Steering engine and intelligent robot

Abstract

The utility model provides a steering engine and an intelligent robot, and belongs to the technical field of servo controllers. The steering engine comprises a shell, a power assembly, a PCB and an adjusting assembly, the power assembly comprises a driving motor, the PCB is contained in the shell, a Bluetooth module and a control module are integrated on the PCB, and the Bluetooth module and the driving motor are both electrically connected with the control module and controlled by the control module to operate; the Bluetooth module is used for communication between the steering engine and other intelligent terminals; the adjusting assembly comprises a position feedback potentiometer and a potentiometer synchromesh gear, and the position feedback potentiometer is packaged on the PCB and used for detecting the rotation angle of the potentiometer synchromesh gear. According to the utility model, the Bluetooth module is integrated in the steering engine, and a Bluetooth control mode is adopted, so that the steering engine is not restricted by an obstacle between the intelligent control terminal and the steering engine, and the control mode is more flexible; and the Bluetooth module is matched with the adjusting assembly to form closed-loop control, so that accurate control on output of the steering engine can be realized.

Description

Technical Field

[0001] The utility model belongs to the technical field of servo controllers, and particularly relates to a steering gear and an intelligent robot. Background Art

[0002] A steering gear is a position (angle) servo controller, applicable to control systems where the angle changes continuously and can be maintained. The steering gear serves as a basic output actuator in the electromechanical system. Its simple control and output enable easy docking with the single-chip microcomputer system. Its excellent angle control performance is widely used in fields such as aircraft, submarine models, remote control robots, logistics, robots, artificial intelligence, and automobiles.

[0003] In the prior art, most steering gears are controlled by an infrared-based remote controller. This remote control method requires alignment between the remote controller and the steering gear during use, and there should be no obstacles in between, which makes the control easily restricted by the environment.

[0004] Therefore, it is necessary to provide a steering gear and an intelligent robot to solve the above problems. Summary of the Utility Model

[0005] The utility model provides a steering gear and an intelligent robot. A Bluetooth module is integrated in the steering gear, and the Bluetooth control method is adopted, which is not restricted by obstacles between the intelligent control terminal and the steering gear, and the control method is more flexible, which can effectively solve the defects mentioned in the background art; and the Bluetooth module and the adjustment component cooperate to form a closed-loop control, which can achieve precise control of the output of the steering gear.

[0006] In order to solve the above technical problems, the utility model is implemented as follows:

[0007] A steering gear includes:

[0008] A housing having a receiving space;

[0009] A power assembly, including a driving motor, an input transmission gear set, an intermediate transmission gear set, and an output transmission gear set. The input transmission gear set, the intermediate transmission gear set, and the output transmission gear set are meshed in sequence. The input transmission gear set is connected to the driving motor and serves as the power input end, and the output transmission gear set serves as the power output end;

[0010] A PCB board is received in the receiving space. The PCB board is integrated with a Bluetooth module and a control module. The Bluetooth module and the driving motor are both electrically connected to the control module and are controlled by the control module to operate; the Bluetooth module is used for communication between the steering gear and other intelligent terminals, and a control instruction is sent to the steering gear through the intelligent terminal;

[0011] Adjusting assembly, including a position feedback potentiometer and a potentiometer synchronization gear. A transmission gear meshing with the potentiometer synchronization gear is installed on the output end transmission gear set. The transmission gear is used to conduct the power on the output end transmission gear set to the potentiometer synchronization gear, driving the potentiometer synchronization gear to rotate. The position feedback potentiometer is installed at intervals below the potentiometer synchronization gear and encapsulated on the PCB board, and is used to detect the rotation angle of the potentiometer synchronization gear.

[0012] As a preferred improvement, the housing includes a base, a top cover, and a middle frame. The base and the top cover cooperate to enclose the receiving space, and the middle frame is received in the receiving space.

[0013] As a preferred improvement, the top cover includes a top plate and side plates that bend and extend from the edge of the top plate towards the base. The side plates and the top plate cooperate to enclose a receiving space with an open bottom. The base is connected to the side plates to cover the open bottom of the top cover. The middle frame is located between the top plate and the base, and the power assembly is installed on the middle frame.

[0014] As a preferred improvement, the housing further includes a magnet. The magnet is fixed inside the side plate and is used for splicing the servo motor with other parts. Magnets are also provided in other parts, and the servo motor and other parts are adsorbed and fixed by using the principle of attraction between opposite magnetic poles.

[0015] As a preferred improvement, the drive motor includes a motor main body, a motor output shaft, and a motor output gear installed at the end of the motor output shaft. After the motor main body is powered on, it drives the motor output shaft to rotate, driving the motor output gear to rotate synchronously. The motor output gear is coaxially arranged with the motor output shaft. The input end transmission gear set includes an input end large gear, an input end small gear, and an input end connecting shaft. The input end large gear and the input end small gear are both sleeved around the input end connecting shaft, and the three are fixed. The input end large gear meshes with the motor output gear to conduct the power to the input end transmission gear set. The intermediate transmission gear set includes an intermediate large gear, an intermediate small gear, and an intermediate connecting shaft. The intermediate large gear and the intermediate small gear are both sleeved around the intermediate connecting shaft, and the three are fixed. The intermediate large gear meshes with the input end small gear to conduct the power to the intermediate transmission gear set. The output end transmission gear set includes an output end large gear and an output end connecting shaft. The output end large gear is sleeved around the output end connecting shaft, and the two are fixed. The output end large gear meshes with the intermediate small gear to conduct the power to the output end transmission gear set.

[0016] As a preferred improvement, the number of teeth of the large gear at the input end is greater than that of the motor output gear, the number of teeth of the large intermediate gear is greater than that of the small gear at the input end, and the number of teeth of the large gear at the output end is greater than that of the small intermediate gear, forming a three-stage deceleration effect.

[0017] As a preferred improvement, it further includes an output assembly. The output assembly includes a first output steering wheel and a second output steering wheel. The first output steering wheel and the second output steering wheel are respectively fixed at both ends of the output end connecting shaft and are driven by the output end connecting shaft to transmit power to an external moving part connected to the corresponding output steering wheel. Both the first output steering wheel and the second output steering wheel penetrate through the housing and are exposed.

[0018] As a preferred improvement, it further includes a power supply assembly. The power supply assembly includes a charging interface and a battery. The charging interface and the battery are connected with the PCB board as an intermediate medium. The charging interface includes a first charging interface for wired charging and a second charging interface for magnetic charging. The second charging interface includes an interface seat and a magnetic attraction coil arranged adjacent to the interface seat. The interface seat is recessed from the base into the accommodation space. The interface seat is used to accommodate a charging connector, and a magnetic part is configured on the charging connector. After the magnetic attraction coil is energized, magnetic force is generated based on the electromagnetic effect to adsorb the magnetic part. A charging battery cell is further configured in the interface seat. One end of the charging battery cell passes through the interface seat and is connected to the PCB board, and the other end is suspended in the interface seat. The charging battery cell serves as a structure for electrically connecting the interface seat and the charging connector; the battery is fixed to the middle frame.

[0019] As a preferred improvement, the first charging interface is selected from one of a Micro USB interface, a Type-C interface, or a Lightning interface.

[0020] An intelligent robot includes the above-mentioned servo motor.

[0021] The beneficial effects of the present utility model are as follows:

[0022] (1) A Bluetooth module is integrated in the servo motor. By adopting a Bluetooth control method, it is not restricted by obstacles between the intelligent control terminal and the servo motor, and the control method is more flexible, which can effectively solve the defects proposed in the background technology; and the Bluetooth module cooperates with the adjustment assembly to form a closed-loop control, which can achieve precise control of the output of the servo motor;

[0023] (2) A first charging interface for wired charging and a second charging interface for magnetic charging are integrated in the servo motor, and the two charging methods can be freely selected. Description of the Drawings

[0024] Figure 1 Stereoscopic structure diagram of the servo provided by the present utility model;

[0025] Figure 2 Indicates Figure 1 Exploded structure diagram of the shown servo;

[0026] Figure 3 Indicates Figure 2 Stereoscopic structure diagram of the power component in

[0027] Figure 4 Indicates Figure 1 Stereoscopic structure diagram of the servo from another angle as shown;

[0028] Figure 5 Indicates Figure 1 Cross-sectional view of the shown servo. Specific implementation manner

[0029] Next, in combination with the embodiments of the present utility model, the technical solutions in the embodiments of the present utility model will be clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

[0030] Please refer to Figures 1-5 , this implementation manner provides a servo, including a housing 10, a power component 20, an output component 30, a PCB board 40, a power supply component 50, and an adjustment component 60.

[0031] The housing 10 includes a base 11, a top cover 12, and a middle frame 13. The base 11 and the top cover 12 cooperate to enclose a receiving space, and the middle frame 13 is received in the receiving space.

[0032] The top cover 12 includes a top plate 121 and side plates 122 that are bent and extended from the edge of the top plate 121 towards the base 11. The side plates 122 and the top plate 121 cooperate to enclose a receiving space with an open bottom, and the base 11 is connected to the side plates 122 for covering the open bottom of the top cover 12.

[0033] The connection manner between the base 11 and the side plates 122 can be selected as glue fixation, ultrasonic welding, or snap connection. In this implementation manner, snap connection is specifically selected, making the base 11 and the top cover 12 detachable for easy maintenance.

[0034] The middle frame 13 is located between the top plate 121 and the base 11 and is used for fixedly installing other components. The middle frame 13 can be fixed to the top plate 121 or the base 11. In this embodiment, it is selected to be fixed to the top plate 121, and the fixing method is bolt fixing.

[0035] Further, the housing 10 further includes a magnet 14 which is fixed inside the side plate 122 and is used for splicing the servo motor with other parts, that is, magnets are also provided in other parts, and the adsorption fixation is achieved by using the principle of attraction between opposite magnetic poles. The specific setting position and the number of the magnets 14 can be selected according to actual requirements. For example, it can be set on the long side of the top cover 12 or on the short side of the top cover 12. This embodiment does not limit this.

[0036] The power assembly 20 is installed on the middle frame 13 and includes a drive motor 21, an input end transmission gear set 22, an intermediate transmission gear set 23 and an output end transmission gear set 24. The input end transmission gear set 22, the intermediate transmission gear set 23 and the output end transmission gear set 24 are meshed in sequence. The input end transmission gear set 22 is connected to the drive motor 21 and serves as the power input end, and the output end transmission gear set 24 is connected to the output assembly 30 and serves as the power output end.

[0037] The drive motor 21 includes a motor main body 211, a motor output shaft 212 and a motor output gear 213 installed at the end of the motor output shaft 212. After the motor main body 211 is powered on, it drives the motor output shaft 212 to rotate, driving the motor output gear 213 to rotate synchronously. The motor output gear 213 is coaxially arranged with the motor output shaft 212.

[0038] The input end transmission gear set 22 includes an input end large gear 221, an input end small gear 222 and an input end connecting shaft 223. The input end large gear 221 and the input end small gear 222 are both sleeved on the periphery of the input end connecting shaft 223, and the three are kept fixed. The fixing method can be selected as key connection. The input end large gear 221 is meshed with the motor output gear 213 to conduct the power to the input end transmission gear set 22. The number of teeth of the input end large gear 221 is greater than the number of teeth of the motor output gear 213, forming a primary deceleration effect.

[0039] The intermediate transmission gear set 23 includes a large intermediate gear 231, a small intermediate gear 232, and an intermediate connecting shaft 233. The large intermediate gear 231 and the small intermediate gear 222 are both sleeved around the intermediate connecting shaft 233, and the three are fixed. The fixing method can be selected as key connection. The large intermediate gear 231 and the input small gear 222 transmit power to the intermediate transmission gear set 23. The number of teeth of the large intermediate gear 231 is greater than the number of teeth of the input small gear 222, forming a two-stage deceleration effect.

[0040] The output transmission gear set 24 includes an output large gear 241 and an output connecting shaft 242. The output large gear 241 is sleeved around the output connecting shaft 242, and the two are fixed. The fixing method can be selected as key connection. The output large gear 241 meshes with the small intermediate gear 232 to transmit power to the output transmission gear set 24. The number of teeth of the output large gear 241 is greater than the number of teeth of the small intermediate gear 232, forming a three-stage deceleration effect.

[0041] From the above description, it can be seen that in this embodiment, only one stage of the intermediate transmission gear set 23 is provided, which cooperates with the input transmission gear set 21 and the output transmission gear set 24 to form a three-stage deceleration effect, so as to convert the high speed of the drive motor 21 into the low speed of the output assembly 30 and increase the output torque. In other embodiments, the number of stages of the intermediate transmission gear set 23 can also be selected according to actual needs, and this embodiment does not limit this.

[0042] It should be noted that in order to ensure the smooth operation of the input transmission gear set 22, the intermediate transmission gear set 23, and the output transmission gear set 24, an axial support structure needs to be provided at both ends of the input connecting shaft 223, the intermediate connecting shaft 233, and the output connecting shaft 242 to form axial limit; at the same time, bearings are provided around the ends of the input connecting shaft 223, the intermediate connecting shaft 233, and the output connecting shaft 242 to form radial limit. The setting forms of the axial support structure and the bearings can adopt the conventional techniques in the art, and this embodiment will not elaborate on this.

[0043] The output component 30 includes a first output steering wheel 31 and a second output steering wheel 32. The first output steering wheel 31 and the second output steering wheel 32 are respectively fixed at both ends of the output end connecting shaft 242 and are driven by the output end connecting shaft 242 to transmit power to an external moving part connected to the corresponding output steering wheel. For example, when the servo is applied to a walkable intelligent robot, the first output steering wheel 31 and the second output steering wheel 32 are respectively connected to two driving wheels, driving the two driving wheels to rotate. The driven wheels on the building block vehicle are driven by the two driving wheels to drive the overall movement of the intelligent robot. Since both the first output steering wheel 31 and the second output steering wheel 32 are fixed to the output end connecting shaft 242, the movement states of the first output steering wheel 31 and the second output steering wheel 32 are consistent.

[0044] Both the first output steering wheel 31 and the second output steering wheel 32 protrude out of the housing 10 to facilitate connection with an external moving part. The styles of the first output steering wheel 31 and the second output steering wheel 32 are not limited in this embodiment.

[0045] The PCB board 40 is mounted on the base 11 and is completely received in the receiving space. The PCB board 40 is integrated with a Bluetooth module 41 and a control module 42. The Bluetooth module 41 and the driving motor 21 are both electrically connected to the control module 42 and are controlled by the control module 42 to operate.

[0046] The Bluetooth module 41 is used to realize communication between the servo and other intelligent terminals. For example, after connecting to a mobile phone through the Bluetooth module, control instructions are sent to the control module 42 using the software pre-installed on the mobile phone to realize the wireless control function of the servo, such as switching the on / off state, switching the gear (rotation speed), etc. The communication principle of the Bluetooth module 41 can adopt the existing technology, and this embodiment will not elaborate on this.

[0047] The power supply component 50 includes a charging interface 51 and a battery 52. The charging interface 51 and the battery 52 are connected with the PCB board 40 as the intermediate medium. The charging interface 51 includes a first charging interface 511 for wired charging and a second charging interface 512 for magnetic charging.

[0048] The first charging interface 511 is selected as one of a Micro USB interface, a Type-C interface, or a Lightning interface. In this embodiment, it is specifically selected as a Type-C interface.

[0049] The second charging interface 512 includes an interface base 5121 and a magnetic attraction coil 5122 disposed adjacent to the interface base 5121. The interface base 5121 is formed by being recessed from the base 11 into the receiving space. The interface base 5221 is used to receive a charging connector. It should be noted that the size of the interface base 5221 is larger than that of the charging connector, which can reduce the difficulty of placing the charging connector for a long time.

[0050] A magnetic member is configured on the charging connector. After the magnetic attraction coil 5122 is energized, a magnetic force is generated based on the electromagnetic effect, which is used to adsorb the magnetic member, so that no physical fixing structure needs to be provided between the charging connector and the interface base 5121. The charging connector and the interface base 5121 can be easily plugged and unplugged through magnetic adsorption.

[0051] A charging battery cell 5123 is further configured in the interface base 5221. One end of the charging battery cell 5123 passes through the interface base 5221 and is connected to the PCB board 40, and the other end is suspended in the interface base 5221. The charging battery cell 5123 serves as a structure for electrically connecting the interface base 5121 and the charging connector.

[0052] The battery 52 is fixed to the middle frame 13, and the middle frame 13 provides support and protection effects to ensure the installation stability of the battery 52.

[0053] The adjusting assembly 60 includes a position feedback potentiometer 61 and a potentiometer synchronizing gear 62. A transmission gear 25 meshing with the potentiometer synchronizing gear 62 is further installed on the output end connecting shaft 242. The transmission gear 25 is used to conduct the power on the output end connecting shaft 242 to the potentiometer synchronizing gear 62 to drive the potentiometer synchronizing gear 62 to rotate. The position feedback potentiometer 61 is installed at intervals below the potentiometer synchronizing gear 62 and is encapsulated on the PCB board 40, and is used to detect the rotation angle of the potentiometer synchronizing gear 62 to determine the motion state of the potentiometer synchronizing gear 62. The motion state of the potentiometer synchronizing gear 62 is consistent with the motion states of the output end connecting shaft 242 and the output assembly 30, and thus the motion state of the output assembly 30 can be determined.

[0054] The servo provided by the present utility model is a closed-loop control system. Through Bluetooth communication, a control instruction including a target state is sent from an intelligent terminal to the control module 42 to control the rotation of the driving motor 21, driving the input end transmission gear set 22, the intermediate transmission gear set 23, and the output end transmission gear set 24 to transmit step by step. After deceleration, the output assembly 30 is driven to rotate. The potentiometer synchronous gear 62 rotates synchronously and generates an induction signal on the position feedback potentiometer 61, and feeds it back to the control module 42. After the control module 42 processes the detected signal, the actual motion state of the output assembly 30 is obtained. The control module 42 forms a new control signal according to the gap between the actual motion state and the target motion state, and adjusts the rotation direction and rotation speed of the driving motor 21 until the motion state of the output assembly 30 reaches the target state, completing the adjustment process.

[0055] This embodiment also provides an intelligent robot, including the above servo.

[0056] The embodiments of the present utility model have been described above in conjunction with the accompanying drawings. However, the present utility model is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present utility model, those of ordinary skill in the art can also make many forms without departing from the purpose of the present utility model and the scope protected by the claims, and all belong to the protection scope of the present utility model.

Claims

1. A steering gear, characterized in that, Comprising: A housing having a receiving space; A power assembly including a drive motor, an input transmission gear set, an intermediate transmission gear set, and an output transmission gear set. The input transmission gear set, the intermediate transmission gear set, and the output transmission gear set are sequentially meshed. The input transmission gear set is connected to the drive motor and serves as the power input end, and the output transmission gear set serves as the power output end; A PCB board received in the receiving space. The PCB board is integrated with a Bluetooth module and a control module. The Bluetooth module and the drive motor are both electrically connected to the control module and are controlled by the control module to operate. The Bluetooth module is used for communication between the servo and other intelligent terminals, and control instructions are sent to the servo through the intelligent terminal; An adjustment assembly including a position feedback potentiometer and a potentiometer synchronizing gear. A transmission gear meshing with the potentiometer synchronizing gear is installed on the output transmission gear set. The transmission gear is used to conduct the power on the output transmission gear set to the potentiometer synchronizing gear to drive the potentiometer synchronizing gear to rotate. The position feedback potentiometer is spaced and installed below the potentiometer synchronizing gear and is encapsulated on the PCB board for detecting the rotation angle of the potentiometer synchronizing gear.

2. The servo according to claim 1, characterized in that, The housing includes a base, a top cover, and a middle frame. The base and the top cover cooperate to enclose the receiving space, and the middle frame is received in the receiving space.

3. The servo according to claim 2, wherein The top cover includes a top plate and side plates that bend and extend from the edge of the top plate towards the base direction. The side plates and the top plate cooperate to enclose a receiving space with an open bottom. The base is connected to the side plates to cover the open bottom of the top cover. The middle frame is located between the top plate and the base, and the power assembly is installed on the middle frame.

4. The servo according to claim 3, characterized in that The housing further includes a magnet. The magnet is fixed inside the side plate for splicing the servo with other parts. Magnets are also provided in other parts, and the adsorption and fixation of the servo with other parts are achieved by the principle of attraction between opposite magnetic poles.

5. The servo according to claim 1, wherein The driving motor includes a motor body, a motor output shaft, and a motor output gear mounted at the end of the motor output shaft. After the motor body is powered on, it drives the motor output shaft to rotate, driving the motor output gear to rotate synchronously. The motor output gear is coaxially arranged with the motor output shaft. The input transmission gear set includes an input large gear, an input small gear, and an input connecting shaft. The input large gear and the input small gear are both sleeved around the input connecting shaft, and the three are fixed. The input large gear meshes with the motor output gear to conduct power to the input transmission gear set. The intermediate transmission gear set includes an intermediate large gear, an intermediate small gear, and an intermediate connecting shaft. The intermediate large gear and the intermediate small gear are both sleeved around the intermediate connecting shaft, and the three are fixed. The intermediate large gear meshes with the input small gear to conduct power to the intermediate transmission gear set. The output transmission gear set includes an output large gear and an output connecting shaft. The output large gear is sleeved around the output connecting shaft, and the two are fixed. The output large gear meshes with the intermediate small gear to conduct power to the output transmission gear set.

6. The servo according to claim 5, wherein The number of teeth of the input large gear is greater than the number of teeth of the motor output gear, the number of teeth of the intermediate large gear is greater than the number of teeth of the input small gear, and the number of teeth of the output large gear is greater than the number of teeth of the intermediate small gear, forming a three-stage deceleration effect.

7. The servo according to claim 5, characterized in that, It further includes an output assembly. The output assembly includes a first output steering wheel and a second output steering wheel. The first output steering wheel and the second output steering wheel are respectively fixed at both ends of the output connecting shaft and are driven by the output connecting shaft to transmit power to an external moving part connected to the corresponding output steering wheel. Both the first output steering wheel and the second output steering wheel protrude out of the housing.

8. The servo according to claim 2, wherein, It further includes a power supply assembly. The power supply assembly includes a charging interface and a battery. The charging interface and the battery are connected with the PCB board as an intermediate medium. The charging interface includes a first charging interface for wired charging and a second charging interface for magnetic charging. The second charging interface includes an interface seat and a magnetic attraction coil disposed adjacent to the interface seat. The interface seat is recessed from the base into the receiving space and is used to receive a charging connector. A magnetic member is configured on the charging connector. After the magnetic attraction coil is powered on, it generates a magnetic force based on the electromagnetic effect to adsorb the magnetic member. A charging battery core is further configured in the interface seat. One end of the charging battery core passes through the interface seat and is connected to the PCB board, and the other end is suspended in the interface seat. The charging battery core serves as a structure for electrically connecting the interface seat and the charging connector. The battery is fixed to the middle frame.

9. The servo according to claim 8, wherein The first charging interface is selected from one of a Micro USB interface, a Type-C interface, or a Lightning interface.

10. An intelligent robot, characterized in that, It includes the servo as described in any one of claims 1-9.

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