanism is installed in the lower shell;

[0018] The second middle shell is installed on the lower shell;

[0019] The motor gear is installed on the drive motor output end, and the motor gear is installed downward in the lower shell;

[0020] The first middle shell is installed on the second middle shell, and the second bearing is installed in the first middle shell, and the second bearing is sleeved on the output shaft;

[0021] The upper shell is installed on the first middle shell, and the upper shell and the lower shell are connected by long bolts.

[0022] The technical scheme of the present application has the following advantages: the present application provides a side out robot steering gear and a side out robot steering gear assembly method, which relates to the technical field of robot steering gears. The steering gear comprises an upper shell, a first middle shell, a second middle shell and a lower shell arranged in sequence from top to bottom. A drive motor is arranged in the upper shell. The output end of the drive motor extends into the lower shell and a motor gear is arranged. An installation gap is arranged between the right end of the second middle shell and the first middle shell. An output gear is arranged in the lower shell. The output gear is in transmission connection with the motor gear through a reduction mechanism. The output gear is arranged on an output shaft. The lower end of the output shaft is in rotational connection with the lower shell. The upper end of the output shaft is in rotational connection with the first middle shell. A rocker arm is arranged on the output shaft, and one end of the rocker arm is located at the installation gap. In the present application, the rocker arm is installed at a position close to the middle of the output shaft. Both ends of the output shaft are stably and reliably connected, so that the connection between the rocker arm and the output shaft is more firm, thereby improving the stability of the rocker arm.

[0023] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be achieved and obtained by means of the instrumentalities particularly pointed out in the written description and representations of the drawings attached hereto.

[0024] The technical scheme of the present application will be further described in detail below with the help of drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0025] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate embodiments of the present application and serve to explain the present application, and do not constitute a limitation on the present application. In the drawings:

[0026] Figure 1 This is a schematic diagram of the overall structure of a side-mounted robot servo motor according to the present invention;

[0027] Figure 2 This is an exploded view of a side-mounted robot servo motor structure according to the present invention;

[0028] Figure 3 This is a front view of a side-mounted robot servo motor according to the present invention;

[0029] Figure 4 For the present invention Figure 3 A partial structural cross-sectional view at point AA;

[0030] Figure 5 This is a schematic diagram of the deceleration mechanism in this invention;

[0031] Figure 6 This is a top view of a side-mounted robot servo motor according to the present invention;

[0032] Figure 7 For the present invention Figure 6 Partial structural cross-sectional view at point BB;

[0033] Figure 8 For the present invention Figure 7 Enlarged view of the structure at point C;

[0034] Figure 9 For the present invention Figure 8 Enlarged view of the structure at point D;

[0035] Figure 10 For the present invention Figure 8 Enlarged view of the structure at point E in the middle;

[0036] Figure 11 This is a schematic diagram of the first baffle rotating downwards in this invention;

[0037] Figure 12 For the present invention Figure 11 Enlarged view of the structure at point F in the middle;

[0038] Figure 13 For the present invention Figure 12 Enlarged view of the structure at point G in the middle.

[0039] In the figure: 1, upper shell; 2, first middle shell; 3, second middle shell; 4, lower shell; 5, driving motor; 6, motor gear; 7, mounting gap; 8, output gear; 9, output shaft; 10, first bearing; 11, second bearing; 12, rocker arm; 13, long bolt; 14, first-stage gear; 15, first-stage pinion; 16, second-stage gear; 17, second-stage pinion; 18, third-stage gear; 19, third-stage pinion; 20, potentiometer; 21, circuit board; 22, return tank; 23, conveying tank; 24, return hole; 25, conveying hole; 26, conveying pipe; 27, conveying pump; 28, drainage plate; 29, mounting plate; 30, communication hole; 31, first baffle; 32, filter screen; 33, flow guide plate; 34, fourth rotating shaft; 35, positioning column; 36, second baffle; 37, connecting baffle; 38, moving plate; 39, baffle strip; 40, electric push rod; 41, first oil outlet hole; 42, third baffle; 43, compression spring; 44, driving block; 45, first oil inlet hole; 46, oil baffle; 47, second oil inlet hole; 48, fourth baffle; 49, second oil outlet hole; 50, first pull rope; 51, second pull rope; 52, first bolt; 53, second bolt. DETAILED DESCRIPTION

[0040] The preferred embodiments of the present application will be described herein below with reference to the drawings; it should be understood that the preferred embodiments described herein are merely intended to describe and explain the present application, and are not intended to limit the present application.

[0041] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and does not mean to particularly indicate the order or sequence, nor to limit the present application, which is merely to distinguish the components or operations described by the same technical terms, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implying the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection required by the present application.

[0042] Embodiment 1

[0043] The embodiment of the present application provides a side-out robot steering engine, such as Figures 1-5As shown, it comprises: upper shell 1, first middle shell 2, second middle shell 3 and lower shell 4 arranged in turn from top to bottom, driving motor 5 is arranged in upper shell 1, the output end of driving motor 5 extends into lower shell 4 and motor gear 6 is arranged, installation gap 7 is arranged between the right end of second middle shell 3 and first middle shell 2, output gear 8 is arranged in lower shell 4, output gear 8 is transmissionally connected with motor gear 6 through speed reduction mechanism, output gear 8 is arranged on output shaft 9, the lower end of output shaft 9 is rotationally connected with lower shell 4 through first bearing 10, the upper end of output shaft 9 extends into first middle shell 2 and is rotationally connected with first middle shell 2 through second bearing 11, rocker arm 12 is arranged on output shaft 9, one end of rocker arm 12 is located at installation gap 7.

[0044] The working principle and beneficial effects of the above technical scheme are as follows: the rocker arm 12 of the traditional robot steering gear works on one side of the output shaft 9, at this time, the rocker arm 12 is easily deformed under force, which affects the position accuracy of the rocker arm 12 and reduces the service life of the output shaft 9, therefore, the present application provides a side-out robot steering gear, which comprises upper shell 1, first middle shell 2, second middle shell 3 and lower shell 4 arranged in turn from top to bottom, wherein, the upper shell 1 is connected with the first middle shell 2 through first bolt 52, the lower shell 4 is connected with the second middle shell 3 through second bolt 53, the upper shell 1 and the lower shell 4 are connected through long bolt 13, the installation gap 7 is arranged between the right end of the second middle shell 3 and the first middle shell 2, one end of the output shaft 9 is rotationally connected with the lower shell 4 through first bearing 10, the other end of the output shaft 9 extends into the first middle shell 2 through the installation gap 7 and is rotationally connected with the first middle shell 2 through second bearing 11, at this time, the two ends of the output shaft 9 are reliably connected, the rocker arm 12 is arranged at the middle position of the output shaft 9, which makes the connection of the rocker arm 12 and the output shaft 9 more firm, thereby improving the stability of the rocker arm 12, the rocker arm 12 supported by double sides is more stable than the rocker arm 12 supported by one side, and when the rocker arm 12 at the middle position of the output shaft 9 works under load, the rocker arm 12 is symmetrically subjected to radial force on both sides instead of being subjected to radial force on one side, thereby reducing the rotation position error of the rocker arm 12 when the steering gear works under load, improving the position accuracy of the rocker arm 12 and prolonging the service life of the steering gear under load.

[0045] Embodiment 2

[0046] As shown in the above embodiment 1, Figure 2 、 Figure 5 The lower shell 4 and the second middle shell 3 form an installation cavity, and the speed reduction mechanism is located in the installation cavity;

[0047] The speed reduction mechanism comprises a first gear 14, a second gear 16 and a third gear 18, the first gear 14 is rotatably connected with the inner wall of the mounting cavity through a first rotating shaft, the first gear 14 is engaged with the motor gear 6, a first pinion 15 is arranged on the first gear 14, the first pinion 15 is engaged with the second gear 16, the second gear 16 is rotatably connected with the inner wall of the mounting cavity through a second rotating shaft, a second pinion 17 is arranged on the second gear 16, the second pinion 17 is engaged with the third gear 18, the third gear 18 is rotatably connected with the inner wall of the mounting cavity through a third rotating shaft, a third pinion 19 is arranged at the bottom of the third gear 18, and the third pinion 19 is engaged with the output gear 8.

[0048] The working principle and beneficial effects of the above technical scheme are as follows: the driving motor 5 is started, the driving motor 5 drives the motor gear 6 to rotate, the motor gear 6 drives the first gear 14 to rotate, the first gear 14 drives the second gear 16 to rotate through the first pinion 15, the second gear 16 drives the third gear 18 to rotate through the second pinion 17, the third gear 18 drives the output gear 8 to rotate through the third pinion 19, the output gear 8 drives the output shaft 9 to rotate, and the output shaft 9 rotates between the first bearing 10 and the second bearing 11, thereby driving the rocker arm 12 to rotate and changing the position of the rocker arm 12.

[0049] Embodiment 3

[0050] Based on the embodiment 1 or 2, as shown in the figure, a potentiometer 20 is arranged at the upper end of the output shaft 9, the potentiometer 20 is used to collect the angle data of the rotation of the rocker arm 12, and a circuit board 21 is arranged in the upper shell 1 and is electrically connected with the potentiometer 20. Figures 2-5

[0051] The working principle and beneficial effects of the above technical scheme are as follows: the potentiometer 20 can adopt a shaft-end type rotary encoder, after the circuit board 21 is powered on through an external power supply, the powered driving motor 5 drives the speed reduction mechanism to rotate through the motor gear 6, thereby driving the rocker arm 12 connected with the output shaft 9 to rotate, and in the rotating work, the potentiometer 20 can collect the angle data of the rotation of the output shaft 9 and transmit the angle data to the circuit board 21, thereby accurately controlling the rocker arm 12 to stop at any angle position in the rotatable angle range.

[0052] Embodiment 4

[0053] Based on any one of the embodiments 1-3, as shown in the figure, Figures 6-13 ​As shown, the bottom of the lower housing 4 is provided with a lubricating mechanism, which comprises a return tank 22 and a conveying tank 23 arranged on the bottom wall of the lower housing 4, the return tank 22 is communicated with the inside of the lower housing 4 through a return hole 24, the conveying tank 23 is communicated with the inside of the lower housing 4 through a conveying hole 25, the conveying tank 23 and the return tank 22 are communicated through a conveying pipe 26, and a conveying pump 27 is arranged in the conveying tank 23, the input end of the conveying pump 27 is communicated with the inside of the conveying tank 23, and the output end of the conveying pump 27 is communicated with the conveying hole 25.

[0054] The working principle and beneficial effects of the above technical scheme are as follows: the speed reduction mechanism needs to be lubricated during operation, thereby reducing the wear of the gears in the speed reduction mechanism and prolonging the service life of the steering engine. Therefore, the lubricating mechanism is arranged at the bottom of the lower housing 4, the lubricating mechanism comprises the return tank 22 and the conveying tank 23 arranged on the bottom wall of the lower housing 4, the conveying tank 23 stores lubricating oil, the conveying pump 27 is started during the operation of the steering engine, the lubricating oil in the conveying tank 23 is conveyed into the lower housing 4 through the conveying hole 25, then the lubricating oil flows through the output gear 8, the gears of the speed reduction mechanism and the motor gear 6, and then flows back to the return tank 22 through the return hole 24, and then flows into the conveying tank 23 through the conveying pipe 26, thereby forming a circulating flow of the lubricating oil. This not only provides good lubrication for the speed reduction mechanism, reduces the friction and wear between the gears, reduces the meshing impact and vibration of the gears, reduces the operating noise of the speed reduction mechanism, improves the stability of the steering engine, but also absorbs the heat generated during the meshing of the gears, avoids local overheating in the steering engine, further prolongs the service life of the steering engine, and reduces the maintenance cost of the steering engine.

[0055] Embodiment 5

[0056] Based on the embodiment 4, as shown in the figure, Figures 7-13 a drainage plate 28 is arranged in the return tank 22, one end of the drainage plate 28 is connected with the inner wall of the return tank 22 away from the conveying tank 23, an installation plate 29 is arranged on the inner wall of the return tank 22 close to the conveying pipe 26, a communication hole 30 is arranged in the installation plate 29, the communication hole 30 is communicated with the inlet end of the conveying pipe 26, a first baffle 31 is arranged on the side of the installation plate 29 away from the conveying pipe 26, the first baffle 31 is connected with the inner wall of the return tank 22 through a connecting assembly, one end of the first baffle 31 away from the installation plate 29 is in contact with the lower surface of the drainage plate 28, an installation hole is arranged in the first baffle 31, and a filter screen 32 is arranged in the installation hole;

[0057] A guide plate 33 is arranged on the installation plate 29, one end of the guide plate 33 is connected with the installation plate 29, and the other end of the guide plate 33 is connected with the inner wall of the upper end of the return tank 22, and the guide plate 33 is in the shape of a circular arc;

[0058] The connecting assembly comprises a fourth rotating shaft 34, the first baffle 31 is rotatably connected with the inner wall of the return box 22 through the fourth rotating shaft 34, a torsional spring is arranged on the fourth rotating shaft 34, one end of the torsional spring is connected with the fourth rotating shaft 34, and the other end of the torsional spring is connected with the side wall of the mounting plate 29.

[0059] The working principle and beneficial effects of the technical scheme are as follows: after the lubricating oil flows into the return box 22 through the return hole 24, the lubricating oil flows to the guide plate 33 through the flow guide plate 28, and then flows to the first baffle 31 through the guide plate 33, the first baffle 31 is slidably connected with the inner walls at the front and back of the return box 22, the filter screen 32 is arranged in the first baffle 31, under the action of the torsional spring, one end of the first baffle 31 keeps in contact with the lower surface of the flow guide plate 28, the lubricating oil flows to the communication hole 30 through the filter screen 32, and then flows into the conveying pipe 26 through the communication hole 30, since the gear of the speed reduction mechanism will generate wear debris in the meshing process, the wear debris mixed in the lubricating oil will reduce the lubricating effect of the lubricating oil, therefore, the filter screen 32 can intercept the wear debris, thereby reducing the pollution of the lubricating oil and prolonging the service life of the lubricating oil.

[0060] Embodiment 6

[0061] On the basis of embodiment 5, as shown in Figure 12 the front and back side walls of the first baffle 31 are respectively provided with clamping holes, the inner wall of the return box 22 is provided with positioning holes corresponding to the clamping holes, a positioning column 35 is arranged in the positioning hole, the positioning column 35 is connected with the inner wall of the positioning hole through a connecting spring, the end of the positioning column 35 away from the connecting spring is provided in a semispherical shape, and the end of the positioning column 35 away from the connecting spring extends into the clamping hole.

[0062] The working principle and beneficial effects of the technical scheme are as follows: in the initial state, the positioning column 35 is clamped in the clamping hole under the elastic force of the connecting spring, so that the stability of the first baffle 31 is improved.

[0063] Embodiment 7

[0064] On the basis of embodiment 5 or 6, as shown in Figures 7-13As shown, the second baffle plate 36 is arranged below the first baffle plate 31, the second baffle plate 36 is parallel to the first baffle plate 31, the second baffle plate 36 is in contact with the side wall of the mounting plate 29 near one end of the mounting plate 29, the second baffle plate 36 is rotatably connected with the inner wall of the return box 22 near one end of the mounting plate 29 through a fifth rotating shaft, the second baffle plate 36 is connected with the first baffle plate 31 through a connecting baffle plate 37, the connecting baffle plate 37 is parallel to the mounting plate 29, one end of the connecting baffle plate 37 is rotatably connected with the end of the first baffle plate 31 away from the mounting plate 29, the other end of the connecting baffle plate 37 is rotatably connected with the end of the second baffle plate 36 away from the mounting plate 29, a vertical sliding slot is arranged in the connecting baffle plate 37, a moving plate 38 is arranged between the first baffle plate 31 and the second baffle plate 36, one end of the moving plate 38 is slidably connected with the vertical sliding slot through a rotating rod, the other end of the moving plate 38 extends into the communication hole 30, a baffle strip 39 is symmetrically arranged on the front and back sides of the communication hole 30, a third bearing is arranged on the inner side of the baffle strip 39, the moving plate 38 is connected with the third bearing through a sixth rotating shaft, an electric push rod 40 is arranged on the inner bottom wall of the communication hole 30, the upper end of the electric push rod 40 is connected with the outer ring of the third bearing, an angle sensor is arranged on the sixth rotating shaft, a controller is arranged on the return box 22, the controller is electrically connected with the angle sensor and the electric push rod 40 respectively, a horizontal sliding slot is arranged on the moving plate 38, a plurality of first oil outlet holes 41 are arranged in the moving plate 38, a third baffle plate 42 is slidably arranged in the horizontal sliding slot, one end of the third baffle plate 42 is connected with the inner wall of the horizontal sliding slot through a compression spring 43, the other end of the third baffle plate 42 is provided with a guide inclined surface, a driving block 44 is arranged above the guide inclined surface, an inclined surface is arranged on the side of the driving block 44 close to the guide inclined surface, the driving block 44 is slidably connected with the inner wall of the horizontal sliding slot on the side of the driving block 44 away from the third baffle plate 42, the driving block 44 is located directly above the first oil outlet hole 41, a plurality of first oil inlet holes 45 corresponding to the first oil outlet holes 41 are arranged in the third baffle plate 42.

[0065] The working principle and beneficial effects of the above technical scheme are as follows: with the increase of the debris on the filter screen 32, under the impact of the lubricating oil, the first baffle 31 will rotate downward with the fourth rotating shaft 34 as the center, the torsional spring will be twisted, the positioning column 35 will be separated from the clamping hole, the first baffle 31 will rotate to drive the second baffle 36 to rotate synchronously through the connecting baffle 37, part of the lubricating oil will flow to the moving plate 38 through the filter screen 32, and then flow into the conveying pipe 26 through the communication hole 30, and the other part of the lubricating oil will flow along the surface of the filter screen 32, so as to impact the wear debris deposited on the filter screen 32 to the bottom of the return tank 22, and under the blockage of the second baffle 36 and the connecting baffle 37, the lubricating oil at the bottom of the return tank 22 will not enter the communication hole 30, avoiding mixing with the lubricating oil in the conveying tank 23, an oil drain hole is arranged at the bottom of the return tank 22, when the steering engine is not used, the oil drain hole is opened, and the lubricating oil containing wear debris at the bottom of the return tank 22 can be discharged to the outside of the return tank 22, an oil injection hole is arranged on the side wall of the conveying tank 23, and the oil injection hole is opened to inject lubricating oil into the conveying tank 23, so as to complete the replenishment of the lubricating oil, when the first baffle 31 rotates, the moving plate 38 also rotates synchronously with the first baffle 31, at this time, the rotation angle of the sixth rotating shaft can be detected through the rotation angle sensor, when the rotation angle of the sixth rotating shaft reaches a preset angle, the controller controls the electric push rod 40 to push out, the electric push rod 40 drives the third bearing to move upward along the baffle strip 39, the third bearing drives the moving plate 38 to slide upward synchronously through the sixth rotating shaft, at this time, the first oil outlet hole 41 in the moving plate 38 and the first oil inlet hole 45 in the third baffle 42 are in a disconnected state, the sliding process of the moving plate 38 can drive the lubricating oil on the moving plate 38 to move towards the filter screen 32, and then the lubricating oil is pushed out through the filter screen 32, and then flows downward along the surface of the filter screen 32, so as to wash the filter screen 32 with the lubricating oil, reducing the blockage of the filter screen 32, with the upward sliding of the moving plate 38, the driving block 44 gradually contacts the lower surface of the filter screen 32, then the driving block 44 slides towards the first oil outlet hole 41, and drives the third baffle 42 to slide rightwards along the horizontal sliding groove through the sliding contact of the inclined surface and the guide inclined surface, and the compression spring 43 is compressed, when the driving block 44 cannot slide downward, the electric push rod 40 stops pushing out, at this time, the first oil inlet hole 45 is connected with the first oil outlet hole 41, the lubricating oil passing through the filter screen 32 can flow into the first oil outlet hole 41 through the first oil inlet hole 45, and then flow to the lower side of the moving plate 38, and then flow into the conveying pipe 26 through the communication hole 30, through the flow of the lubricating oil along the surface of the filter screen 32 and the reverse flow of the lubricating oil in the filter screen 32, the blockage of the filter screen 32 is reduced, so that the lubricating oil can smoothly pass through the filter screen 32, at this time, under the action of the torsional spring, the fourth rotating shaft 34 drives the first baffle 31 to rotate upward, so that one end of the first baffle 31 recontacts the lower surface of the drainage plate 28, and the moving plate 38 returns to the horizontal state, since the sixth rotating shaft returns to the original position, the controller controls the electric push rod 40 to return to the original position,The lubricating oil can then flow through the surface of the movable plate 38 to the connecting hole 30.

[0066] Example 8

[0067] Based on Example 7, such as Figure 8 , Figure 12 As shown, an oil baffle plate 46 is provided inside the connecting hole 30, and several second oil inlet holes 47 are provided inside the oil baffle plate 46. A fourth baffle plate 48 is provided on the side of the oil baffle plate 46 away from the moving plate 38. The fourth baffle plate 48 is slidably connected to the side wall of the oil baffle plate 46. Several second oil outlet holes 49 corresponding to the second oil inlet holes 47 are provided inside the fourth baffle plate 48. A first pull rope 50 is provided at the upper end of the fourth baffle plate 48. One end of the first pull rope 50 is connected to the fourth baffle plate 48, and the other end of the first pull rope 50 passes through the mounting plate 29 and the guide plate 33 in sequence and is connected to the upper surface of the first baffle plate 31. A second pull rope 51 is provided at the lower end of the fourth baffle plate 48. One end of the second pull rope 51 is connected to the fourth baffle plate 48, and the other end of the second pull rope 51 passes through the mounting plate 29 and is connected to the lower surface of the second baffle plate 36.

[0068] The working principle and beneficial effects of the above technical solution are as follows: Initially, the first baffle 31 is in a horizontal state, and the second oil inlet 47 and the second oil outlet 49 are in a connected state. The lubricating oil on the moving plate 38 can flow to the conveying pipe 26 through the second oil inlet 47 and the second oil outlet 49 in sequence. When the filter screen 32 is blocked, the first baffle 31 rotates downward. The first baffle 31 drives the fourth baffle 48 to slide upward along the oil baffle plate 46 through the first pull rope 50, so that the second oil inlet 47 and the second oil outlet 49 gradually separate. When the first baffle 31 rotates downward to the preset maximum angle, the second oil inlet 47 and the second oil outlet 49 are completely separated. At this time, the lubricating oil passing through the filter screen 32 cannot flow into the conveying pipe 26 from the connecting hole 30. The lubricating oil accumulates on the moving plate 38 and, with the movement of the moving plate 38... The rise of 8 rapidly pushes out the lubricating oil, increasing the impact force of the lubricating oil on the filter screen 32's internal pores, enhancing the lubricating oil's unblocking effect on the filter screen 32, ensuring the filter screen 32 remains unobstructed, and extending the service life of the filter screen 32. After the first oil inlet hole 45 connects with the first oil outlet hole 41, the first baffle 31 gradually returns to its original position, and through the connecting baffle 37, it drives the second baffle 36 to return to its original position. The second baffle 36, through the second pull rope 51, drives the fourth baffle 48 to slide downward along the oil baffle plate 46, so that the second oil inlet hole 47 and the second oil outlet hole 49 reconnect, ensuring the circulation of lubricating oil. Through the impact of the lubricating oil on the filter screen 32, the wear debris attached to the filter screen 32 can be removed, eliminating the need for manual cleaning of the filter screen 32, reducing the frequency of maintenance, and extending the overall service life of the servo motor.

[0069] It also includes a method for assembling a side-exit robot servo motor, for assembling the aforementioned side-exit robot servo motor, comprising the following steps:

[0070] Install the output gear 8, the first bearing 10 and the rocker arm 12 to the output shaft 9, and install the first bearing 10 to the lower shell 4;

[0071] Install the speed reduction mechanism in the lower shell 4;

[0072] Install the second middle shell 3 to the lower shell 4;

[0073] Install the motor gear 6 to the output end of the driving motor 5, and install the motor gear 6 downward to the lower shell 4;

[0074] Install the first middle shell 2 to the second middle shell 3, and install the second bearing 11 in the first middle shell 2, which is sleeved on the output shaft 9;

[0075] Install the upper shell 1 to the first middle shell 2, and connect the upper shell 1 with the lower shell 4 through the long bolt 13.

[0076] The working principle and beneficial effects of the above technical solution are as follows: first, install the output gear 8, the first bearing 10 and the rocker arm 12 to the output shaft 9, and install the first bearing 10 to the lower shell 4; then install the speed reduction mechanism in the lower shell 4, and then install the second middle shell 3 to the lower shell 4, and connect the second middle shell 3 with the lower shell 4 through the second bolt 53; then install the motor gear 6 to the output end of the driving motor 5, and install the motor gear 6 downward to the lower shell 4; then install the first middle shell 2 to the second middle shell 3, and install the second bearing 11 in the first middle shell 2, which is sleeved on the output shaft 9, and then install the potentiometer 20 on the upper end of the output shaft 9; after the installation is completed, electrically connect the circuit board 21 with the potentiometer 20, and install the upper shell 1 with the circuit board 21 to the first middle shell 2, and connect the upper shell 1 with the first middle shell 2 through the first bolt 52, and finally connect the upper shell 1 with the lower shell 4 through the long bolt 13; in the above assembly method, the rocker arm 12 is assembled to the central position of the output shaft 9, so that the connection between the rocker arm 12 and the output shaft 9 is more firm, thereby improving the stability of the rocker arm 12.

[0077] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0078] In this application, unless otherwise clearly indicated and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integrated; can be mechanical connection, can also be electrical connection or communication with each other; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0079] Although the embodiments of the present application have been disclosed as above, it is not limited to the application only in the specification and the embodiments listed, it can be fully applied to various fields suitable for the present application, and additional modifications can be easily realized by those skilled in the art, therefore, the present application is not limited to specific details and the figures shown and described herein, without departing from the general concept defined by the claims and the equivalent scope.

Claims

1. A side exit robot jockey, characterized by, The application relates to a driving device for a rotary arm, which comprises an upper shell (1), a first middle shell (2), a second middle shell (3) and a lower shell (4) arranged in sequence from top to bottom, a driving motor (5) arranged in the upper shell (1), a motor gear (6) extended to the lower shell (4) from the output end of the driving motor (5), an installation gap (7) arranged between the right end of the second middle shell (3) and the first middle shell (2), an output gear (8) arranged in the lower shell (4), a transmission connection between the output gear (8) and the motor gear (6) through a speed reduction mechanism, the output gear (8) arranged on an output shaft (9), a rotation connection between the lower end of the output shaft (9) and the lower shell (4) through a first bearing (10), an extension of the upper end of the output shaft (9) to the first middle shell (2) and a rotation connection between the upper end of the output shaft (9) and the first middle shell (2) through a second bearing (11), a rocker arm (12) arranged on the output shaft (9) and located at the installation gap (7). The lower shell (4) and the second middle shell (3) form an installation cavity, and the speed reduction mechanism is arranged in the installation cavity.

2. The side exit robotic rudder machine of claim 1, wherein, The speed reduction mechanism comprises a first gear (14), a second gear (16) and a third gear (18), the first gear (14) is rotationally connected to the inner wall of the installation cavity through a first rotating shaft, the first gear (14) is meshed with the motor gear (6), a first small gear (15) is arranged on the first gear (14), the first small gear (15) is meshed with the second gear (16), the second gear (16) is rotationally connected to the inner wall of the installation cavity through a second rotating shaft, a second small gear (17) is arranged on the second gear (16), the second small gear (17) is meshed with the third gear (18), the third gear (18) is rotationally connected to the inner wall of the installation cavity through a third rotating shaft, a third small gear (19) is arranged at the bottom of the third gear (18), and the third small gear (19) is meshed with the output gear (8).

3. The side exit robotic rudder machine of claim 2, wherein, A potentiometer (20) is arranged at the upper end of the output shaft (9), the potentiometer (20) is used for collecting the angle data of the rotation of the rocker arm (12), a circuit board (21) is arranged in the upper shell (1), and the circuit board (21) is electrically connected with the potentiometer (20).

4. The side exit robotic rudder machine of claim 1, wherein, A lubricating mechanism is arranged at the bottom of the lower shell (4), the lubricating mechanism comprises a return box (22) and a conveying box (23) arranged on the bottom wall of the lower shell (4), the return box (22) is communicated with the inside of the lower shell (4) through a return hole (24), the conveying box (23) is communicated with the inside of the lower shell (4) through a conveying hole (25), the conveying box (23) and the return box (22) are communicated through a conveying pipe (26), a conveying pump (27) is arranged in the conveying box (23), the input end of the conveying pump (27) is communicated with the inside of the conveying box (23), and the output end of the conveying pump (27) is communicated with the conveying hole (25).

5. The side exit robotic rudder machine of claim 1, wherein, ​ 6. The side exit robotic rudder machine of claim 5, wherein, A drainage plate (28) is arranged in the return box (22), one end of the drainage plate (28) is connected with the inner wall of the return box (22) away from the conveying box (23), the inner wall of the return box (22) near the conveying pipe (26) is provided with a mounting plate (29), the mounting plate (29) is provided with a communication hole (30), the communication hole (30) is communicated with the inlet end of the conveying pipe (26), the side of the mounting plate (29) away from the conveying pipe (26) is provided with a first baffle (31), the first baffle (31) is connected with the inner wall of the return box (22) through a connecting assembly, one end of the first baffle (31) away from the mounting plate (29) is in contact with the lower surface of the drainage plate (28), the first baffle (31) is provided with a mounting hole, and the mounting hole is provided with a filter screen (32).

7. The side exit robotic rudder machine of claim 6, wherein, A guide plate (33) is arranged on the mounting plate (29), one end of the guide plate (33) is connected with the mounting plate (29), the other end of the guide plate (33) is connected with the inner wall of the upper end of the return box (22), and the guide plate (33) is in the shape of a circular arc.

8. The side exit robotic rudder machine of claim 6, wherein, The connecting assembly comprises a fourth rotating shaft (34), the first baffle (31) is rotatably connected with the inner wall of the return box (22) through the fourth rotating shaft (34), a torsional spring is arranged on the fourth rotating shaft (34), one end of the torsional spring is connected with the fourth rotating shaft (34), and the other end of the torsional spring is connected with the side wall of the mounting plate (29).

9. The side exit robotic rudder machine of claim 6, wherein, The front and rear side walls of the first baffle (31) are respectively provided with clamping holes, the inner wall of the return box (22) is provided with positioning holes corresponding to the clamping holes, a positioning column (35) is arranged in the positioning hole, the positioning column (35) is connected with the inner wall of the positioning hole through a connecting spring, one end of the positioning column (35) away from the connecting spring is in the shape of a hemisphere, and the other end of the positioning column (35) away from the connecting spring extends into the clamping hole.

10. A method for assembling a side exit robotic rudder assembly as claimed in any one of claims 1 to 9, wherein the method comprises the steps of: providing a rudder assembly as claimed in any one of claims 1 to 9; and providing a side exit robotic rudder assembly as claimed in any one of claims 1 to 9; and coupling the rudder assembly to the side exit robotic rudder assembly. The following steps are included: Install the output gear (8), the first bearing (10) and the rocker arm (12) on the output shaft (9), and install the first bearing (10) in the lower housing (4); Install the speed reduction mechanism in the lower housing (4); Install the second middle housing (3) on the lower housing (4); Install the motor gear (6) on the output end of the driving motor (5), and install the motor gear (6) downwardly into the lower housing (4); Install the first middle housing (2) on the second middle housing (3), and install the second bearing (11) in the first middle housing (2), the second bearing (11) is sleeved on the output shaft (9); Install the upper housing (1) on the first middle housing (2), and connect the upper housing (1) and the lower housing (4) through the long bolt (13).

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