Hub steering engine

Abstract

The utility model relates to a hub steering engine, a steering engine body comprises a steering engine upper shell (3) and a steering engine lower shell (4), and the steering engine body is installed in a hub (2) of a robot tire (1); the steering engine body penetrates through a hub cover (8) through an upper screw (9) to be connected with a wheel (1), so that the hub steering engine and the wheel are integrated, space can be saved while power is provided for the wheel, and the part moves together with the wheel during deformation.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of robot accessories, specifically relates to a wheel hub steering engine. BACKGROUND

[0002] The steering engine is the main power source for driving remote control models and humanoid robots, and is also an important execution device for driving the joints of the robot. The wheels of the deformable robot need sufficient power source in the car mode to drive the whole to run. Since the driving steering engine of the wheels in the car mode and the humanoid mode may affect the deformation requirement, resulting in structural interference or complex deformation, the space needs to be used to the maximum extent, so that the wheel hub and the steering engine are as close as possible.

[0003] For example, the Chinese utility model patent with the authorization announcement number CN 207616609U discloses a steering engine and a robot, the steering engine comprises a shell, a speed reducer, a motor, a control panel, a control line and a potentiometer, the speed reducer comprises an output bearing, an output gear set and a variable speed gear set; one end of the output bearing is connected with the potentiometer shaft, the other end of the output bearing is connected with the output gear set shaft, the variable speed gear set is connected with the motor shaft, the output gear set is engaged with the variable speed gear set, the potentiometer is electrically connected with the control panel through the control line, and the motor is electrically connected with the control panel. The output bearing, the output gear set and the variable speed gear set can make the steering engine rotate by 360 degrees. In the assembly and debugging process, the damage of the gear caused by the excessive external force acting on the output shaft is effectively avoided. The original output gear set and the variable speed gear set are both changed into aluminum materials, so that the weight is light, the price is low, the rigidity is strong, and the wear resistance is good. Therefore, the weight and the cost of the steering engine are reduced as a whole. However, the steering engine occupies a large space in the robot. SUMMARY

[0004] In order to overcome the defects and deficiencies in the prior art, the utility model provides a wheel hub steering engine, which solves the problem that the internal space of the robot is small in the prior art, the wheel cannot be provided with power, and the space cannot be used to the maximum extent.

[0005] In order to achieve the above-mentioned purpose, the technical scheme of the utility model is as follows: a wheel hub steering engine, the steering engine body comprises a steering engine upper shell and a steering engine lower shell, the steering engine body is installed in the wheel hub of the robot tire, the steering engine body is connected with the wheel through the wheel cover and the upper screw, so that the wheel hub steering engine and the wheel become an integral whole, the wheel is provided with power, and the space can be saved at the same time, and the part moves with the wheel during deformation. In the utility model, the gear set of the wheel hub steering engine is selected to be double gear, so that the overall size of the steering engine is greatly reduced, and the appearance is more compact. At the same time, the steering engine has a torque that meets the use requirement.

[0006] Preferably, the upper and lower housings of the servo motor are connected together by a screw; a gear set, a circuit board, and a motor are provided between the upper and lower housings; the motor is equipped with a starting gear.

[0007] In any of the above embodiments, it is preferred that the gear set includes a first-stage double gear, a second-stage double gear, a third-stage double gear, a fourth-stage double gear, an inert gear, and an output gear.

[0008] In any of the above embodiments, it is preferred that the shaft hole of the first-stage double gear is clearance-fitted with the first-stage gear shaft; the shaft hole of the second-stage double gear is clearance-fitted with the second-stage gear shaft; the shaft hole of the third-stage double gear is clearance-fitted with the third-stage gear shaft; the shaft hole of the fourth-stage double gear is clearance-fitted with the fourth-stage gear shaft; the shaft hole of the inertial gear is clearance-fitted with the fifth-stage gear shaft; and the output gear and the output shaft are integrally formed.

[0009] In any of the above embodiments, it is preferred that the starting gear meshes with the large tooth of the first-stage double gear; the small tooth of the first-stage double gear meshes with the large tooth of the second-stage double gear; the small tooth of the second-stage double gear meshes with the large tooth of the third-stage double gear; the small tooth of the third-stage double gear meshes with the large tooth of the fourth-stage double gear; the small tooth of the fourth-stage double gear meshes with the inertial gear; and the inertial gear meshes with the output gear.

[0010] The number of teeth, module, and reduction ratio of the gears mentioned above all meet the requirements for the servo motor to operate normally in a confined space.

[0011] In any of the above embodiments, it is preferred that the upper housing of the servo motor has an upper housing stop and the lower housing of the servo motor has a lower housing stop, so as to facilitate positioning when assembling the upper housing and the lower housing of the servo motor. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of a preferred embodiment of the hub servo motor according to the present invention.

[0013] Figure 2 For the hub servo according to this utility model Figure 1 A split diagram of the preferred embodiment is shown.

[0014] Figure 3 For the hub servo according to this utility model Figure 1 The diagram shows a structural schematic of the gear set in the preferred embodiment.

[0015] Figure 4 For the hub servo according to this utility model Figure 2 The diagram shows a schematic of the upper housing of the servo motor in the preferred embodiment.

[0016] Figure 5 For the hub servo according to this utility model Figure 3 The diagram shows a schematic of the lower housing of the servo motor in the preferred embodiment.

[0017] The labeled component names are as follows: Tire 1, Hub 2, Servo Upper Housing 3, Upper Housing Stop 31, Servo Lower Housing 4, Lower Housing Stop 41, Gear Set 5, Starting Gear 51, First Stage Axle 52, First Stage Double Gear 521, Second Stage Axle 53, Second Stage Double Gear 531, Third Stage Axle 54, Third Stage Double Gear 541, Fourth Stage Axle 55, Fourth Stage Double Gear 551, Fifth Stage Axle 56, Inertial Gear 561, Bearing 571, Output Shaft 57, Circuit Board 6, Motor 7, Hub Cover 8, Upper Screw 9, Lower Screw 10. Detailed Implementation

[0018] The following description is merely exemplary and not intended to limit this disclosure, its application, or its uses. The specific embodiments of the servo mechanism of this utility model are further described below with reference to the accompanying drawings.

[0019] like Figure 1 , Figure 2 The diagram shown is a structural schematic of a preferred embodiment of the hub servo motor of this utility model. The hub servo motor of this utility model includes an upper servo housing 3 and a lower servo housing 4. The servo housing is installed inside the hub 2 of the robot tire 1. The servo housing is connected to the wheel 1 via an upper screw 9 passing through the hub cover 8, thus making the hub servo motor and the wheel an integral unit. This provides power to the wheel while saving space. This part moves together with the wheel during deformation. The hub servo motor of this utility model uses a double gear set, which significantly reduces the overall size of the servo motor, making it more compact. At the same time, the servo motor has the torque required for use.

[0020] In this embodiment, the upper servo housing 3 and the lower servo housing 4 are connected together by a lower screw 10; a gear set 5, a circuit board 6 and a motor 7 are provided between the upper servo housing 3 and the lower servo housing 4; the motor 7 is provided with a starting gear.

[0021] like Figure 4 , Figure 5 As shown, the hub servo of this utility model Figure 3 The diagram shows the structure of the upper and lower housings of the servo motor in the preferred embodiment.

[0022] In this embodiment, the upper servo housing 3 has an upper housing stop 31; the lower servo housing 4 has a lower housing stop 41, which facilitates positioning when the upper servo housing 3 and the lower servo housing 4 are assembled.

[0023] like Figure 3 As shown, the hub servo according to this utility model Figure 1 The diagram shows a structural schematic of the gear set in the preferred embodiment.

[0024] In the embodiment, the gear set 5 comprises a first double gear 521, a second double gear 531, a third double gear 541, a fourth double gear 551, an idle gear 561 and an output gear 57.

[0025] In the embodiment, the shaft hole of the first double gear 521 is in clearance fit with the first axle 52; the shaft hole of the second double gear 531 is in clearance fit with the second axle 53; the shaft hole of the third double gear 541 is in clearance fit with the third axle 54; the shaft hole of the fourth double gear 551 is in clearance fit with the fourth axle 55; the shaft hole of the idle gear 561 is in clearance fit with the fifth axle 56; and the output gear 57 is integrally formed with the output shaft 571.

[0026] In the embodiment, the starting gear 51 is engaged with the large gear of the first double gear 521; the small gear of the first double gear 521 is engaged with the large gear of the second double gear 531; the small gear of the second double gear 531 is engaged with the large gear of the third double gear 541; the small gear of the third double gear 541 is engaged with the large gear of the fourth double gear 551; the small gear of the fourth double gear 551 is engaged with the idle gear 561; and the idle gear 561 is engaged with the output gear 57.

[0027] The number of teeth, the module and the reduction ratio of the above-mentioned gears all meet the requirements of normal work in the narrow space of the steering gear.

[0028] It is not difficult for those skilled in the art to understand that the hub steering gear of the present application comprises any combination of the parts in the specification. Limited by the length and in order to make the specification concise, these combinations are not introduced in detail one by one here, but after reading the specification, it is self-evident that the scope of the present application comprising any combination of the parts in the specification.

Claims

1. A wheel hub rudder machine, comprising a rudder machine body, which comprises a rudder machine upper shell (3) and a rudder machine lower shell (4), characterized in that: The rudder body is installed in the hub (2) of the tire (1); the rudder body is connected with the tire (1) through the upper screw (9) penetrating the hub cover (8).

2. The hub rudder machine of claim 1, wherein: The upper rudder shell (3) and the lower rudder shell (4) are connected through the lower screw (10); the gear set (5), the circuit board (6) and the motor (7) are arranged between the upper rudder shell (3) and the lower rudder shell (4); the starting gear (51) is arranged on the motor (7).

3. The hub rudder machine of claim 2, wherein: The gear set (5) comprises a first double gear (521), a second double gear (531), a third double gear (541), a fourth double gear (551), an inert gear (561) and an output gear (57).

4. The hub rudder machine of claim 3, wherein: The shaft hole of the first double gear (521) is in clearance fit with the first wheel shaft (52); the shaft hole of the second double gear (531) is in clearance fit with the second wheel shaft (53); the shaft hole of the third double gear (541) is in clearance fit with the third wheel shaft (54); the shaft hole of the fourth double gear (551) is in clearance fit with the fourth wheel shaft (55); the shaft hole of the inert gear (561) is in clearance fit with the fifth wheel shaft (56); and the output gear (57) is integrally formed with the output shaft (571).

5. The hub rudder machine of claim 2, wherein: The starting gear (51) is in mesh with the large tooth of the first double gear (521); the small tooth of the first double gear (521) is in mesh with the large tooth of the second double gear (531); the small tooth of the second double gear (531) is in mesh with the large tooth of the third double gear (541); the small tooth of the third double gear (541) is in mesh with the large tooth of the fourth double gear (551); the small tooth of the fourth double gear (551) is in mesh with the inert gear (561); and the inert gear (561) is in mesh with the output gear (57).

6. The hub rudder machine of claim 2, wherein: The upper shell stopper (31) is formed on the upper rudder shell (3); the lower shell stopper (41) is formed on the lower rudder shell (4), so that the upper rudder shell (3) and the lower rudder shell (4) can be positioned during assembly.

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